CN203197916U - Robot wrist for laser precise processing - Google Patents
Robot wrist for laser precise processing Download PDFInfo
- Publication number
- CN203197916U CN203197916U CN 201320209235 CN201320209235U CN203197916U CN 203197916 U CN203197916 U CN 203197916U CN 201320209235 CN201320209235 CN 201320209235 CN 201320209235 U CN201320209235 U CN 201320209235U CN 203197916 U CN203197916 U CN 203197916U
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- China
- Prior art keywords
- belt wheel
- axis
- reducing motor
- axle
- bevel gear
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- Withdrawn - After Issue
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Abstract
The utility model relates to laser micro-hole processing devices, in particular to a robot wrist for laser precise processing. The robot wrist for the laser precise processing comprises an A-axis component for achieving the rotation of an axis Y and a B-axis component for achieving the rotation of an axis Z, the A-axis component comprises an A-axis framework, a first speed reducing motor and an outer connecting shaft, the A-axis framework is connected with a robot arm, the first speed reducing motor is arranged on the A-axis framework, and the main shaft of the first speed reducing motor is connected with the B-axis component through the outer connecting shaft and drives the B-axis component to achieve the rotating of the axis Y; the B-axis component comprises a B-axis framework, a second speed reducing motor, a bevel gear reversing mechanism and a belt wheel driving mechanism, the second speed reducing motor, the bevel gear reversing mechanism and the belt wheel driving mechanism are respectively arranged on the B-axis framework, the B-axis framework is connected with the outer connecting shaft, the second speed reducing motor is in linkage with one end of the belt wheel driving mechanism through the bevel gear reversing mechanism, and the other end of the belt wheel driving mechanism is connected with an actuator and drives the actuator to achieve the rotation of the axis Z. The robot wrist for the laser precise processing is compact in structure and wide in applicability, and can achieve the motion state that a laser processing head freely swings at a fixed point.
Description
Technical field
The utility model relates to laser micropore processor, specifically a kind of robot wrist towards laser accurate processing.
Background technology
The wrist of robot is the parts that connect arm and end effector, its major function is after arm and support have been realized three position coordinateses of end effector at working space, realize that by wrist end effector is at three attitude coordinates of working space again, namely realize three rotary freedoms, by mechanical interface, connect and the support tip actuator.
Research for mechanical hand in present stage mostly concentrates on multiple degrees of freedom, the research field of the directions such as flexibility and accurate location, but but violate the most basic requirement of producing in the reality: 1. simple to operate, 2. mechanism oversimplifies, 3. low-cost, 4. operation principle clearing, 5 applicabilities are wide etc.; So that present a large amount of mechanical hands have very strong applicability at specific area, almost each mechanical hand is for specific crowd, the efficient of the production that this reduces greatly.Therefore necessity to the research of simple machine hand has been arranged now, and implementation structure is simple, and function understands, the purpose of highly versatile.
The utility model content
The purpose of this utility model is to provide a kind of robot wrist towards laser accurate processing.This robot wrist structure is simply compact, and applicability is wider, can realize the motion state that laser Machining head arbitrarily swings at fixing point.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises to be realized the A spindle unit that Y-axis is rotated and realizes the B spindle unit that Z axis rotates, wherein the A spindle unit comprises A axle framework, the first reducing motor and outer connecting shaft, described A axle framework links to each other with robot arm, described the first reducing motor is installed on the A axle framework, and the main shaft of this first reducing motor is connected, drives the B spindle unit by described outer connecting shaft and B spindle unit and realizes the Y-axis rotation; Described B spindle unit comprises B axle framework and is installed in respectively the second reducing motor, bevel gear reversing mechanism and belt wheel transmission mechanism on the B axle framework, B axle framework links to each other with described outer connecting shaft, described the second reducing motor is by an end interlock of bevel gear reversing mechanism and belt wheel transmission mechanism, and the other end of described belt wheel transmission mechanism is connected, drives this actuator and realizes that Z axis rotates with actuator.
