CN107379009A - A kind of novel robot wrist structure - Google Patents
A kind of novel robot wrist structure Download PDFInfo
- Publication number
- CN107379009A CN107379009A CN201710731848.5A CN201710731848A CN107379009A CN 107379009 A CN107379009 A CN 107379009A CN 201710731848 A CN201710731848 A CN 201710731848A CN 107379009 A CN107379009 A CN 107379009A
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- Prior art keywords
- axle
- wrist
- spindle motor
- component
- wrist structure
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- 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
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention proposes a kind of novel robot wrist structure, including：Body assembly, 5 axle wrist structures and 6 axle wrist structures, the 5 axle wrist structure and 6 axle wrist structures use separation-type and modularized modular construction, are installed to again on the body assembly after independently assembling, wherein, the 5 axle wrist structure includes：One 5 spindle motor component, the 2nd 5 spindle motor component, 5 axle reducer assemblies；The 6 axle wrist structure includes：6 spindle motor components, 6 the first transmission shaft components of axle, 6 axle second driving shaft components, 6 axle reducer assemblies.The present invention is easily installed and safeguarded, is easy to measure and debugs, realizing that 5,6 shaft spaces are isolated, and avoids grease cross pollution, and reduces machining accuracy, saves cost.
Description
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of novel robot wrist structure.
Background technology
Six-shaft industrial robot is a kind of automation equipment being widely used, and light and handy end joint designs are brought higher
Speed and flexibility, it is compact light and handy that this requires industrial robot terminal shaft, especially five or six shaft designs to try one's best, and keeps high
Install while precision and conveniently and easy to maintain.So to be all that 5,6 spindle motors are positioned over remote for many industrial robots at present
The position of five or six axles, torque is transmitted to 5,6 axle decelerators by timing belt, bevel gear.This scheme can accomplish compact, but deposit
The defects of adjustment of bevel gear gap is relatively complicated and difficult in installation and debugging process.Current scheme (US 2012/
0103127 A1 ROBOT ARM ASSEMBLY) disclose it is a kind of 5 axle decelerators and wrist body are first installed, then 6 axles are installed
Bevel Gear Transmission component, it could judge whether gap is suitable according to sound and gap value afterwards.If gap is improper, now need
6 axle transmission components, the dismounting of 5 axle rotating assemblies are adjusted again.This process dismantles cumbersome, grease there is being not easy to measure
Easily many problems such as pollution.
The content of the invention
The purpose of the present invention is intended at least solve one of described technological deficiency.
Therefore, it is an object of the invention to propose a kind of novel robot wrist structure.
To achieve these goals, embodiments of the invention provide a kind of novel robot wrist structure, including：Body group
Part, 5 axle wrist structures and 6 axle wrist structures, the 5 axle wrist structure and 6 axle wrist structures use separation-type and modularized component
Structure, it is installed to again on the body assembly after independently assembling,
Wherein, the 5 axle wrist structure includes：One 5 spindle motor component (13), the 2nd 5 spindle motor component (21), 5 axles
Reducer assemblies (14)；The 6 axle wrist structure includes：6 spindle motor components (21), 6 the first transmission shaft components of axle (22), 6 axles
Second driving shaft component (23), 6 axle reducer assemblies (24),
The assemble sequence of the novel robot wrist structure is as follows：
S1, the one 5 spindle motor component (13), the 2nd 5 spindle motor component (21) are assembled to the body assembly
On body (101)；
S2, the transmission shaft component of 6 axle first (22), 6 axle second driving shaft components (23) are assembled to the body group
On the wrist body (105) of part；
S3, the 6 axle reducer assemblies (24) are installed on the wrist body (105)；
S4,5 axle decelerator flexbile gears (141) of the 5 axle reducer assemblies (14) are installed to the wrist body (105)
On, and the wrist body and remaining component are installed on the body (101)；
S5, bearing is installed to the body right part (102) of the body assembly, then is installed to the body (101)；
S6, belt wheel and belt are finally installed, and adjust tension force, complete whole assembling.
Further, the 5 axle reducer assemblies and 6 axle reducer assemblies are separated into different spaces in the body.
Further, in the S2, by the transmission shaft component of 6 axle first (22), 6 axle second driving shaft components (23)
During the wrist body (105) for being assembled to the body assembly, the sideshake requirement of bevel gear meets ± 0.02mm.
