CN205201559U - Industrial robot's wrist mechanism - Google Patents
Industrial robot's wrist mechanism Download PDFInfo
- Publication number
- CN205201559U CN205201559U CN201520886498.6U CN201520886498U CN205201559U CN 205201559 U CN205201559 U CN 205201559U CN 201520886498 U CN201520886498 U CN 201520886498U CN 205201559 U CN205201559 U CN 205201559U
- Authority
- CN
- China
- Prior art keywords
- wrist
- annular hollow
- driving tube
- deceleration device
- decelerator
- 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
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 46
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses an industrial robot's wrist mechanism, include: first, second and third wrist component with the first annular cavity decelerator that robot arm is fixed, include with the respectively: it is first, second and third wrist component, with the first annular cavity decelerator that robot arm is fixed, respectively with fixed first cavity driving tube and the second annular cavity decelerator of first annular cavity decelerator's first output shaft, respectively with second annular cavity decelerator's second cavity driving tube that second output shaft is fixed and the annular cavity decelerator of third, the fixed third cavity driving tube of third output shaft with third annular cavity decelerator, and it is rotatable around the first axle, it is first, second and third cavity driving tube are respectively with first, second and third wrist component connection, rotatory every the wrist component of with respect to each other, its inside passageway that has enough spaces supply cable and pipeline. The utility model discloses the problem and the beneficial effect that solve are: have sufficient space and be used for supplying the passageway of cable and pipeline, more stable location wrist component, the accuracy of incremental control.
Description
Technical field
The utility model relates to the Wrist mechanism of industrial robot.
Background technology
Usual industrial robot Wrist mechanism has two deceleration devices and drives two wrist elements, leave space in wrist inside and connect the electric power of robot wrist instrument and the cable of fluid and pipeline for supplying to flow to, in order to meet such demand, be provided with hollow driving tube and hollow-cone gear for transmission rotary motion, leave space therein for freely supplying cable and pipeline, usual use wheel chain gives each wrist element as final input actuated element, in this case, location wrist element is very difficult, because gear clearance problem becomes unstable, and cause location more unstable due to the flank wear of the gear by high moment of torsion, especially when robot transport weight, a large amount of the 3rd wrist element rotary motion of the generation that caused by the rotary motion of the first and second wrist elements in another difficulty of location wrist element.
Summary of the invention
The technical problems to be solved in the utility model has enough spaces for supplying the passage of cable and pipeline, rotary motion by the first and second wrist elements affect second and the 3rd the reflection rotational movement amount of mobile of wrist element be reduced, the control of location wrist element is made to become easy, more stable location wrist element, increases the accuracy controlled.
In order to solve the problems of the technologies described above, the utility model employing technical scheme is: the Wrist mechanism of industrial robot.
The Wrist mechanism of industrial robot, comprise: first, second and the 3rd wrist element, with the first annular hollow deceleration device that robot arm is fixing, the first fixing with the first output shaft of the first annular hollow deceleration device respectively hollow driving tube and the second annular hollow deceleration device, the second fixing with the second output shaft of the second annular hollow deceleration device respectively hollow driving tube and the 3rd annular hollow deceleration device, with the 3rd hollow driving tube that the 3rd output shaft of the 3rd annular hollow deceleration device is fixing, and it is rotatable around first axle, first, second and the 3rd hollow driving tube respectively with first, second is connected with the 3rd wrist element, relative to each other rotate each wrist element, its inside has the passage of sufficient space supply cable and pipeline.
First, second, and third described annular hollow deceleration device and the 3rd described hollow driving tube inside are left sufficient space and are fixed on the cable of instrument and the passage of pipeline on robot wrist for supplying to be connected to.
Described second and the 3rd annular hollow deceleration device there is second, third power shaft, itself and second and the 3rd gear fix, described second and the 3rd gear respectively with second and the third planet gears meshing that are arranged on the first and second annular hollow deceleration devices, their rotations and rotating around first axle.
Described second and third planet gear fix with second and third planet gear shaft respectively, each gear shaft is installed on the first and second annular hollow deceleration devices respectively, described second and third planet gear rotation and rotating around first axle.
Advantage to be solved in the utility model and beneficial effect are: have enough spaces for supplying the passage of cable and pipeline, rotary motion by the first and second wrist elements affect second and the 3rd the reflection rotational movement amount of mobile of wrist element be reduced, the control of location wrist element is made to become easy, more stable location wrist element, increases the accuracy controlled.
Accompanying drawing explanation
Accompanying drawing 1: the Wrist mechanism schematic diagram of industrial robot.
