CN213918346U

CN213918346U - Robot wrist with built-in transmission shaft

Info

Publication number: CN213918346U
Application number: CN202021613814.XU
Authority: CN
Inventors: 吴勇谋; 吴龙飞
Original assignee: Heyuan Yyd Technology Co ltd
Current assignee: Heyuan Yyd Technology Co ltd
Priority date: 2020-08-06
Filing date: 2020-08-06
Publication date: 2021-08-10
Anticipated expiration: 2030-08-06

Abstract

The utility model discloses a robot wrist with built-in transmission shaft, including the connector, the connector is hollow structure, connector one side fixed connection headstock, and the connector opposite side is equipped with robotic wrist, is equipped with in the cavity inner chamber of connector and rotates the bucket, rotates the bucket and can rotate and connect robotic wrist, the first motor of headstock inner wall one side fixed connection, first motor spindle fixed connection clutch, clutch one side fixed connection dwang, the pendulous device is connected to dwang one end. The utility model has the advantages that: the utility model has the advantages that: the robot wrist with the built-in transmission shaft provided by the utility model can rotate 360 degrees in the whole structure during working, and the robot wrist joint can also rotate freely, so that the robot wrist has more flexibility and accuracy; and the swinging device arranged in the robot wrist can swing or stop according to actual requirements through the opening and closing of the clutch.

Description

Robot wrist with built-in transmission shaft

Technical Field

The utility model relates to the technical field of robot, especially, relate to a robot wrist with built-in transmission shaft.

Background

Along with scientific development and social progress, more and more robots are gradually and widely applied to various industries, the mechanical wrists of the robots are key parts of the robots, the flexibility and the accuracy of the mechanical wrists determine the use efficiency of the robots to a great extent, the mechanical wrists used at the present stage are generally not high in flexibility, can only freely rotate at one part generally, and are single in structure, so that the complex requirements of the various industries are difficult to meet; meanwhile, the accuracy of the robot is relatively reduced due to the reduction of the flexibility, so that the working efficiency of the robot is greatly reduced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art, and providing a robot wrist with a built-in transmission shaft, thereby solving the problems existing in the prior art.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a robot wrist with a built-in transmission shaft comprises a connecting body, wherein the connecting body is of a hollow structure, one side of the connecting body is fixedly connected with a power box, and the other side of the connecting body is provided with a mechanical wrist;

a rotating groove is arranged in the hollow inner cavity of the connecting body, the rotating groove is rotationally connected with a rotating barrel, one side of the bottom of the inner wall of the rotating barrel is hinged with two electric push rods which are hinged with a mechanical wrist, a support rod is fixedly connected with one side of the bottom of the inner wall of the rotating barrel and is positioned between the two electric push rods, one end of the supporting rod is fixedly connected with a hinged ball, one side of the mechanical wrist is fixedly connected with a connecting block, one side of the connecting block is provided with a first hemispherical groove, the other side of the connecting block is provided with a first abdicating hole, one side of the mechanical wrist is provided with a second hemispherical groove, the other side of the mechanical wrist is provided with a second abdicating hole, the first hemispherical groove and the second hemispherical groove are correspondingly arranged to form a spherical cavity, and the hinge ball is rotatably connected with the mechanical wrist in the spherical cavity in a ball hinge mode;

the power box comprises a power box inner wall and is characterized in that a first motor is fixedly connected to one side of the power box inner wall, a first motor spindle is fixedly connected with a clutch, a rotating rod is fixedly connected to one side of the clutch, and one end, penetrating through a connecting body, a supporting rod and a hinge ball in sequence, of the rotating rod is connected with a swinging device.

Preferably, the rotary barrel is sleeved with a fixed toothed ring, a yielding groove is formed in one side of the connecting body, the toothed ring can rotate in the yielding groove, a second motor is fixedly connected to one side of the connecting body, a main shaft of the second motor penetrates through the connecting body to extend into a fixedly connected transmission rod in the yielding groove, one end of the transmission rod is fixedly connected with a gear, and the gear is meshed with the toothed ring.

Preferably, two round holes are formed in the connecting block, two threaded holes are formed in one side of the mechanical wrist and correspond to the two round holes, and the connecting block is fixedly connected with the mechanical wrist through bolts.

Preferably, pendulous device includes the cam, cam fixed connection is in dwang one end, rotate between the mechanical wrist inner wall both sides and connect the round bar, the round bar passes through the torsional spring and rotates the connection flat board, dull and stereotyped one side fixed connection baffle, the baffle corresponds the butt with the cam.

The utility model has the advantages that: the robot wrist with the built-in transmission shaft provided by the utility model can rotate 360 degrees in the whole structure during working, and the robot wrist joint can also rotate freely, so that the robot wrist has more flexibility and accuracy; and the swinging device arranged in the robot wrist can swing or stop according to actual requirements through the opening and closing of the clutch.

Drawings

Fig. 1 is a schematic diagram of the basic structure of the present invention;

FIG. 2 is a schematic view of the connection between the middle connection body and the power box;

FIG. 3 is a schematic view of the connection structure of the robot wrist of the present invention;

FIG. 4 is an enlarged schematic view of section E of FIG. 3;

fig. 5 is a cross-sectional view a-a of fig. 3.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1

As shown in fig. 1-5, a robot wrist with a built-in transmission shaft comprises a connecting body 1, wherein the connecting body 1 is of a hollow structure, one side of the connecting body 1 is fixedly connected with a power box 2, and the other side of the connecting body is provided with a mechanical wrist 3;

a rotating groove is arranged in a hollow inner cavity of the connecting body 1, a rotating barrel 11 is rotatably connected in the rotating groove, one side of the barrel bottom of the inner wall of the rotating barrel 11 is hinged with two electric push rods 12, the two electric push rods 12 are hinged with a mechanical wrist 3, one side of the barrel bottom of the inner wall of the rotating barrel 11 is also fixedly connected with a support rod 13, the support rod 13 is positioned between the two electric push rods 12, one end of the support rod 13 is fixedly connected with a hinged ball 4, one side of the mechanical wrist 3 is fixedly connected with a connecting block 41, one side of the connecting block 41 is provided with a first hemispherical groove, the other side of the connecting block 41 is provided with a first abdicating hole 42, the support rod 13 is arranged corresponding to the first abdicating hole 42, one side of the mechanical wrist 3 is provided with a second hemispherical groove, the other side of the mechanical wrist 3 is provided with a second abdicating hole 31, the first hemispherical groove and the second hemispherical groove are correspondingly arranged to form a spherical cavity, the hinged ball 4 is rotatably connected with the mechanical wrist 3 in the spherical cavity in a ball-hinge way, the mechanical wrist 3 can freely rotate in multiple angles by taking the articulated ball 4 in the spherical cavity as a reference through the electric push rod 12.

Two round holes are formed in the connecting block 41, two threaded holes are formed in one side of the mechanical wrist 3 and correspond to the two round holes, and the connecting block 41 is fixedly connected with the mechanical wrist 3 through a bolt 43.

The power box 2 is of a hollow structure, one side of the inner wall of the power box is fixedly connected with a first motor 21, a main shaft of the first motor 21 is fixedly connected with a clutch 22, the clutch 22 is the prior art, and is not described herein any more, one side of the clutch 22 is fixedly connected with a rotating rod 23, the rotating rod 23 is arranged corresponding to a second abdicating hole 31, and one end of the rotating rod 23 sequentially penetrating through the connecting body 1, the supporting rod 13 and the hinge ball 4 is connected with a swing device 5; the swing device 5 comprises a cam 51, the cam 51 is fixedly connected to one end of the rotating rod 23, a round rod 52 is rotatably connected between two sides of the inner wall of the mechanical wrist 3, the round rod 52 is rotatably connected with a flat plate 54 through a torsion spring 53, one side of the flat plate 54 is fixedly connected with a baffle 55, and the baffle 55 is correspondingly abutted against the cam 51. When the clutch 22 is opened, the first motor 21 rotates the rotating rod 23 to drive the cam 51 to rotate, the cam 51 contacts with the baffle 55, the cam 51 presses the baffle 55 to swing the flat plate 54 fixedly connected with the baffle 55, when the cam 51 rotates to a position where the cam 51 does not press one end of the baffle 55, the round rod 52 rotates the flat plate 54 connected through the torsion spring 53 to swing reversely under the action of the torsion spring 53, and the flat plate 54 in the mechanical wrist 3 continuously swings through continuous rotation of the cam 51. When the clutch 22 is closed, the first motor 21 cannot drive the rotating rod 23 to rotate, so that the plate 54 in the mechanical wrist 3 stops swinging.

