CN205799560U - A kind of wrist type actuating device - Google Patents
A kind of wrist type actuating device Download PDFInfo
- Publication number
- CN205799560U CN205799560U CN201620492319.5U CN201620492319U CN205799560U CN 205799560 U CN205799560 U CN 205799560U CN 201620492319 U CN201620492319 U CN 201620492319U CN 205799560 U CN205799560 U CN 205799560U
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- CN
- China
- Prior art keywords
- bevel gear
- motor
- wrist
- actuating device
- type actuating
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Abstract
The utility model discloses a kind of wrist type actuating device, including wrist body, described wrist is the most internal is provided with the first motor and the second motor, it is connected with pulley rotation by belt on the right side of described first motor, it is fixedly connected with connecting rod on the left of described belt pulley, the first bevel gear it is provided with on the left of described connecting rod, it is provided with bevel gear set below described first bevel gear, the second bevel gear it is provided with below described gear train, it is connected with pulley rotation by belt on the right side of described second motor, the 4th bevel gear it is provided with on the left of described connecting rod, described 4th bevel gear is arranged over third hand tap gear, it is provided with hands arm on the right side of described wrist body, described arm both sides are provided with groove, the wrist body that described groove is corresponding is provided with steel ball, described steel ball be fixedly connected with spring.The advantages such as this wrist type actuating device, has rational in infrastructure, and volume is little, it is easy to connect, low cost of manufacture, are suitable for popularity and use.
Description
Technical field
This utility model belongs to Industrial Robot Technology field, is specifically related to a kind of wrist type actuating device.
Background technology
Robot arm is the industrial robot occurred the earliest; also it is the modern machines people occurred the earliest; it can substitute for the heavy labor of people to realize the mechanization and the automatization that produce; can operate to protect personal safety under hostile environment; mechanical hand can reduce cost with economical workman, raising efficiency, improve image product.
Traditional robot wrist is because structure is complicated, and manufacturing cost is high, installs the reasons such as loaded down with trivial details, is the most well promoted, and is therefore badly in need of a kind of wrist type actuating device, has rational in infrastructure, and volume is little, it is easy to the advantages such as connection.
Utility model content
The purpose of this utility model is to provide a kind of wrist type actuating device, with the problem solving to propose in above-mentioned background technology.
For achieving the above object, this utility model following technical scheme of offer: a kind of wrist type actuating device, including wrist body, described wrist is the most internal is provided with the first motor and the second motor, it is connected with pulley rotation by belt on the right side of described first motor, it is fixedly connected with connecting rod on the left of described belt pulley, the first bevel gear it is provided with on the left of described connecting rod, it is provided with bevel gear set below described first bevel gear, the second bevel gear it is provided with below described gear train, it is connected with pulley rotation by belt on the right side of described second motor, the 4th bevel gear it is provided with on the left of described connecting rod, described 4th bevel gear is arranged over third hand tap gear, it is provided with hands arm on the right side of described wrist body, described arm both sides are provided with groove, the wrist body that described groove is corresponding is provided with steel ball, described steel ball be fixedly connected with spring.
Preferably, described bevel gear set includes two groups of bevel gears, and two groups of bevel gear distances are 5-8cm.
Preferably, described first motor and the second motor are servomotor.
Preferably, described steel ball size is 4-6mm.
Technique effect of the present utility model and advantage: this wrist type actuating device, by groove and the setting of steel ball, the connection between the wrist being and arm is convenient；By the setting of bevel gear set, bevel gear set drives the second bevel gear motion, it is achieved flip-flop movement；Setting by third hand tap gear so that the 4th bevel gear drives third hand tap gear to realize yaw motion.The advantages such as this wrist type actuating device, has rational in infrastructure, and volume is little, it is easy to connect, low cost of manufacture, are suitable for popularity and use.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
In figure: 1 wrist body, 2 belt pulleys, 3 first motors, 4 springs, 5 steel balls, 6 arms, 7 grooves, 8 second motors, 9 belts, 10 connecting rods, 11 first bevel gears, 12 bevel gear set, 13 second bevel gears, 14 third hand tap gears, 15 the 4th bevel gears.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
nullThis utility model provides a kind of wrist type actuating device as shown in Figure 1，Including wrist body 1,The first motor 3 and the second motor 8 it is provided with in described wrist body 1，Described first motor 3 and the second motor 8 are servomotor，It is rotationally connected with belt pulley 2 by belt 9 on the right side of described first motor 3，It is fixedly connected with connecting rod 10 on the left of described belt pulley 2，The first bevel gear 11 it is provided with on the left of described connecting rod 10，It is provided with bevel gear set 12 below described first bevel gear 11，Described bevel gear set 12 includes two groups of bevel gears，And two groups of bevel gear distances are 5-8cm，The second bevel gear 13 it is provided with below described gear train 12，It is rotationally connected with belt pulley 2 by belt 9 on the right side of described second motor 8，It is provided with the 4th bevel gear 15 on the left of described connecting rod 10，Described 4th bevel gear 15 is arranged over third hand tap gear 14，It is provided with arm 6 on the right side of described wrist body 1，Described arm 6 both sides are provided with groove 7，The wrist body 1 of described groove 7 correspondence is provided with steel ball 5，The described a diameter of 4-6mm of steel ball 5，Described steel ball 5 is fixedly connected with spring 4.
Operation principle: during this wrist type transmission operation, steel ball 5 on wrist body 1 is pressed in the groove 7 of arm 6 both sides, complete to connect, first motor 3 rotates, belt pulley 2 is driven to move by belt 9, it is then passed to the first bevel gear 11, first bevel gear 11 drives bevel gear set 12 to rotate, being then passed to the second bevel gear 13, it is achieved flip-flop movement, then the second motor 8 rotates, belt pulley 2 is driven to move by belt 9, being then passed to the 4th bevel gear 15, the 4th bevel gear 15 drives third hand tap gear 14 to rotate, it is achieved yaw motion.The advantages such as this wrist type actuating device, has rational in infrastructure, and volume is little, it is easy to connect, low cost of manufacture, are suitable for popularity and use.
Last it is noted that the foregoing is only preferred embodiment of the present utility model; it is not limited to this utility model; although this utility model being described in detail with reference to previous embodiment; for a person skilled in the art; technical scheme described in foregoing embodiments still can be modified by it; or wherein portion of techniques feature is carried out equivalent; all within spirit of the present utility model and principle; the any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (4)
- null1. a wrist type actuating device，Including wrist body (1),It is characterized in that: in described wrist body (1), be provided with the first motor (3) and the second motor (8)，Described first motor (3) right side is rotationally connected with belt pulley (2) by belt (9)，Described belt pulley (2) left side is fixedly connected with connecting rod (10)，Described connecting rod (10) left side is provided with the first bevel gear (11)，Described first bevel gear (11) lower section is provided with bevel gear set (12)，Described gear train (12) lower section is provided with the second bevel gear (13)，Described second motor (8) right side is rotationally connected with belt pulley (2) by belt (9)，Described connecting rod (10) left side is provided with the 4th bevel gear (15)，Described 4th bevel gear (15) is arranged over third hand tap gear (14)，Described wrist body (1) right side is provided with arm (6)，Described arm (6) both sides are provided with groove (7)，The wrist body (1) that described groove (7) is corresponding is provided with steel ball (5)，Described steel ball (5) is fixedly connected with spring (4).
- A kind of wrist type actuating device the most according to claim 1, it is characterised in that: described bevel gear set (12) includes two groups of bevel gears, and two groups of bevel gear distances are 5-8cm.
- A kind of wrist type actuating device the most according to claim 1, it is characterised in that: described first motor (3) and the second motor (8) are servomotor.
- A kind of wrist type actuating device the most according to claim 1, it is characterised in that: described steel ball (5) a diameter of 4-6mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620492319.5U CN205799560U (en) | 2016-05-26 | 2016-05-26 | A kind of wrist type actuating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620492319.5U CN205799560U (en) | 2016-05-26 | 2016-05-26 | A kind of wrist type actuating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799560U true CN205799560U (en) | 2016-12-14 |
Family
ID=57500483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620492319.5U Expired - Fee Related CN205799560U (en) | 2016-05-26 | 2016-05-26 | A kind of wrist type actuating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205799560U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300477A (en) * | 2020-03-05 | 2020-06-19 | 北京海益同展信息科技有限公司 | Bionic wrist, bionic hand and mechanical arm |
| CN112338950A (en) * | 2020-09-23 | 2021-02-09 | 南昌大学 | Small part grabbing and installing manipulator |
-
2016
- 2016-05-26 CN CN201620492319.5U patent/CN205799560U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300477A (en) * | 2020-03-05 | 2020-06-19 | 北京海益同展信息科技有限公司 | Bionic wrist, bionic hand and mechanical arm |
| CN111300477B (en) * | 2020-03-05 | 2021-09-07 | 北京海益同展信息科技有限公司 | Bionic wrist, bionic hand and mechanical arm |
| CN112338950A (en) * | 2020-09-23 | 2021-02-09 | 南昌大学 | Small part grabbing and installing manipulator |
| CN112338950B (en) * | 2020-09-23 | 2024-05-03 | 南昌大学 | Small part grabbing and installing manipulator |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 Termination date: 20170526 |