Wherein: described A axle framework comprises arm connecting plate and A shaft coupling piece, and wherein the arm connecting plate is installed on the robot arm, and the A shaft coupling piece vertically is fixed in an end of described arm connecting plate; Described the first reducing motor is installed on the A shaft coupling piece, and the main shaft of the first reducing motor passes this A shaft coupling piece, links to each other with described outer connecting shaft; On the described A axle framework A axle outside jacket plates is installed, described the first reducing motor is sealed in this A axle outside jacket plates; Described B axle framework comprises B axle connecting plate and B axis fixing plate, and wherein B axle connecting plate links to each other with described outer connecting shaft, and the B axis fixing plate is fixed in an end of B axle connecting plate; Described the second reducing motor, bevel gear reversing mechanism and belt wheel transmission mechanism are installed in respectively on the B axis fixing plate; Be connected with the barrier support plate between described B axle connecting plate and the B axis fixing plate; Described bevel gear reversing mechanism comprises the first bevel gear, the second bevel gear and shell, its housing is installed on the B axis fixing plate, described the first bevel gear is connected in the main shaft of the second reducing motor, the gear shaft of the second bevel gear is rotatably installed in the described casing by bearing, this second bevel gear and the first bevel gear engaged transmission; The gear shaft of described the second bevel gear passes the B axis fixing plate, with an end interlock of described belt wheel transmission mechanism; On the described B axle framework B axle outside jacket plates is installed, described the second reducing motor and bevel gear reversing mechanism are sealed in this B axle outside jacket plates; Described B axle framework is provided with belt wheel protection hood, and described belt wheel transmission mechanism is positioned at this belt wheel protection hood; Described belt wheel transmission mechanism comprises the first belt wheel, the second belt wheel and gear band, wherein the first belt wheel and described bevel gear reversing mechanism interlock, the wheel shaft of the second belt wheel is rotatably installed on the B axle framework, and pass, connect described actuator by B axle framework, link to each other by gear band between described the first belt wheel and the second belt wheel; The longitudinal center line of described the first reducing motor main shaft, be Y-axis, with the turning cylinder of actuator turns, be Z axis, mutually intersect vertically.
Advantage of the present utility model and good effect are:
1. the utility model is simple and compact for structure, and applicability is wider, and framework is firm, can realize the motion state that laser Machining head arbitrarily swings at fixing point.
2. the utility model intersects vertically at the welding gun mouth by the extended line of Y-axis and Z axis, namely Y-axis and Z axis are in same two-dimensional space, thereby so that welding gun can only move at initial point (namely both joinings), the movement locus that can guarantee like this welding gun is two curvilinear motions fixing.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the structural front view after Fig. 1 removes A, B axle outside jacket plates;
Fig. 3 is the structural perspective after Fig. 1 removes A, B axle outside jacket plates;
Wherein: 1 is A axle outside jacket plates, and 2 is the arm connecting plate, and 3 is the first reducing motor, 4 is the A shaft coupling piece, and 5 is outer connecting shaft, and 6 is B axle connecting plate, 7 is the barrier support plate, and 8 is the B axis fixing plate, and 9 is the second reducing motor, 10 is bevel gear reversing mechanism, and 11 is B axle outside jacket plates, and 12 is belt wheel protection hood, 13 is belt wheel transmission mechanism, and 14 is laser Machining head, and 15 is the first belt wheel, 16 is the second belt wheel, and 17 is gear band, and 18 is through hole.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
Shown in Fig. 1～3, the utility model comprises to be realized the A spindle unit that Y-axis is rotated and realizes the B spindle unit that Z axis rotates, wherein the A spindle unit comprises A axle framework, A axle outside jacket plates 1, the first reducing motor 3 and outer connecting shaft 5, A axle framework comprises arm connecting plate 2 and A shaft coupling piece 4, arm connecting plate 2 is installed on the robot arm, this arm connecting plate 2 is not only the connector with robot arm, also be the basal plate of whole A spindle unit, the stability of carrying the weight of whole A spindle unit and supporting whole robot wrist; A shaft coupling piece 4 vertically is fixed in an end of arm connecting plate 2, and is L-shaped with arm connecting plate 2, and this A shaft coupling piece 4 is fixed heads of the first reducing motor 3; A axle outside jacket plates 1 is fixed between arm connecting plate 2 and the A shaft coupling piece 4, makes the first reducing motor 3 be closed state, plays safety precautions.The first reducing motor 3 is fixed on the A shaft coupling piece 4, is directly to play the power origin that makes actuator (the present embodiment is laser Machining head 14) can center on A axle (Y-axis) gyroscopic effects; The main shaft of the first reducing motor 3 passes A shaft coupling piece 4, and outer connecting shaft 5 is fixed on the main shaft of the first reducing motor 3, is used for realizing the gyroscopic effects of laser Machining head 14.
