CN112606036B - Gear type wrist joint mechanism - Google Patents
Gear type wrist joint mechanism Download PDFInfo
- Publication number
- CN112606036B CN112606036B CN202011469413.6A CN202011469413A CN112606036B CN 112606036 B CN112606036 B CN 112606036B CN 202011469413 A CN202011469413 A CN 202011469413A CN 112606036 B CN112606036 B CN 112606036B
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- plate
- connecting plate
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- 230000007246 mechanism Effects 0.000 title claims abstract description 33
- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 13
- 230000003068 static effect Effects 0.000 claims abstract description 12
- 239000000758 substrate Substances 0.000 claims abstract description 11
- 210000000707 wrist Anatomy 0.000 claims description 55
- 230000001133 acceleration Effects 0.000 description 4
- 238000009776 industrial production Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a gear type wrist joint mechanism which is characterized by comprising a static platform, branched chains, a movable platform substrate and a driving motor, wherein the driving motor is fixedly connected to the static platform, the input ends of the branched chains are connected with the static platform, the output ends of the branched chains are connected with the movable platform, the axes of the movement pairs between the branched chains intersect at one point to form a complete movement center, and the movable platform substrate is fixedly arranged on the movable platform.
Description
Technical Field
The invention relates to the field of parallel robot mechanisms, in particular to a gear type wrist joint mechanism.
Background
Along with the continuous expansion of industrial production scale, the demand of a large amount of pipelining operation on operators is greatly increased, the continuous improvement of labor cost restricts the development of enterprises, industrial robots are adopted to replace manual operation, the dependence of the enterprises on the manual operation is greatly reduced, in the industrial production line, in order to improve the production efficiency, a plurality of objects are usually required to be simultaneously grabbed and accurately placed in other places for processing in the actual production process, and the flexibility and the precision of the tail end of the industrial robot directly influence the working efficiency and the target, wherein the reasonable design of a wrist joint mechanism is an important content for improving the efficiency and the service life of the robot. The existing wrist parallel mechanism branch chain applied to the robot adopts a large-size design, and although the wrist parallel mechanism can obtain a required working space, the problem of surrounding working environment is influenced due to the fact that the size of the branch chain is too large, and the final moving pair among the rod pieces of the 3-RRP wrist parallel mechanism can cause deformation and sliding at the moving pair due to the effects of assembly and external force, so that the wrist parallel mechanism branch chain is not applicable to the working environment of high-precision occasions.
Disclosure of Invention
The invention aims to solve various problems caused by large-size adoption of a branched chain of the existing wrist joint parallel mechanism, and provides a gear type wrist joint mechanism, wherein a gear rod based on an arc-shaped rod is used as a part of the branched chain, so that the gear rod can be intersected with a common rod piece to have a more compact structural space due to the structural reason, and the size of the whole mechanism is reduced; the circle center of each arc rod and the revolute pair are intersected at one point, so that the motion space of the wrist joint parallel mechanism is intersected at one point, and the flexibility of the whole mechanism is improved; the mechanism adopts gear engagement as a moving pair of the 3-RRP wrist joint parallel mechanism, and the mechanism has high precision characteristic because of extremely high precision of gear engagement, thus being suitable for working in a high-precision working environment.
