CN203495972U - Wrist body head transmission mechanism of manipulator - Google Patents

Wrist body head transmission mechanism of manipulator Download PDF

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Publication number
CN203495972U
CN203495972U CN201320589969.8U CN201320589969U CN203495972U CN 203495972 U CN203495972 U CN 203495972U CN 201320589969 U CN201320589969 U CN 201320589969U CN 203495972 U CN203495972 U CN 203495972U
Authority
CN
China
Prior art keywords
bevel gear
wrist
spiral bevel
transmission
synchronous
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201320589969.8U
Other languages
Chinese (zh)
Inventor
谭春林
张建华
宇金龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUNSHAN TAIFENG AUTOMATION TECHNOLOGY Co Ltd
Original Assignee
KUNSHAN TAIFENG AUTOMATION TECHNOLOGY Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUNSHAN TAIFENG AUTOMATION TECHNOLOGY Co Ltd filed Critical KUNSHAN TAIFENG AUTOMATION TECHNOLOGY Co Ltd
Priority to CN201320589969.8U priority Critical patent/CN203495972U/en
Application granted granted Critical
Publication of CN203495972U publication Critical patent/CN203495972U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a wrist body head transmission mechanism of a manipulator. The wrist body head transmission mechanism comprises a forearm, a wrist body, a sixth shaft encoder, a sixth shaft motor, a synchronization transmission mechanism, a levorgyration spiral bevel gear and a dextrorotation spiral bevel gear. The sixth shaft encoder is connected with the sixth shaft motor, and both the sixth shaft encoder and the sixth shaft motor are disposed inside the forearm. The sixth shaft motor is in transmission connection with the levorgyration spiral bevel gear via the synchronization transmission mechanism. The levorgyration spiral bevel gear engages with the dextrorotation spiral bevel gear. The dextrorotation spiral bevel gear is connected with a sixth shaft which drives the head of the wrist body to rotate. The wrist body head transmission mechanism has a simple structure, the sixth shaft motor and the sixth shaft encoder are disposed inside the forearm, and transmission is conducted through a synchronization belt wheel, a synchronization notched belt, the levorgyration spiral bevel gear and the dextrorotation spiral bevel gear, such that the installation space is saved to allow the wrist body of a manipulator to move more easily.

Description

Mechanical wrist body head transmission mechanism
Technical field
The utility model relates to manipulator technical field, particularly a kind of mechanical wrist body head transmission mechanism.
Background technology
Manipulator can imitate some holding function of staff and arm, in order to capture by fixed routine, to carry object or operation tool, is widely used in the various fields such as the manufacturing, warehousing management, wisdom nurse.Manipulator can economization workman, raise the efficiency, reduce costs, improve product quality, security is good.Manipulator is consisted of the interconnected structure of a plurality of support arms, wherein, by interconnected each joint of support arm is driven, and respectively the pivotal action of each support arm is controlled.Wherein, the wrist joint of manipulator is partly the pith of realizing the functions such as clamping, feeding, polishing.Wrist joint part is except doing pitching action, and its head need to be done spinning movement, to realize the functions such as clamping, feeding, buffing work-piece.In the wrist joint part of manipulator, the spinning movement of the head of wrist body drives by the 6th axle of manipulator.At present, the transmission mechanism complex structure of the 6th axle, required installing space is large, installs inconvenient.
Utility model content
For solving the problems of the technologies described above, the purpose of this utility model is to provide a kind of mechanical wrist body head transmission mechanism.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the utility model is achieved through the following technical solutions: a kind of mechanical wrist body head transmission mechanism, comprise forearm, wrist body, the 6th shaft encoder, the 6th spindle motor, synchronous drive mechanism, left hand spiral bevel gear and right hand helix bevel gear, described the 6th shaft encoder is connected with described the 6th spindle motor, and described the 6th shaft encoder and the 6th spindle motor are installed in described forearm, described the 6th spindle motor is in transmission connection by described synchronous drive mechanism and described left hand spiral bevel gear, described left hand spiral bevel gear and the engagement of described right hand helix bevel gear, described right hand helix bevel gear is connected with the 6th axle, described the 6th axle drives the head rotation of described wrist body.
Further, described synchronous drive mechanism comprises the first synchronous pulley, the second synchronous pulley and synchronous cog belt, described the 6th spindle motor is connected with described the first synchronous pulley, described the second synchronous pulley is connected with described left hand spiral bevel gear, between described the first synchronous pulley and the second synchronous pulley, by described Synchronous Belt Drives, is connected.
The beneficial effects of the utility model are: the 6th spindle motor and the 6th shaft encoder of the utility model mechanical wrist body head transmission mechanism are arranged in forearm, the 6th spindle motor is by the transmission of synchronous pulley and synchronous cog belt, and left hand spiral bevel gear and right hand helix bevel gear conversion direction, the 6th axle is rotated, the head rotation of the wrist body of driving mechanical hand.Of the present utility model simple in structure, the 6th spindle motor and the 6th shaft encoder are arranged in forearm, by synchronous pulley, synchronous cog belt, left hand spiral bevel gear and right hand helix bevel gear, carry out transmission, thereby saved installing space, be easier to the motion of the wrist body of manipulator.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
The specific embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail, thereby so that advantage of the present utility model and feature can be easier to be it will be appreciated by those skilled in the art that, protection domain of the present utility model is made to more explicit defining.
Manipulator body comprises the first axle, the second axle, the 3rd axle, the 4th axle, the 5th axle and the 6th axle, the waist seat rotation of the first axle driving mechanical hand body, the second axle drives large arm to do elevating movement, the 3rd axle drives forearm to do elevating movement, the 4th axle drives forearm to rotate, the 5th axle drives wrist body to do elevating movement, and the 6th axle drives wrist body head to rotate.The utility model discloses mechanical wrist body head transmission mechanism.
As shown in Figure 1, a kind of mechanical wrist body head transmission mechanism, comprise forearm 1, wrist body 2, the 6th shaft encoder 3, the 6th spindle motor 4, synchronous drive mechanism, left hand spiral bevel gear 5 and right hand helix bevel gear 6, described the 6th shaft encoder 3 is connected with described the 6th spindle motor 4, and described the 6th shaft encoder 3 and the 6th spindle motor 4 are installed in described forearm 1, described the 6th spindle motor 4 is in transmission connection by described synchronous drive mechanism and described left hand spiral bevel gear 5, described left hand spiral bevel gear 5 and described right hand helix bevel gear 6 engagements, described right hand helix bevel gear 6 is connected with the 6th axle 7, described the 6th axle 7 drives the head rotation of described wrist body 2.
Further, described synchronous drive mechanism comprises the first synchronous pulley 8, the second synchronous pulley 9 and synchronous cog belt 10, described the 6th spindle motor 4 is connected with described the first synchronous pulley 8, described the second synchronous pulley 9 is connected with described left hand spiral bevel gear 5, between described the first synchronous pulley 8 and the second synchronous pulley 9, by described synchronous cog belt 10, is in transmission connection.
The 6th spindle motor 4 drives left hand spiral bevel gear 5 to rotate by the first synchronous pulley 8, the second synchronous pulley 9 and synchronous cog belt 10, drive the 6th axle 7 to rotate with the right hand helix bevel gear 6 of left hand spiral bevel gear 5 engagements, thereby make the head rotation of wrist body 2, the parts such as handgrip, bistrique that make to be arranged on the head of wrist body 2 complete the functions such as clamping, feeding, buffing work-piece.The utility model is simple in structure, the 6th spindle motor and the 6th shaft encoder are arranged in forearm, by synchronous pulley, synchronous cog belt, left hand spiral bevel gear and right hand helix bevel gear, carry out transmission, thereby saved installing space, be easier to the motion of the wrist body of manipulator.
The foregoing is only embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model description and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.

Claims (2)

1. a mechanical wrist body head transmission mechanism, comprise forearm, wrist body, the 6th shaft encoder, the 6th spindle motor, synchronous drive mechanism, left hand spiral bevel gear and right hand helix bevel gear, it is characterized in that: described the 6th shaft encoder is connected with described the 6th spindle motor, and described the 6th shaft encoder and the 6th spindle motor are installed in described forearm, described the 6th spindle motor is in transmission connection by described synchronous drive mechanism and described left hand spiral bevel gear, described left hand spiral bevel gear and the engagement of described right hand helix bevel gear, described right hand helix bevel gear is connected with the 6th axle, described the 6th axle drives the head rotation of described wrist body.
2. mechanical wrist body head transmission mechanism according to claim 1, it is characterized in that: described synchronous drive mechanism comprises the first synchronous pulley, the second synchronous pulley and synchronous cog belt, described the 6th spindle motor is connected with described the first synchronous pulley, described the second synchronous pulley is connected with described left hand spiral bevel gear, between described the first synchronous pulley and the second synchronous pulley, by described Synchronous Belt Drives, is connected.
CN201320589969.8U 2013-09-24 2013-09-24 Wrist body head transmission mechanism of manipulator Expired - Fee Related CN203495972U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320589969.8U CN203495972U (en) 2013-09-24 2013-09-24 Wrist body head transmission mechanism of manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320589969.8U CN203495972U (en) 2013-09-24 2013-09-24 Wrist body head transmission mechanism of manipulator

Publications (1)

Publication Number Publication Date
CN203495972U true CN203495972U (en) 2014-03-26

Family

ID=50326976

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201320589969.8U Expired - Fee Related CN203495972U (en) 2013-09-24 2013-09-24 Wrist body head transmission mechanism of manipulator

Country Status (1)

Country Link
CN (1) CN203495972U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108789479A (en) * 2018-06-27 2018-11-13 广州市蚺灵科技有限公司 A kind of joint structure of modular mechanical arm

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108789479A (en) * 2018-06-27 2018-11-13 广州市蚺灵科技有限公司 A kind of joint structure of modular mechanical arm

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140326

Termination date: 20160924

CF01 Termination of patent right due to non-payment of annual fee