CN203752162U - Robot wrists with three degrees of freedom - Google Patents

Robot wrists with three degrees of freedom Download PDF

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Publication number
CN203752162U
CN203752162U CN201420164181.7U CN201420164181U CN203752162U CN 203752162 U CN203752162 U CN 203752162U CN 201420164181 U CN201420164181 U CN 201420164181U CN 203752162 U CN203752162 U CN 203752162U
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CN
China
Prior art keywords
power transmission
transmission shaft
recessed shoulder
output port
location
Prior art date
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Withdrawn - After Issue
Application number
CN201420164181.7U
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Chinese (zh)
Inventor
江加凯
邓定红
彭北京
袁建军
白虎珍
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.)
HARBIN BOQIANG ROBOT TECHNOLOGY CO., LTD.
Qianjiang Motorcycle Co., Ltd., Zhejiang
Original Assignee
QIANJIANG MOTORCYCLE CO Ltd ZHEJIANG
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Application filed by QIANJIANG MOTORCYCLE CO Ltd ZHEJIANG filed Critical QIANJIANG MOTORCYCLE CO Ltd ZHEJIANG
Priority to CN201420164181.7U priority Critical patent/CN203752162U/en
Application granted granted Critical
Publication of CN203752162U publication Critical patent/CN203752162U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model provides robot wrists with three degrees of freedom, belongs to the technical field of mechanical arms and solves the technical problem that existing robot wrists are not suitable for other types of robots. The robot wrists comprise first transmission units, the first transmission units comprise first articulated arms and first transmission components, the first transmission components are disposed in the first articulated arms, the first articulated arms are provided with first input ports and first output ports, the first transmission components penetrate the first output ports to be positioned at the positions of the first output ports, central axes of the first transmission components coincide with those of the first output ports, and central axes of the first input ports are vertical to those of the first transmission components. The robot wrists are suitable for a robot which uses a chain or a belt to transmit motive power.