The invention realizes the above purpose through the following technical scheme: a gear type wrist joint mechanism comprises a static platform, a branched chain, a movable platform substrate and a driving motor,
the static platform comprises a wrist base and a wrist base connecting piece, wherein the wrist base connecting piece is circular, the wrist base is L-shaped, the wrist base is provided with three completely identical structures, the wrist base is provided with a horizontal transverse plate and a vertical side plate, the horizontal transverse plates of the three wrist bases are fixedly connected with the wrist base connecting piece, and the wrist base uniformly surrounds the periphery of the wrist base connecting piece along the circumferential direction; a driving motor is fixed on the outer side of the vertical side plate of each wrist base;
the three branched chains are respectively and correspondingly arranged on the inner sides of the vertical side plates of the three wrist bases; the branched chain comprises a driving rod, a thrust ball bearing, a driven rod, a first gear, a second gear, a sleeve and a deep groove ball bearing, the three branched chains have the same composition structure, the driving rod comprises a vertical driving plate and a tilting bearing connecting plate, the upper end of the vertical driving plate is connected with the tilting bearing connecting plate in a welding way, the vertical driving plate is arranged on the inner side of a vertical side plate of a wrist base, the driving end of a driving motor penetrates through the vertical side plate and is fixedly connected with the vertical driving plate, the tilting bearing connecting plate tilts towards the side far away from the vertical side plate, one end face of the thrust ball bearing is fixedly connected with the inner side of the tilting bearing connecting plate, the other end face of the thrust ball bearing is connected with the driven rod, the driven rod comprises a cylindrical block, a supporting frame and an intermediate shaft, one end face of the cylindrical block is fixed on the other end face of the thrust ball bearing, two side edges of the supporting frame are perpendicular to the side faces of the cylindrical block, the bottom end of the supporting frame is embedded into the notch at the bottom end of the cylindrical block, the side end of each supporting frame is provided with a circular through hole, the middle shaft is inserted into the circular through hole, the center line of the circular through hole is mutually overlapped with the center line of the middle shaft, the modulus and the tooth number of the first gear and the second gear are the same, one side of the first gear is attached to one side of the supporting frame, one side of the second gear is attached to the other side of the supporting frame, the inner rings of the first gear and the second gear are provided with through holes and are arranged on the middle shaft, the outer ring part is connected with the movable platform, a deep groove ball bearing is arranged between the first gear and the second gear at equal distance, the center of the inner ring of the deep groove ball bearing is mutually overlapped with the center line of the middle shaft, the outer ring part is connected with the movable platform, sleeve sleeves are respectively arranged between the deep groove ball bearing and the first gear and the second gear, the sleeve is a cylindrical through hole, one end of the sleeve is attached to one side of the gear, the other end of the sleeve is attached to the inner ring of the deep groove ball bearing, and the center of the sleeve is mutually overlapped with the center line of the intermediate shaft;
the movable platform comprises gear rails and movable platform connecting pieces, wherein three gear rails are arranged, each gear rail is provided with a gear and an arc notch, a first gear and a second gear on each branched chain are in gear engagement connection with the gears on the gear rails, deep groove ball bearings on the branched chains are connected with the arc notches on the gear rails, the upper ends of the three gear rails are fixedly connected with the movable platform connecting pieces, the three gear rails are uniformly distributed around the movable platform connecting pieces along the circumferential direction, and the lower ends of the three gear rails are fixedly connected with a movable platform base;
the movable platform substrate comprises a round platform and a trapezoidal block, the trapezoidal block is fixedly connected with the round platform, a through hole is formed in the center of the round platform, and the upper end face and the lower end face of the round platform are parallel to movable platform connecting pieces on the movable platform.
When the driving motor is electrified, the driving rod is driven by the driving rod to rotate through a revolute pair between the driving motor and the driving rod, the driven rod is driven by the revolute pair to rotate around the revolute pair by the driving rod, the driven rod is installed on a tilting bearing connecting plate of the driving rod through a thrust ball bearing, the driven rod drives the movable platform to rotate through gear engagement, the deep groove ball bearing in the middle of the gear moves in an arc-shaped notch on the movable platform under the action of the gear through a middle shaft, and the force of the gear engagement on the radial direction can be counteracted by the deep groove ball bearing and the arc-shaped notch, so that the gear on the branched chain cannot be separated from the gear on the movable platform, and radial contact is ensured.
Further, the vertical driving plate of the driving plate and the inclined bearing connecting plate are welded into a whole, and one side surface of the thrust ball bearing is fixed on the inner side of the inclined bearing connecting plate through bolts.
Furthermore, the space among the driving rod, the driven rod, the movable platform and the movable platform substrate is independent and does not interfere with each other.
