CN114872080A - Robot tail end wrist structure - Google Patents
Robot tail end wrist structure Download PDFInfo
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- CN114872080A CN114872080A CN202210370756.XA CN202210370756A CN114872080A CN 114872080 A CN114872080 A CN 114872080A CN 202210370756 A CN202210370756 A CN 202210370756A CN 114872080 A CN114872080 A CN 114872080A
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- shaft
- axis
- bevel gear
- fixedly connected
- shell
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 210000000245 forearm Anatomy 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 abstract description 5
- 230000007547 defect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
-
- 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
- B25J17/0241—One-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot, in particular to a tail end wrist structure of a robot, which comprises a seat body fixedly connected with the front end of a small arm sleeve, and is characterized in that: the U-shaped five-axis shell covers the front end of the seat body, a five-axis input cylinder shaft with the axial direction in the front-back direction is rotatably arranged in the seat body, a first bevel gear is fixedly connected to the inner end of the five-axis input cylinder shaft, a first longitudinal shaft with the axial direction in the left-right direction is rotatably arranged on the right side of the seat body, the inner end of the five-axis input cylinder shaft is fixedly connected to a second bevel gear meshed with the first bevel gear, and the outer end of the five-axis input cylinder shaft is fixedly connected to the right side of the five-axis shell or drives the left side of the five-axis shell through a reduction gear set. Compared with the prior art, the power input ends of the five and six shafts of the invention adopt a coaxial structure, the power transmission of the five and six shafts is coupled, and the structure has the advantages of compact structure, large movement range, small volume, convenient adjustment and the like.
Description
Technical Field
The invention relates to a robot, in particular to a tail end wrist structure of the robot.
Background
The tail end wrist structure of the industrial six-axis robot comprises five axes capable of swinging within a certain range and six axes making rotary motion, and a motor direct connection structure or a belt transmission structure is adopted between the five axes and the six axes. However, the existing structure has certain defects, and the motor direct connection structure has the defects that the motor is arranged on the corresponding speed reducer, so that the size is increased, and the five-axis motion range is influenced. The belt transmission structure has the defects that the belt easily slips when the belt transmission structure is in heavy load, the service life is short, and the reliability is low.
Disclosure of Invention
In order to overcome one of the defects or shortcomings of the prior art, the invention discloses a tail end wrist structure of a robot, which adopts the technical scheme that:
the utility model provides a terminal wrist structure of robot, includes the pedestal with forearm sleeve front end rigid coupling, its characterized in that: the U-shaped five-axis shell covers the front end of the seat body, a five-axis input cylinder shaft with the axial direction in the front-back direction is rotatably arranged in the seat body, a first bevel gear is fixedly connected to the inner end of the five-axis input cylinder shaft, a first longitudinal shaft with the axial direction in the left-right direction is rotatably arranged on the right side of the seat body, the inner end of the five-axis input cylinder shaft is fixedly connected to a second bevel gear meshed with the first bevel gear, and the outer end of the five-axis input cylinder shaft is fixedly connected to the right side of the five-axis shell or drives the left side of the five-axis shell through a reduction gear set.
Furthermore, a six-shaft input shaft coaxial with the five-shaft input cylinder is rotatably arranged in the five-shaft input cylinder shaft, the inner end of the six-shaft input shaft is fixedly connected with a third bevel gear, a second longitudinal shaft coaxial with the first longitudinal shaft is rotatably arranged on the left sides of the seat body and the five-shaft shell, the inner end of the second longitudinal shaft is fixedly connected with a fourth bevel gear meshed with the third bevel gear, and the outer end of the second longitudinal shaft is fixedly connected with a first straight gear; a fifth bevel gear is fixedly arranged at the inner end of the fifth longitudinal shaft, and a second straight gear meshed with the first straight gear is fixedly arranged at the outer end of the third longitudinal shaft; the front end of the five-axis shell is provided with a transverse axis in a rotating mode, the projection of the axis is the transverse axis in the front-back direction, and the inner end of the transverse axis is fixedly provided with a sixth bevel gear meshed with the fifth bevel gear.
Further, the reduction gear set is a gear set for an RV reducer.
Furthermore, three annular supporting plates are fixedly connected in the five-axis shell, the five-axis shell is sealed with the front and the rear annular supporting plates through O-shaped rings, and the inner rings of the front and the rear annular supporting plates and the transverse shaft are rotatably supported through the front and the rear thrust bearings which are arranged in the back direction.
