CN106393170A - Robot two-degree-of-freedom joint structure - Google Patents
Robot two-degree-of-freedom joint structure Download PDFInfo
- Publication number
- CN106393170A CN106393170A CN201611190580.0A CN201611190580A CN106393170A CN 106393170 A CN106393170 A CN 106393170A CN 201611190580 A CN201611190580 A CN 201611190580A CN 106393170 A CN106393170 A CN 106393170A
- Authority
- CN
- China
- Prior art keywords
- synchronous cog
- cog belt
- wrist
- robot
- transmission shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001360 synchronised Effects 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 210000000707 Wrist Anatomy 0.000 claims abstract description 17
- 239000003638 reducing agent Substances 0.000 claims abstract description 4
- 210000000245 Forearm Anatomy 0.000 claims description 5
- 230000003028 elevating Effects 0.000 claims description 3
- 230000037147 athletic performance Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000002093 peripheral Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
Abstract
The invention provides a robot two-degree-of-freedom joint structure which comprises a first synchronous cog belt, a first harmonic-wave reducer, a small arm, a wrist, an end cover, a second synchronous cog belt, a shaft sleeve, a transmission shaft, a bevel gear and a second harmonic-wave reducer. According to the robot two-degree-of-freedom joint structure provided by the invention, the structure is simplified, the weight is light, and the rotating operation in two directions can be implemented.
Description
Technical field
The present invention relates to robot field, particularly to a kind of robot two-freedom degree joint structure.
Background technology
With the extensive application of robot, the movable joint to robot is put forward higher requirement.For example, in robot
Wrist structure, as the structure member connecting execution arm and end effector it is desirable to rotate flexibly, lightweight, further, since being subject to
To the impact of condition of construction, such as welding, spraying operation, therefore also need to that there is preferable sealing.
In view of this, need prior art is improved, to robot, especially there is two-freedom at present to meet
The use requirement of the robot of articulation structure.
Content of the invention
The technical problem to be solved is to overcome the deficiencies in the prior art, provides a kind of robot two-freedom to close
Nodule structure, structure simplifies, lightweight, rotating operation in achievable both direction.
For achieving the above object, invention provides following technical scheme：
A kind of robot two-freedom degree joint structure, including：First synchronous cog belt, first harmonic decelerator, forearm, handss
Wrist, end cap, the second synchronous cog belt, axle sleeve, power transmission shaft, bevel gear, second harmonic decelerator.
Further, be flexibly connected wrist in the end of forearm, two sides of wrist arrange the first synchronous cog belts and
Second synchronous cog belt, is realized arm motor respectively by the first synchronous cog belt and the second synchronous cog belt and is subtracted with first harmonic
Being in transmission connection of fast device and second harmonic decelerator.
Further, the first synchronous cog belt and first harmonic decelerator are in transmission connection, and realize the elevating movement of wrist；The
Two synchronous cog belts are in transmission connection by power transmission shaft, bevel gear and second harmonic decelerator, realize the rotational motion of wrist.
Further, power transmission shaft is arranged in axle sleeve by parts of bearings, and axle sleeve is fixed by end cap.
Brief description
Fig. 1 is the robot two-freedom degree joint structure schematic diagram of the present invention.
(note：Shown structure in accompanying drawing, simply to illustrate that the signal of inventive features, is not intended to according to shown in accompanying drawing
Structure.)
Specific embodiment
As shown in figure 1, according to robot of the present invention two-freedom degree joint structure, including：First synchronous cog belt
1st, first harmonic decelerator 2, forearm 3, wrist 4, end cap 5, the second synchronous cog belt 6, axle sleeve 7, power transmission shaft 8, bevel gear 9,
Two harmonic speed reducers 10.
Wherein, it is flexibly connected wrist 4, two side setting the first synchronous cog belt 1 Hes of wrist 4 in the end of forearm 3
Second synchronous cog belt 6, realizes arm motor respectively by the first synchronous cog belt 1 and the second synchronous cog belt 6 humorous with first
Being in transmission connection of ripple decelerator 2 and second harmonic decelerator 10.