Furthermore, a first revolute pair exists between the driving motor and the driving rod on each branched chain, a second revolute pair exists between the driving rod and the driven rod, a moving pair exists between the driven rod and the moving platform, and the first revolute pair and the second revolute pair are mutually intersected at one point.
Further, the angle between the vertical driving plate and the inclined bearing connecting plate of the driving rod is 140 degrees.
Further, the wrist base connecting piece is provided with a plurality of round holes for reducing weight.
Further, the vertical driving plate of the driving rod is in interference connection with the output end of the driving motor.
Further, the gear track includes circular arc notch, left gear track, right gear track, middle arc connecting plate, goes up even board, links the board down, left gear track, right gear track parallel arrangement, middle arc connecting plate fixed connection is used in the centre, and left gear track and right gear track upper end are through last even board fixed connection, and left gear track and right gear track lower extreme are through linking board fixed connection down, go up even board and link down and set up circular arc notch between the board.
Further, the movable platform connecting piece is provided with two, and three left gear rails and right gear rails upper ends of three gear rails are fixed on the same movable platform connecting piece, and three left gear rails and right gear rails lower ends of three gear rails are fixed on another movable platform connecting piece.
Further, three trapezoid blocks are arranged and distributed on the round table at 120 degrees along the circumferential direction.
The operation of the invention is as follows: firstly, a static platform is fixed relative to the ground, a driving motor is started, a motion curve or data is input to the driving motor through a control system, the driving motor transmits force, speed, acceleration and the like to a driving rod through rotation between first rotating shafts, the driving rod indirectly transmits force, speed, acceleration and the like to a driven rod through rotation between second rotating shafts, and finally parameters transmitted to the driven rod are transmitted to a movable platform through engagement between external gears, so that the movable platform can rotate around a rotation center in a spherical working space.
The invention has the beneficial effects that:
1. the invention has the advantages of symmetrical structure, flexible movement, strong carrying capacity, high precision and reasonable design, and has the rotation freedom degree that three axes intersect at one point.
2. The shape of the structure of the invention is similar to the shape of the wrist of a person, meets the design requirement of a robot, and the addition of the gear rod can improve the precision of the mechanism, so that the mechanism is suitable for a working environment with high precision.
3. The invention is designed with the structures of gears, bearings and the like, can improve the precision and rigidity of the wrist joint moving platform, meets the strict requirements on the tail end in the industrial robot, can greatly improve the working efficiency of the industrial robot, and the whole mechanism meets the requirements of the industrial robot design, so that the mechanism meets the rationality of the robot design.
Drawings
Fig. 1 is a schematic overall view of the structure of a gear-type wrist mechanism of the present invention.
FIG. 2 is a schematic structural view of the static platform of the present invention.
FIG. 3 is a schematic diagram of the structure of the branched chain of the present invention.
Fig. 4 is a schematic view of the structure of the active lever of the present invention.
Fig. 5 is a schematic structural view of the passive rod of the present invention.
Fig. 6 is a schematic structural view of the moving platform of the present invention.
Fig. 7 is a schematic view of the structure of the gear track of the present invention.
FIG. 8 is a schematic view of a movable platform substrate according to the present invention.
In the figure, 1-stationary platform, 11-wrist base, 12-wrist base connector, 2-branched chain, 21-driving rod, 22-thrust ball bearing, 23-driven rod, 24-first gear, 25-second gear, 26-sleeve, 27-deep groove ball bearing, 211-vertical driving plate, 212-inclined bearing connecting plate, 231-cylindrical block, 232-support frame, 233-intermediate shaft, 3-movable platform, 31-gear track, 32-movable platform connector, 311-circular arc notch, 312-left gear track, 313-right gear track, 314-intermediate arc connecting plate, 315-upper connecting plate, 316-lower connecting plate, 4-movable platform base, 41-circular platform and 42-trapezoidal block.
