CN201800047U - Transmission mechanism for hollow wrist of industrial robot - Google Patents
Transmission mechanism for hollow wrist of industrial robot Download PDFInfo
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- CN201800047U CN201800047U CN2010205423279U CN201020542327U CN201800047U CN 201800047 U CN201800047 U CN 201800047U CN 2010205423279 U CN2010205423279 U CN 2010205423279U CN 201020542327 U CN201020542327 U CN 201020542327U CN 201800047 U CN201800047 U CN 201800047U
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- joint
- bevel gear
- transmission mechanism
- joint support
- industrial robot
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Abstract
The utility model discloses a transmission mechanism for hollow wrist of industrial robot in a structure that the transmission mechanism herein comprises a first joint support component (1), a second joint support component (2), and a third joint terminal component (3), wherein the first joint support component (1) is disposed at the rear end of a robot arm 10 and can conduct relative rotation, thus constituting a first free degree for the hollow wrist of the industrial robot; the second joint support component (2) is disposed at the rear end of the first joint support component (1) and can conduct relative rotation, thus constituting a second free degree for the hollow wrist; the third joint terminal component (3) is employed for in mounting connection with a terminal executor of the industrial robot, is disposed at the rear end of the second joint support component (2) and can conduct relative rotation, thus constituting a third free degree for the hollow wrist. The transmission mechanism of the utility model has the advantages of tight arrangement, large hollow space, short crossing length of pipeline, small bending range, and high reliability.
Description
Technical field
The utility model relates to the industrial robot technical field, is specifically related to a kind of Three Degree Of Freedom oblique spherical hollow wrist transmission mechanism that is used for industrial robot.
Background technology
The wrist of industrial robot is the vitals that connects mechanical arm and end-effector.Its function is to change the attitude of end-effector in the space, therefore has three degree of freedom.Along with the progress of Robotics and in the fast development of industrial circle, densification, the flexibility demand of the design of industrial machine human wrist are more and more higher.In order to realize attitude control flexibly and the hollow drive mechanism that various pipelines are passed through, prior art generally adopts the aspheric wrist version of oblique, with hollow cone gear drive transmission campaign and power.As U.S. Pat 4703688, robots arm's Wrist mechanism is by upper joint, hypozygal and instrument mounting disc are formed, upper joint is driven directly, hypozygal drives by the hollow cone gears engaged that is arranged in the upper joint, and the instrument mounting disc is by being arranged at a plurality of hollow cone gear drive of hollow cone meshed transmission gear in the upper joint.The segment distance because the restriction of transmission mechanism, upper joint rotating shaft and instrument mounting disc rotating shaft are setovered.The non-spherical arrangement of wrist makes the axis of three degree of freedom not intersect at a point, and causes the inverse kinematic difficulty of robot, even does not have analytic solutions, causes the lifting bottleneck of robot control performance like this.The principle of non-spherical wrist causes the wrist structure not compact, the big and bending situation complexity of pipeline crossing length.Bad to the stressing influence under robot end's load running situation simultaneously.
Summary of the invention
The purpose of this utility model provides and a kind ofly is easy to instead to separate, the industrial robot Three Degree Of Freedom oblique spherical hollow wrist transmission mechanism of compact conformation, flexibility and reliability, can overcome the shortcoming of existing non-spherical hollow wrist technology.
The technical solution of the utility model is:
The hollow wrist transmission mechanism of a kind of industrial robot, comprise the first joint support parts, second joint support component and the 3rd joint end fitting, the described first joint support parts are arranged at the end of robot forearm rotatably, produce first free degree of the hollow wrist of industrial robot; Described second joint support component is arranged at the end of the first joint support parts rotatably, produces second free degree of industrial machine human wrist; Described the 3rd joint end fitting is used to the end effector that connects industrial robot is installed, and it is arranged at the end of second joint support component rotatably, produces robot wrist's three degree of freedom; Under the effect of driving force, described hollow wrist transmission mechanism is carried out Job Operations by the coordination to above-mentioned three degree of freedom.
As further improvement of the utility model, be provided with relatively turnable second joint in the hollow drive end of the described first joint support parts and drive bevel gear, end near the first joint support parts in the described second joint support component is the bevel gear shape, described second joint drives bevel gear and this is the end engaged transmission of bevel gear shape, realizes the generation of described second free degree.