The B spindle unit is whole to be connected with outer connecting shaft 5, is driven by the first reducing motor 3 and rotates around Y-axis.The B spindle unit comprises B axle framework, the second reducing motor 9, bevel gear reversing mechanism 10, B axle outside jacket plates 11, belt wheel protection hood 12 and belt wheel transmission mechanism 13, wherein B axle framework comprises B axle connecting plate 6 and B axis fixing plate 8, B axle connecting plate 6 links to each other with outer connecting shaft 5, is the basal plate that supports whole B spindle unit; B axis fixing plate 8 is fixed in an end of B axle connecting plate 6, and is L-shaped with B axle connecting plate 6, and this B axis fixing plate 8 is the fixed heads that are used for fixing the second reducing motor 9, also is the installation version that belt wheel protection hood 12 and belt wheel transmission mechanism 13 are installed.The second reducing motor 9 and bevel gear reversing mechanism 10 are positioned at a side of B axis fixing plate 8, and B axle outside jacket plates 11 is fixed between B axle connecting plate 6 and the B axis fixing plate 8, and the second reducing motor 9 and bevel gear reversing mechanism 10 are closed, play the safeguard protection effect.Be connected with barrier support plate 7 between B axle connecting plate 6 and the B axis fixing plate 8, be used for consolidating B axle connecting plate 6 and B axis fixing plate 8 stationary state between the two, so that the B spindle unit is more fixed.Bevel gear reversing mechanism 10 comprises the first bevel gear, the second bevel gear and shell, shell is installed on the B axis fixing plate 8, be co-located at the same side of B axis fixing plate 8 with the second reducing motor 9, the first bevel gear is connected in the main shaft of the second reducing motor 9, the gear shaft of the second bevel gear is rotatably installed in the casing by bearing, this second bevel gear and the first bevel gear engaged transmission; The gear shaft of the second bevel gear is passed by the through hole 18 of offering on the B axis fixing plate 8.Belt wheel transmission mechanism 13 is positioned at the opposite side of B axis fixing plate 8, and belt wheel protection hood 12 is fixed on the B axis fixing plate 8, and belt wheel transmission mechanism 13 is covered in inside, is used for safeguarding belt wheel transmission mechanism 13, plays the safeguard protection effect; Belt wheel transmission mechanism comprises the first belt wheel 15, the second belt wheel 16 and gear band 17, the first belt wheel 15 is installed on the gear shaft of the second bevel gear, the wheel shaft of the second belt wheel 16 is rotatably installed on the B axis fixing plate 8, and pass, connect between laser Machining head 14, the first belt wheels 15 and the second belt wheel 16 by B axis fixing plate 8 and link to each other by gear band 17.