Detailed Description
The following detailed description of the invention is provided in connection with the accompanying drawings. The specific embodiments described herein are offered by way of illustration only, and are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "one end", "the other end", "the side", "one face", "the other face", "the bottom", "the top", "the upper and lower", "the center", etc. merely represent orientations of the term in the normal use state, and should not be construed as limiting the term.
In the present invention, the terms "connected," "disposed," "distributed," "fixedly connected," and the like are to be construed broadly, unless explicitly stated or limited otherwise. For example, it may be a mechanical connection; may be a detachable connection; may be directly connected, etc., unless explicitly stated. The meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1 to 8, a gear type wrist joint mechanism is characterized in that: comprises a static platform 1, a branched chain 2, a movable platform 3, a movable platform substrate 4 and a driving motor 5,
the static platform 1 comprises a wrist base 11 and a wrist base connecting piece 12, wherein the wrist base connecting piece 12 is round, the wrist base 11 is L-shaped, the wrist base 11 is provided with three identical structures, the wrist base 11 is provided with a horizontal transverse plate and a vertical side plate, the horizontal transverse plates of the three wrist bases 11 are fixedly connected with the wrist base connecting piece 12, and the wrist base 11 uniformly surrounds the periphery of the wrist base connecting piece 12 along the circumferential direction; a driving motor 5 is fixed on the outer side of the vertical side plate of each wrist base 11;
the branched chains 2 are provided with three branched chains 2, and the three branched chains 2 are respectively and correspondingly arranged on the inner sides of the vertical side plates of the three wrist bases 11; the branched chain 2 comprises a driving rod 21, a thrust ball bearing 22, a driven rod 23, a first gear 24, a second gear 25, a sleeve 26 and a deep groove ball bearing 27, the three branched chains have the same composition structure, the driving rod 21 comprises a vertical driving plate 211 and a inclined bearing connecting plate 212, the upper end of the vertical driving plate 211 is welded with the inclined bearing connecting plate 212, the vertical driving plate 211 is arranged at the inner side of a vertical side plate of the wrist base 11, the driving end of the driving motor 5 passes through the vertical side plate and is fixedly connected with the vertical driving plate 211, the inclined bearing connecting plate 212 inclines towards the side far away from the vertical side plate, one end face of the thrust ball bearing 22 is fixedly connected at the inner side of the inclined bearing connecting plate 212, the other end face of the thrust ball bearing 22 is connected with the driven rod 23, the driven rod 23 comprises a cylindrical block 231, a supporting frame 232 and a middle shaft 233, one end face of the cylindrical block 231 is fixed on the other end face of the thrust ball bearing 22, two side edges of the supporting frame 232 are perpendicular to the side face of the cylindrical block 231, the bottom end of the supporting frame 232 is embedded into a notch at the bottom end of the cylindrical block 231, a circular through hole is formed in the end part of the side face of each supporting frame 232, an intermediate shaft 233 is inserted into the circular through hole, the center lines of the circular through holes are mutually overlapped with the center lines of the intermediate shafts 233, the modulus and the tooth number of the first gear 24 and the second gear 25 are identical, one side of the first gear 24 is attached to one side edge of the supporting frame 232, one side of the second gear 25 is attached to the other side edge of the supporting frame 232, through holes are formed in the inner rings of the first gear 24 and the second gear 25 and are installed on the intermediate shaft 233, the outer ring part is connected with the movable platform, a deep groove ball bearing 27 is equidistantly arranged between the first gear 24 and the second gear 25, the center of the inner ring of the deep groove ball bearing 27 is mutually overlapped with the center line of the intermediate shaft 233, the outer ring part is connected with the movable platform, sleeves 26 are respectively arranged between the deep groove ball bearing 27 and the first gear 24 and the second gear 25 and are connected, the sleeves 26 are cylindrical through holes, one end of each sleeve 26 is attached to one side of the gear, the other end of each sleeve is attached to the inner ring of the deep groove ball bearing 27, and the center of each sleeve 26 is mutually overlapped with the center line of the intermediate shaft 233;
the movable platform 3 comprises gear rails 31 and movable platform connectors 32, the gear rails 31 are provided with three, each gear rail 31 is provided with a gear and an arc notch 311, the first gear 24 and the second gear 25 on each branched chain 2 are in gear engagement connection with the gears on the gear rails 31, the deep groove ball bearings 27 on the branched chain 2 are connected with the arc notches 311 on the gear rails 31, the upper ends of the three gear rails 31 are fixedly connected with the movable platform connectors 32, the three gear rails 31 are uniformly distributed around the movable platform connectors 32 along the circumferential direction, and the lower ends of the three gear rails 31 are fixedly connected with the movable platform base 4;
the movable platform substrate 4 comprises a round platform 41 and a trapezoid block 42, the trapezoid block 42 is fixedly connected with the round platform 41, a through hole is formed in the center of the round platform 41, and the upper end face and the lower end face of the round platform 41 are parallel to the movable platform connecting piece 32 on the movable platform 3.