As further improvement of the utility model, it is characterized in that, described second joint drives and is provided with relatively turnable the 3rd joint driving bevel gear in the bevel gear, described second joint support component inside is provided with relatively turnable transition bevel gear and relatively turnable the 3rd joint output bevel gear, described the 3rd joint output bevel gear is connected with the 3rd joint end fitting by many connecting rods, described the 3rd joint drives bevel gear and by the transition bevel gear bevel gear is exported in transmission of power to the three joints, and further drive the 3rd joint end fitting rotation by above-mentioned many connecting rods, realize the generation of described three degree of freedom.
As further improvement of the utility model, described transition bevel gear comprises following half side transition bevel gear and the last half side transition bevel gear that is fixed with one, drive bevel gear and the engagement of the 3rd joint output bevel gear with described the 3rd joint respectively, thereby described the 3rd joint is driven transmission of power to the three joints output bevel gear of bevel gear.
As further improvement of the utility model, described connecting rod two ends are hinged by hinge and the 3rd joint output bevel gear and the 3rd joint end fitting respectively, each hinge pin is all parallel with the rotating shaft C of the 3rd joint end fitting, the hinge pin offset or dish at each root connecting rod two ends equates, connecting rod and the 3rd joint output bevel gear is connected the distance of the bearing pin axis of an end to the 3rd joint output bevel gear axis, equates with the bearing pin axis of this connecting rod other end distance to the C axle.
As further improvement of the utility model, described hinge is common hinge, universal hinge or ball pivot.
As further improvement of the utility model, the described first joint support parts, second joint drive bevel gear and the 3rd joint driving bevel gear is coaxial, and axis is A; Described second joint support component, following half side transition bevel gear and to go up half side transition bevel gear coaxial, its axis is B, the rotating shaft C of above-mentioned axis A, axis B and the 3rd joint end fitting O that intersects at a point, and the B axle equates with the A axle with the angle of C axle.
Characteristics of the present utility model are:
The rotational freedom axis A in first, second and third joint of wrist, B, the C O that intersects at a point jointly, this makes the inverse kinematic of robot have the analytic solutions that are easy to find the solution, and helps the lifting of robot control performance.
When the rotational freedom axis coplane in first, second and third joint of wrist, A axle and C axle conllinear, this makes the terminal working space of wrist form the single radial cut sphere, has best kinematics flexibility.
The hollow output in wrist the 3rd joint bevel gear is to the transmission of wrist the 3rd joint end fitting, adopted a kind of joint of robot parts connected mode of innovation, made that two pivot centers are parallel and depart from certain distance and can accurately rotate synchronously along the bigger parts of axis direction distance simultaneously.
Wrist transmission mechanism layout is compact, hollow space is big, makes that the pipeline crossing length is short, the bending amplitude is very little, has higher reliability.
Description of drawings
Fig. 1 is the sectional structure schematic diagram of hollow wrist transmission mechanism
Fig. 2 is the external structure schematic diagram of hollow wrist transmission mechanism
Fig. 3 forwards the sectional structure schematic diagram of extreme position to for hollow wrist transmission mechanism.
The specific embodiment
Below in conjunction with accompanying drawing embodiment of the present utility model is elaborated.
As Figure 1-3, outside of the present utility model mainly is made of three parts, is respectively the first joint support parts 1, second joint support component 2 and the 3rd joint end fitting 3.
The first joint support parts 1 are arranged at the end of robot forearm 10 rotatably, second joint support component 2 is arranged at the end of the first joint support parts 1 rotatably, and the 3rd joint end fitting 3 is arranged at the end of second joint support component 2 rotatably.
Be provided with second joint in the hollow drive end of the first joint support parts 1 rotatably and drive bevel gear 4, second joint drives and is provided with driving bevel gear 5 in the 3rd joint in the bevel gear 4 rotatably; End near the first joint support parts 1 in the second joint support component 2 is the bevel gear shape, these second joint support component 2 inside are provided with down half side transition bevel gear 6 and last half side transition bevel gear 7 rotatably, and the 3rd joint output bevel gear 8, wherein, described down half side transition bevel gear 6 is fixedly connected with last half side transition bevel gear 7, do not relatively rotate, described the 3rd joint output bevel gear 8 is connected with the 3rd joint end fitting 3 by many (as more than three) connecting rods 9.Described the 3rd joint end fitting 3 is used to the end effector that connects various industrial robots is installed, to carry out corresponding operation.