Installation of the present utility model and operation principle are:
Thereby at first be fixed on the basic framework that realizes whole A spindle unit on the arm connecting plate 2 by A shaft coupling piece 4, then the first reducing motor 3 is bolted on the A shaft coupling piece 4, again outer connecting shaft 5 is installed on the main shaft of the first reducing motor 3, A axle outside jacket plates 1 is installed at last, whole like this A spindle unit just installs, and puts aside first.Then B axle connecting plate 6 is fixed on the B axis fixing plate 8, thereby realizes the basic framework of B spindle unit, again barrier support plate 7 is installed between B axis fixing plate 8 and the B axle connecting plate 6, thereby realize strengthening fixedly B axle framework so that the B spindle unit is more solid and reliable; Then the second reducing motor 9 is installed on the B axis fixing plate 8, is transferred on the first belt wheel 15 by bevel gear reversing mechanism 10, the second belt wheel 16 is installed on the B axis fixing plate 8 again, load onto gear band 17, belt wheel transmission mechanism 13 has just installed like this; Belt wheel protection hood 12 is loaded onto, and this B spindle unit installs like this.At last A spindle unit and the B spindle unit outer connecting shaft 5 by the centre is linked together, the robot wrist of whole laser accurate processing just installs.
The utility model is directly controlled the motion state of laser Machining head 14 by two reducing motors, the A axle is directly to rotate around the A axle by running drive B spindle unit and the laser Machining head 14 of controlling the first reducing motor 3, control laser Machining head 14 in the operating condition of Y-axis, the B axle is to pass in the belt wheel transmission mechanism 13 after bevel gear reversing mechanism 10 transmissions by the second deceleration motor 9, change again the direction of motion of transmission through the transmission of belt wheel, realize that laser Machining head 14 is in the operating condition of Z axis, and the extended line by Y-axis and Z axis intersects vertically at the welding gun mouth of laser Machining head 14, namely Y-axis and Z axis are in same two-dimensional space, thereby so that welding gun can only move at initial point (namely both joinings), the movement locus that can guarantee like this welding gun is two curvilinear motions fixing.
Y-axis of the present utility model (A axle) is the longitudinal center line direction of the first reducing motor 3 main shafts, and the B axle is the longitudinal center line direction of the second reducing motor 9 main shafts, and Z axis is the longitudinal center line direction of the second belt wheel 16 wheel shafts.
Claims (10)
1. robot wrist towards laser accurate processing, it is characterized in that: comprise and realize the A spindle unit that Y-axis is rotated and realize the B spindle unit that Z axis rotates, wherein the A spindle unit comprises A axle framework, the first reducing motor (3) and outer connecting shaft (5), described A axle framework links to each other with robot arm, described the first reducing motor (3) is installed on the A axle framework, and the main shaft of this first reducing motor (3) is connected, drives the B spindle unit by described outer connecting shaft (5) and B spindle unit and realizes the Y-axis rotation; Described B spindle unit comprises B axle framework and is installed in respectively the second reducing motor (9), bevel gear reversing mechanism (10) and belt wheel transmission mechanism (13) on the B axle framework, B axle framework links to each other with described outer connecting shaft (5), described the second reducing motor (9) is by the end interlock of bevel gear reversing mechanism (10) with belt wheel transmission mechanism (13), and the other end of described belt wheel transmission mechanism (13) is connected, drives this actuator and realizes that Z axis rotates with actuator.
2. by the described robot wrist towards laser accurate processing of claim 1, it is characterized in that: described A axle framework comprises arm connecting plate (2) and A shaft coupling piece (4), wherein arm connecting plate (2) is installed on the robot arm, and A shaft coupling piece (4) vertically is fixed in an end of described arm connecting plate (2); Described the first reducing motor (3) is installed on the A shaft coupling piece (4), and the main shaft of the first reducing motor (3) passes this A shaft coupling piece (4), links to each other with described outer connecting shaft (5).
3. by claim 1 or 2 described robot wrists towards laser accurate processing, it is characterized in that: on the described A axle framework A axle outside jacket plates (1) is installed, described the first reducing motor (3) is sealed in this A axle outside jacket plates (1).