Wherein, the first synchronous cog belt 1 and first harmonic decelerator 2 are in transmission connection, and realize the elevating movement of wrist.Second
Synchronous cog belt 6 passes through power transmission shaft 8, bevel gear 9 is in transmission connection with second harmonic decelerator 10, realizes the rotational motion of wrist.
Power transmission shaft 8 is arranged in axle sleeve 7 by parts of bearings, and it is fixing that axle sleeve 7 passes through end cap 5.
The power transmission shaft shape angle in 90 ° that power transmission shaft 8 is located with bevel gear 9.
According to robot of the present invention two-freedom degree joint structure, with traditional robot two-freedom degree joint structure
Compare, have the characteristics that：
(1) structure simplifies further；(2) structure peripheral hardware encloser body, good airproof performance；(3) motility is good, can quickly realize two
The athletic performance of individual degree of freedom.
The above, the only preferred embodiment of invention, be not intended to limit the protection domain of invention, all in invention
Spirit and principle within any modification, equivalent and improvement of being made etc., should be included within the protection domain invented.
Claims (2)
1. a kind of robot two-freedom degree joint structure, including：First synchronous cog belt (1), first harmonic decelerator (2), little
Arm (3), wrist (4), end cap (5), the second synchronous cog belt (6), axle sleeve (7), power transmission shaft (8), bevel gear (9), second harmonic
Decelerator (10) it is characterised in that：
It is flexibly connected wrist (4) in the end of forearm (3), two sides of wrist (4) arrange the first synchronous cog belt (1) and the
Two synchronous cog belts (6), realize arm motor and respectively by the first synchronous cog belt (1) and the second synchronous cog belt (6)
Being in transmission connection of one harmonic speed reducer (2) and second harmonic decelerator (10)；
First synchronous cog belt (1) is in transmission connection with first harmonic decelerator (2), realizes the elevating movement of wrist；Second is synchronous
Cog belt (6) passes through power transmission shaft (8), bevel gear (9) is in transmission connection with second harmonic decelerator (10), realizes the rotation fortune of wrist
Dynamic；
Power transmission shaft (8) is arranged in axle sleeve (7) by parts of bearings, and it is fixing that axle sleeve (7) passes through end cap (5).
2. robot according to claim 1 two-freedom degree joint structure it is characterised in that：
The power transmission shaft shape angle in 90 ° that power transmission shaft (8) and bevel gear (9) are located.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190580.0A CN106393170A (en) | 2016-12-21 | 2016-12-21 | Robot two-degree-of-freedom joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190580.0A CN106393170A (en) | 2016-12-21 | 2016-12-21 | Robot two-degree-of-freedom joint structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106393170A true CN106393170A (en) | 2017-02-15 |
Family
ID=58087908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611190580.0A Pending CN106393170A (en) | 2016-12-21 | 2016-12-21 | Robot two-degree-of-freedom joint structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106393170A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312175A (en) * | 2018-01-10 | 2018-07-24 | 杭州娃哈哈精密机械有限公司 | A kind of wrist joint and its method of operating of mechanical arm |
| CN111993458A (en) * | 2020-08-19 | 2020-11-27 | 珠海格力智能装备有限公司 | Transmission mechanism and robot with same |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0523250A1 (en) * | 1991-01-31 | 1993-01-20 | Kabushiki Kaisha Yaskawa Denki | Wrist mechanism for industrial robot |