Accompanying drawing 2: the side cross sectional representation of three annular hollow deceleration devices in accompanying drawing 1.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described further: the Wrist mechanism of industrial robot, comprise: first, second and the 3rd wrist element (1, 2, 3), with the first annular hollow deceleration device (5) that robot arm (4) is fixing, the first fixing with first output shaft (5a) of the first annular hollow deceleration device (5) respectively hollow driving tube (6) and the second annular hollow deceleration device (7), the second fixing with second output shaft (7a) of the second annular hollow deceleration device (7) respectively hollow driving tube (8) and the 3rd annular hollow deceleration device (9), with the 3rd hollow driving tube (10) that the 3rd output shaft (9a) of the 3rd annular hollow deceleration device (9) is fixing, and it is rotatable around first axle (11), described second and the 3rd annular hollow deceleration device (7, 9) second is had, 3rd power shaft (7b, 9b), itself and second and the 3rd gear (12, 13) fixing, described second and the 3rd gear (12, 13) respectively be arranged on the first and second annular hollow deceleration devices (5, 7) second on and third planet gear (14, 15) engage, their rotations and rotating around first axle (11).Described second and third planet gear (14,15) respectively with second and third planet gear shaft (14a, 15a) fixing, each gear shaft (14a, 15a) be installed in the first and second annular hollow deceleration devices (5 respectively, 7) on, described second and third planet gear (14,15) rotation and rotating around first axle (11).First, second, and third described hollow driving tube (6,8,10) respectively with first, second, and third wrist element (1,2,3) connect, relative to each other rotate each wrist element (1,2,3), first, second, and third described annular hollow deceleration device (5,7,9) and the 3rd described hollow driving tube (10) inside leave sufficient space and be fixed on the cable of instrument and the passage of pipeline on robot wrist for supplying to be connected to.
Claims (4)
1. the Wrist mechanism of industrial robot, comprise: first, second and the 3rd wrist element (1, 2, 3), with the first annular hollow deceleration device (5) that robot arm (4) is fixing, the first fixing with first output shaft (5a) of the first annular hollow deceleration device (5) respectively hollow driving tube (6) and the second annular hollow deceleration device (7), the second fixing with second output shaft (7a) of the second annular hollow deceleration device (7) respectively hollow driving tube (8) and the 3rd annular hollow deceleration device (9), with the 3rd hollow driving tube (10) that the 3rd output shaft (9a) of the 3rd annular hollow deceleration device (9) is fixing, and it is rotatable around first axle (11), first, second and the 3rd hollow driving tube (6, 8, 10) respectively with first, second and the 3rd wrist element (1, 2, 3) connect, relative to each other rotate each wrist element (1, 2, 3), its inside has the passage of sufficient space supply cable and pipeline.
2. the Wrist mechanism of industrial robot according to claim 1, it is characterized in that: first, second, and third described annular hollow deceleration device (5,7,9) and the 3rd described hollow driving tube (10) inside leave sufficient space and be fixed on the cable of instrument and the passage of pipeline on robot wrist for supplying to be connected to.
3. the Wrist mechanism of industrial robot according to claim 1, it is characterized in that: described second and the 3rd annular hollow deceleration device (7,9) there is second, third power shaft (7b, 9b), itself and second and the 3rd gear (12,13) fixing, described second and the 3rd gear (12,13) respectively with second and the third planet gear (14 that are arranged on the first and second annular hollow deceleration devices (5,7), 15) engage, their rotations and rotating around first axle (11).
4. the Wrist mechanism of industrial robot according to claim 3, it is characterized in that: described second and third planet gear (14,15) respectively with second and third planet gear shaft (14a, 15a) fixing, each gear shaft (14a, 15a) is installed on the first and second annular hollow deceleration devices (5,7) respectively, described second and third planet gear (14,15) rotation and rotating around first axle (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520886498.6U CN205201559U (en) | 2015-11-10 | 2015-11-10 | Industrial robot's wrist mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520886498.6U CN205201559U (en) | 2015-11-10 | 2015-11-10 | Industrial robot's wrist mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205201559U true CN205201559U (en) | 2016-05-04 |
Family
ID=55839299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520886498.6U Expired - Fee Related CN205201559U (en) | 2015-11-10 | 2015-11-10 | Industrial robot's wrist mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205201559U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041972A (en) * | 2016-06-25 | 2016-10-26 | 北京工业大学 | Mechanical arm used for grabbing steel tubes |
-
2015
- 2015-11-10 CN CN201520886498.6U patent/CN205201559U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041972A (en) * | 2016-06-25 | 2016-10-26 | 北京工业大学 | Mechanical arm used for grabbing steel tubes |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160504 Termination date: 20171110 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |