CN106466850B - Mechanical arm wrist unit and its Wiring structure - Google Patents
Mechanical arm wrist unit and its Wiring structure Download PDFInfo
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- CN106466850B CN106466850B CN201510518474.XA CN201510518474A CN106466850B CN 106466850 B CN106466850 B CN 106466850B CN 201510518474 A CN201510518474 A CN 201510518474A CN 106466850 B CN106466850 B CN 106466850B
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- mechanical arm
- wrist unit
- motor
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- tool holder
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Abstract
A kind of mechanical arm wrist unit and its Wiring structure, the mechanical arm wrist unit includes shell and tool holder, and Wiring structure includes the wire-passing tube for wearing tool holder and shell, and wire-passing tube has entrance and exit, entrance is formed in the intermediate position of tool holder, and outlet is formed on shell.The present invention is not only conducive to the installation that wears of the cable set of work implement, but also abrasion of the cable set in mechanical arm can be greatly reduced.
Description
Technical field
The present invention relates to a kind of mechanical arm, especially a kind of mechanical arm wrist unit and its Wiring structure.
Background technique
Visible small-sized six axis robot arm (the about 700mm or 900mm long) design architecture in market at present, wherein the 5th axis
Mechanics transfer mode difference is little, is to provide torque by motor mostly, via when rule the 5th axis speed reducer of belt wheel drive and produce
Raw rotation.6th shaft design mode then has more otherness, and one of common design method is to provide torsion with motor
Square, through when rule belt pulley and umbrella tooth cooperation drive the 6th axis speed reducer, this is the design method of wide application, wherein umbrella tooth
Framework is critical design component.
The prior art proposes a kind of mechanical arm wrist unit, wherein the torque transmission paths of the 5th axis are passed through by the 5th axis motor
When rule belt sheave structure be transferred to the 5th axis speed reducer, driving the 5th axis rotation.The torque transmission paths of 6th axis are by the 6th axis
Motor through when advise belt sheave structure, drive the rotation of umbrella tooth group, torque made to be transferred to the 6th axis speed reducer, driving the 6th axis rotation
Turn.In order to reach the 6th axis the hollow cabling of flange center purpose, the 6th axis selects hollow reducer, and the 6th axis of face
The umbrella tooth digging at center is hollow, and spool is walked in merging, to retain the space of the 6th axis center out.In order to facilitate cabling, arm design exists
The 5th left and right both sides of arm scoop away string holes, make tracheae, signal wire that can leave the 6th axis work flange through left and right two path, reach the
Five arm bodies.
Another the 6th common axis design architecture is the 6th axis speed reducer to be driven, compared to saturating in such a way that motor is directly tied
Out-of-date rule belt, umbrella tooth drive speed reducer, and such design method saves mechanism design cost, save assembling working hour, reduce
The energy loss of mechanics transmitting, the risk that belt fracture is advised when avoiding, there is its advantage in design.But due to its by motor with
6th pedestal structure is combined together, and the size of the 6th shaft drive motor directly affects the size of the 6th pedestal structure.
In past design, it is more succinct design that the 6th axis drives in such a way that motor is directly tied, but since motor is blocked
The center of speed reducer, it is difficult to the design of the hollow cabling of Zai Zuo flange center.If with the general motor of hollow motor in place, though it vacates
The space of motor center, for running line, but motor center is a there are the environment of high density magnetic field, and signal wire passes through this environment,
It is likely to cause serious interference phenomenon, therefore the simultaneously design of no good.
Summary of the invention
It is not only sharp technical problem to be solved by the invention is to provide a kind of mechanical arm wrist unit and its Wiring structure
Installation is worn in the cable set of work implement, and can be greatly reduced abrasion of the cable set in mechanical arm.
To achieve the goals above, the present invention provides a kind of mechanical arm wrist units, install for a work implement, described
Work implement has a cable set, which walks knot including a first mechanical arm, a second mechanical arm and one
Structure, the first mechanical arm include a pedestal and one first driving mechanism for being mounted on the pedestal；The second mechanical arm connects the base
Frame, the second mechanical arm include the shell rotated by first driving mechanism driving, one second drive that the shell is arranged in
Motivation structure and the tool holder for being mounted on the shell end and being rotated by second driving mechanism driving；The Wiring structure
A wire-passing tube including wearing the tool holder He the shell, the wire-passing tube have an entrance and an outlet, which forms
At the intermediate position of the tool holder, which is formed on the housing, and the cable set is worn from the entrance of the wire-passing tube
Enter and is pierced by from the outlet.
In order to which above-mentioned purpose is better achieved, the present invention also provides a kind of Wiring structure of mechanical arm wrist unit, institutes
Stating mechanical arm wrist unit includes a shell and a tool holder, which includes wearing the tool holder and institute
A wire-passing tube of shell is stated, which has an entrance and an outlet, which is formed in the centre of the tool holder
Position, the outlet are formed on the housing.
In order to which above-mentioned purpose is better achieved, the present invention also provides a kind of Wiring structure of mechanical arm wrist unit, institutes
State the second mechanical arm that mechanical arm wrist unit includes a first mechanical arm and the connection first mechanical arm, second machine
Tool arm includes a shell and a tool holder, which includes wearing the tool holder, the shell and described
One wire-passing tube of first mechanical arm, the wire-passing tube have an entrance and an outlet, which is formed in the tool holder
Intermediate position, the outlet are formed in the first mechanical arm.
The technical effects of the invention are that:
The present invention can not only enjoy the advantages of the 6th axis motor directly ties design, but also the 6th shaft flange center cable hole can be added
Design.The present invention can not only make second mechanical arm can get the advantages of motor directly ties design, while can add tool holder again
The design of center hollow cabling.The present invention can keep head to set under the framework with tool holder center hollow cabling
Meter width maintains smaller size.Using the perforated base line of pedestal and the rotation center departure of second mechanical arm in 0-
Within the scope of 2.0cm, in first mechanical arm rotation, cable set can be greatly reduced by the amplitude of whipping.It is straight using motor
The cost of rule belt and associated actuator mechanism when knot design can be save, and be easily assembled to.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as a limitation of the invention.
Detailed description of the invention
Fig. 1 is first embodiment of the present invention combination appearance figure；
Fig. 2 is the second mechanical arm assembled sectional view of Fig. 1；
Fig. 3 is the combination appearance figure of Fig. 2；
The second mechanical arm that Fig. 4 is Fig. 1 installs cross-sectional view for work implement；
Fig. 5 is second embodiment of the present invention combination appearance figure；
Fig. 6 is second embodiment of the present invention assembled sectional view；
Fig. 7 is third embodiment of the present invention combination appearance figure；
Fig. 8 is third embodiment of the present invention assembled sectional view；
Fig. 9 is fourth embodiment of the present invention combination appearance figure；
Figure 10 is fourth embodiment of the present invention assembled sectional view；
Figure 11 is fifth embodiment of the present invention combination appearance figure；
Figure 12 is sixth embodiment of the present invention combination appearance figure；
Figure 13 is sixth embodiment of the present invention combination of side view.
Wherein, appended drawing reference
10 first mechanical arms
11 pedestals
111 closed ends
112 open ends
113 perforation
12 first driving mechanisms
121 first motors
122 driving belts
123 first deceleration mechanisms
13 speed reducer flanges
20 second mechanical arms
21 shells
211 centre bores
212 side openings
22 second driving mechanisms
221 second motors
222 gear sets
2221 first gears
2222 second gears
222A driving belt
223 second deceleration mechanisms
23 tool holders
231 through-holes
30 Wiring structures
31,31A, 31B wire-passing tube
31C first crosses line segment
31D second crosses line segment
311 entrances
312 outlets
8 work implements
81 cable sets
Specific embodiment
Structural principle and working principle of the invention are described in detail with reference to the accompanying drawing:
Shown in please referring to Fig.1 to Fig.3, the present invention provides a kind of mechanical arm wrist unit, for six shaft mechanical arms, this
Mechanical arm wrist unit is mainly the 5th shaft mechanical arm and the 6th shaft mechanical arm, but not such kenel is limited, and mainly includes one
First mechanical arm 10, a second mechanical arm 20 and a Wiring structure 30.
First mechanical arm 10 includes a pedestal 11 and one first driving mechanism 12 for being mounted on pedestal 11, pedestal 11 are substantially in
One U-shaped has a closed end 111 and an open end 112, and in closed end, 111 lateral surface is connected with a speed reducer flange 13,
First driving mechanism 12 mainly includes one first motor 121, a driving belt 122 and one first deceleration mechanism 123, the first motor
121 are fixed on the closed end 111 of pedestal 11, and the first deceleration mechanism 123 is mounted on the open end 112 of pedestal 11, driving belt 122
Then connect the first motor 121 and the first deceleration mechanism 123.
Second mechanical arm 20 mainly includes a shell 21, one second driving mechanism 22 and a tool holder 23, shell 21
For a ducted body, for center cabling, position offers a centre bore 211 therebetween, and shell 21 is mounted in pedestal 11
Open end 112 is simultaneously connect with the first deceleration mechanism 123, and rotation can be generated when being driven by the first driving mechanism 12 by using.
Second driving mechanism 22 mainly includes one second motor 221, a gear set 222 and one second deceleration mechanism 223, the
Two motor 221 is to be fixed on inside shell 21, and its shaft centerline is parallel to each other with the axis of centre bore 211, and second
The shaft centerline of motor 221 is the axial location of offset from bore center 211 to be configured, and gear set 222 includes one first tooth
Wheel 2221 and a second gear 2222, each gear 2221,2222 of the present embodiment are all a spur gear, first gear 2221 and the
The shaft of two motor 221 connects, and second gear 2222 then connects the second deceleration mechanism 223 and is intermeshed with first gear 2221
Transmission, second motor 221 of the present embodiment are to drive through gear set 222 in the second deceleration mechanism 223, not only structure letter
Single, installation is easy, more can the element costs such as reduction such as driving belt, belt pulley significantly.
Tool holder 23 (or flange) is one discoid, offers a through-hole 231, this tool holder in its center
23 are arranged in the end of shell 21 and are connected in the second deceleration mechanism 223, and 211 profile of through-hole 231 and aforesaid central hole
At least part superposition can so be driven by the second driving mechanism 22 and enable tool holder 23 that can generate rotation.
Wiring structure 30 includes a wire-passing tube 31, and the wire-passing tube 31 of the present embodiment is a straight tube, is to wear tool installation
Seat 23 and shell 21, wire-passing tube 31 have an entrance 311 and an outlet 312, and entrance 311 is formed in the through-hole of tool holder 23
231 intermediate positions substantially can be the center of through-hole 231, and outlet 312 is formed in one of shell 21 far from tool holder 23
End, and 231 profile of the through-hole at least part superposition of wire-passing tube 31 and tool holder 23.
It please refers to shown in Fig. 4, a work implement 8 can be fixed in aforementioned tools mounting base 23 by when use, this working device
Tool 8 can be an object grabber, such as CCD, soldering mechanism, glue applying mechanism or the processing hand-held tool for grinding mechanism, have one
Cable set 81, this cable set 81 include that the related elements such as signal wire, tracheae are formed, by cable set 81 from wire-passing tube when installation
31 entrance 311 is penetrated and 312 is pierced by from exporting, then through the bolting elements such as screw wear work implement 8 and solid lock in work
Have in mounting base 23.
It please refers to shown in Fig. 5 and Fig. 6, the Wiring structure of mechanical arm wrist unit of the invention, in addition to that can be above-mentioned implementation
Exception, also can be such as the structure of the present embodiment, and wherein the shell 21 of second mechanical arm 20 is equipped with a side opening 212, and Wiring structure 30 wraps
A wire-passing tube 31A is included, it is the side opening for wearing tool holder 23 and shell 21 that the wire-passing tube 31A of the present embodiment, which is a L shape pipe,
212, wire-passing tube 31A have an entrance 311 and an outlet 312, and entrance 311 is formed in 231 center of through-hole of tool holder 23,
Outlet 312 is then formed in 212 center of side opening of shell 21；In addition, wire-passing tube is also possible to cross line segment (such as comprising two sections of verticals
Label 31C and 31D in Figure 10), wherein one transfixes and connects aforementioned side opening, then wears for another section and connect aforementioned through-hole.Another gear set 222 wraps
Containing a first gear 2221' and a second gear 2222', the first gear 2221' of the present embodiment is by a spur gear, a bevel gear
And connection spur gear and a shaft of bevel gear are constituted, central shaft rod penetrates fulcrum bearing and is supported on inside shell 21, the first tooth
Take turns 2221' spur gear directly with the gear of the second motor 221 engaged transmission, second gear 2222' the second deceleration of connection mechanism
223 and with the bevel gear of first gear 2221' be intermeshed be driven.
It please refers to shown in Fig. 7 and Fig. 8, the difference of the present embodiment and foregoing embodiments is: aforementioned first mechanical arm 10
Pedestal 11 open end 112 be equipped with one perforation 113, this perforation 113 center line and second mechanical arm 20 rotation center it is inclined
Residual quantity is within the scope of 0-2.0cm, and the motor of second mechanical arm 20 is that (not shown go out) is arranged inside shell 21, Wiring structure
30 include a wire-passing tube 31B, and it is the through-hole for wearing tool holder 23 that the wire-passing tube 31B of the present embodiment, which is also a L shape pipe,
231, the perforation 113 of shell 21 and first mechanical arm 10, wire-passing tube 31B have an entrance 311 and an outlet 312,311 shape of entrance
At at 231 center of through-hole of tool holder 23, outlet 312 is then formed in 113 center of perforation of pedestal 11, so when the first machine
When tool arm 10 rotates, cable set 81 can be greatly reduced by the amplitude of whipping.
It please refers to shown in Fig. 9 and Figure 10, the difference of the present embodiment and 3rd embodiment is: the pedestal of first mechanical arm 10
11 open end 112 is equipped with a perforation 113, and the center line of this perforation 113 and the rotation center departure of second mechanical arm 20 are 0
Within the scope of~2.0cm.Second mechanical arm 20 includes one second driving mechanism 22, and the second driving mechanism 22 includes one second motor
221, a driving belt 222A and one second deceleration mechanism 223, the second deceleration mechanism 223 are placed in inside shell 21, the second horse
11 inside of pedestal is placed in up to 221 and drives the second deceleration mechanism 223 and 23 actuation of tool holder through driving belt 222A,
And second motor 221 and aforementioned first driving mechanism 12 the first motor 121 before, rear arrangement mode configured.Walk knot
Structure 30 crosses line segment 31C and one second including one first and crosses line segment 31D, and first, which crosses line segment 31C, wears tool holder 23 and shell
21, entrance 311 is formed in the first head end for crossing line segment 31C, and second, which crosses line segment 31D, wears shell 21 and perforation 113, outlet 312
It is formed in the second end for crossing line segment 31D, so when second mechanical arm 20 rotates, cable set 81 can also be reduced by the width of whipping
Degree.
It please refers to shown in Figure 11, the difference of the present embodiment and fourth embodiment is: the first horse of the first driving mechanism 12
Up to 121 and second second motor 221 of driving mechanism 22 configured with upper and lower arrangement mode, so can significantly shorten
The overall length of pedestal 11 and reduce the radius of gyration, while remaining space can also be provided and give the motor of the 4th axis (not shown go out)
To be installed.
It please refers to shown in Figure 12 and Figure 13, the difference of the present embodiment and fourth embodiment is: the first driving mechanism 12
The position of first motor 121 remains unchanged, and the second motor 221 of the second driving mechanism 22 is then mounted on the shell of second mechanical arm 20
Inside body 21, the second motor 221 is driving instrument mounting base 23 through gear set 222, is so not only simple in structure, installs appearance
It easily, more can the element costs such as reduction such as driving belt, belt pulley significantly.
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, ripe
It knows those skilled in the art and makes various corresponding changes and modifications, but these corresponding changes and change in accordance with the present invention
Shape all should fall within the scope of protection of the appended claims of the present invention.
Claims (17)
1. a kind of mechanical arm wrist unit is installed for a work implement, the work implement has a cable set, and feature exists
In the mechanical arm wrist unit includes:
One first mechanical arm including a pedestal and is mounted on one first driving mechanism of the pedestal；
One second mechanical arm connects the pedestal, which includes the shell for being driven and being rotated by first driving mechanism
Body, one second driving mechanism which is set and be mounted on the shell end and by second driving mechanism drive and rotate
A tool holder；And
One Wiring structure, the wire-passing tube including wearing the tool holder He the shell, the wire-passing tube have an entrance and one
Outlet, which is formed in the center of the tool holder, which forms on the housing, and the cable set is from the wire-passing tube
The entrance penetrate and be pierced by from the outlet.
2. mechanical arm wrist unit as described in claim 1, which is characterized in that the shell offers a centre bore, the tool
Mounting base center has a through-hole, which is a straight tube, which wears the through-hole and the centre bore, and the wire-passing tube and
The through-hole and the centre bore profile at least part superposition.
3. mechanical arm wrist unit as claimed in claim 2, which is characterized in that second driving mechanism includes one second horse
It reaches, which is fixed on the enclosure interior, and the shaft centerline of second motor is parallel to each other with the axis of the centre bore,
And the shaft centerline of second motor is the axis configuration for deviateing the centre bore.
4. mechanical arm wrist unit as claimed in claim 3, which is characterized in that second driving mechanism also includes a gear set
And one second deceleration mechanism, the gear set include a first gear and a second gear, the first gear and second motor
Shaft connection, the second gear connect the second deceleration mechanism and with the first gear engaged transmission.
5. mechanical arm wrist unit as described in claim 1, which is characterized in that the shell is equipped with a side opening, tool installation
The center of seat has a through-hole, which wears the through-hole and the side opening, and the wire-passing tube is a L shape pipe or includes at least two mistakes
Line segment.
6. mechanical arm wrist unit as described in claim 1, which is characterized in that the pedestal is in a U-shaped, has a closing
End and an open end, in the closed end, lateral surface is connected with a speed reducer flange.
7. mechanical arm wrist unit as claimed in claim 6, which is characterized in that first driving mechanism includes one first horse
Reach, a driving belt and one first deceleration mechanism, first motor are fixed on the closed end, which is mounted on this
Open end, the driving belt connect first motor and the first deceleration mechanism.
8. a kind of Wiring structure of mechanical arm wrist unit, which is characterized in that the mechanical arm wrist unit include a shell and
One tool holder, the Wiring structure include the wire-passing tube for wearing the tool holder and the shell, wire-passing tube tool
There are an entrance and an outlet, which is formed in the center of the tool holder, which forms on the housing.
9. the Wiring structure of mechanical arm wrist unit as claimed in claim 8, which is characterized in that the shell offers in one
Heart hole, the tool holder center offer a through-hole, which is a straight tube, which wears the through-hole and described
Centre bore, and the wire-passing tube and the through-hole and the centre bore profile at least part superposition.
10. the Wiring structure of mechanical arm wrist unit as claimed in claim 8, which is characterized in that the shell is equipped with side
Hole, the tool holder center offer a through-hole, which wears the through-hole and the side opening, which is one
L shape pipe crosses line segment comprising at least two.
11. a kind of Wiring structure of mechanical arm wrist unit, which is characterized in that the mechanical arm wrist unit includes one first machine
One second mechanical arm of tool arm and the connection first mechanical arm, the second mechanical arm include that a shell and a tool are installed
Seat, which includes the wire-passing tube for wearing the tool holder, the shell and the first mechanical arm, this crosses line
Pipe has an entrance and an outlet, which is formed in the intermediate position of the tool holder, which is formed in described the
On one mechanical arm.
12. the Wiring structure of mechanical arm wrist unit as claimed in claim 11, which is characterized in that the first mechanical arm packet
A pedestal is included, the pedestal is equipped with a perforation, the rotation center departure of the center line of the perforation and the second mechanical arm
Within the scope of 0~2.0cm, which is a L shape pipe, which wears the tool holder, the shell and described wear
Hole.
13. the Wiring structure of mechanical arm wrist unit as claimed in claim 11, which is characterized in that the first mechanical arm packet
A pedestal is included, the pedestal is equipped with a perforation, the rotation center departure of the center line of the perforation and the second mechanical arm
Within the scope of 0~2.0cm, which includes one first crossing line segment and one second and crossing line segment, this first cross line segment wear it is described
Tool holder and the shell, second line segment excessively wear the shell and the perforation.
14. the Wiring structure of mechanical arm wrist unit as claimed in claim 13, which is characterized in that the second mechanical arm packet
One second driving mechanism is included, second driving mechanism includes one second motor, a driving belt and one second deceleration mechanism, institute
It states the second deceleration mechanism and is placed in the enclosure interior, second motor is placed in inside the pedestal and penetrates the transmission
Belt drives second deceleration mechanism.
15. the Wiring structure of mechanical arm wrist unit as claimed in claim 14, which is characterized in that the first mechanical arm packet
Include one first driving mechanism, first driving mechanism include one first motor, first motor and second motor with
Upper and lower arrangement mode configuration.
16. the Wiring structure of mechanical arm wrist unit as claimed in claim 14, which is characterized in that the first mechanical arm packet
Include one first driving mechanism, first driving mechanism include one first motor, first motor and second motor with
Forward and backward arrangement mode configuration.
17. the Wiring structure of mechanical arm wrist unit as claimed in claim 13, which is characterized in that the second mechanical arm packet
One second driving mechanism is included, second driving mechanism includes one second motor, and second motor is mounted in the shell
Portion and the side for being formed in the second mistake line segment, and second motor drives the tool holder through a gear set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510518474.XA CN106466850B (en) | 2015-08-21 | 2015-08-21 | Mechanical arm wrist unit and its Wiring structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510518474.XA CN106466850B (en) | 2015-08-21 | 2015-08-21 | Mechanical arm wrist unit and its Wiring structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106466850A CN106466850A (en) | 2017-03-01 |
| CN106466850B true CN106466850B (en) | 2019-02-15 |
Family
ID=58229721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510518474.XA Active CN106466850B (en) | 2015-08-21 | 2015-08-21 | Mechanical arm wrist unit and its Wiring structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN106466850B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465156A (en) * | 2018-12-29 | 2019-03-15 | 美玛特电子科技（常州）有限公司 | Five axis dispensers of one kind and its working method |
| CN109623869A (en) * | 2019-01-09 | 2019-04-16 | 北京精密机电控制设备研究所 | A kind of joint of mechanical arm |
| CN110039527A (en) * | 2019-03-13 | 2019-07-23 | 苏州汇川技术有限公司 | Robot wrist, industrial robot and assembly method |
| CN113858174A (en) * | 2021-09-30 | 2021-12-31 | 达闼机器人有限公司 | Electric actuator, mechanical arm and robot |
| CN113927630A (en) * | 2021-12-20 | 2022-01-14 | 沈阳新松机器人自动化股份有限公司 | Rotary joint wiring structure |
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| EP1396314A1 (en) * | 2002-09-04 | 2004-03-10 | Fanuc Ltd | Cable arrangement of a robot with means for electrically shielding the cables |
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| CN203697031U (en) * | 2014-02-26 | 2014-07-09 | 昆山冠品优精密机械有限公司 | Multi-axis robot joint inner wire arranging structure |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
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| CN100381260C (en) * | 2001-10-22 | 2008-04-16 | 株式会社安川电机 | Industrial robot |
| EP1396314A1 (en) * | 2002-09-04 | 2004-03-10 | Fanuc Ltd | Cable arrangement of a robot with means for electrically shielding the cables |
| CN103158158A (en) * | 2011-12-09 | 2013-06-19 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
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Also Published As
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|---|---|
| CN106466850A (en) | 2017-03-01 |
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