Compared with the prior art, the power input ends of the five and six shafts of the invention adopt a coaxial structure, the power transmission of the five and six shafts is coupled, and the structure has the advantages of compact structure, large movement range, small volume, convenient adjustment and the like.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a partial sectional view of fig. 1.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1-2, a robot tail end wrist structure includes a base body 1 fixedly connected to a front end of a forearm sleeve, a U-shaped five-axis housing 10 covers a front end of the base body 1, a five-axis input cylinder shaft 2 whose axial direction is a front-back direction is rotatably disposed in the base body 1, an inner end of the five-axis input cylinder shaft 2 is fixedly connected to a first bevel gear 3, a first longitudinal axis 4 whose axial direction is a left-right direction is rotatably disposed at a right side of the base body 1, an inner end of the five-axis input cylinder shaft is fixedly connected to a second bevel gear 5 engaged with the first bevel gear 3, and an outer end of the five-axis input cylinder shaft is fixedly connected to a right side of the five-axis housing 10.
The outer end of the five-axis input cylinder shaft 2 is fixedly connected with a motor or other torque output devices, and the five-axis input cylinder shaft 2 drives the U-shaped five-axis shell 10 to pitch up and down when rotating in the forward and reverse directions, namely five axes.
A six-shaft input shaft 6 coaxial with the five-shaft input shaft is rotatably arranged in the five-shaft input cylinder shaft 2, the inner end of the six-shaft input shaft 6 is fixedly connected with a third bevel gear 7, a second longitudinal shaft 8 coaxial with the first longitudinal shaft 4 is rotatably arranged on the left sides of the seat body 1 and the five-shaft shell 10, the inner end of the second longitudinal shaft 8 is fixedly connected with a fourth bevel gear 9 meshed with the third bevel gear 7, and the outer end of the second longitudinal shaft 8 is fixedly connected with a first straight gear 11; a third longitudinal shaft 12 is rotatably arranged on the left side of the five-axis shell 10 in front of the second longitudinal shaft 8, a fifth bevel gear 13 is fixedly arranged at the inner end of the third longitudinal shaft 12, and a second straight gear 14 meshed with the first straight gear 11 is fixedly arranged at the outer end of the third longitudinal shaft 12; the front end of the five-axis housing 10 is provided with a transverse shaft 15 with a projection of an axis in the front-back direction, and a sixth bevel gear 16 meshed with the fifth bevel gear 13 is fixedly arranged at the inner end of the transverse shaft 15.
The outer end of the six-shaft input shaft 6 is fixedly connected with a motor or other torque output devices, the six-shaft input shaft 6 rotates in the forward and reverse directions to drive the second longitudinal shaft 8 to rotate in the forward and reverse directions, the second longitudinal shaft 8 drives the third longitudinal shaft 12 to rotate in the forward and reverse directions, the third longitudinal shaft 12 drives the transverse shaft 15 to rotate in the forward and reverse directions, and the reverse and forward rotation of the transverse shaft 15 is six-shaft.
Three annular supporting plates 23 are fixedly connected in the five-axis shell 10, the five-axis shell 10 and the front and rear two annular supporting plates 23 are sealed through O-shaped rings 22, and inner rings of the front and rear two annular supporting plates 23 and the transverse shaft 15 are rotatably supported through front and rear two thrust bearings 21 which are arranged in a back-to-back mode.
Example 2, otherwise similar to example 1, except that: the outer end of the first longitudinal axis 4 drives the left side of the five-axis housing 10 with a gear set through an RV reducer. The RV reducer is a mature technology, and therefore, the detailed structure thereof is not described.
The power input ends of the five shaft and the six shaft are in a coaxial structure, the power transmission of the five shaft and the power transmission of the six shaft are coupled, the rotation of the six shaft is not influenced when the five shaft swings to any position, and the structure has the advantages of compact structure, large movement range, small volume, convenience in adjustment and the like.
In the above embodiments, the five and six axes do not represent a solid axis in the conventional sense, and the axes are common names in the art and are not properly named, meaning "dimension", "joint", or "degree of freedom".
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. The utility model provides a terminal wrist structure of robot, includes pedestal (1) with forearm sleeve front end rigid coupling, its characterized in that: the front end of a U-shaped five-axis shell (10) covers the front end of a seat body (1), a five-axis input cylinder shaft (2) with the axial direction in the front-back direction is rotatably arranged in the seat body (1), a first bevel gear (3) is fixedly connected to the inner end of the five-axis input cylinder shaft (2), a first longitudinal axis (4) with the axial direction in the left-right direction is rotatably arranged on the right side of the seat body (1), the inner end of the five-axis input cylinder shaft is fixedly connected with a second bevel gear (5) meshed with the first bevel gear (3), and the outer end of the five-axis input cylinder shaft is fixedly connected with the right side of the five-axis shell (10) or drives the left side of the five-axis shell (10) through a reduction gear set.