Second joint drives bevel gear 4 and holds engagement with the bevel gear of second joint support component 2, constitutes article one driving-chain of described transmission mechanism.The driving that drives bevel gear 4 by this second joint drives described second joint support component 2 rotations.
Described the 3rd joint drives bevel gear 5 and described down half side transition bevel gear 6 engagements, described half side transition bevel gear 7 and 8 engagements of the 3rd joint output bevel gear, the 3rd joint output bevel gear 8 is connected with the 3rd joint end fitting 3 by many (as more than three) connecting rods 9, constitutes the second driving-chain of described transmission mechanism.
The first joint support parts 1, second joint drive bevel gear 4 and the 3rd joint driving bevel gear 5 is coaxial, and setting its axis is A; Second joint support component 2, following half side transition bevel gear 6 and last half side transition bevel gear 7 are coaxial, and setting its axis is B; The rotating shaft of the 3rd joint end fitting 3 is C, and the rotating shaft of the 3rd joint output bevel gear 8 is parallel with the C axle, axis A, B, the C O that intersects at a point jointly, and the B axle has equal-sized angle with A axle and C axle respectively.
Connecting rod 9 two ends can be common hinge or universal hinge or ball pivot, and its hinge pin is parallel with the C axle, and the hinge pin offset or dish at each root connecting rod 9 two ends equates.The bearing pin axis that connecting rod 9 and the 3rd joint output bevel gear 8 is connected an end is exported the distance of bevel gear 8 axis to the 3rd joint, equate with the bearing pin axis of these connecting rod 9 other ends distance to the C axle.
The first joint support parts 1 are done controlled rotational motion with respect to robot forearm 10, produce first free degree of robot wrist.
Second joint drives bevel gear 4 and does controlled rotational motion with respect to robot forearm 10, by holding engaged transmission with the bevel gear of second joint support component 2, make the second joint support component 2 relative first joint support parts 1 do controlled rotational motion, produce second free degree of robot wrist.
The 3rd joint drives bevel gear 5 and does controlled rotational motion with respect to robot forearm 10, to move with the following half side transition bevel gear 6 of its engagement and power is meshed and transmitted to the 3rd joint by the last half side transition bevel gear 7 that connects firmly and exports bevel gear 8, last the 3rd joint output bevel gear 8 is by connecting rod 9 transmissions the 3rd joint end fitting 3, make it do controlled rotational motion, produce robot wrist's three degree of freedom with respect to second joint support component 2.
Claims (7)
1. hollow wrist transmission mechanism of industrial robot, comprise the first joint support parts (1), second joint support component (2) and the 3rd joint end fitting (3), the described first joint support parts (1) are arranged at the end of robot forearm (10) rotatably, produce first free degree of the hollow wrist of industrial robot; Described second joint support component (2) is arranged at the end of the first joint support parts (1) rotatably, produces second free degree of industrial machine human wrist; Described the 3rd joint end fitting (3) is used to the end effector that connects industrial robot is installed, and it is arranged at the end of second joint support component (2) rotatably, produces robot wrist's three degree of freedom; Under the effect of driving force, described hollow wrist transmission mechanism is carried out Job Operations by the coordination to above-mentioned three degree of freedom.
2. the hollow wrist transmission mechanism of a kind of industrial robot according to claim 1, it is characterized in that, be provided with relatively turnable second joint in the hollow drive end of the described first joint support parts (1) and drive bevel gear (4), end near the first joint support parts (1) in the described second joint support component (2) is the bevel gear shape, described second joint drives bevel gear (4) and this end engaged transmission that is the bevel gear shape, realizes the generation of described second free degree.