Description

A kind of wrist with Three Degree Of Freedom of robot
Technical field
The utility model belongs to manipulator technical field, relates to the wrist with Three Degree Of Freedom of a kind of robot wrist, particularly a kind of robot.
Background technology
Robot wrist between robot arm and executive component for supporting and adjust the parts of paw.Robot wrist is mainly used to determine the attitude of executive component, generally adopts Three Degree Of Freedom multi-joint mechanism composition.
In order to tackle different Production requirements, the kind of robot, shape and structure is different; Robot wrist is as final adjustment executive component, because itself only possesses Three Degree Of Freedom, so the arrangement of robot wrist and robot arm has directly affected the final carriage of executive component.
The parallel robot [CN101804631B] of the disclosed wrist portion that possesses Three Degree Of Freedom of Chinese patent literature, the wrist of this robot has Three Degree Of Freedom, according to the environment for use of this robot, the power shaft parts of this wrist axially and the 4th rotating shaft parallel, by the gear engagement transferring power of the gear on power shaft parts and the 4th rotating shaft, this kind of drive is applicable to the robot of this utility model, but the robot to some other types is inapplicable, such as CMA spray robot etc.
Summary of the invention
The purpose of this utility model is to have the problems referred to above for existing technology, proposed a kind of wrist with Three Degree Of Freedom of robot, the technical problem that the utility model solves is to provide the wrist that can be applicable to transmit by chain or belt the robot of power.
The purpose of this utility model can realize by following technical proposal: a kind of wrist with Three Degree Of Freedom of robot, described wrist comprises the first gear unit, described the first gear unit comprises the first joint arm and is arranged on the first transmission component in the first joint arm, it is characterized in that, described the first joint arm has input port one and output port one, described the first transmission component passes and is positioned at output port one place, the axis conllinear of the axis of described the first transmission component and output port one, the axis of described input port one is vertical with the axis of the first transmission component.
The arm of the first joint arm and robot is hinged, the input port one of the first joint arm is communicated with the arm of robot, because the axis of input port one is vertical with the axis of the first transmission component, therefore by the mode of chain or belt transmission power, power is passed to the first transmission component, this structure is applicable to transmit by chain or belt the robot of power, such as CMA spray robot etc.
In the wrist with Three Degree Of Freedom of above-mentioned robot, described the first transmission component comprises the first power transmission shaft one and the first power transmission shaft two, described the first power transmission shaft two is rotationally connected with the first power transmission shaft one in the lump through the first power transmission shaft, the axis conllinear of the axis of described the first power transmission shaft two and the first power transmission shaft one, one end of described the first power transmission shaft one is the input with the first wheel for inputting one, the other end of described the first power transmission shaft one is output, the output of described the first power transmission shaft one is positioned at output port one, the output of described the first power transmission shaft one has locating ring one, between described locating ring one and output port one, there is rolling bearing one, the inner ring of described locating ring one and rolling bearing one is against fixing, the port wall of the outer ring of described rolling bearing one and output port one against.The input of the first power transmission shaft one has the first wheel for inputting one, act on and on the first wheel for inputting one, drive the first power transmission shaft one rotation by the mode of chain or belt, the first power transmission shaft one is rotationally connected by relative the first joint arm of rolling bearing one, on the first power transmission shaft two, be positioned with the first wheel for inputting two, the first power transmission shaft two is acted on the first wheel for inputting two and is driven its rotation by the mode of chain or belt, the first wheel for inputting two and the first power transmission shaft one all the time by bearing against, the rotation of the first power transmission shaft one and the first power transmission shaft two is relatively independent.
In the wrist with Three Degree Of Freedom of above-mentioned robot, described output port one place is also provided with annular briquetting one and annular pressing plate one, described annular briquetting one is bolted with locating ring one, described the first power transmission shaft two is through annular briquetting one, described annular pressing plate one is bolted on the first joint arm, on described annular briquetting one and locating ring one, there is respectively the recessed shoulder one in the location being oppositely arranged and the recessed shoulder two in location, the two ends of the inner ring of described rolling bearing one respectively with the recessed shoulder two of the recessed shoulder in location one and location against, on the port outside of described output port one and annular pressing plate one, there is respectively the recessed shoulder three in the location being oppositely arranged and the recessed shoulder four in location, the two ends of the outer ring of described rolling bearing one respectively with the recessed shoulder four of the recessed shoulder in location three and location against.Annular briquetting one can be synchronizeed with the first power transmission shaft one rotation, the inner ring of rolling bearing one is positioned between locating ring one and annular briquetting one, therefore rolling bearing one and the first transmission component are an entirety, have improved the accuracy that the first transmission component is installed, and have simplified the step of installing; Annular pressing plate one is fixed on rolling bearing one and the first transmission component on the first joint arm.