2. A robot end wrist structure according to claim 1, characterized in that: a six-shaft input shaft (6) coaxial with the five-shaft input cylinder shaft is rotatably arranged in the five-shaft input cylinder shaft (2), the inner end of the six-shaft input shaft (6) is fixedly connected with a third bevel gear (7), a second longitudinal shaft (8) coaxial with the first longitudinal shaft (4) is rotatably arranged on the left sides of the base body (1) and the five-shaft shell (10), the inner end of the second longitudinal shaft (8) is fixedly connected with a fourth bevel gear (9) meshed with the third bevel gear (7), and the outer end of the second longitudinal shaft (8) is fixedly connected with a first straight gear (11); a third longitudinal shaft (12) is arranged on the left side of the five-shaft shell (10) in front of the second longitudinal shaft (8) in a rotating mode, a fifth bevel gear (13) is fixedly arranged at the inner end of the third longitudinal shaft (12), and a second straight gear (14) meshed with the first straight gear (11) is fixedly arranged at the outer end of the third longitudinal shaft; the front end of the five-axis shell (10) is rotatably provided with a transverse shaft (15) with the projection of the axis in the front-back direction, and the inner end of the transverse shaft (15) is fixedly provided with a sixth bevel gear (16) meshed with the fifth bevel gear (13).
3. A robot end wrist structure according to claim 1, characterized in that: the reduction gear set is a gear set for an RV reducer.
4. A robot end wrist structure according to claim 1, characterized in that: three annular supporting plates (23) are fixedly connected in the five-axis shell (10), the five-axis shell (10) and the front and rear two annular supporting plates (23) are sealed through O-shaped rings (22), and the inner rings of the front and rear two annular supporting plates (23) and the transverse shaft (15) are rotatably supported through the front and rear two thrust bearings (21) which are arranged in the back direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210370756.XA CN114872080A (en) | 2022-04-11 | 2022-04-11 | Robot tail end wrist structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210370756.XA CN114872080A (en) | 2022-04-11 | 2022-04-11 | Robot tail end wrist structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114872080A true CN114872080A (en) | 2022-08-09 |
Family
ID=82670576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210370756.XA Pending CN114872080A (en) | 2022-04-11 | 2022-04-11 | Robot tail end wrist structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114872080A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1992013683A1 (en) * | 1991-01-31 | 1992-08-20 | Kabushiki Kaisha Yaskawa Denki | Wrist mechanism for industrial robot |
| DE102014105775A1 (en) * | 2013-04-30 | 2014-10-30 | Fanuc Corporation | Wrist from an industrial robot |
| CN110039527A (en) * | 2019-03-13 | 2019-07-23 | 苏州汇川技术有限公司 | Robot wrist, industrial robot and assembly method |
| CN211682201U (en) * | 2019-12-27 | 2020-10-16 | 清研同创机器人（天津）有限公司 | Robot wrist with sealed setting |
| CN112171651A (en) * | 2020-09-30 | 2021-01-05 | 上海载科智能科技有限公司 | Wrist structure of 6-axis heavy-load industrial robot |
| CN217318071U (en) * | 2022-04-11 | 2022-08-30 | 烟台艾迪艾创机器人科技有限公司 | Robot tail end wrist structure |
-
2022
- 2022-04-11 CN CN202210370756.XA patent/CN114872080A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1992013683A1 (en) * | 1991-01-31 | 1992-08-20 | Kabushiki Kaisha Yaskawa Denki | Wrist mechanism for industrial robot |
| DE102014105775A1 (en) * | 2013-04-30 | 2014-10-30 | Fanuc Corporation | Wrist from an industrial robot |
| CN110039527A (en) * | 2019-03-13 | 2019-07-23 | 苏州汇川技术有限公司 | Robot wrist, industrial robot and assembly method |
| CN211682201U (en) * | 2019-12-27 | 2020-10-16 | 清研同创机器人（天津）有限公司 | Robot wrist with sealed setting |
| CN112171651A (en) * | 2020-09-30 | 2021-01-05 | 上海载科智能科技有限公司 | Wrist structure of 6-axis heavy-load industrial robot |
| CN217318071U (en) * | 2022-04-11 | 2022-08-30 | 烟台艾迪艾创机器人科技有限公司 | Robot tail end wrist structure |
Non-Patent Citations (2)
| Title |
|---|
| 张新星: "工业机器人应用基础", vol. 1, 30 June 2017, 北京理工大学出版社, pages: 155 - 156 * |
| 陈琪，鲁庆东: "工业机器人编程与调试", vol. 1, 28 February 2021, 中国轻工业出版社, pages: 4 - 6 * |
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