CN203831415U - Robot wrist driving mechanism - Google Patents

Robot wrist driving mechanism Download PDF

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Publication number
CN203831415U
CN203831415U CN201420222815.XU CN201420222815U CN203831415U CN 203831415 U CN203831415 U CN 203831415U CN 201420222815 U CN201420222815 U CN 201420222815U CN 203831415 U CN203831415 U CN 203831415U
Authority
CN
China
Prior art keywords
deceleration unit
generator
motor
housing
gear
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
CN201420222815.XU
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Chinese (zh)
Inventor
袁安富
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.)
Nanjing University of Information Science and Technology
Original Assignee
Nanjing University of Information Science and Technology
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 Nanjing University of Information Science and Technology filed Critical Nanjing University of Information Science and Technology
Priority to CN201420222815.XU priority Critical patent/CN203831415U/en
Application granted granted Critical
Publication of CN203831415U publication Critical patent/CN203831415U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to the field of robots, in particular to a robot wrist driving mechanism. The robot wrist driving mechanism specifically comprises a load plate in transmission connection with the outside, a shell body, a first speed reduction unit and a second speed reduction unit, wherein the load plate is arranged on the shell body in a rotary mode, the first speed reduction unit and the second speed reduction unit are both arranged in the shell body, the output portion of the first speed reduction unit is in transmission connection with the load plate, and the output portion of the second speed reduction unit is fixedly connected with the shell body. According to the robot wrist driving mechanism, the wrist of a robot is driven by two harmonic gear reducers to conduct motions in two degrees of freedom respectively, the structure is compact, and transmission stability is high.

Description

A kind of robot wrist driving mechanism
Technical field
The present invention relates to robot field, is especially a kind of robot wrist driving mechanism.
Background technology
Industrial robot is used to more be widely used in each field in current manufacturing industry, in industrial robot, a very important index is executed in the design of wrist, it had both been required to meet the serviceability requirement of robot, wish again can be small and exquisite simultaneously, therefore for the design of robot wrist, be always to take compact conformation as principle.Existing robot wrist action realizes by comparatively complicated transmission mechanism conventionally, and reliability is lower.
Summary of the invention
The object of the invention is to provide a kind of structure compact, the higher robot wrist driving mechanism of reliable transmission, specifically by following technical scheme, is realized:
A kind of robot wrist driving mechanism, specifically comprise the load board, housing, the first deceleration unit, the second deceleration unit that are in transmission connection with outside, described this load board is arranged on housing rotationally, described the first deceleration unit, the second deceleration unit are all arranged in housing, wherein the output of the first deceleration unit and described load board are in transmission connection, and the output of described the second deceleration unit is fixedly connected with described housing.
Described robot wrist driving mechanism, it further designs and is, and described the first deceleration unit, the second deceleration unit are harmonic gear reducer.
Described robot wrist driving mechanism, it further designs and is, described harmonic gear reducer comprises and is fixedly installed on the firm wheel in housing with ring gear, flexbile gear and the generator with external toothing, described generator middle part is oval cylinder for section, described flexbile gear is sheathed on generator middle part, external tooth and the just ring gear engagement of wheel that flexbile gear is corresponding with the major axis two ends of described ellipse, along with the rotation of generator, the ring gear along firm wheel rotates described meshing point, generator is as the importation of harmonic gear reducer, described flexbile gear is as the output of harmonic gear reducer, the generator of described the first deceleration unit rotates load board is rotated along with the rotation of the flexbile gear of the first deceleration unit.
Described robot wrist driving mechanism, it further designs and is, also comprise a pair of gripper shoe, the first motor and the second motor, described a pair of gripper shoe lays respectively at the both sides external of housing, described the first motor, the second motor are fixedly installed on respectively in gripper shoe, and described the first motor, the second motor are connected with the generator of described the first deceleration unit, the second deceleration unit respectively.
Described robot wrist driving mechanism, it further designs and is, and described the first motor is connected with the generator of the first deceleration unit by a power shaft and a pair of bevel gear, makes generator and the orthogonal setting of described power shaft of the first deceleration unit; Generator and the power shaft of described the second deceleration unit coaxially arrange.
The present invention drives the motion of two of robot wrist frees degree respectively by two harmonic gear reducers, structure compact, and transmission stability is higher.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Wherein, 1-housing, 2-load board, 3-the first deceleration unit, 4-the second deceleration unit, 5-power shaft, 6-the first motor, 7-the second motor, 32-the first flexbile gear, 33-the first generator, 42-the second flexbile gear, 43-the second generator, 51-bevel gear, 8-gripper shoe.
The specific embodiment
Below in conjunction with Figure of description and embodiment, the present invention is further described.
In conjunction with Fig. 1, this robot wrist driving mechanism specifically comprises load board 2, housing 1, the first deceleration unit 3, the second deceleration unit 4 being in transmission connection with outside, this load board 2 is arranged on housing 1 rotationally, the first deceleration unit 3, the second deceleration unit 4 are all arranged in housing 1, wherein the output of the first deceleration unit 3 and load board 2 are in transmission connection, and the output of the second deceleration unit 4 is fixedly connected with housing 1.
For the design to compared with high transmission ratio, need, space structure is comparatively compact in addition, and in the present embodiment, the first deceleration unit 3, the second deceleration unit 4 are harmonic gear reducer.
Harmonic gear reducer comprises and is fixedly installed on the firm wheel in housing with ring gear, the flexbile gear with external toothing and generator, generator middle part is oval cylinder for section, flexbile gear is sheathed on generator middle part, external tooth and the just ring gear engagement of wheel that flexbile gear is corresponding with oval major axis two ends, along with the rotation of generator, the ring gear along firm wheel rotates meshing point, generator is as the importation of harmonic gear reducer, and flexbile gear is as the output of harmonic gear reducer; The first generator 33 of the first deceleration unit 3 rotates load board 2 is rotated along with the rotation of the first flexbile gear 32 of the first deceleration unit 3.
In order to make transmission direction meet the requirement of robot wrist action, the present embodiment also comprises power shaft 5, the first motor 6, the second motor 7 and a pair of gripper shoe 8, gripper shoe is symmetrical arranged the both sides with hull outside, and the first motor 6, the second motor 7 are fixedly installed on respectively in two gripper shoes 8; Power shaft 5 is arranged on housing 1 rotationally, and the first motor 6 is connected with the first generator 33 of the first deceleration unit 3 by power shaft 5; The second motor 7 is connected with the second generator 43 of the second deceleration unit 4, and the second flexbile gear 42 of the second deceleration unit is fixedly connected with housing 1, and whole housing is rotated along with the rotation of the second motor 7.
The second generator 43 of power shaft 5 and the second deceleration unit coaxially arranges, the generator of power shaft and the first deceleration unit is connected to each other by one group of bevel gear 51, makes the first generator of the first deceleration unit perpendicular to the second generator of power shaft and the second deceleration unit.
The present embodiment, when operation, is fixedly connected with robot miscellaneous part by two gripper shoes, and during the second electric machine rotation, whole housing is along with the rotation of the second motor is rotated with respect to mechanical arm; During the first electric machine rotation, load board is rotated with respect to housing; The present invention drives the motion of two of robot wrist frees degree respectively by two harmonic gear reducers, structure compact, and transmission stability is higher.