In the wrist with Three Degree Of Freedom of above-mentioned robot, described the first transmission component also comprises the first power transmission shaft three, described the first power transmission shaft three passes the first power transmission shaft two and is rotationally connected with the first power transmission shaft two, the axis conllinear of the axis of described the first power transmission shaft three and the first power transmission shaft two, one end that described the first power transmission shaft three has the first wheel for inputting three is input, the inwall of described the first joint arm has limited impression, the axis conllinear of the axis of described limited impression and the first power transmission shaft three, the input of described the first power transmission shaft three penetrates in limited impression, the input of described the first power transmission shaft three is rotatably connected to Limit Bearing, the outer ring of described Limit Bearing and the cell wall of limited impression against.The first power transmission shaft three is acted on the first wheel for inputting three and is driven its rotation by the mode of chain or belt, when Limit Bearing is positioned at limited impression the first power transmission shaft three is rotated, the sensing of axis remains inconvenience, due to the first power transmission shaft three and the first power transmission shaft one and the first power transmission shaft two conllinear, also ensure the first power transmission shaft one and the first power transmission shaft two stablizing in the time rotating, improved the rotational stability of the first transmission component.
In the wrist with Three Degree Of Freedom of above-mentioned robot, described wrist comprises the second gear unit, described the second gear unit comprises second joint arm and is arranged on the second transmission component in second joint arm, described second joint arm has input port two and output port two, one alignment of described input port two and output port is communicated with, and described second joint arm is positioned at one end that one end of input port two and the first joint arm be positioned at output port one and is rotationally connected.It is fixing that second joint arm is positioned at one end and the annular briquetting one of input port two, annular briquetting one and the first power transmission shaft one are fixing, therefore second joint arm can rotate along with the first power transmission shaft one, thereby drives the second transmission component to rotate around the axis of the first power transmission shaft one.
In the wrist with Three Degree Of Freedom of above-mentioned robot, described the second transmission component comprises second driving shaft one and second driving shaft two, described second driving shaft two is rotationally connected with the first power transmission shaft one in the lump through the first power transmission shaft, the axis conllinear of the axis of described second driving shaft one and second driving shaft two, described second driving shaft two is through output port two, the axis conllinear of the axis of described second driving shaft two and output port two, one end that described second driving shaft one has the second input gear one is input, the other end of described second driving shaft one is output, the output of described second driving shaft one is positioned at output port two, the output of described second driving shaft one has locating ring two, between described locating ring two and output port two, there is rolling bearing two, the inner ring of described locating ring two and rolling bearing two is against fixing, the port wall of the outer ring of described rolling bearing two and output port two against.Second driving shaft one is rotationally connected by the relative second joint arm of rolling bearing two, and the second input gear one engages with one-level output gear one, drives second driving shaft one synchronously to rotate by the rotation of the first power transmission shaft two; Between second driving shaft one and second driving shaft two, be dynamically connected by bearing rotary, second driving shaft one and second driving shaft two can relatively independent rotations.
In the wrist with Three Degree Of Freedom of above-mentioned robot, described output port two places are also provided with annular briquetting two and annular pressing plate two, described annular briquetting two is bolted with locating ring two, described second driving shaft two is through annular briquetting two, described annular pressing plate two is bolted on second joint arm, on described annular briquetting two and locating ring two, there is respectively the recessed shoulder five in the location being oppositely arranged and the recessed shoulder six in location, the two ends of the inner ring of described rolling bearing two respectively with the recessed shoulder six of the recessed shoulder in location five and location against, on the port outside of described output port two and annular pressing plate two, there is respectively the recessed shoulder seven in the location being oppositely arranged and the recessed shoulder eight in location, the two ends of the outer ring of described rolling bearing two respectively with the recessed shoulder eight of the recessed shoulder in location seven and location against.Annular briquetting two can be synchronizeed with second driving shaft one rotation, being positioned between locating ring two and annular briquetting two of the inner ring of rolling bearing two, therefore rolling bearing two and the second transmission component are an entirety, have improved the accuracy that the second transmission component is installed, and have simplified the step of installing; Annular pressing plate two is fixed on rolling bearing two and the second transmission component on second joint arm.
In the wrist with Three Degree Of Freedom of above-mentioned robot, described wrist comprises the 3rd gear unit, described the 3rd gear unit comprises the 3rd joint arm and is rotatably connected on the 3rd power transmission shaft in the 3rd joint arm, described the 3rd joint arm has input port three and output port three, two alignment of described input port three and output port are communicated with, and described the 3rd joint arm is positioned at one end that one end of input port three and second joint arm be positioned at output port two and is rotationally connected.It is fixing that the 3rd joint arm is positioned at one end and the annular briquetting two of input port three, and the 3rd joint arm is along with annular briquetting two rotates together, thereby drive the 3rd power transmission shaft is around the axis rotation of second driving shaft one.
In the wrist with Three Degree Of Freedom of above-mentioned robot, one end that described the 3rd power transmission shaft has the 3rd input gear is input, the other end of described the 3rd power transmission shaft is output, the output of described the 3rd power transmission shaft is positioned at output port three, on the output of described the 3rd power transmission shaft, there is locating ring three, between described locating ring three and output port three, there is rolling bearing three, described locating ring three with the inner ring of rolling bearing three against fixing, the port wall of the outer ring of described rolling bearing three and output port three against.The 3rd power transmission shaft is rotatably connected in the 3rd joint arm by rolling bearing three.The 3rd input gear engages with the secondary output gear of second driving shaft two, and the 3rd power transmission shaft is synchronizeed rotation with second driving shaft two and the first power transmission shaft three.