| CN202029133U (en) * | 2011-04-15 | 2011-11-09 | 成都佳士科技有限公司 | Pivoted arm structure of robot |
| CN102284959A (en) * | 2011-07-28 | 2011-12-21 | 广州数控设备有限公司 | Wrist for two-degree-of-freedom industrial robot |
| CN203973561U (en) * | 2014-07-02 | 2014-12-03 | 上海毅申机械设备有限公司 | A kind of novel robot wrist joint transmission mechanism |
| CN204278012U (en) * | 2014-11-26 | 2015-04-22 | 深圳控石智能系统有限公司 | A kind of six axle joint industrial robots |
| CN206296934U (en) * | 2016-12-21 | 2017-07-04 | 扬州科文机器人有限公司 | Robot two-freedom degree joint structure |
-
2016
- 2016-12-21 CN CN201611190580.0A patent/CN106393170A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0523250A1 (en) * | 1991-01-31 | 1993-01-20 | Kabushiki Kaisha Yaskawa Denki | Wrist mechanism for industrial robot |
| CN202029133U (en) * | 2011-04-15 | 2011-11-09 | 成都佳士科技有限公司 | Pivoted arm structure of robot |
| CN102284959A (en) * | 2011-07-28 | 2011-12-21 | 广州数控设备有限公司 | Wrist for two-degree-of-freedom industrial robot |
| CN203973561U (en) * | 2014-07-02 | 2014-12-03 | 上海毅申机械设备有限公司 | A kind of novel robot wrist joint transmission mechanism |
| CN204278012U (en) * | 2014-11-26 | 2015-04-22 | 深圳控石智能系统有限公司 | A kind of six axle joint industrial robots |
| CN206296934U (en) * | 2016-12-21 | 2017-07-04 | 扬州科文机器人有限公司 | Robot two-freedom degree joint structure |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312175A (en) * | 2018-01-10 | 2018-07-24 | 杭州娃哈哈精密机械有限公司 | A kind of wrist joint and its method of operating of mechanical arm |
| CN111993458A (en) * | 2020-08-19 | 2020-11-27 | 珠海格力智能装备有限公司 | Transmission mechanism and robot with same |
| CN111993458B (en) * | 2020-08-19 | 2021-12-21 | 珠海格力智能装备有限公司 | Transmission mechanism and robot with same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8429996B2 (en) | Robot arm assembly | |
| CN204658445U (en) | A kind of Industrial robots Mechanical mechanism of six degree of freedom | |
| JP5560495B2 (en) | Electric joint having two pivot joints and humanoid robot mounted with this joint | |
| US8839689B2 (en) | Robot arm assembly | |
| CN103586862B (en) | Three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot | |
| CN203697030U (en) | Robot wrist mechanism | |
| CN103640011B (en) | Three Degree Of Freedom wrist and Novel six freedom DELTA robot | |
| CN102284959A (en) | Wrist for two-degree-of-freedom industrial robot | |
| CN101590650B (en) | Decoupled three-rotational-degree-of-freedom parallel mechanism | |
| CN106393170A (en) | Robot two-degree-of-freedom joint structure | |
| CN107225559A (en) | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions | |
| CN104875215B (en) | A kind of two-freedom apery wrist device | |
| CN206296934U (en) | Robot two-freedom degree joint structure | |
| WO2016145305A3 (en) | Robot with slaved end effector motion | |
| CN107336221A (en) | A kind of Novel two-freedom-degree parallel robot in apery elbow joint | |
| JP2013043279A (en) | Low-stroke actuation for serial robot | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN104454961A (en) | In-tension equivalent composite spherical hinge | |
| CN101045302A (en) | Multi-freedon arm of human imitating robot | |
| CN203460177U (en) | High-speed five-freedom-degree parallel connection mechanical hand | |
| CN206048199U (en) | A kind of six-degree-of-freedom parallel robot | |
| JP5423910B1 (en) | robot | |
| CN104690722A (en) | Five-DOF robot | |
| CN201800047U (en) | Transmission mechanism for hollow wrist of industrial robot | |
| CN102039599B (en) | Hollow mechanical mechanism of arc welding robot wrist |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170215 |
|
| RJ01 | Rejection of invention patent application after publication |