The vertical driving plate 211 of the driving plate and the inclined bearing connection plate 212 are welded as one body, and one side surface of the thrust ball bearing 22 is fixed to the inner side of the inclined bearing connection plate 212 by bolts.
The space among the driving rod 21, the driven rod 23, the movable platform 3 and the movable platform base 4 is independent and does not interfere with each other.
A first revolute pair exists between the driving motor 5 and the driving rod 21 on each branched chain, a second revolute pair exists between the driving rod 21 and the driven rod 23, a moving pair exists between the driven rod 23 and the movable platform 3, and the first revolute pair and the second revolute pair are intersected at one point.
The angle between the vertical drive plate 211 of the drive rod 21 and the inclined bearing connection plate 212 is 140 degrees.
The wrist base connecting piece 12 is provided with a plurality of round holes for reducing weight.
The vertical driving plate 211 of the driving rod 21 is in interference connection with the output end of the driving motor 5.
The gear track 31 comprises an arc notch 311, a left gear track 312, a right gear track 313, a middle arc connecting plate 314, an upper connecting plate 315 and a lower connecting plate 316, the left gear track 312 and the right gear track 313 are arranged in parallel, the middle is fixedly connected with the middle arc connecting plate 314, the upper ends of the left gear track 312 and the right gear track 313 are fixedly connected through the upper connecting plate 315, the lower ends of the left gear track 312 and the right gear track 313 are fixedly connected through the lower connecting plate 316, and the arc notch 311 is arranged between the upper connecting plate 315 and the lower connecting plate 316.
The movable platform connecting piece 32 is provided with two, the upper ends of three left gear rails 312 and right gear rails 313 of the three gear rails 31 are fixed on the same movable platform connecting piece 32, and the lower ends of the three left gear rails 312 and right gear rails 313 of the three gear rails 31 are fixed on the other movable platform connecting piece 32.
The number of the trapezoid blocks 42 is three, and the three trapezoid blocks 42 are distributed on the round table 41 in 120 degrees along the circumferential direction.
The operation of the invention is as follows:
firstly, the static platform 1 is fixed relative to the ground, the driving motor 5 is turned on, a motion curve or data is input to the driving motor 5 through the control system, the driving motor 5 transmits force, speed, acceleration and the like to the driving rod 21 through rotation between first rotating shafts, the driving rod 21 indirectly transmits force, speed, acceleration and the like to the driven rod 23 through rotation between second rotating shafts, and finally parameters transmitted to the driven rod 23 are transmitted to the movable platform 3 through engagement between gears, so that the movable platform 3 can rotate around a rotation center in a spherical working space.
The above embodiments are only preferred embodiments of the present invention, and are not limiting to the technical solutions of the present invention, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present invention.