3. the hollow wrist transmission mechanism of a kind of industrial robot according to claim 1 and 2, it is characterized in that, described second joint drives and is provided with relatively turnable the 3rd joint driving bevel gear (5) in the bevel gear (4), described second joint support component (2) inside is provided with relatively turnable transition bevel gear (6,7) and relatively turnable the 3rd joint output bevel gear (8), described the 3rd joint output bevel gear (8) is connected with the 3rd joint end fitting (3) by many connecting rods (9), described the 3rd joint drives bevel gear (5) by transition bevel gear (6,7) with transmission of power to the three joints output bevel gear (8), and further drive the rotation of the 3rd joint end fitting (3) by above-mentioned many connecting rods (9), realize the generation of described three degree of freedom.
4. the hollow wrist transmission mechanism of a kind of industrial robot according to claim 3, it is characterized in that, described transition bevel gear (6,7) comprise following half side transition bevel gear (6) and the last half side transition bevel gear (7) that is fixed with one, drive bevel gear (5) and the 3rd joint output bevel gear (7) engagement with described the 3rd joint respectively, thereby described the 3rd joint is driven transmission of power to the three joints output bevel gear (8) of bevel gear (5).
5. the hollow wrist transmission mechanism of a kind of industrial robot according to claim 4, it is characterized in that, described connecting rod (9) two ends are hinged by hinge and the 3rd joint output bevel gear (8) and the 3rd joint end fitting (3) respectively, each hinge pin is all parallel with the rotating shaft C of the 3rd joint end fitting (3), the hinge pin offset or dish at each root connecting rod (9) two ends equates, the bearing pin axis that connecting rod (9) and the 3rd joint output bevel gear (8) is connected an end is exported the distance of bevel gear (8) axis to the 3rd joint, equate with the bearing pin axis of this connecting rod (9) other end distance to the C axle.
6. the hollow wrist transmission mechanism of a kind of industrial robot according to claim 5 is characterized in that, described hinge is common hinge, universal hinge or ball pivot.
7. according to claim 1,2,4, the hollow wrist transmission mechanism of 5 or 6 described a kind of industrial robots, it is characterized in that, the described first joint support parts (1), second joint drive bevel gear (4) and the 3rd joint driving bevel gear (5) is coaxial, and axis is A; Described second joint support component (2), following half side transition bevel gear (6) and last half side transition bevel gear (7) are coaxial, its axis is B, the rotating shaft C of above-mentioned axis A, axis B and the 3rd joint end fitting (3) O that intersects at a point, and the B axle equates with the A axle with the angle of C axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205423279U CN201800047U (en) | 2010-09-27 | 2010-09-27 | Transmission mechanism for hollow wrist of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205423279U CN201800047U (en) | 2010-09-27 | 2010-09-27 | Transmission mechanism for hollow wrist of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201800047U true CN201800047U (en) | 2011-04-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205423279U Expired - Fee Related CN201800047U (en) | 2010-09-27 | 2010-09-27 | Transmission mechanism for hollow wrist of industrial robot |
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| CN (1) | CN201800047U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101954639A (en) * | 2010-09-27 | 2011-01-26 | 华中科技大学 | Transmission mechanism for hollow wrist of industrial robot |
| CN106166751A (en) * | 2016-05-26 | 2016-11-30 | 广东工业大学 | A kind of robot motion's compensation method and robot |
| CN111659937A (en) * | 2020-06-22 | 2020-09-15 | 重庆科技学院 | Numerical control offset universal milling head |
| CN113771019A (en) * | 2021-09-02 | 2021-12-10 | 清研同创机器人（天津）有限公司 | Industrial robot wrist |
-
2010
- 2010-09-27 CN CN2010205423279U patent/CN201800047U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101954639A (en) * | 2010-09-27 | 2011-01-26 | 华中科技大学 | Transmission mechanism for hollow wrist of industrial robot |
| CN101954639B (en) * | 2010-09-27 | 2012-07-04 | 华中科技大学 | Transmission mechanism for hollow wrist of industrial robot |
| CN106166751A (en) * | 2016-05-26 | 2016-11-30 | 广东工业大学 | A kind of robot motion's compensation method and robot |
| CN111659937A (en) * | 2020-06-22 | 2020-09-15 | 重庆科技学院 | Numerical control offset universal milling head |
| CN113771019A (en) * | 2021-09-02 | 2021-12-10 | 清研同创机器人（天津）有限公司 | Industrial robot wrist |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110420 Termination date: 20120927 |