In the wrist with Three Degree Of Freedom of above-mentioned robot, described output port three places are also provided with and carry out rotating shaft and annular pressing plate three, described annular pressing plate three is bolted on the 3rd joint arm, described execution rotating shaft is fixing by bolt and locating ring three through annular pressing plate three, on described execution rotating shaft and locating ring three, there is respectively the recessed shoulder nine in the location being oppositely arranged and the recessed shoulder ten in location, the two ends of the inner ring of described rolling bearing three respectively with the recessed shoulder ten of the recessed shoulder in location nine and location against, on the port outside of described output port three and annular pressing plate three, there is respectively the recessed shoulder 11 in the location being oppositely arranged and the recessed shoulder 12 in location, the two ends of the outer ring of described rolling bearing three respectively with the recessed shoulder 12 of the recessed shoulder in location 11 and location against.Carrying out rotating shaft uses and the executive components such as stationary nozzle is installed, carrying out rotating shaft and the 3rd power transmission shaft fixes, therefore can be along with the 3rd power transmission shaft rotates, the inner ring of rolling bearing three is positioned to be carried out between rotating shaft and locating ring three, therefore before installation, can first rolling bearing three, execution rotating shaft and the 3rd power transmission shaft be assembled together, improve the accuracy that the 3rd power transmission shaft is installed, simplified the step of installing; Annular pressing plate three is fixed on rolling bearing three and the 3rd power transmission shaft on the 3rd joint arm.
Compared with prior art, the wrist with Three Degree Of Freedom of this robot has the robot that is applicable to transmit by chain or belt power; Simultaneously the first gear unit, the second gear unit and the 3rd gear unit compact conformation, has easy to assemblyly, improves the advantage of assembling precision.
Brief description of the drawings
Fig. 1 is side-looking structural representation of the present utility model.
Fig. 2 is the sectional structure schematic diagram of the utility model and Fig. 1 same view angle.
Fig. 3 is the side-looking structural representation of the first transmission component in the utility model.
Fig. 4 is the sectional structure schematic diagram of the first transmission component along A-A in Fig. 3.
Fig. 5 is the side-looking structural representation of the second transmission component in the utility model.
Fig. 6 is the sectional structure schematic diagram of the second transmission component along B-B in Fig. 5.
Fig. 7 is the side-looking structural representation of the 3rd transmission component in the utility model.
Fig. 8 is the sectional structure schematic diagram of the 3rd transmission component along C-C in Fig. 7.
In figure, 1, the first gear unit; 11, the first joint arm; 12, limited impression; 13, input port one; 14, output port one; 141, locate recessed shoulder three; 15, annular briquetting one; 151, locate recessed shoulder one; 16, annular pressing plate one; 161, locate recessed shoulder two; 2, the first transmission component; 21, the first power transmission shaft one; 211, locating ring one; 212, locate recessed shoulder four; 213, the first wheel for inputting one; 214, rolling bearing one; 22, the first power transmission shaft two; 221, the first wheel for inputting two; 222, one-level output gear one; 223, elastic component one; 224, adjusting nut one; 225, annular recessed shoulder one; 226, annular cover plate one; 23, the first power transmission shaft three; 231, bulge loop one; 232, the first wheel for inputting three; 233, bearing two; 234, one-level output gear two; 235, bearing one; 236, adjusting nut two; 237, elastic component two; 238, pad one; 239, Limit Bearing; 3, the second gear unit; 31, second joint arm; 32, input port two; 33, output port two; 331, locate recessed shoulder seven; 34, annular briquetting two; 341, locate recessed shoulder five; 35, annular pressing plate two; 351, locate recessed shoulder eight; 4, the second transmission component; 41, second driving shaft one; 411, annular recessed shoulder two; 412, locating ring two; 413, locate recessed shoulder six; 414, rolling bearing two; 415, the second input gear one; 416, adjusting nut four; 42, second driving shaft two; 421, the second input gear two; 422, bearing four; 423, elastic component three; 424, secondary output gear; 425, bearing three; 426, adjusting nut three; 427, pad two; 428, annular cover plate two; 429, bulge loop two; 5, the 3rd gear unit; 51, the 3rd joint arm; 511, input port three; 512, output port three; 513, locate recessed shoulder 11; 514, annular pressing plate three; 515, locate recessed shoulder 12; 52, the 3rd power transmission shaft; 521, locating ring three; 522, locate recessed shoulder ten; 523, rolling bearing three; 524, the 3rd input gear; 6, carry out rotating shaft; 61, locate recessed shoulder nine; 7, sealing ring.
Detailed description of the invention
Be below specific embodiment of the utility model by reference to the accompanying drawings, the technical solution of the utility model is further described, but the utility model be not limited to these embodiment.
A wrist with Three Degree Of Freedom for robot, as shown in Figure 1, wrist comprises the first gear unit 1, the second gear unit 3 and the 3rd gear unit 5 that are rotationally connected successively.
As depicted in figs. 1 and 2, the first gear unit 1 comprises the first joint arm 11 and is arranged on the first transmission component 2, the first joint arms 11 in the first joint arm 11 hinged with the arm of robot, and the first joint arm 11 has input port 1 and output port 1; As shown in Figures 1 to 4, the first transmission component 2 comprises the first power transmission shaft 1, the first power transmission shaft 2 22 and the first power transmission shaft 3 23, the first power transmission shaft 2 22 passes the first power transmission shaft 1 and is rotationally connected with the first power transmission shaft 1, the first power transmission shaft 3 23 is through the first power transmission shaft 2 22 and be rotationally connected the axis of the first power transmission shaft 1, the axis of the first power transmission shaft 2 22, the axis of the first power transmission shaft 3 23 and the axis conllinear of output port 1 with the first power transmission shaft 2 22; The axis of input port 1 is vertical with the axis of the first power transmission shaft 3 23.
Wherein one end of the first power transmission shaft 1, the first power transmission shaft 2 22 and the first power transmission shaft 3 23 is all output through output port 1; The other end of the first power transmission shaft 1, the first power transmission shaft 2 22 and the first power transmission shaft 3 23 is all positioned at the first joint arm 11 and is input.
As shown in Figure 3 and Figure 4, relative first power transmission shaft 2 22 of output of the first power transmission shaft 2 22 is circumferentially positioned with one-level output gear 1, the input of the first power transmission shaft 2 22 is fixed with the first wheel for inputting 2 221, the first wheel for inputting 2 221 and the first power transmission shaft 1 against, the input of the first power transmission shaft 2 22 nut that has been threaded, nut is by the first wheel for inputting 2 221 axial location; The output of the first power transmission shaft 2 22 two adjusting nuts 1 that have also been threaded, one-level output gear 1 between two adjusting nuts 1, near between the adjusting nut 1 of the first wheel for inputting 2 221 and the first power transmission shaft 1, be provided with make the first wheel for inputting 2 221 all the time with the first power transmission shaft 1 against elastic component 1.One-level output gear 1 is positioned between two adjusting nuts 1, by rotating adjusting nut 1, adjusting nut 1 is moved axially along the first power transmission shaft 2 22, reach the object that regulates one-level output gear one 222 relative the first power transmission shaft 2 22 axial locations; Elastic component 1 ensures behind the position of adjusting one-level output gear 1 compactedness of assembling between the first power transmission shaft 1 and the first power transmission shaft 2 22.
As shown in Figure 3 and Figure 4, the output of the first power transmission shaft 1 is positioned at output port 1, the output of the first power transmission shaft 1 has locating ring 1, between locating ring 1 and output port 1, there is rolling bearing 1, locating ring 1 with the inner ring of rolling bearing 1 against fixing, the port wall of the outer ring of rolling bearing 1 and output port 1 against.The input of the first power transmission shaft 1 has the first wheel for inputting 1, act on the first wheel for inputting 1 and drive the first power transmission shaft 1 to rotate by the mode of chain or belt, the input of the first power transmission shaft 2 22 is positioned with the first wheel for inputting 2 221, is acted on the first wheel for inputting 2 221 and is driven the first power transmission shaft 2 22 to rotate by the mode of chain or belt.Output port one 14 places are also provided with annular briquetting 1 and annular pressing plate 1, annular briquetting 1 is bolted with locating ring 1, the first power transmission shaft 2 22 is through annular briquetting 1, annular pressing plate 1 is bolted on the first joint arm 11, on annular briquetting 1 and locating ring 1, there is respectively the recessed shoulder 1 in the location being oppositely arranged and the recessed shoulder 2 161 in location, the two ends of the inner ring of rolling bearing 1 respectively with the recessed shoulder 2 161 of the recessed shoulder in location 1 and location against, on the port outside of output port 1 and annular pressing plate 1, there is respectively the recessed shoulder 3 141 in the location being oppositely arranged and the recessed shoulder 4 212 in location, the two ends of the outer ring of rolling bearing 1 respectively with the recessed shoulder 4 212 of the recessed shoulder in location 3 141 and location against, annular pressing plate 1 is fixed on rolling bearing 1 and the first transmission component 2 on the first joint arm 11.
As shown in Figure 3 and Figure 4, the output of the first power transmission shaft 3 23 is circumferentially positioned with bearing 1, the input of the first power transmission shaft 3 23 is circumferentially positioned with bearing 2 233, the first power transmission shaft 3 23 is rotationally connected by bearing 1 the first power transmission shaft 2 22 relative to bearing 2 233, the output of the first power transmission shaft 3 23 is fixed with one-level output gear 2 234, the output of the first power transmission shaft 3 23 nut that has been threaded, one-level output gear 2 234 between bearing 1 and nut, one-level output gear 2 234 and the first power transmission shaft 3 23 axial location, relative the first power transmission shaft 3 23 axial restraints of bearing 1, bearing 1 and one-level output gear 2 234 against, between the first power transmission shaft 2 22 and bearing 1, be provided with elastic component 2 237, relative first power transmission shaft 3 23 of input of the first power transmission shaft 3 23 is circumferentially positioned with the first wheel for inputting 3 232, the end thread of the input of the first power transmission shaft 3 23 is connected with adjusting nut 2 236, the first wheel for inputting 3 232 is between bearing 2 233 and adjusting nut 2 236, relative the first power transmission shaft 2 22 axial restraints of bearing 2 233, between bearing 2 233 and the first power transmission shaft 3 23, be provided with pad 1.The first wheel for inputting 3 232 all the time with the first turning cylinder two against, change by rotating adjusting nut 2 236 axial location that regulates the first wheel for inputting 3 232 to be positioned at the first power transmission shaft 3 23, relative the first wheel for inputting 3 232 of the first power transmission shaft 3 23 is moved along its axis, thereby reach the position that regulates one-level output gear 2 234 relative the first joint arms 11, in the time regulating, ensure the compactedness of bearing 2 233 assemblings by changing the pad 1 of different-thickness.
As shown in Figure 3 and Figure 4, the output and the input that are positioned at the first power transmission shaft 3 23 all have bulge loop 1, output and input that the inner peripheral surface of the first power transmission shaft 2 22 is positioned at the first power transmission shaft 2 22 all have annular recessed shoulder 1, the input of the first power transmission shaft 2 22 is fixed with annular cover plate 1, bearing 2 233 is positioned at annular cover plate 1 and between the recessed shoulder 1 of annular of the input of the first power transmission shaft 2 22, pad 1 is enclosed within on the first power transmission shaft 3 23, one side of pad 1 and the inner ring of bearing 2 233 against, the opposite side of pad 1 be positioned at the first power transmission shaft 3 23 input bulge loop 1 against.One end of bearing 1 and one-level output gear 2 234 against, the other end be positioned at the first power transmission shaft 3 23 output bulge loop 1 against, elastic component 2 237 is enclosed within on the bulge loop 1 of the output that is positioned at the first power transmission shaft 3 23, the outer ring of one end of elastic component 2 237 and bearing 1 against, the other end be positioned at the first power transmission shaft 2 22 output the recessed shoulder 1 of annular against.
As shown in Figure 2, the inwall of the first joint arm 11 has limited impression 12, the axis conllinear of the axis of limited impression 12 and the first power transmission shaft 3 23, the input of the first power transmission shaft 3 23 penetrates in limited impression 12, the input of the first power transmission shaft 3 23 is rotatably connected to Limit Bearing 239, the cell wall of the outer ring of Limit Bearing 239 and limited impression 12 against.Acted on and on the first wheel for inputting 3 232, driven the first power transmission shaft 3 23 to rotate by the mode of chain or belt, when Limit Bearing 239 is positioned at limited impression 12 the first power transmission shaft 3 23 is rotated, the sensing of axis remains inconvenience.
As shown in Figure 2, Figure 5 and Figure 6, the second gear unit 3 comprises second joint arm 31 and is arranged on the second transmission component 4 in second joint arm 31, second joint arm 31 has input port 2 32 and output port 2 33, input port 2 32 and output port one 14 alignment are communicated with, second joint arm 31 is positioned at one end of input port 2 32 and annular briquetting one 15 stationary annular briquettings 1 and the fixing therefore second joint arm 31 of the first power transmission shaft 1 and can rotates along with the first power transmission shaft 1, thereby drives the second transmission component 4 to rotate around the axis of the first power transmission shaft 1.
As shown in Figure 2, Figure 5 and Figure 6, the second transmission component 4 comprises second driving shaft 1 and second driving shaft 2 42, second driving shaft 2 42 is through second driving shaft 1, the axis conllinear of the axis of second driving shaft 1, the axis of second driving shaft 2 42 and output port 2 33, second driving shaft 1 and second driving shaft 2 42 are output through one end of output port 2 33, and one end that second driving shaft 1 and second driving shaft 2 42 are positioned at second joint arm 31 is input.
As shown in Figure 5 and Figure 6, the output of second driving shaft 2 42 is circumferentially positioned with bearing 3 425, relative second driving shaft 2 42 axial location of bearing 3 425, the input of second driving shaft 2 42 is circumferentially positioned with bearing 4 422, second driving shaft 2 42 is rotationally connected by bearing 3 425 second driving shaft 1 relative to bearing 4 422, the input of second driving shaft 2 42 is fixed with the second input gear 2 421, the second input gear 2 421 can engage with one-level output gear 2 234, bearing 4 422 and the second input gear 2 421 against, bearing 4 422 and second driving shaft 2 42 axial location, between second driving shaft 1 and bearing 4 422, be provided with elastic component 3 423, relative second driving shaft 2 42 axial location of output of second driving shaft 2 42 have secondary output gear 424, the output of second driving shaft 2 42 two adjusting nuts 3 426 that have been threaded, secondary output gear 424 is between two adjusting nuts 3 426, relative second driving shaft one 41 axial restraints of bearing 3 425, between bearing 3 425 and second driving shaft 2 42, be provided with pad 2 427.Secondary output gear 424 passes through two adjusting nut 3 426 axial location on second driving shaft 2 42, by rotating adjusting nut 3 426, adjusting nut 3 426 is moved axially along second driving shaft 2 42, reach the object that regulates secondary output gear 424 relative second driving shaft 2 42 axial locations; The input of second driving shaft 2 42 nut that has been threaded, the second input gear 2 421 is between nut and bearing 4 422; Regulate the position of second driving shaft 2 42 along its axially relative second joint arm 31 by changing the different pad 2 427 of thickness, thereby reach the object of the position of engagement that regulates the second input gear 2 421 relative one-level output gears 2 234.
As shown in Figure 5 and Figure 6, the input of second driving shaft 1 is circumferentially positioned with the second input gear 1, the second input gear 1 can engage with one-level output gear 1, the input of second driving shaft 1 two adjusting nuts 4 416 that have been threaded, the second input gear 1 is between two adjusting nuts 4 416, the input that the inner peripheral surface of second driving shaft 1 is positioned at second driving shaft 1 has annular recessed shoulder 2 411, the second input gear 1 passes through two adjusting nut 4 416 axial location on second driving shaft 1, by rotating adjusting nut 4 416, adjusting nut 4 416 is moved axially along second driving shaft 1, reach the object of the position of engagement that regulates the second input gear one 415 relative one-level output gears 1.
As shown in Figure 5 and Figure 6, the input of second driving shaft 2 42 and output all have bulge loop 2 429, the output of second driving shaft 2 42 is fixed with annular cover plate 2 428, bearing 3 425 is positioned at annular cover plate 2 428 and between the recessed shoulder 2 411 of annular of the output of second driving shaft 1, pad 2 427 is enclosed within on second driving shaft 2 42, one side of pad 2 427 and the inner ring of bearing 3 425 against, opposite side be positioned at second driving shaft 2 42 output bulge loop 2 429 against, bearing 3 425 is by annular cover plate 2 428 and relative second driving shaft one 41 axial location of the recessed shoulder 2 411 of annular of output that are positioned at second driving shaft 1.Bearing 4 422 one end and the second input gear 2 421 against, the other end be positioned at second driving shaft 2 42 input bulge loop 2 429 against, elastic component 3 423 is enclosed within on the bulge loop 2 429 of the input that is positioned at second driving shaft 2 42, the outer ring of one end of elastic component 3 423 and bearing 4 422 against, the other end with the recessed shoulder 2 411 of annular of input that is positioned at second driving shaft 1 against, the axial location of bearing 4 422 relative second driving shafts 2 42 by nut be positioned at bulge loop 2 429 restrictions of the input of second driving shaft 2 42.
As shown in Figure 5 and Figure 6, the output of second driving shaft 1 is positioned at output port 2 33, the output of second driving shaft 1 has locating ring 2 412, between locating ring 2 412 and output port 2 33, there is rolling bearing 2 414, locating ring 2 412 with the inner ring of rolling bearing 2 414 against fixing, the port wall of the outer ring of rolling bearing 2 414 and output port 2 33 against.Second driving shaft 1 is rotationally connected by the relative second joint arm 31 of rolling bearing 2 414, the output of second driving shaft 1 is fixed with the second input gear 1, the second input gear 1 engages with one-level output gear 1, drives second driving shaft 1 synchronously to rotate by the rotation of the first power transmission shaft 2 22; output port 2 33 places are also provided with annular briquetting 2 34 and annular pressing plate 2 35, annular briquetting 2 34 is bolted with locating ring 2 412, second driving shaft 2 42 is through annular briquetting 2 34, the port of annular briquetting 2 34 goes out to have and the recessed shoulder 2 411 of annular, the recessed shoulder 2 411 of annular on annular briquetting 2 34 is corresponding with the bulge loop 2 429 that second driving shaft is positioned at output, annular pressing plate 2 35 is bolted on second joint arm 31, on annular briquetting 2 34 and locating ring 2 412, there is respectively the recessed shoulder 5 341 in the location being oppositely arranged and the recessed shoulder 6 413 in location, the two ends of the inner ring of rolling bearing 2 414 respectively with the recessed shoulder 6 413 of the recessed shoulder in location 5 341 and location against, on the port outside of output port 2 33 and annular pressing plate 2 35, there is respectively the recessed shoulder 7 331 in the location being oppositely arranged and the recessed shoulder 8 351 in location, the two ends of the outer ring of rolling bearing 2 414 respectively with the recessed shoulder 8 351 of the recessed shoulder in location 7 331 and location against, annular pressing plate 2 35 is fixed on rolling bearing 2 414 and the second transmission component 4 on second joint arm 31.
As shown in Fig. 2, Fig. 7 and Fig. 8, wrist comprises the 3rd gear unit 5, the 3rd gear unit 5 comprises the 3rd joint arm 51 and is rotatably connected on the 3rd power transmission shaft 52 in the 3rd joint arm 51, the 3rd joint arm 51 has input port 3 511 and output port 3 512, input port 3 511 and output port 2 33 alignment are communicated with, and it is fixing that the 3rd joint arm 51 is positioned at one end and the annular briquetting 2 34 of input port 3 511.The 3rd joint arm 51 is along with annular briquetting 2 34 rotates together, thereby drive the 3rd power transmission shaft 52 rotates around the axis of second driving shaft 1.
As Fig. 2, shown in Fig. 7 and Fig. 8, the axis conllinear of the axis of the 3rd power transmission shaft 52 and output port 3 512, one end of the 3rd power transmission shaft 52 is positioned at output port 3 512 for output, the other end of the 3rd power transmission shaft 52 is input, the input of the 3rd power transmission shaft 52 is fixed with the 3rd input gear 524, on the output of the 3rd power transmission shaft 52, there is locating ring 3 521, between locating ring 3 521 and output port 3 512, there is rolling bearing 3 523, the inner ring of locating ring 3 521 and rolling bearing 3 523 is against fixing, the port wall of the outer ring of rolling bearing 3 523 and output port 3 512 against.The 3rd power transmission shaft 52 is rotatably connected in the 3rd joint arm 51 by rolling bearing 3 523; The 3rd input gear 524 engages with the secondary output gear 424 of second driving shaft 2 42, and the 3rd power transmission shaft 52 is synchronizeed rotation with second driving shaft 2 42 and the first power transmission shaft 3 23.Output port 3 512 places are also provided with and carry out rotating shaft 6 and annular pressing plate 3 514, annular pressing plate 3 514 is bolted on the 3rd joint arm 51, carry out rotating shaft 6 fixing by bolt and locating ring 3 521 through annular pressing plate 3 514, carry out on rotating shaft 6 and locating ring 3 521 and there is respectively the recessed shoulder 9 61 in the location being oppositely arranged and locate recessed shoulder 10, the two ends of the inner ring of rolling bearing 3 523 respectively with the recessed shoulder 10 of the recessed shoulder in location 9 61 and location against, on the port outside of output port 3 512 and annular pressing plate 3 514, there is respectively the recessed shoulder 11 in the location being oppositely arranged and the recessed shoulder 12 in location, the two ends of the outer ring of rolling bearing 3 523 respectively with the recessed shoulder 12 of the recessed shoulder in location 11 and location against, annular pressing plate 3 514 is fixed on rolling bearing 3 523 and the 3rd power transmission shaft 52 on the 3rd joint arm 51.
The present embodiment Elastic part 1, elastic component 2 237 and elastic component 3 423 can be all butterfly spring, can be also flat spring; In the present embodiment, one-level output gear 1, one-level output gear 2 234, the first wheel for inputting 1, the first wheel for inputting 2 221, the first wheel for inputting 3 232, the second input gear 1, the second input gear 2 421, secondary output gear 424 and the 3rd input gear 524 are all circumferentially positioned on corresponding power transmission shaft by the mode of flat key or spline.
As shown in Fig. 4, Fig. 6 and Fig. 8, between annular briquetting 1 and annular pressing plate 1, between annular briquetting 2 34 and annular pressing plate 2 35 and annular pressing plate 3 514 and carry out between rotating shaft 6 and be all fixed with sealing ring 7, sealing ring 7 can prevent that dust from entering in wrist.
In adjusting wrist gear position, need to use on special stationary fixture, this geometrical clamp prodigiosin by above-mentioned power transmission shaft the position relationship in wrist power transmission shaft is fixed, for prior art, concrete operations are as follows: first the 3rd power transmission shaft 52 is fixed on special stationary fixture, again the second driving shaft being assembled together 1 and second driving shaft 2 42 are fixed to the relevant position of fixture, taking the 3rd input gear 524 of the 3rd power transmission shaft 52 as benchmark, regulate the position of second driving shaft 2 42 relative second driving shafts 1, to make the 3rd input gear 524 and secondary output gear 424 reach the suitableeest position of engagement, again by the first power transmission shaft 1 being assembled together, the first power transmission shaft 2 22 and the first power transmission shaft 3 23 are fixed to the relevant position of fixture, first taking the second input gear 1 on second driving shaft 1 as benchmark, regulate the position of one-level output gear one 222 relative the first power transmission shafts 2 22, to make one-level output gear 1 and the second input gear 1 reach the suitableeest position of engagement, again taking the second input gear on second driving shaft 2 42 as benchmark, regulate the relative position of relative the first power transmission shaft 2 22 of the first power transmission shaft 3 23, to make one-level output gear 2 234 and the second input gear 2 421 reach the suitableeest position of engagement.Because the first power transmission shaft 2 22 is relative fixing with the first power transmission shaft 1, regulating one-level output gear 1 is that relative the first power transmission shaft 2 22 regulates, one-level output gear 2 234 is that adjusting first power transmission shaft 2 22 and the first power transmission shaft 3 23 relative positions are realized, therefore regulate one-level output gear 1 to be independent of each other mutually with one-level output gear 2 234, ensure position inconvenience after adjusting completes, complete install after the gear engagement of wrist be right position and put, reach the object of accurate control wrist.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various amendments or supplements or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present utility model or surmount the defined scope of appended claims.