Claims (5)

1. a robot wrist driving mechanism, it is characterized in that comprising the load board, housing, the first deceleration unit, the second deceleration unit that are in transmission connection with outside, described this load board is arranged on housing rotationally, described the first deceleration unit, the second deceleration unit are all arranged in housing, wherein the output of the first deceleration unit and described load board are in transmission connection, and the output of described the second deceleration unit is fixedly connected with described housing.
2. robot wrist driving mechanism according to claim 1, is characterized in that, described the first deceleration unit, the second deceleration unit are harmonic gear reducer.
3. robot wrist driving mechanism according to claim 2, it is characterized in that, described harmonic gear reducer comprises and is fixedly installed on the firm wheel in housing with ring gear, flexbile gear and the generator with external toothing, described generator middle part is oval cylinder for section, described flexbile gear is sheathed on generator middle part, external tooth and the just ring gear engagement of wheel that flexbile gear is corresponding with the major axis two ends of described ellipse, along with the rotation of generator, the ring gear along firm wheel rotates described meshing point, generator is as the importation of harmonic gear reducer, described flexbile gear is as the output of harmonic gear reducer, the generator of described the first deceleration unit rotates load board is rotated along with the rotation of the flexbile gear of the first deceleration unit.
4. robot wrist driving mechanism according to claim 3, characterized by further comprising a pair of gripper shoe, the first motor and the second motor, described a pair of gripper shoe lays respectively at the both sides external of housing, described the first motor, the second motor are fixedly installed on respectively in gripper shoe, and described the first motor, the second motor are connected with the generator of described the first deceleration unit, the second deceleration unit respectively.
5. robot wrist driving mechanism according to claim 4, it is characterized in that, described the first motor is connected with the generator of the first deceleration unit by a power shaft and a pair of bevel gear, makes generator and the orthogonal setting of described power shaft of the first deceleration unit; Generator and the power shaft of described the second deceleration unit coaxially arrange.
CN201420222815.XU 2014-05-04 2014-05-04 Robot wrist driving mechanism Expired - Fee Related CN203831415U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420222815.XU CN203831415U (en) 2014-05-04 2014-05-04 Robot wrist driving mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420222815.XU CN203831415U (en) 2014-05-04 2014-05-04 Robot wrist driving mechanism

Publications (1)

Publication Number Publication Date
CN203831415U true CN203831415U (en) 2014-09-17

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201420222815.XU Expired - Fee Related CN203831415U (en) 2014-05-04 2014-05-04 Robot wrist driving mechanism

Country Status (1)

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CN (1) CN203831415U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103921284A (en) * 2014-05-04 2014-07-16 南京信息工程大学 Robot wrist driving mechanism
CN108843764A (en) * 2018-07-26 2018-11-20 南京理工大学 A kind of double transmission ratio harmonic gear reducers
CN109027167A (en) * 2018-07-26 2018-12-18 南京理工大学 A kind of double transmission ratio second level-harmonic gear reducers

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103921284A (en) * 2014-05-04 2014-07-16 南京信息工程大学 Robot wrist driving mechanism
CN108843764A (en) * 2018-07-26 2018-11-20 南京理工大学 A kind of double transmission ratio harmonic gear reducers
CN109027167A (en) * 2018-07-26 2018-12-18 南京理工大学 A kind of double transmission ratio second level-harmonic gear reducers

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140917

Termination date: 20160504