CN206913176U - A kind of robot wrist of universal driving - Google Patents
A kind of robot wrist of universal driving Download PDFInfo
- Publication number
- CN206913176U CN206913176U CN201621161404.XU CN201621161404U CN206913176U CN 206913176 U CN206913176 U CN 206913176U CN 201621161404 U CN201621161404 U CN 201621161404U CN 206913176 U CN206913176 U CN 206913176U
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- CN
- China
- Prior art keywords
- handling
- fluted disc
- ball
- gear
- motor
- 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
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- Manipulator (AREA)
Abstract
The utility model discloses a kind of robot wrist of universal driving, including shell body, middle ball-handling, middle fluted disc, limited cover, two motors and two gears；There is axle the middle ball-handling both sides, are installed in middle fluted disc, have half-turn bevel gear and No. 2 bevel gears of No. 2 motor drivens to engage on the downside of middle ball-handling, and the center line of No. 2 motors and No. 2 bevel gears passes through the centre of sphere of middle ball-handling all the time, can realize the swing of robot wrist；There is gear on the outside of the middle fluted disc, described No. 1 gear of No. 1 motor driven engages with middle fluted disc, can realize the rotation of robot wrist；By controlling the revolution of No. 1 motor and No. 2 motors, end effector connecting seat in middle ball-handling can be made to be accurately positioned in space；By controlling the rotating speed of No. 1 motor and No. 2 motors, middle ball-handling quick response can be made；Compact-sized, accuracy is high.
Description
Technical field
A kind of robot wrist of universal driving is the utility model is related to, belongs to robotic technology field.
Background technology
Robot wrist is connected with end effector, it is necessary to complete to rotate and swing two kinds of motions to complete various move
Make, altogether three degree of freedom.Existing industrial robot generally use rotary motion and the scheme for swinging separation and independent control, action
Space is larger, complicated.Other robot using traction universal joint drive Wrist-sport or using bevel gear to rotation and
Swing the scheme controlled respectively.Lack compact-sized be accurately positioned by control centre's ball to set with the wrist of pose adjustment
The scheme of meter.
The content of the invention
In view of the defects of prior art, the purpose of this utility model be to provide it is a kind of it is compact-sized, accuracy is high passes through
Control centre's ball is accurately positioned to end effector to be designed with robot wrist's transmission mechanism of pose adjustment.
The technical solution of the utility model is：A kind of robot wrist of universal driving, mainly including shell body, middle control
Ball, middle fluted disc, limited cover, two motors and two gears.
By there is two symmetrical cylindrical shafts on the axis of the centre of sphere in the middle ball-handling, vertical with described axis is flat
There are 180 ° of bevel gears around the middle ball-handling on face；The bevel gear is meshed with No. 2 bevel gears, No. 2 bevel gears
For center line just by the middle ball-handling centre of sphere, this design make it that no matter how middle ball-handling rotates, bevel gear and No. 2 cones in middle ball-handling
Gear remains engagement；There is end effector connecting seat above the middle ball-handling, performed for connecting various robot ends
Device.
It is gear on the outside of the middle fluted disc, is engaged with No. 1 gear；Fluted disc is semicircle in each, and two middle fluted discs are just
It is combined into a complete fluted disc；There is cylindrical hole on the inside of the middle fluted disc, be engaged with the cylindrical shaft of the both sides of middle ball-handling；It is excellent
Choosing, miniature bearing can be installed at described axle cooperation；Two middle fluted discs are controlled ball spacing in centre in, are controlled ball in realizing
Wobbling action.
The middle fluted disc is arranged on shell body, can be rotated in shell body, and ball-handling, which is realized, in can so driving revolves
Rotate and make；Preferably, middle fluted disc at shell body cooperation with that can install bearing；The limited cover concentric is fixedly connected on shell body
Upper centering fluted disc carries out spacing, No. 1 gear of its breach direction and middle fluted disc engagement place；Preferably, middle fluted disc and the same circle of limited cover
Bearing can be installed at heart cooperation.
No. 1 gear is installed, No. 1 motor is fixed in electric motor protecting body, and electric machine spacing bottom plate leads on No. 1 motor shaft
Cross screw and be fixedly connected on electric motor protecting body and hold No. 1 motor；No. 1 gear engages with middle fluted disc, and fluted disc turns in drive
It is dynamic.
No. 1 bevel gear is installed, No. 2 motors are fixed on shell body on No. 2 motor shafts；No. 2 bevel gears and middle ball-handling
Bevel gear intermeshing, the center line of motor and No. 2 bevel gears passes through the centre of sphere of middle ball-handling all the time.
By controlling the revolution of No. 1 motor and No. 2 motors, end effector connecting seat can be made in middle ball-handling in space
It is accurately positioned；By controlling the rotating speed of No. 1 motor and No. 2 motors, middle ball-handling quick response can be made.The robot wrist can be
Coning angle is to rotate freely and swing in 120 ° of space.
Brief description of the drawings
Fig. 1 is the external structure schematic diagram of the robot wrist of the universal driving.
Fig. 2 is the cross section structure diagram of inside 1/4 of the robot wrist of the universal driving.
Fig. 3 is the middle ball-handling structural representation of the robot wrist of the universal driving.
Fig. 4 is the structural representation of the middle fluted disc of the robot wrist of the universal driving.
Fig. 5 is the structural representation of the shell body of the robot wrist of the universal driving.
Fig. 6 is the structural representation of the limited cover of the robot wrist of the universal driving.
Fluted disc 3- limited cover 4- shell bodies 4-1- electricity in ball-handling 1-1- end effector connecting seats 2- in 1-
Machine protective 5-1 gear 6-1 motor 7- electric machine spacing bottom plate 8-2 gear 9-2 motors
Embodiment
A kind of robot wrist of universal driving, including shell body（4）, middle ball-handling（1）, end effector connecting seat（1-
1）, middle fluted disc（2）, limited cover（3）, electric motor protecting body（4-1）, No. 1 gear（5）, No. 1 motor（6）, electric machine spacing bottom plate
（7）, No. 2 bevel gears（8）, No. 2 motors（9）.The middle ball-handling（1）There are two symmetrical cylinders on the upper axis by the centre of sphere
Axle, there are 180 ° of bevel gears around the middle ball-handling in the plane vertical with described axis；The bevel gear and No. 2 bevel gears
（8）It is meshed, No. 2 bevel gears（8）Center line just by middle ball-handling（1）The centre of sphere, it is this design cause no matter middle control
How ball rotates, middle ball-handling（1）Upper bevel gear and No. 2 bevel gears（8）Remain engagement；The middle ball-handling（1）There is end top
Hold actuator connecting seat（1-1）, for connecting various end effector of robot；The middle fluted disc（2）Outside is gear, with 1
Number gear（5）Engagement；Fluted disc in each（2）It is semicircle, two middle fluted discs（2）Just it is combined into a complete fluted disc；It is described
Middle fluted disc（2）There is cylindrical hole inner side, with middle ball-handling（1）The cylindrical shafts of both sides be engaged；Preferably, described axle coordinates
Place can install miniature bearing；Two middle fluted discs（2）Controlled ball in（1）It is spacing in centre, controlled ball in realizing（1）Swing move
Make；The middle fluted disc（2）Installed in shell body（4）On, in shell body（4）It is interior to rotate, controlled ball in drive（1）Realize rotation
Action；Preferably, middle fluted disc（2）With shell body（4）Bearing can be installed at cooperation；The limited cover（3）Concentric is fixedly connected
In shell body（4）Upper centering fluted disc（2）Carry out spacing, its breach No. 1 gear of direction（5）With middle fluted disc（2）Engagement place；It is preferred that
, middle fluted disc（2）With limited cover（3）Bearing can be installed at concentric cooperation.
No. 1 motor（6）No. 1 gear is installed on axle（5）, No. 1 motor（6）It is fixed on electric motor protecting body（4-1）It is interior, electricity
The spacing bottom plate of machine（7）Electric motor protecting body is fixedly connected on by screw（4-1）On hold No. 1 motor（6）；No. 1 gear
（5）With middle fluted disc（2）Engagement, fluted disc in drive（2）Rotate；No. 2 motors（9）No. 2 bevel gears are installed on axle（8）, No. 2 electricity
Machine（9）It is fixed on shell body（4）On；No. 2 bevel gears（8）With middle ball-handling（1）Bevel gear intermeshing, No. 2 motors（9）With 2
Number bevel gear（8）Center line pass through middle ball-handling all the time（1）The centre of sphere.
By to No. 1 motor（6）With No. 2 motors（9）Revolution control, middle ball-handling can be made（1）Upper end effector connection
Seat（1-1）It is accurately positioned in space；By to No. 1 motor（6）With No. 2 motors（2）Rotating speed control, middle ball-handling can be made（1）
Quick response；The robot wrist can rotate freely and swing in the space that coning angle is 120 °.
Embodiment described above is only used for explaining design of the present utility model, and unrestricted right of the present utility model
Claimed range；The all variations and modifications that all technician in the art make on this patent concept, these changes
Type and improvement are also considered as the scope of protection of the utility model.
Claims (1)
1. a kind of robot wrist of universal driving, including shell body（4）, middle ball-handling（1）, end effector connecting seat（1-1）、
Middle fluted disc（2）, limited cover（3）, electric motor protecting body（4-1）, No. 1 gear（5）, No. 1 motor（6）, electric machine spacing bottom plate（7）、2
Number bevel gear（8）, No. 2 motors（9）；The middle ball-handling（1）There are two symmetrical cylindrical shafts on the upper axis by the centre of sphere, with
Described axis is vertical through 180 ° of bevel gears having in the plane of the centre of sphere around middle ball-handling；Bevel gear in the middle ball-handling
With No. 2 bevel gears（8）It is meshed；No. 2 bevel gears（8）Axis pass through middle ball-handling（1）The centre of sphere；No. 2 motors（9）
No. 2 bevel gears are installed on axle（8）;The middle ball-handling（1）Top is fixedly connected with end effector connecting seat（1-1）, for connecting
Various end effector of robot；No. 2 motors（9）Positioned at shell body（4）Rounded bottom center；The middle fluted disc（2）
Outside is gear, with No. 1 gear（5）Engagement；Middle fluted disc（2）It is semicircle, two middle fluted discs（2）It is combined into a complete tooth
Disk；The middle fluted disc（2）There is cylindrical hole inner side, with middle ball-handling（1）The cylindrical shafts of both sides be engaged；Two middle fluted discs
（2）Controlled ball in（1）It is spacing to be controlled ball in centre, realization（1）Wobbling action；The middle fluted disc（2）It is placed in shell body（4）
It is interior, in shell body（4）It is interior to rotate, controlled ball in drive（1）Realize spinning movement；No. 1 is installed on No. 1 motor (6) axle
Gear（5）, No. 1 motor（6）Positioned at electric motor protecting body（4-1）It is interior, electric machine spacing bottom plate（7）Electricity is fixedly connected on by screw
Machine protective（4-1）On, No. 1 motor（6）Bottom and electric machine spacing bottom plate（7）It is fixedly connected by screw；No. 1 gear
（5）With middle fluted disc（2）Tooth engagement, fluted disc rotary motion in drive；The limited cover（3）Concentric is fixedly connected on shell body
（4）Upper centering fluted disc（2）Carry out spacing, its breach No. 1 gear of direction（5）With middle fluted disc（2）Engagement place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621161404.XU CN206913176U (en) | 2016-11-01 | 2016-11-01 | A kind of robot wrist of universal driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621161404.XU CN206913176U (en) | 2016-11-01 | 2016-11-01 | A kind of robot wrist of universal driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206913176U true CN206913176U (en) | 2018-01-23 |
Family
ID=61310150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621161404.XU Expired - Fee Related CN206913176U (en) | 2016-11-01 | 2016-11-01 | A kind of robot wrist of universal driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206913176U (en) |
-
2016
- 2016-11-01 CN CN201621161404.XU patent/CN206913176U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180123 Termination date: 20181101 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |