CN107186749A - Using the mechanical wrist of direct drive mode - Google Patents
Using the mechanical wrist of direct drive mode Download PDFInfo
- Publication number
- CN107186749A CN107186749A CN201710373886.8A CN201710373886A CN107186749A CN 107186749 A CN107186749 A CN 107186749A CN 201710373886 A CN201710373886 A CN 201710373886A CN 107186749 A CN107186749 A CN 107186749A
- Authority
- CN
- China
- Prior art keywords
- motor
- shaft
- gear frame
- upset
- deflection
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses the mechanical wrist using direct drive mode, including be sequentially connected upset motor, the first power transmission shaft, pitching motor, second driving shaft, gear frame, gear frame is in arciform, and second driving shaft is connected to the middle part of gear frame protruding end；Also include deflection motor, deflection motor is arranged on the inner side of gear frame depression, and deflection motor rotating shaft upper end, the deflection motor rotating shaft lower end of deflection motor are connected to the upper and lower ends of gear frame；Also include flange, gear frame both sides are both connected on flange；The trip shaft of upset motor includes trip shaft front end and upset shaft rear end, and trip shaft front end is arranged in upset motor, and upset shaft rear end is through flange and is arranged in the middle part of flange.The present invention passes through upset motor, pitching motor, deflection motor and its peripheral components, mechanical wrist is caused to be obtained for lifting in flip angle, luffing angle, deflection angle there is provided a kind of structure, increase the movement angle scope of manipulator, improve the flexibility ratio of manipulator.
Description
Technical field
The present invention relates to mechanical field, and in particular to using the mechanical wrist of direct drive mode.
Background technology
Manipulator be it is a kind of can imitate some holding functions of human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument.Manipulator is the industrial robot occurred earliest, is also the modern machines occurred earliest
People, the heavy labor that it can replace people can operate to protect people to realize the mechanization and automation of production under hostile environment
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Manipulator is main by execution machine
Structure, drive mechanism and control system three parts composition.Hand is the part for grasping workpiece (or instrument), according to being grasped
Shape, size, weight, material and the job requirements of object and have multiple structural forms, such as clamp-type, holding type and absorbent-type
Deng.Motion, makes hand complete various rotations (swing), movement or compound motion to realize defined action, change is grabbed
Hold position and the posture of object.The free degree self-movement mode, referred to as manipulator such as lift, stretch, rotating of motion.
In order to capture the object in optional position and orientation in space, there need to be 6 frees degree.The free degree is the crucial ginseng of manipulator design
Number.The free degree is more, and the flexibility of manipulator is bigger, and versatility is wider, and its structure is also more complicated.General special manipulator has 2
~3 frees degree, but the movement angle of manipulator is due to the limitation of wrist in the prior art, its scope of activities is smaller.
The content of the invention
It is an object of the invention to provide the mechanical wrist using direct drive mode, increase the movement angle model of manipulator
Enclose.
The present invention is achieved through the following technical solutions：
Using the mechanical wrist of direct drive mode, including be sequentially connected upset motor, the first power transmission shaft, pitching electricity
Machine, second driving shaft, gear frame, the gear frame are in arciform, and second driving shaft is connected to the middle part of gear frame protruding end；Also wrap
Include deflection motor, the deflection motor is arranged on the inner side of gear frame depression, and the deflection motor rotating shaft upper end of deflection motor,
Deflection motor rotating shaft lower end is connected to the upper and lower ends of gear frame；Also include flange, the gear frame both sides are both connected to
On flange；The trip shaft of the upset motor includes trip shaft front end and upset shaft rear end, and the trip shaft front end, which is arranged on, to be turned over
On rotating motor, the upset shaft rear end is through flange and is arranged in the middle part of flange；The side of the deflection motor is provided with one
Solar shaft and a planet axis, solar shaft are in the middle part of deflection motor, and planet axis is positioned close to the position at deflection motor edge,
A sun hole and a planet groove are provided with the inside of described gear frame one end, the solar shaft is placed in sun hole, OK
Star axle is placed in planet groove.
On a robotic arm, manipulator is for clamping object for the other end connection at trip shaft front end connection upset motor end
Part；Upset motor is used to drive trip shaft front end to rotate, and trip shaft front end is synchronous axial system with upset shaft rear end, wherein turning over
Rotating shaft front end is connected directly between in upset motor, so trip shaft front end belongs to driving part, and overturns shaft rear end and does not have directly
Contact upset motor, therefore upset shaft rear end belongs to slave unit, after upset motor action, trip shaft front end, upset
Shaft rear end and the part between them carry out flip-flop movement around trip shaft front end with axis where upset shaft rear end.
Deflection motor is arranged on by deflection motor rotating shaft between arciform gear frame, straight line where deflection motor rotating shaft with
Straight line is vertical where trip shaft, deflection motor action, then drives gear frame to enter horizontal deflection around deflection motor rotating shaft, and deflection is swept
The plane crossed is vertical with the plane that trip shaft is rotated；Gear frame starts under the drive of deflection motor before yaw motion, trip shaft
End, gear frame and its between part also begin to make yaw motion around deflection motor rotating shaft.When deflection motor is acted, solar shaft
It can be rotated in sun hole, planet axis is slided in planet groove, the angle that planet axis is rotated in planet groove is 250 °.
Pitching motor is arranged between the first power transmission shaft and second driving shaft, and the position of second driving shaft and pitching motor is
Geo-stationary, the first power transmission shaft, trip shaft front end and its between part relative to pitching motor be motion, and first
Power transmission shaft, trip shaft front end and its between the inswept plane of component actuation be perpendicular to the plane of trip shaft nose motion with
And the inswept plane of gear frame.
For sake of clarity, the above-mentioned plane relation being related to is applied to three-dimensional system of coordinate and stated, if trip shaft front end
It is the Y-axis in three-dimensional system of coordinate with axis where upset shaft rear end, then the plane that trip shaft front end is rotated is then XZ planes, upset
Axle can rotate 300 ° in XZ planes；The axis of deflection motor rotating shaft is then Z axis, and the plane that gear frame is inswept is then flat for XY
Face, gear frame the inswept angle of X/Y plane be 250 °, pitching motor drive the first power transmission shaft, trip shaft front end and its between
The plane that is acted of part be YZ planes, pitching motor is in X-axis, and pitching motor is in the angle that YZ planes can drive
250°。
Further, turning annular part, the turning annular portion are provided between the first power transmission shaft and second driving shaft
Part includes solid arc strip and hollow arc sleeve, and hollow arc sleeve two ends are inserted at the solid arc strip two ends, described to bow
Motor is faced upward to be arranged on the inside of hollow arc sleeve while being connected with solid arc strip two ends.
Pitching motor is acted, and applies driving force at solid arc strip two ends, solid arc strip is at hollow arc sleeve two ends
Between slide, then can promote the first drive axis.
Further, the first power transmission shaft is connected with upset motor by the first fixing device, and first fixing device is adopted
Use screw-nut.
The present invention compared with prior art, has the following advantages and advantages：The present invention passes through upset motor, pitching
Motor, deflection motor and its peripheral components cause mechanical wrist in flip angle, luffing angle, deflection there is provided a kind of structure
Angle is obtained for lifting, increases the movement angle scope of manipulator, improves the flexibility ratio of manipulator.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is schematic structural view of the invention；
Fig. 2 is gear frame of the present invention and the surface texture schematic diagram of end in contact under deflection motor rotating shaft；
Fig. 3 is deflection motor polycrystalline substance schematic diagram of the present invention.
Mark and corresponding parts title in accompanying drawing：
1- trip shafts front end, 2- upset motors, the fixing devices of 3- first, the power transmission shafts of 4- first, 5- pitching motors, 6- second
Power transmission shaft, 7- gear frames, the links of 8- first, the fixing devices of 9- second, the fixing devices of 10- the 3rd, the links of 11- second, 12-
Deflection motor rotating shaft upper end, 13- upset shaft rear ends, 14- deflection motors, 15- flanges, 16- deflection motor rotating shafts lower end.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment and its explanation of the invention is only used for explaining the present invention, does not make
For limitation of the invention.