Further, to ensure that the requirement of the sideshake of the bevel gear meets ± 0.02mm, using one of following two modes：
(1) controlled within ± 0.01mm using high-precision bevel gear and correlated parts machining accuracy, protected by machining accuracy
Demonstrate,prove gap；
(2) general precision bevel gear, bearing face joint sheet, and adjusting gasket thickness are used to adjust between bevel gear
Gap.
Further, the transmission shaft component of 6 axle first (22), the power transmission shaft of 6 axle second driving shaft components (23) and described
Bevel gear uses integral type or separation design.
Novel robot wrist structure according to embodiments of the present invention, passes through separation-type and modularized modular construction so that hand
Wrist units can assemble individually in advance, debug after integral installation is on body again, 5 axle transmission components and 6 axles pass during this
Dynamic component can respective complete independently, avoid intersect install, and reduce debugging cone backlash in a large amount of dismountings, measurement and tune
Full employment.5 axle decelerators and 6 axle decelerators are separated into by different spaces by wrist structure, and can be assembled with handle wrist units,
It is overall again after debugging is good to be assembled on body, assembling is reduced, is easy to debug and safeguards.
The novel robot wrist structure of the embodiment of the present invention, has the advantages that：1st, it is easily installed and safeguards；2、
It is easy to measure and debugs；3rd, realize that 5,6 shaft spaces are isolated, avoid grease cross pollution；4th, machining accuracy is reduced, saves cost.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the front view according to the novel robot wrist structure of the embodiment of the present invention；
Fig. 2 is to sectional view according to the A-A of the novel robot wrist structure of the embodiment of the present invention；
Fig. 3 a and Fig. 3 b are the side view according to the novel robot wrist structure of the embodiment of the present invention.
Reference：
10th, body assembles, and 101, body, 102, body right part, 103, left cap, 104, right cap；105th, wrist body；
13rd, 5 spindle motor component, 131,5 spindle motors, 132, motor flange, 133, electrical machine belt pulley, 134, belt, 135, band
Wheel；
14th, 5 axle reducer assemblies, 141, harmonic reducer flexible wheel, 142, tape spool wave producer, 143, bearing, 144, axle
Hold, 145, attachment screw；
21st, 6 spindle motor component, 211,6 spindle motors, 212, motor flange, 213, belt wheel, 214, belt；
22nd, the component of 6 axle power transmission shaft 1,221, belt wheel, 222, attachment screw, 223, gear shaft 1,224, bearing；
23rd, the component of 6 axle power transmission shaft 2,231, gear shaft 2,232, bearing, 233 attachment screws；
24th, 6 axle reducer assemblies, 241, wave producer, 242, decelerator steel wheel, 243, decelerator flexbile gear.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
As Figure 1-3, the novel robot wrist structure of the embodiment of the present invention, including：Body assembly, 5 axle wrist knots
Structure and 6 axle wrist structures, 5 axle wrist structures and 6 axle wrist structures use separation-type and modularized modular construction, independently assemble
It is installed to again on body assembly afterwards.
Specifically, as shown in Fig. 2 body assembly includes：Body 101, body right part 102, left cap 103, right cap 104
With wrist body 105.
With reference to shown in figure 2, Fig. 3 a and Fig. 3 b, 5 axle wrist structures include：One 5 spindle motor component 13, the 2nd 5 spindle motor
Component 21,5 axle reducer assemblies 14.Wherein, the one 5 spindle motor component 13 includes：5 spindle motors 131, motor flange 132, motor
Belt wheel 133, belt 134 and belt wheel 135.5 axle reducer assemblies 14 include：Harmonic reducer flexible wheel 141, tape spool wave producer
142nd, bearing (143,144), attachment screw 145.
With reference to shown in figure 2,6 axle wrist structures include：6 spindle motor components 21,6 axle the first transmission shaft components 22,6 axles second
Transmission shaft component 23,6 axle reducer assemblies 24.
6 spindle motor components 21 include：6 spindle motors 211, motor flange 212, belt wheel 213 and belt 214.6 axles first are driven
Shaft assembly 22 includes：Belt wheel 221, attachment screw 222, first gear axle 223, bearing 224.6 axle second driving shaft components 23 wrap
Include：Second gear axle 231, bearing 232 and attachment screw 233.6 axle reducer assemblies 24 include：Wave producer 241, decelerator
Steel wheel 242 and decelerator flexbile gear 243.
The assemble sequence of the novel robot wrist structure of the present invention is illustrated below：
S1, the one 5 spindle motor component 13, the 2nd 5 spindle motor component 21 are assembled on the body 101 of body assembly.
S2,6 axle the first transmission shaft components 22,6 axle second driving shaft components 23 are assembled to the wrist body of body assembly
On 105.
6 axle the first transmission shaft components 22,6 axle second driving shaft components 23 are being assembled to the wrist body of body assembly
During 105, the sideshake requirement of bevel gear meets ± 0.02mm.
It should be noted that correct engagement of bevel gear is most important during this, if sideshake each other is not
Meet the requirements bevel gear sideshake requirement ± 0.02mm, then noise, life-span, precision all can be by large effects.
To ensure that the requirement of the sideshake of bevel gear meets ± 0.02mm, using one of following two modes：
(1) controlled within ± 0.01mm using high-precision bevel gear and correlated parts machining accuracy, protected by machining accuracy
Demonstrate,prove gap；
(2) general precision bevel gear, bearing face joint sheet, and adjusting gasket thickness are used to adjust between bevel gear
Gap.
In one embodiment of the invention, the transmission of 6 axle the first transmission shaft components 22,6 axle second driving shaft components 23
Axle and bevel gear use integral type or separation design, have same effect.
S3,6 axle reducer assemblies 24 are installed on wrist body 105.At this moment 6 axle transmission components are all sealed, keep away
Exempt from subsequent installation to pollute internal grease.
S4,5 axle decelerator flexbile gears 141 of 5 axle reducer assemblies 14 are installed on wrist body 105, and by wrist sheet
Body and remaining component are installed on body 101.
In one embodiment of the invention, 5 axle reducer assemblies and 6 axle reducer assemblies are separated into difference in the body
In space.That is, 5 axle decelerator cavitys and 6 axle decelerator cavitys are that isolation is obstructed in the present invention, can also use the chamber do not isolated
Body, there is same effect.
The present invention can complete measurement and adjustment work before wrist body 105 is assembled into body 101, avoid one
The defects of denier, which need to be adjusted after integrally need to all dismantling, to be measured, adjusting gasket thickness, realization are easy to debug and installed.Equally, tie up
Integral demounting is only needed during shield, replacing corresponding module can complete to safeguard, reduce maintenance difficulties.
S5, bearing is installed to the body right part 102 of body assembly, then is installed to body 101.
S6, belt wheel and belt are finally installed, and adjust tension force, complete whole assembling.
Novel robot wrist structure according to embodiments of the present invention, passes through separation-type and modularized modular construction so that hand
Wrist units can assemble individually in advance, debug after integral installation is on body again, 5 axle transmission components and 6 axles pass during this
Dynamic component can respective complete independently, avoid intersect install, and reduce debugging cone backlash in a large amount of dismountings, measurement and tune
Full employment.5 axle decelerators and 6 axle decelerators are separated into by different spaces by wrist structure, and can be assembled with handle wrist units,
It is overall again after debugging is good to be assembled on body, assembling is reduced, is easy to debug and safeguards.
The novel robot wrist structure of the embodiment of the present invention, has the advantages that：1st, it is easily installed and safeguards；2、
It is easy to measure and debugs；3rd, realize that 5,6 shaft spaces are isolated, avoid grease cross pollution；4th, machining accuracy is reduced, saves cost.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.The scope of the present invention
Extremely equally limited by appended claims.
Claims (5)
- A kind of 1. novel robot wrist structure, it is characterised in that including：Body assembly, 5 axle wrist structures and 6 axle wrist knots Structure, the 5 axle wrist structure and 6 axle wrist structures use separation-type and modularized modular construction, are installed again after independently assembling Onto the body assembly,Wherein, the 5 axle wrist structure includes：One 5 spindle motor component (13), the 2nd 5 spindle motor component (21), 5 axles slow down Device assembly (14)；The 6 axle wrist structure includes：6 spindle motor components (21), 6 the first transmission shaft components of axle (22), 6 axles second Transmission shaft component (23), 6 axle reducer assemblies (24),The assemble sequence of the novel robot wrist structure is as follows：S1, the one 5 spindle motor component (13), the 2nd 5 spindle motor component (21) are assembled to the body of the body assembly (101) on；S2, the transmission shaft component of 6 axle first (22), 6 axle second driving shaft components (23) are assembled to the body assembly On wrist body (105)；S3, the 6 axle reducer assemblies (24) are installed on the wrist body (105)；S4,5 axle decelerator flexbile gears (141) of the 5 axle reducer assemblies (14) are installed on the wrist body (105), And the wrist body and remaining component are installed on the body (101)；S5, bearing is installed to the body right part (102) of the body assembly, then is installed to the body (101)；S6, belt wheel and belt are finally installed, and adjust tension force, complete whole assembling.
- 2. novel robot wrist structure as claimed in claim 1, it is characterised in that the 5 axle reducer assemblies and 6 axles subtract Fast device assembly is separated into different spaces in the body.
- 3. novel robot wrist structure as claimed in claim 1, it is characterised in that in the S2, by 6 axle One transmission shaft component (22), 6 axle second driving shaft components (23) are assembled to the process of the wrist body (105) of the body assembly In, the sideshake requirement of bevel gear meets ± 0.02mm.
- 4. novel robot wrist structure as claimed in claim 3, it is characterised in that to ensure that the sideshake of the bevel gear will Ask and meet ± 0.02mm, using one of following two modes：(1) high-precision bevel gear is used；(2) bearing face joint sheet, and adjusting gasket thickness carrys out cone governor gear clearance.
- 5. novel robot wrist structure as claimed in claim 3, it is characterised in that the transmission shaft component of 6 axle first (22), the power transmission shaft of 6 axle second driving shaft components (23) and the bevel gear use integral type or separation design.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710731848.5A CN107379009A (en) | 2017-08-23 | 2017-08-23 | A kind of novel robot wrist structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710731848.5A CN107379009A (en) | 2017-08-23 | 2017-08-23 | A kind of novel robot wrist structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107379009A true CN107379009A (en) | 2017-11-24 |
Family
ID=60345176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710731848.5A Pending CN107379009A (en) | 2017-08-23 | 2017-08-23 | A kind of novel robot wrist structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107379009A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866250A (en) * | 2019-03-01 | 2019-06-11 | 达闼科技（北京）有限公司 | Robot wrist structure and robot |
| CN110355781A (en) * | 2018-04-11 | 2019-10-22 | 发那科株式会社 | The wrist structure of robot |
| CN114311014A (en) * | 2021-12-13 | 2022-04-12 | 珠海格力智能装备有限公司 | Bevel gear transmission robot joint mechanism and robot formed by same |
| CN114310866A (en) * | 2022-03-10 | 2022-04-12 | 珞石（北京）科技有限公司 | Robot joint and method for adjusting gear backlash between joints |
| CN115070737A (en) * | 2022-07-26 | 2022-09-20 | 珞石（北京）科技有限公司 | Series-parallel robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110355781A (en) * | 2018-04-11 | 2019-10-22 | 发那科株式会社 | The wrist structure of robot |
| CN109866250A (en) * | 2019-03-01 | 2019-06-11 | 达闼科技（北京）有限公司 | Robot wrist structure and robot |
| CN109866250B (en) * | 2019-03-01 | 2021-08-13 | 达闼科技（北京）有限公司 | Robot wrist structure and robot |
| US11541555B2 (en) | 2019-03-01 | 2023-01-03 | Cloudminds (Beijing) Technologies Co., Ltd. | Robot wrist structure and robot |
| CN114311014A (en) * | 2021-12-13 | 2022-04-12 | 珠海格力智能装备有限公司 | Bevel gear transmission robot joint mechanism and robot formed by same |
| CN114310866A (en) * | 2022-03-10 | 2022-04-12 | 珞石（北京）科技有限公司 | Robot joint and method for adjusting gear backlash between joints |
| CN114310866B (en) * | 2022-03-10 | 2022-05-27 | 珞石（北京）科技有限公司 | Robot joint and method for adjusting gear backlash between joints |
| CN115070737A (en) * | 2022-07-26 | 2022-09-20 | 珞石（北京）科技有限公司 | Series-parallel robot |
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Application publication date: 20171124 |