4. by the described robot wrist towards laser accurate processing of claim 1, it is characterized in that: described B axle framework comprises B axle connecting plate (6) and B axis fixing plate (8), wherein B axle connecting plate (6) links to each other with described outer connecting shaft (5), and B axis fixing plate (8) is fixed in an end of B axle connecting plate (6); Described the second reducing motor (9), bevel gear reversing mechanism (10) and belt wheel transmission mechanism (13) are installed in respectively on the B axis fixing plate (8).
5. by the described robot wrist towards laser accurate processing of claim 4, it is characterized in that: be connected with barrier support plate (7) between described B axle connecting plate (6) and the B axis fixing plate (8).
6. by the described robot wrist towards laser accurate processing of claim 4, it is characterized in that: described bevel gear reversing mechanism (10) comprises the first bevel gear, the second bevel gear and shell, its housing is installed on the B axis fixing plate (8), described the first bevel gear is connected in the main shaft of the second reducing motor (9), the gear shaft of the second bevel gear is rotatably installed in the described casing by bearing, this second bevel gear and the first bevel gear engaged transmission; The gear shaft of described the second bevel gear passes the B axis fixing plate, with an end interlock of described belt wheel transmission mechanism (13).
7. by claim 1 or 4 described robot wrists towards laser accurate processing, it is characterized in that: on the described B axle framework B axle outside jacket plates (11) is installed, described the second reducing motor (9) and bevel gear reversing mechanism (10) are sealed in this B axle outside jacket plates (11).
8. by claim 1 or 4 described robot wrists towards laser accurate processing, it is characterized in that: described B axle framework is provided with belt wheel protection hood (12), and described belt wheel transmission mechanism (13) is positioned at this belt wheel protection hood (12).
9. by the described robot wrist towards laser accurate processing of claim 8, it is characterized in that: described belt wheel transmission mechanism comprises the first belt wheel (15), the second belt wheel (16) and gear band (17), wherein the first belt wheel (15) and described bevel gear reversing mechanism (10) interlock, the wheel shaft of the second belt wheel (16) is rotatably installed on the B axle framework, and pass, connect described actuator by B axle framework, link to each other by gear band (17) between described the first belt wheel (15) and the second belt wheel (16).
10. by the described robot wrist towards laser accurate processing of claim 1, it is characterized in that: the longitudinal center line of described the first reducing motor (3) main shaft, be Y-axis, with the turning cylinder of actuator turns, be Z axis, mutually intersect vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320209235 CN203197916U (en) | 2013-04-23 | 2013-04-23 | Robot wrist for laser precise processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320209235 CN203197916U (en) | 2013-04-23 | 2013-04-23 | Robot wrist for laser precise processing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203197916U true CN203197916U (en) | 2013-09-18 |
Family
ID=49142055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320209235 Withdrawn - After Issue CN203197916U (en) | 2013-04-23 | 2013-04-23 | Robot wrist for laser precise processing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203197916U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104117990A (en) * | 2013-04-23 | 2014-10-29 | 中国科学院沈阳自动化研究所 | Robot wrist for precise laser machining |
| CN107088713A (en) * | 2017-06-29 | 2017-08-25 | 李大德 | Small sircle hole cutting auxiliary device |
-
2013
- 2013-04-23 CN CN 201320209235 patent/CN203197916U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104117990A (en) * | 2013-04-23 | 2014-10-29 | 中国科学院沈阳自动化研究所 | Robot wrist for precise laser machining |
| CN104117990B (en) * | 2013-04-23 | 2015-12-16 | 中国科学院沈阳自动化研究所 | A kind of robot wrist towards laser precision machining |
| CN107088713A (en) * | 2017-06-29 | 2017-08-25 | 李大德 | Small sircle hole cutting auxiliary device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130918 Effective date of abandoning: 20151216 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20130918 Effective date of abandoning: 20151216 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |