CN110228081A - A kind of robot motor directly drives speed reducer wrist - Google Patents
A kind of robot motor directly drives speed reducer wrist Download PDFInfo
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- CN110228081A CN110228081A CN201910571346.XA CN201910571346A CN110228081A CN 110228081 A CN110228081 A CN 110228081A CN 201910571346 A CN201910571346 A CN 201910571346A CN 110228081 A CN110228081 A CN 110228081A
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- wrist
- speed reducer
- ontology
- transmission structure
- axis transmission
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 139
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 53
- 230000005540 biological transmission Effects 0.000 claims abstract description 73
- 238000009826 distribution Methods 0.000 claims abstract description 6
- 230000001360 synchronised effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000010959 steel Substances 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot motor and directly drives speed reducer wrist, including J5 axis transmission structure, J6 axis transmission structure and wrist body, J5 axis transmission structure includes the 5th driving shaft motor, 5th speed reducer, J5 output end and J5 connector, J6 axis transmission structure includes the 6th driving shaft motor, 6th speed reducer, J6 output end and J6 connector, two driving shaft motors respectively with corresponding two speed reducers direct-connection transmission, wrist body includes U-shaped wrist ontology and T-type wrist ontology, the J5 axis transmission structure and the J6 axis transmission structure are in simultaneously in the T-type wrist ontology, and the two is in vertical distribution.The present invention saves at least two-stage transmission by way of motor and the direct-connected transmission of speed reducer, and transmission efficiency is high；Avoid the problems such as noise is big, adjustment difficulty is big, there are delay error and high failure rates；Secondly, robot wrist's volume of the invention reduces, assemble simple and easy.
Description
Technical field
The present invention relates to industrial robot component and technical fields, and in particular to a kind of robot wrist structure, for one kind
Robot motor directly drives speed reducer wrist structure.
Background technique
Industrial robot is the important automated arm of modern manufacturing industry, with the manufacturing device of the artificial core of industrial machine
Demand increasingly increases.In robot body R&D process, the design of robot wrist organization plan is one very crucial
Link is one of the technological core of entire robotic part research and development.Investigating domestic independent research robot wrist structure
Middle discovery, the low-load industrial robot wrist drive mechanism being supported within the scope of 20-35kg substantially use " servo motor
The drive mechanism of+toothed belt transmission+(bevel gear)+speed reducer+output end ".The concrete scheme of the structure is J5, J6 axis servo electricity
It is intracavitary that machine is both placed in wrist rear end type, and J5 axis servo motor drives a toothed belt transmission, and synchronous pulley drives J5 axis speed reducer,
J5 axis output end of reducer and J5 axis output end link together, so that it is specified to drive J5 axis to move to according to specified speed
Position；J6 axis servo motor drives a toothed belt transmission, and synchronous belt drives bevel-gear sett transmission to change transmission direction again, bores tooth
Wheel moves to specified position according to specified speed.Wherein the servo motor of J5, J6 axis is to be maintained in the rotation of J5, J6 axis
Wrist rear end type is intracavitary, does not move with J5, J6 axis.J6 axis transmission series is more in such structure, transmission efficiency is low, the complicated effect of assembly
Rate is low；Bevel gear adjustment difficulty used in it is big, regulated efficiency is low, and larger noise is also easy to produce when bevel gear high speed rotation.
There are also a kind of if the preposition wrist structure of robot relatively advanced in CN207788942U patent text is at present in city
Accepted and used extensively on, optimize the transmission series of wrist structure, improve transmission efficiency, but its there are still biographies
Situation more than dynamic series, high failure rate；Secondly, it still uses toothed belt transmission, since synchronous belt is rubber material, have flexible
Property, there are delay errors in transmission process, are unfavorable for the accurate control of industrial robot, moreover, synchronous belt can have abrasion
Situation, need to change just can guarantee precision every year；Finally, with the raising of technology, motor miniaturization, electric-machine directly-driven speed reducer hand
Wrist part is easier to show its advantage.