Claims (8)
1. A gear type wrist joint mechanism, which is characterized in that: comprises a static platform (1), a branched chain (2), a movable platform (3), a movable platform substrate (4) and a driving motor (5),
the static platform (1) comprises a wrist base (11) and a wrist base connecting piece (12), wherein the wrist base connecting piece (12) is round, the wrist base (11) is L-shaped, the wrist base (11) is provided with three completely identical structures, the wrist base (11) is provided with a horizontal transverse plate and a vertical side plate, the horizontal transverse plates of the three wrist bases (11) are fixedly connected with the wrist base connecting piece (12), and the wrist base (11) uniformly surrounds the periphery of the wrist base connecting piece (12) along the circumferential direction; a driving motor (5) is fixed on the outer side of the vertical side plate of each wrist base (11);
the three branched chains (2) are arranged and the three branched chains (2) are correspondingly arranged on the inner sides of the vertical side plates of the three wrist bases (11) respectively; the branched chain (2) comprises a driving rod (21), a thrust ball bearing (22), a driven rod (23), a first gear (24), a second gear (25), a sleeve (26) and a deep groove ball bearing (27), the three branched chains are completely identical in composition structure, the driving rod (21) comprises a vertical driving plate (211) and a inclined shaft bearing connecting plate (212), the upper end of the vertical driving plate (211) is welded with the inclined shaft bearing connecting plate (212), the vertical driving plate (211) is arranged on the inner side of a vertical side plate of the wrist base (11), the driving end of the driving motor (5) penetrates through the vertical side plate and then is fixedly connected with the vertical driving plate (211), the inclined shaft bearing connecting plate (212) inclines to one side far away from the vertical side plate, one end face of the thrust ball bearing (22) is fixedly connected to the inner side of the inclined shaft bearing connecting plate (212), the other end face of the thrust ball bearing (22) is connected with the driven rod (23), the driven rod (23) comprises a cylindrical block (231), a supporting frame (232) and a middle shaft (233), one end face of the cylindrical block (231) is fixed on the end face of the other end face of the thrust ball bearing (22) and is embedded into the cylindrical block (232) at the bottom end of the cylindrical block (231), the side end of each support frame (232) is provided with a circular through hole, an intermediate shaft (233) is inserted in the circular through hole, the center line of the circular through hole is mutually overlapped with the center line of the intermediate shaft (233), the modulus and the tooth number of the first gear (24) and the second gear (25) are the same, one side of the first gear (24) is attached to one side of the support frame (232), one side of the second gear (25) is attached to the other side of the support frame (232), through holes are formed in the inner rings of the first gear (24) and the second gear (25) and are arranged on the intermediate shaft (233), the outer ring parts of the first gear (24) and the second gear (25) are connected with a movable platform, a deep groove ball bearing (27) is arranged between the inner ring centers of the first gear (24) and the second gear (25) at equal intervals, the outer ring parts of the deep groove ball bearing (27) are mutually overlapped with the center line of the intermediate shaft (233), the outer ring parts of the deep groove ball bearing (27) are connected with the movable platform, the deep groove ball bearing (27) is connected with the inner ring (26) of the sleeve (26) between the first gear (24) and the second gear (25), and the other end of the sleeve (26) is overlapped with the center shaft (26), and the other end of the sleeve (26) is overlapped with the inner ring (26) at one end of the sleeve (26) at the deep groove ball bearing;
the movable platform (3) comprises gear tracks (31) and movable platform connecting pieces (32), the gear tracks (31) are provided with three, each gear track (31) is provided with a gear and an arc notch (311), a first gear (24) and a second gear (25) on each branched chain (2) are in gear engagement connection with the gears on the gear tracks (31), deep groove ball bearings (27) on the branched chains (2) are connected with the arc notches (311) on the gear tracks (31), the upper ends of the three gear tracks (31) are fixedly connected with the movable platform connecting pieces (32), the three gear tracks (31) are uniformly distributed around the movable platform connecting pieces (32) along the circumferential direction, and the lower ends of the three gear tracks (31) are fixedly connected with the movable platform base (4); the gear rail (31) comprises an arc notch (311), a left gear rail (312), a right gear rail (313), a middle arc connecting plate (314), an upper connecting plate (315) and a lower connecting plate (316), wherein the left gear rail (312) and the right gear rail (313) are arranged in parallel, the middle is fixedly connected through the middle arc connecting plate (314), the upper ends of the left gear rail (312) and the right gear rail (313) are fixedly connected through the upper connecting plate (315), the lower ends of the left gear rail (312) and the right gear rail (313) are fixedly connected through the lower connecting plate (316), and the arc notch (311) is arranged between the upper connecting plate (315) and the lower connecting plate (316); the movable platform connecting piece (32) is provided with two, the upper ends of three left gear rails (312) and right gear rails (313) of three gear rails (31) are fixed on the same movable platform connecting piece (32), and the lower ends of three left gear rails (312) and right gear rails (313) of the three gear rails (31) are fixed on the other movable platform connecting piece (32);
the movable platform substrate (4) comprises a round platform (41) and a trapezoid block (42), the trapezoid block (42) is fixedly connected with the round platform (41), a through hole is formed in the center of the round platform (41), and the upper end face and the lower end face of the round platform (41) are parallel to the movable platform connecting piece (32) on the movable platform (3).
2. A geared wrist mechanism as claimed in claim 1, wherein: a vertical driving plate (211) and a tilting bearing connecting plate (212) of the driving plate are welded into a whole, and one side surface of a thrust ball bearing (22) is fixed on the inner side of the tilting bearing connecting plate (212) through bolts.
3. A geared wrist mechanism as claimed in claim 1, wherein: the space among the driving rod (21), the driven rod (23), the movable platform (3) and the movable platform substrate (4) is independent, and interference is not generated.
4. A geared wrist mechanism as claimed in claim 1, wherein: a revolute pair I exists between the driving motor (5) and the driving rod (21) on each branched chain, a revolute pair II exists between the driving rod (21) and the driven rod (23), a shifting pair exists between the driven rod (23) and the movable platform (3), and the revolute pair I and the revolute pair II are mutually intersected at one point.
5. A geared wrist mechanism as claimed in claim 1, wherein: the angle between the vertical driving plate (211) of the driving rod (21) and the inclined bearing connecting plate (212) is 140 degrees.
6. A geared wrist mechanism as claimed in claim 1, wherein: the wrist base connecting piece (12) is provided with a plurality of round holes for reducing weight.
7. A geared wrist mechanism as claimed in claim 1, wherein: the vertical driving plate (211) of the driving rod (21) is in interference connection with the output end of the driving motor (5).
8. A geared wrist mechanism as claimed in claim 1, wherein: the three trapezoid blocks (42) are arranged, and the three trapezoid blocks (42) are distributed on the round table (41) along the circumferential direction at 120 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011469413.6A CN112606036B (en) | 2020-12-14 | 2020-12-14 | Gear type wrist joint mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011469413.6A CN112606036B (en) | 2020-12-14 | 2020-12-14 | Gear type wrist joint mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN112606036A CN112606036A (en) | 2021-04-06 |
| CN112606036B true CN112606036B (en) | 2023-12-12 |
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| CN202011469413.6A Active CN112606036B (en) | 2020-12-14 | 2020-12-14 | Gear type wrist joint mechanism |
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| US7478576B2 (en) * | 2005-03-22 | 2009-01-20 | Ross-Hime Designs, Inc. | Robotic manipulator |
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| CN105690372A (en) * | 2016-03-24 | 2016-06-22 | 褚宏鹏 | Two-degree-of-freedom welding robot wrist joint |
| CN105773579A (en) * | 2016-03-24 | 2016-07-20 | 褚宏鹏 | Multi-branch chain coupled spherical two-rotating parallel mechanism |
| KR20180039974A (en) * | 2016-10-11 | 2018-04-19 | 한양대학교 에리카산학협력단 | A joint structure using parallel mechanism and a robot having the same |
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