The rotating barrel 11 is sleeved with a fixed toothed ring 14, one side of the connecting body 1 is provided with a abdicating groove, the toothed ring 14 can rotate in the abdicating groove, one side of the connecting body 1 is fixedly connected with a second motor 6, a main shaft of the second motor 6 penetrates through the connecting body 1 and extends into the abdicating groove to be fixedly connected with a transmission rod 61, one end of the transmission rod 61 is fixedly connected with a gear 62, and the gear 62 is meshed with the toothed ring 14; the second motor 6 rotates the gear 62, so that the gear ring 14 engaged with the gear ring rotates, and the rotating barrel 11 rotates in the rotating groove, thereby rotating the mechanical wrist 3 connected to the connecting body 1.

When in use, the second motor 6 is started to drive the gear 62 to rotate, so that the gear ring 14 meshed with the gear ring rotates, the rotating barrel 11 also rotates in the rotating groove, and the mechanical wrist 3 connected with the connecting body 1 rotates; meanwhile, under the action of the electric push rod 12, the mechanical wrist 3 can freely rotate in multiple angles by taking the hinged ball 4 in the spherical cavity as a reference.

When the clutch 22 is opened, the first motor 21 is started to rotate the rotating rod 23, the cam 51 is driven to rotate, the cam 51 can be in contact with the baffle 55, the cam 51 extrudes the baffle 55 to enable the flat plate 54 fixedly connected with the baffle 55 to swing, when the cam 51 rotates to the end where the baffle 55 is not extruded any more, the round rod 52 rotates the connected flat plate 54 through the torsion spring 53, the round rod can reversely swing under the action of the torsion spring 53, and the flat plate 54 in the mechanical wrist 3 continuously swings through the continuous rotation of the cam 51. When the clutch 22 is closed, the first motor 21 cannot drive the rotating rod 23 to rotate, so that the plate 54 in the mechanical wrist 3 stops swinging.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A robot wrist with a built-in transmission shaft, comprising a connecting body (1), characterized in that: the connecting body (1) is of a hollow structure, one side of the connecting body (1) is fixedly connected with a power box (2), and the other side of the connecting body is provided with a mechanical wrist (3);

the connecting structure is characterized in that a rotating groove is arranged in a hollow inner cavity of the connecting body (1), the rotating groove is rotationally connected with a rotating barrel (11), one side of the barrel bottom of the inner wall of the rotating barrel (11) is hinged with two electric push rods (12), the two electric push rods (12) are hinged with a mechanical wrist (3), one side of the barrel bottom of the inner wall of the rotating barrel (11) is also fixedly connected with a supporting rod (13), the supporting rod (13) is positioned between the two electric push rods (12), one end of the supporting rod (13) is fixedly connected with a hinged ball (4), one side of the mechanical wrist (3) is fixedly connected with a connecting block (41), one side of the connecting block (41) is provided with a first hemispherical groove, the other side of the connecting block (41) is provided with a first abdicating hole (42), one side of the mechanical wrist (3) is provided with a second hemispherical groove, the other side of the mechanical wrist (3) is provided with a second abdicating hole (31), the first hemispherical groove and the second hemispherical groove are correspondingly arranged to form a spherical cavity, and the hinge ball (4) is rotatably connected with the mechanical wrist (3) in the spherical cavity in a ball hinge mode;

first motor (21) of headstock (2) inner wall one side fixed connection, first motor (21) main shaft fixed connection clutch (22), clutch (22) one side fixed connection dwang (23), the one end that connector (1), bracing piece (13) and articulated ball (4) were passed in proper order in dwang (23) is connected with pendulous device (5).

2. A robot wrist with built-in transmission shaft according to claim 1, characterized in that: rotate bucket (11) and cup joint fixed ring gear (14), connector (1) one side is equipped with the groove of stepping down, ring gear (14) can be at the inslot internal rotation of stepping down connector (1) one side fixed connection second motor (6), second motor (6) main shaft passes connector (1) and stretches into inslot fixed connection transfer line (61) of stepping down, transfer line (61) one end fixed connection gear (62), gear (62) mesh mutually with ring gear (14).

3. A robot wrist with built-in transmission shaft according to claim 1, characterized in that: be equipped with two round holes on connecting block (41), mechanical wrist (3) one side is equipped with two screw holes, two the screw hole corresponds the setting with two the round hole, connecting block (41) with mechanical wrist (3) pass through bolt (43) fixed connection.

4. A robot wrist with built-in transmission shaft according to claim 1, characterized in that: pendulous device (5) include cam (51), cam (51) fixed connection is in dwang (23) one end, rotate between mechanical wrist (3) inner wall both sides and connect round bar (52), round bar (52) rotate through torsional spring (53) and connect dull and stereotyped (54), dull and stereotyped (54) one side fixed connection baffle (55), baffle (55) correspond the butt with cam (51).