Summary of the invention
The object of the present invention is to provide a kind of robot motors directly to drive speed reducer wrist, for the biography of robot wrist's component
Dynamic structure is transformed, and solves the disadvantage that current robot wrist structure transmission series is more, transmission efficiency is low, assembly is complicated,
Due to simplifying design, processing and matching requirements to wrist part are reduced, to further decrease the failure rate of wrist portion, are mentioned
The control precision of Gao Liao robot.
To achieve the above object, the technical solution used in the present invention is:
A kind of robot motor directly drives speed reducer wrist, including J5 axis transmission structure, J6 axis transmission structure and wrist body, institute
It states J5 axis transmission structure and the J6 axis transmission structure is in the wrist body, it is characterised in that: the J5 axis transmission structure
Including the 5th driving shaft motor, the 5th speed reducer, J5 output end, J5 connector, the 5th driving shaft motor and the described 5th
The direct-connected transmission of speed reducer, the J5 output end are connect by the J5 connector with the wrist body；
The J6 axis transmission structure includes the 6th driving shaft motor, the 6th speed reducer, J6 output end, J6 connector, described
6th driving shaft motor and the direct-connected transmission of the 6th speed reducer, the J6 output end pass through the J6 connector and the wrist
Body connection；
The wrist body includes U-shaped wrist ontology and T-type wrist ontology, the T-type wrist ontology be equipped with J5 output flange,
J6 output flange, wrist eyelet strip and wrist cover board, the J5 output flange are connect with the J5 output end, and the J6 exports method
Blue to connect with the J6 output end, the U-shaped wrist ontology, which is equipped with, accepts bayonet, the U-shaped wrist ontology and the T-type wrist
The implementation of ontology connection is the J5 output flange and the undertaking bayonet connection, is fixed using bolt；
The J5 axis transmission structure and the J6 axis transmission structure are in simultaneously in the T-type wrist ontology, and the two is in
Vertical distribution.
Further, the wrist cover board includes T-type lamina tecti, L-type side cover plate, the wrist eyelet strip and the wrist
Cover board forms threading chamber.
Further, the cable of the 6th driving shaft motor passes through the threading chamber and the 5th driving shaft motor
Cable is commonly connected on robot route.
Further, the connecting plate of the undertaking bayonet opposite side of the U-shaped wrist ontology is detachable structure, facilitates group
Dress.
The technical program has the advantages that
(1) transmission series is few, and transmission efficiency is high
Compared with prior art, the 5th driving shaft motor of the technical program and the 5th speed reducer direct-connection transmission, the 6th transmission
Spindle motor and the 6th speed reducer direct-connection transmission (wave producer that two motors directly drive speed reducer), more previous robot
Wrist saves at least two-stage transmission, and transmission efficiency is high.
(2) structure setting advantages of simple, failure rate are low
Compared to all prior arts, wrist of the invention is set as J5 axis transmission structure and locates simultaneously with J6 axis transmission structure
In in T-type wrist ontology, and the mode that the two is in vertical distribution, bevel gear and toothed belt transmission are not used, noise is avoided the occurrence of
Greatly, the big problem of difficulty, the problems such as delay error of synchronous belt wear and control is avoided without using synchronous belt, failure rate is low.
(3) wrist volume reduces, and assembles simple and easy
Robot wrist J5 axis transmission structure and J6 axis transmission structure of the invention is in simultaneously in T-type wrist ontology, and
The mode that the two is in vertical distribution reduces the volume of entire wrist part, and the flexibility in control and control precision are significantly
It improves, the undertaking bayonet opposite side of the U-shaped wrist ontology of component of the present invention is dismountable connecting plate, can elder generation and T-type in assembling
The docking of wrist ontology, then connecting plate is installed.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that robot motor of the present invention directly drives speed reducer wrist；
Fig. 2 is the combination schematic diagram that robot motor of the present invention directly drives speed reducer wrist；
Fig. 3 is the left view for the structure that robot motor of the present invention directly drives speed reducer wrist；
Fig. 4 is the structural schematic diagram for the T-type wrist ontology that robot motor of the present invention directly drives speed reducer wrist；
Fig. 5 is the schematic diagram of the threading system for the T-type wrist ontology that robot motor of the present invention directly drives speed reducer wrist；
Fig. 6 is the structural schematic diagram for the U-shaped wrist ontology that robot motor of the present invention directly drives speed reducer wrist；
In figure: 1, the 5th driving shaft motor, the 2, the 5th speed reducer, 3, J5 connector, 4, J5 output end, the 5, the 6th transmission shaft
Motor, the 6, the 6th speed reducer, 7, J6 output end, 8, J6 connector, 9, U-shaped wrist ontology, 10, T-type wrist ontology, 11, T-type top
Cover board, 12, L-type side cover plate, 13, J5 output flange, 14, J6 output flange, 15, wrist eyelet strip, 16, wrist threading chamber, 17,
Accept bayonet, 18, connecting plate.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Firstly, a kind of robot motor of the invention patent directly drives speed reducer wrist, it is applied in robot, especially machine
The end of device human arm, refering to fig. 1-3, Fig. 1 show the structural representation that robot motor of the invention directly drives speed reducer wrist
Figure；Fig. 2 is the combination schematic diagram that robot motor of the present invention directly drives speed reducer wrist, can intuitively be found out by Fig. 2, this
The robot wrist of invention covers a T-type component by a U-shaped portion part and realizes, the U-shaped portion part and the T-type component are cavity knot
Structure；Fig. 3 is the left view for the structure that robot motor of the present invention directly drives speed reducer wrist.It is directly driven in conjunction with Fig. 1-3 robot motor
Speed reducer wrist structural schematic diagram can be seen that, robot wrist includes J5 axis transmission structure, J6 axis transmission structure and wrist body,
Wherein, J5 axis transmission structure includes the 5th driving shaft motor 1, the 5th speed reducer 2, J5 output end 4 and J5 connector 3, and the 5th passes
Moving axis motor 1 and the direct-connected transmission of the 5th speed reducer 2, no intermediary element, directly drive the 5th speed reducer 2, J5 axis transmission structure
J5 output end 4 is realized by a J5 connector 3 being provided in wrist body on wall and wrist body and is connected.
The J6 axis transmission structure of robot wrist include the 6th driving shaft motor 5, the 6th speed reducer 6, J6 output end 7 with
J6 connector 8, the 6th driving shaft motor 5 and the direct-connected transmission of the 6th speed reducer 6, no intermediary element directly drive the 6th speed reducer
The J6 output end 7 of 6, J6 axis transmission structures is realized by a J6 connector 8 being provided in wrist body on wall and wrist body to be connected
It connects.
Various speed reducers, the including but not limited to types such as harmonic wave speed reducing machine can be used in five, the 6th speed reducers, when the 5th,
When 6th speed reducer is harmonic wave speed reducing machine, driving shaft motor directly drives the wave producer of harmonic wave speed reducing machine.
The robot wrist of the invention patent further includes wrist body other than two axis transmission structures, and wrist body is the present invention
The outer body structure of component, for accommodating above-mentioned axis transmission structure and connection cables, the wrist body includes U-shaped wrist ontology
9 constitute wrist body with T-type wrist ontology 10, the two assembling.
The structural representation of the T-type wrist ontology of speed reducer wrist is directly driven in conjunction with Fig. 1 and refering to Fig. 4 robot motor of the present invention
Figure, the T-type wrist ontology 10 are equipped with J5 output flange 13, J6 output flange 14, wrist eyelet strip 15 and wrist cover board, wherein
Wrist cover board includes T-type lamina tecti 11 and L-type side cover plate 12, and the T-type lamina tecti 11 can be used with the L-type side cover plate 12
Material include but is not limited to steel plate, organic glass etc., sealed reliable, degree of protection is high.The J5 of J5 axis transmission structure above-mentioned
Output end 4 and wrist body connecting portion are the lateral one end of T-type wrist ontology 10,13 phase of J5 output end 4 and J5 output flange
Even, equally, the J6 output end 7 of J6 axis transmission structure above-mentioned and wrist body connecting portion are longitudinal the one of T-type wrist ontology 10
End, J6 output end 7 are connected with J6 output flange 14.
Meanwhile J5 axis transmission structure and J6 axis transmission structure are in simultaneously in the T-type wrist ontology 10, and the two is in vertical
Straight distribution, reduces the volume of entire wrist part, and the flexibility in control is greatly improved with control precision；Direct-connected transmission
Mode avoids the occurrence of the noise big problem with adjustment difficulty greatly；At least two-stage transmission is saved, transmission efficiency is high；Without using synchronous belt
The problems such as avoiding the delay error of synchronous belt wear and control, extends service life, reduces entire robot control system
The failure rate of system.
Refering to Fig. 5, robot motor of the invention directly drives the signal of the threading system of the T-type wrist ontology of speed reducer wrist
Figure, since wrist cover board is located on T-type wrist ontology 10, therefore the cable system of robot wrist of the present invention is located at this T-type wrist
In ontology 10, wrist eyelet strip 15 which is provided with, hand is collectively formed in wrist eyelet strip 15 and T-type lamina tecti 11, L-type side cover plate 12
Wrist threads chamber 16, and cable passes through in wrist threading chamber 16, and the cable of the 6th driving shaft motor 5 passes through the wrist and threads chamber 16
It is commonly connected on robot route with the cable of the 5th driving shaft motor 1.
The structural representation of the U-shaped wrist ontology of speed reducer wrist is directly driven in conjunction with Fig. 1 and refering to Fig. 6 robot motor of the present invention
Figure, the U-shaped wrist ontology 9, which is equipped with, accepts bayonet 17, positioned at the inside of U-shaped wall, after being clamped with T-type wrist ontology 10
Bolt is fixed, and U-shaped wrist ontology 9 passes through the J5 output flange 13 and the card for accepting bayonet 17 with T-type wrist ontology 10
Realization connection is connect, on U-shaped wrist ontology 9, the connecting plate 18 for accepting 17 opposite side of bayonet is detachable structure, in T-type hand
In the assembling process of wrist ontology 10 and U-shaped wrist ontology 9, first this connecting plate 18 can be unloaded, carry out this company after being completed again
The installation of fishplate bar 18.
It is to be illustrated to preferable implementation of the invention, but the present invention is not limited to the embodiment above, to the greatest extent
Invention is explained in detail referring to embodiment for pipe, for those skilled in the art smart without prejudice to the present invention
Various equivalent deformation or replacement can be also made under the premise of mind, these equivalent deformations or replacement are all contained in the application power
Benefit requires in limited range.
Claims (4)
1. a kind of robot motor directly drives speed reducer wrist, including J5 axis transmission structure, J6 axis transmission structure and wrist body, described
J5 axis transmission structure and the J6 axis transmission structure are in the wrist body, it is characterised in that: the J5 axis transmission structure packet
The 5th driving shaft motor, the 5th speed reducer, J5 output end and J5 connector are included, the 5th driving shaft motor subtracts with the described 5th
The fast direct-connected transmission of machine, the J5 output end are connect by the J5 connector with the wrist body；
The J6 axis transmission structure include the 6th driving shaft motor, the 6th speed reducer, J6 output end and J6 connector, the described 6th
Driving shaft motor and the direct-connected transmission of the 6th speed reducer, the J6 output end are connected by the J6 connector and the wrist body
It connects；
The wrist body includes U-shaped wrist ontology and T-type wrist ontology, and it is defeated that the T-type wrist ontology is equipped with J5 output flange, J6
Flange, wrist eyelet strip and wrist cover board out, the J5 output flange are connect with the J5 output end, the J6 output flange with
The J6 output end connection, the U-shaped wrist ontology, which is equipped with, accepts bayonet, the U-shaped wrist ontology and the T-type wrist ontology
The implementation of connection is the J5 output flange and the undertaking bayonet connection, is bolted；
The J5 axis transmission structure and the J6 axis transmission structure are in simultaneously in the T-type wrist ontology, and the two is perpendicular
Distribution.