Embodiment
As shown in Figure 1 to Figure 3, using the mechanical wrist of direct drive mode, including be sequentially connected upset motor 2,
One power transmission shaft 4, pitching motor 5, second driving shaft 6, gear frame 7, the gear frame 7 are in arciform, and second driving shaft 6 is connected to biography
The middle part of the protruding end of moving frame 7；Also include deflection motor 14, the deflection motor 14 is arranged on the inner side of the depression of gear frame 7, and
Deflection motor rotating shaft upper end 12, the deflection motor rotating shaft lower end 16 of deflection motor 14 are connected to the upper and lower ends of gear frame 7；
Also include flange 15, the both sides of gear frame 7 are both connected on flange 15；The trip shaft of the upset motor 2 includes trip shaft
Front end 1 and upset shaft rear end 13, the trip shaft front end 1 are arranged in upset motor 2, and the upset shaft rear end 13 passes through flange
15 and it is arranged on the middle part of flange 15；The side of the deflection motor 14 is provided with a solar shaft and a planet axis, solar shaft
In the middle part of deflection motor, planet axis is positioned close to set on the inside of the position at the edge of deflection motor 14, described one end of gear frame 7
A sun hole and a planet groove are equipped with, the solar shaft is placed in sun hole, and planet axis is placed in planet groove.
Turning annular part is provided between first power transmission shaft 4 and second driving shaft 6, the turning annular part includes real
Hollow arc sleeve two ends are inserted at heart arc strip and hollow arc sleeve, the solid arc strip two ends, and the pitching motor 5 is set
Put on the inside of hollow arc sleeve while being connected with solid arc strip two ends.
First power transmission shaft 4 is connected with upset motor 2 by the first fixing device 3, and first fixing device 3 uses screw
Nut.
On a robotic arm, manipulator is to be used to clamp object for the other end connection at connection upset motor 2 end of trip shaft front end 1
Part；Upset motor 2 is used to drive trip shaft front end 1 to rotate, and trip shaft front end 1 is synchronous axial system with upset shaft rear end 13
, wherein trip shaft front end 1 is connected directly between in upset motor 2, so trip shaft front end 1 belongs to driving part, and trip shaft
Rear end 13 does not contact upset motor 2 directly, therefore upset shaft rear end 13 belongs to slave unit, in the action of upset motor 2
Afterwards, trip shaft front end 1, upset shaft rear end 13 and the part between them around trip shaft front end 1 and overturn shaft rear end 13
Place axis carries out flip-flop movement.
Deflection motor 14 is arranged on by deflection motor rotating shaft between arciform gear frame, straight line where deflection motor rotating shaft
Vertical with straight line where trip shaft, deflection motor 14 is acted, then drives gear frame 7 to enter horizontal deflection around deflection motor rotating shaft, partially
The plane for turning inswept is vertical with the plane that trip shaft is rotated；Gear frame 7 starts yaw motion under the drive of deflection motor, turns over
Rotating shaft front end 1, gear frame 7 and its between part also begin to make yaw motion around deflection motor rotating shaft.Deflection motor 14 is moved
When making, solar shaft can be rotated in sun hole, and planet axis is slided in planet groove, the angle that planet axis is rotated in planet groove
For 250 °.
Pitching motor 5 is arranged between the first power transmission shaft 4 and second driving shaft 6, second driving shaft 6 and pitching motor 5
Position is geo-stationary, the first power transmission shaft 4, trip shaft front end 1 and its between part relative to pitching motor 5 be motion
, and the first power transmission shaft 4, trip shaft front end 1 and its between the inswept plane of component actuation be perpendicular to before trip shaft
The plane and the inswept plane of gear frame 7 of the motion of end 1.
For sake of clarity, the above-mentioned plane relation being related to is applied to three-dimensional system of coordinate and stated, if trip shaft front end 1
It is the Y-axis in three-dimensional system of coordinate with the upset place axis of shaft rear end 13, then the plane that trip shaft front end 1 is rotated is then XZ planes,
Trip shaft can rotate 300 ° in XZ planes；The axis of the rotating shaft of deflection motor 14 is then Z axis, and the plane that gear frame 7 is inswept is then
For X/Y plane, gear frame 7 is 250 ° in the inswept angle of X/Y plane, and pitching motor 5 is driven before the first power transmission shaft 4, trip shaft
End 1 and its between the plane that is acted of part be YZ planes, pitching motor 5 is in X-axis, and pitching motor 5 can drive in YZ planes
Dynamic angle is 250 °.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should be included
Within protection scope of the present invention.
Claims (3)
1. using the mechanical wrist of direct drive mode, it is characterised in that including upset motor (2), the first biography being sequentially connected
Moving axis (4), pitching motor (5), second driving shaft (6), gear frame (7), the gear frame (7) are in arciform, second driving shaft (6)
It is connected to the middle part of gear frame (7) protruding end；Also include deflection motor (14), the deflection motor (14) is arranged on gear frame
(7) inner side of depression, and deflection motor rotating shaft upper end (12), deflection motor rotating shaft lower end (16) difference of deflection motor (14)
It is connected to the upper and lower ends of gear frame (7)；Also include flange (15), gear frame (7) both sides are both connected on flange (15)；
The trip shaft of the upset motor (2) includes trip shaft front end (1) and upset shaft rear end (13), and the trip shaft front end (1) sets
Put in upset motor (2), the upset shaft rear end (13) is through flange (15) and is arranged in the middle part of flange (15)；The deflection
The side of motor (14) is provided with a solar shaft and a planet axis, and solar shaft is in the middle part of deflection motor, and planet axis is set
A sun hole and a row are provided with the inside of the position close to deflection motor (14) edge, described gear frame (7) one end
Star groove, the solar shaft is placed in sun hole, and planet axis is placed in planet groove.
2. the mechanical wrist of use direct drive mode according to claim 1, it is characterised in that first power transmission shaft
(4) turning annular part is provided between second driving shaft (6), the turning annular part includes solid arc strip and hollow
Hollow arc sleeve two ends are inserted at arc sleeve, the solid arc strip two ends, and the pitching motor (5) is arranged on hollow arc
It is connected simultaneously with solid arc strip two ends on the inside of sleeve.
3. the mechanical wrist of use direct drive mode according to claim 1, it is characterised in that first power transmission shaft
(4) it is connected with upset motor (2) by the first fixing device (3), first fixing device (3) uses screw-nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710373886.8A CN107186749A (en) | 2017-05-24 | 2017-05-24 | Using the mechanical wrist of direct drive mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710373886.8A CN107186749A (en) | 2017-05-24 | 2017-05-24 | Using the mechanical wrist of direct drive mode |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107186749A true CN107186749A (en) | 2017-09-22 |
Family
ID=59874341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710373886.8A Withdrawn CN107186749A (en) | 2017-05-24 | 2017-05-24 | Using the mechanical wrist of direct drive mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107186749A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112568586A (en) * | 2020-12-10 | 2021-03-30 | 陈梁柱 | Indoor eminence dust filth cleaning device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5816107A (en) * | 1995-11-20 | 1998-10-06 | Tokico Ltd. | Joint for industrial robot |
| CN103753601A (en) * | 2013-12-18 | 2014-04-30 | 上海交通大学 | Teleoperation mechanical arm of space cascade rotary joint type and combination thereof |
| CN104708637A (en) * | 2015-03-17 | 2015-06-17 | 南京理工大学 | Human-simulated mechanical arm |
| CN105619400A (en) * | 2016-02-24 | 2016-06-01 | 青岛万龙智控科技有限公司 | Six-degree-of-freedom manipulator |
| CN105751209A (en) * | 2016-04-20 | 2016-07-13 | 佛山智能装备技术研究院 | Arm robot with six joints |
| CN105945924A (en) * | 2016-07-06 | 2016-09-21 | 安徽中鑫模具产业发展有限公司 | Six-shaft robot |
-
2017
- 2017-05-24 CN CN201710373886.8A patent/CN107186749A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5816107A (en) * | 1995-11-20 | 1998-10-06 | Tokico Ltd. | Joint for industrial robot |
| CN103753601A (en) * | 2013-12-18 | 2014-04-30 | 上海交通大学 | Teleoperation mechanical arm of space cascade rotary joint type and combination thereof |
| CN104708637A (en) * | 2015-03-17 | 2015-06-17 | 南京理工大学 | Human-simulated mechanical arm |
| CN105619400A (en) * | 2016-02-24 | 2016-06-01 | 青岛万龙智控科技有限公司 | Six-degree-of-freedom manipulator |
| CN105751209A (en) * | 2016-04-20 | 2016-07-13 | 佛山智能装备技术研究院 | Arm robot with six joints |
| CN105945924A (en) * | 2016-07-06 | 2016-09-21 | 安徽中鑫模具产业发展有限公司 | Six-shaft robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112568586A (en) * | 2020-12-10 | 2021-03-30 | 陈梁柱 | Indoor eminence dust filth cleaning device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170922 |