CN107639647A - The wrist joint of robot mechanism of omnidirectional's wheel drive - Google Patents
The wrist joint of robot mechanism of omnidirectional's wheel drive Download PDFInfo
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- CN107639647A CN107639647A CN201711037140.6A CN201711037140A CN107639647A CN 107639647 A CN107639647 A CN 107639647A CN 201711037140 A CN201711037140 A CN 201711037140A CN 107639647 A CN107639647 A CN 107639647A
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- joint
- ball
- single omni
- wheel
- directional
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 14
- 238000009434 installation Methods 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The invention discloses a kind of wrist joint of robot mechanism of omnidirectional's wheel drive, including ball-joint, the lower hemisphere of the ball-joint is placed in the three single omni-directional wheel CONTACT WITH FRICTIONs uniform in ball-joint cup frame and with ball-joint cup frame inner periphery, three single omni-directional wheels are installed by corresponding wheel carrier and the oblique lower section of centre of gyration line of three single omni-directional wheels and intersected at a point, the joining is in the underface of the ball-joint centre of sphere, each wheel carrier is provided with the encoder of the ball-joint motor single omni-directional wheel corner corresponding with detection of the corresponding single omni-directional wheel of driving, the ball-joint cup frame is provided with the anti-drop assembly acted on ball-joint upper hemisphere, ball-joint upper hemisphere is provided with the platform base for work tool installation.The present invention is adjustable and changes position and posture of the mechanical gripper in three dimensions, stable movement, turns to flexibly, and build is compact.
Description
Technical field
The present invention relates to robot joint structure, specially a kind of wrist joint of robot mechanism of omnidirectional's wheel drive.
Background technology
Industrial robot is the multi-joint manipulator or multivariant automation equipment towards industrial circle, and it can be imitated
Some holding functions of human hand and arm, to by program crawl, carrying object or the operation instrument originally set.Wrist joint is machine
The important component that the arm of device people is connected with each other with mechanical gripper, its most important function are adjustment and change mechanical gripper
Position and posture in three dimensions, therefore, flexibility of the wrist joint in spatial movement and straight in the scope of spatial movement
Connect and have influence on the overall function and performance at work of robot.
At present, wrist joint of robot is divided into two kinds of two degrees of freedom and Three Degree Of Freedom, mainly has gear train driving and hydraulic pressure to drive
Move two kinds of drive forms.
Generally there is complicated, body due to the reason such as driving and being driven for the wrist joint of robot of existing Three Degree Of Freedom
The shortcomings of product is big, and vibrating noise is big during work and deficiency.
The content of the invention
In view of the shortcomings of the prior art, the technical problems to be solved by the invention are to propose a kind of adjustable and change machine
Position and posture of the tool handgrip in three dimensions, and move it is flexible, can the robot wrist of wide variety of omnidirectional's wheel drive close
Save mechanism.
The wrist joint of robot mechanism of omnidirectional's wheel drive of above-mentioned technical problem is can solve the problem that, its technical scheme is closed including ball
Section, three that the lower hemisphere of the ball-joint is placed in ball-joint cup frame and with ball-joint cup frame inner periphery uniformly are single
Omni-directional wheel CONTACT WITH FRICTION, three single omni-directional wheels are installed by corresponding wheel carrier and the centre of gyration line of three single omni-directional wheels is oblique
Downwards and intersect at a point, the joining is in the underface of the ball-joint centre of sphere, and it is corresponding single complete that each wheel carrier is provided with driving
To the encoder of the ball-joint motor single omni-directional wheel corner corresponding with detection of wheel, the ball-joint cup frame is provided with and acted on
Anti-drop assembly on ball-joint upper hemisphere, ball-joint upper hemisphere are provided with the platform base for work tool installation.
A kind of structure of the anti-drop assembly is included in the ring cowling installed on ball-joint frame, and collar extension is upward in the ring cowling
Flange is in the bottom of ball-joint upper hemisphere, is evenly distributed between flange and the ball-joint upper hemisphere and is determined by retainer
The ball of position.
The work tool is conventionally mechanical gripper or camera.
Beneficial effects of the present invention：
1st, the wrist joint of robot mechanism of omnidirectional's wheel drive of the present invention is adjustable and changes mechanical gripper in three dimensions
Position and posture, stable movement, turn to flexible, and build is compact.
2nd, in structure of the present invention, three single omni-directional wheels are uniformly distributed, and can be efficiently reduced to act on ball-joint and be added
The generation of power.
3rd, the present invention is provided with platform base on ball-joint, and several work equipment can be installed on the platform base (such as machinery
Handgrip and shooting are first-class), application scenario is wide.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the present invention.
Fig. 2 is the sectional view in figure.
Fig. 3 is the specific utilization of Fig. 1, Fig. 2 embodiment.
Figure number identifies：1st, ball-joint；2nd, ball-joint cup frame；3rd, single omni-directional wheel；4th, wheel carrier；5th, ball-joint motor；6、
Encoder；7th, anti-drop assembly；8th, ring cowling；9th, retainer；10th, ball；11st, platform base；12nd, mechanical gripper；13rd, mechanical arm；
14th, arm motor；15th, joint arm；16th, panoramic table；17th, support.
Embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
The wrist joint of robot mechanism of omnidirectional's wheel drive of the present invention includes ball-joint 1, ball-joint cup frame 2 and single omnidirectional
Wheel 3, the lower hemisphere of the ball-joint 1 is placed in ball-joint cup frame 2 between two parties, and three single omni-directional wheels 3 are in ball-joint cup
The inner periphery of frame 2 is uniform and passes through corresponding wheel carrier 4 (peace with the lower hemisphere CONTACT WITH FRICTION of ball-joint 1, three single omni-directional wheels 3
Loaded in ball-joint cup frame 2) installation and the oblique lower section of centre of gyration line of three single omni-directional wheels 4 and intersect at a point, should
Joining is in the underface of the centre of sphere of ball-joint 1, and each wheel carrier 6 is provided with the He of ball-joint motor 5 of the corresponding single omni-directional wheel 3 of driving
The encoder 6 of the corresponding single corner of omni-directional wheel 4 of detection, the ball-joint cup frame 2 are provided with and act on the upper hemisphere of ball-joint 1
On anti-drop assembly 7, the upper hemisphere of ball-joint 1 be provided with for work tool installation platform base 11, as shown in Figure 1 and Figure 2.
The anti-drop assembly 7 includes ring cowling 8, and the ring cowling 8 is in collar extension in the installation suitable for reading of ball-joint cup frame 2, ring cowling 8
Upward flange is encircled between the bottom of the upper hemisphere of ball-joint 1, the upper hemisphere of flange and ball-joint 1 and is evenly distributed in
The ball 10 positioned by retainer 9, the ball 10 are rolled and are limited in the half slot on the inside of flange, as shown in Figure 2.
The present invention working method be：
Three ball-joint motors 5 drive three single omni-directional wheels 3 to rotate respectively, and three single omni-directional wheels 3 can produce respectively
The velocity of three different directions, the velocity of these three different directions synthesize the speed arrow of any direction in space
Amount, the velocity can control the omnidirectional moving of ball-joint 1, that is, control the omnidirectional moving of mechanical gripper 12 on ball-joint 1.
It is of the invention to be in a kind of application scheme in robot：
The ball-joint cup frame 2 is arranged on the mechanical arm 13 of robot, and the mechanical arm 13 is driven by arm
Dynamic motor 14 is installed on joint arm 15, and the joint arm 15 is installed on support 17 by panoramic table 16, and mechanical gripper 12 is pacified
Loaded on the platform base 11 on ball-joint 1, as shown in Figure 3.
The swing of omnidirectional moving combination mechanical arm 13 and the gyration of joint arm 15 of ball-joint 1 so that machinery
Position and posture of the handgrip 12 in three dimensions arbitrarily change.
Claims (3)
1. the wrist joint of robot mechanism of omnidirectional's wheel drive, it is characterised in that：Including ball-joint (1), under the ball-joint (1)
Hemisphere is placed in the three single omni-directional wheels (3) uniform in ball-joint cup frame (2) and with ball-joint cup frame (2) inner periphery and rubbed
Contact is wiped, three single omni-directional wheels (3) are installed by corresponding wheel carrier (4) and the centre of gyration line of three single omni-directional wheels (4)
Oblique lower section simultaneously intersects at a point, and the joining is in the underface of ball-joint (1) centre of sphere, and each wheel carrier (6) is provided with driving pair
The encoder (6) of ball-joint motor (5) single omni-directional wheel (4) corner corresponding with detection of single omni-directional wheel (3) is answered, the ball closes
Section cup frame (2) is provided with the anti-drop assembly (7) acted on ball-joint (1) upper hemisphere, is set on ball-joint (1) upper hemisphere
There is the platform base (11) for work tool installation.
2. the wrist joint of robot mechanism of omnidirectional's wheel drive according to claim 1, it is characterised in that：The anti-drop assembly
(7) it is included in the ring cowling (8) installed on ball-joint cup frame (2), the upward flange of the interior collar extension of the ring cowling (8) is in ball-joint
(1) bottom of upper hemisphere, it is evenly distributed between flange and ball-joint (1) upper hemisphere by retainer (9) positioning
Ball (10).
3. the wrist joint of robot mechanism of omnidirectional's wheel drive according to claim 1 or 2, it is characterised in that：The operation
Equipment includes mechanical gripper (12) or camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711037140.6A CN107639647A (en) | 2017-10-30 | 2017-10-30 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711037140.6A CN107639647A (en) | 2017-10-30 | 2017-10-30 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107639647A true CN107639647A (en) | 2018-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711037140.6A Pending CN107639647A (en) | 2017-10-30 | 2017-10-30 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
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| Country | Link |
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| CN (1) | CN107639647A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109939941A (en) * | 2019-04-02 | 2019-06-28 | 北京邮电大学 | Modular logistics sort platform and method |
| CN110450188A (en) * | 2019-09-02 | 2019-11-15 | 嘉兴学院 | A kind of robot three-degree of freedom flexible wrist joint |
| WO2020010901A1 (en) * | 2018-07-13 | 2020-01-16 | 哈尔滨工业大学（深圳） | Cable-driven flexible joint and flexible mechanical arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020010901A1 (en) * | 2018-07-13 | 2020-01-16 | 哈尔滨工业大学（深圳） | Cable-driven flexible joint and flexible mechanical arm |
| CN109939941A (en) * | 2019-04-02 | 2019-06-28 | 北京邮电大学 | Modular logistics sort platform and method |
| CN110450188A (en) * | 2019-09-02 | 2019-11-15 | 嘉兴学院 | A kind of robot three-degree of freedom flexible wrist joint |
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