2. robot motor according to claim 1 directly drives speed reducer wrist, which is characterized in that the wrist cover board includes
T-type lamina tecti, L-type side cover plate, the wrist eyelet strip and the wrist cover board form threading chamber.
3. robot motor according to claim 2 directly drives speed reducer wrist, which is characterized in that the 6th driving shaft motor
Cable passes through the threading chamber and the cable of the 5th driving shaft motor is commonly connected on robot route.
4. robot motor according to claim 1 directly drives speed reducer wrist, which is characterized in that the U-shaped wrist ontology
Undertaking bayonet opposite side connecting plate be detachable structure, ease of assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910571346.XA CN110228081A (en) | 2019-06-28 | 2019-06-28 | A kind of robot motor directly drives speed reducer wrist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910571346.XA CN110228081A (en) | 2019-06-28 | 2019-06-28 | A kind of robot motor directly drives speed reducer wrist |
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| Publication Number | Publication Date |
|---|---|
| CN110228081A true CN110228081A (en) | 2019-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910571346.XA Pending CN110228081A (en) | 2019-06-28 | 2019-06-28 | A kind of robot motor directly drives speed reducer wrist |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110978044A (en) * | 2019-12-12 | 2020-04-10 | 常州工学院 | Modularization servo motor overcoat |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08141968A (en) * | 1994-11-10 | 1996-06-04 | Kobe Steel Ltd | Wrist mechanism of industrial robot |
| CN203471789U (en) * | 2013-08-30 | 2014-03-12 | 广州机械科学研究院有限公司 | Robot wrist part |
| CN104325465A (en) * | 2014-10-31 | 2015-02-04 | 济南大学 | Wrist structure of industrial robot and installation method |
| CN106041988A (en) * | 2015-04-02 | 2016-10-26 | 发那科株式会社 | Joint structure for robot including motor for causing arm to be swung |
| CN107471208A (en) * | 2017-08-31 | 2017-12-15 | 广州泰行智能科技有限公司 | A kind of six axis robot |
| CN210704897U (en) * | 2019-06-28 | 2020-06-09 | 吴芳 | Robot motor directly drives speed reducer wrist |
-
2019
- 2019-06-28 CN CN201910571346.XA patent/CN110228081A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08141968A (en) * | 1994-11-10 | 1996-06-04 | Kobe Steel Ltd | Wrist mechanism of industrial robot |
| CN203471789U (en) * | 2013-08-30 | 2014-03-12 | 广州机械科学研究院有限公司 | Robot wrist part |
| CN104325465A (en) * | 2014-10-31 | 2015-02-04 | 济南大学 | Wrist structure of industrial robot and installation method |
| CN106041988A (en) * | 2015-04-02 | 2016-10-26 | 发那科株式会社 | Joint structure for robot including motor for causing arm to be swung |
| CN107471208A (en) * | 2017-08-31 | 2017-12-15 | 广州泰行智能科技有限公司 | A kind of six axis robot |
| CN210704897U (en) * | 2019-06-28 | 2020-06-09 | 吴芳 | Robot motor directly drives speed reducer wrist |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110978044A (en) * | 2019-12-12 | 2020-04-10 | 常州工学院 | Modularization servo motor overcoat |
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Application publication date: 20190913 |
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| RJ01 | Rejection of invention patent application after publication |