Claims (10)

1. the wrist with Three Degree Of Freedom of a robot, described wrist comprises the first gear unit (1), described the first gear unit (1) comprises the first joint arm (11) and is arranged on the first transmission component (2) in the first joint arm (11), it is characterized in that, described the first joint arm (11) has input port one (13) and output port one (14), described the first transmission component (2) passes and is positioned at output port one (14) and locates, the axis conllinear of the axis of described the first transmission component (2) and output port one (14), the axis of described input port one (13) is vertical with the axis of the first transmission component (2).
2. the wrist with Three Degree Of Freedom of robot according to claim 1, it is characterized in that, described the first transmission component (2) comprises the first power transmission shaft one (21) and the first power transmission shaft two (22), described the first power transmission shaft two (22) passes the first power transmission shaft one (21) and is rotationally connected with the first power transmission shaft one (21), the axis conllinear of the axis of described the first power transmission shaft two (22) and the first power transmission shaft one (21), one end of described the first power transmission shaft one (21) is for having the input of the first wheel for inputting one (213), the other end of described the first power transmission shaft one (21) is output, the output of described the first power transmission shaft one (21) is positioned at output port one (14), the output of described the first power transmission shaft one (21) has locating ring one (211), between described locating ring one (211) and output port one (14), there is rolling bearing one (214), the inner ring of described locating ring one (211) and rolling bearing one (214) is against fixing, the port wall of the outer ring of described rolling bearing one (214) and output port one (14) against.
3. the wrist with Three Degree Of Freedom of robot according to claim 2, it is characterized in that, described output port one (14) locates to be also provided with annular briquetting one (15) and annular pressing plate one (16), described annular briquetting one (15) is bolted with locating ring one (211), described the first power transmission shaft two (22) is through annular briquetting one (15), described annular pressing plate one (16) is bolted on the first joint arm (11), on described annular briquetting one (15) and locating ring one (211), there is respectively the recessed shoulder two (161) of the recessed shoulder one (151) in the location being oppositely arranged and location, the two ends of the inner ring of described rolling bearing one (214) respectively with location recessed shoulder one (151) and locate recessed shoulder two (161) against, on the port outside of described output port one (14) and annular pressing plate one (16), there is respectively the recessed shoulder four (212) of the recessed shoulder three (141) in the location being oppositely arranged and location, the two ends of the outer ring of described rolling bearing one (214) respectively with location recessed shoulder three (141) and locate recessed shoulder four (212) against.
4. according to the wrist with Three Degree Of Freedom of the robot described in claim 2 or 3, it is characterized in that, described the first transmission component (2) also comprises the first power transmission shaft three (23), described the first power transmission shaft three (23) passes the first power transmission shaft two (22) and is rotationally connected with the first power transmission shaft two (22), the axis conllinear of the axis of described the first power transmission shaft three (23) and the first power transmission shaft two (22), one end that described the first power transmission shaft three (23) has the first wheel for inputting three (232) is input, the inwall of described the first joint arm (11) has limited impression (12), the axis conllinear of the axis of described limited impression (12) and the first power transmission shaft three (23), the input of described the first power transmission shaft three (23) penetrates in limited impression (12), the input of described the first power transmission shaft three (23) is rotatably connected to Limit Bearing (239), the cell wall of the outer ring of described Limit Bearing (239) and limited impression (12) against.
5. according to the wrist with Three Degree Of Freedom of the robot described in claim 1 or 2 or 3, it is characterized in that, described wrist comprises the second gear unit (3), described the second gear unit (3) comprises second joint arm (31) and is arranged on the second transmission component (4) in second joint arm (31), described second joint arm (31) has input port two (32) and output port two (33), described input port two (32) and output port one (14) alignment are communicated with, described second joint arm (31) is positioned at one end that one end of input port two (32) and the first joint arm (11) be positioned at output port one (14) and is rotationally connected.
6. the wrist with Three Degree Of Freedom of robot according to claim 5, it is characterized in that, described the second transmission component (4) comprises second driving shaft one (41) and second driving shaft two (42), described second driving shaft two (42) passes the first power transmission shaft one (21) and is rotationally connected with the first power transmission shaft one (21), the axis conllinear of the axis of described second driving shaft one (41) and second driving shaft two (42), described second driving shaft two (42) is through output port two (33), the axis conllinear of the axis of described second driving shaft two (42) and output port two (33), one end that described second driving shaft one (41) has the second input gear one (415) is input, the other end of described second driving shaft one (41) is output, the output of described second driving shaft one (41) is positioned at output port two (33), the output of described second driving shaft one (41) has locating ring two (412), between described locating ring two (412) and output port two (33), there is rolling bearing two (414), the inner ring of described locating ring two (412) and rolling bearing two (414) is against fixing, the port wall of the outer ring of described rolling bearing two (414) and output port two (33) against.
7. the wrist with Three Degree Of Freedom of robot according to claim 6, it is characterized in that, described output port two (33) locates to be also provided with annular briquetting two (34) and annular pressing plate two (35), described annular briquetting two (34) is bolted with locating ring two (412), described second driving shaft two (42) is through annular briquetting two (34), described annular pressing plate two (35) is bolted on second joint arm (31), on described annular briquetting two (34) and locating ring two (412), there is respectively the recessed shoulder six (413) of the recessed shoulder five (341) in the location being oppositely arranged and location, the two ends of the inner ring of described rolling bearing two (414) respectively with location recessed shoulder five (341) and locate recessed shoulder six (413) against, on the port outside of described output port two (33) and annular pressing plate two (35), there is respectively the recessed shoulder eight (351) of the recessed shoulder seven (331) in the location being oppositely arranged and location, the two ends of the outer ring of described rolling bearing two (414) respectively with location recessed shoulder seven (331) and locate recessed shoulder eight (351) against.
8. the wrist with Three Degree Of Freedom of robot according to claim 5, it is characterized in that, described wrist comprises the 3rd gear unit (5), described the 3rd gear unit (5) comprises the 3rd joint arm (51) and is rotatably connected on the 3rd power transmission shaft (52) in the 3rd joint arm (51), described the 3rd joint arm (51) has input port three (511) and output port three (512), described input port three (511) and output port two (33) alignment are communicated with, described the 3rd joint arm (51) is positioned at one end that one end of input port three (511) and second joint arm (31) be positioned at output port two (33) and is rotationally connected.
9. the wrist with Three Degree Of Freedom of robot according to claim 8, it is characterized in that, one end that described the 3rd power transmission shaft (52) has the 3rd input gear (524) is input, the other end of described the 3rd power transmission shaft (52) is output, the output of described the 3rd power transmission shaft (52) is positioned at output port three (512), on the output of described the 3rd power transmission shaft (52), there is locating ring three (521), between described locating ring three (521) and output port three (512), there is rolling bearing three (523), the inner ring of described locating ring three (521) and rolling bearing three (523) is against fixing, the port wall of the outer ring of described rolling bearing three (523) and output port three (512) against.
10. the wrist with Three Degree Of Freedom of robot according to claim 9, it is characterized in that, described output port three (512) locates to be also provided with execution rotating shaft (6) and annular pressing plate three (514), described annular pressing plate three (514) is bolted on the 3rd joint arm (51), described execution rotating shaft (6) is fixing by bolt and locating ring three (521) through annular pressing plate three (514), on described execution rotating shaft (6) and locating ring three (521), there is respectively the recessed shoulder ten (522) of the recessed shoulder nine (61) in the location being oppositely arranged and location, the two ends of the inner ring of described rolling bearing three (523) respectively with location recessed shoulder nine (61) and locate recessed shoulder ten (522) against, on the port outside of described output port three (512) and annular pressing plate three (514), there is respectively the recessed shoulder ten two (515) of the recessed shoulder ten one (513) in the location being oppositely arranged and location, the two ends of the outer ring of described rolling bearing three (523) respectively with location recessed shoulder ten one (513) and locate recessed shoulder ten two (515) against.
CN201420164181.7U 2014-04-04 2014-04-04 Robot wrists with three degrees of freedom Withdrawn - After Issue CN203752162U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103878786A (en) * 2014-04-04 2014-06-25 浙江钱江摩托股份有限公司 Wrist with three freedom degrees for robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103878786A (en) * 2014-04-04 2014-06-25 浙江钱江摩托股份有限公司 Wrist with three freedom degrees for robot
CN103878786B (en) * 2014-04-04 2015-12-02 浙江钱江摩托股份有限公司 A kind of wrist with Three Degree Of Freedom of robot

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Owner name: HARBIN BOQIANG ROBOT TECHNOLOGY CO., LTD.

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Inventor after: Kong Minxiu

Inventor after: Deng Dinghong

Inventor after: Liang Hengbin

Inventor before: Jiang Jiakai

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Inventor before: Yuan Jianjun

Inventor before: Bai Huzhen

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Address after: Taiping Street of Wenling city Taizhou city Zhejiang province 317500 000 Chang Road No. 318

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Patentee after: HARBIN BOQIANG ROBOT TECHNOLOGY CO., LTD.

Address before: Taiping Street of Wenling city Taizhou city Zhejiang province 317500 000 Chang Road No. 318

Patentee before: Qianjiang Motorcycle Co., Ltd., Zhejiang

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