CN2419011Y - Joints of arm and wrist of robot - Google Patents

Joints of arm and wrist of robot Download PDF

Info

Publication number
CN2419011Y
CN2419011Y CN 00233011 CN00233011U CN2419011Y CN 2419011 Y CN2419011 Y CN 2419011Y CN 00233011 CN00233011 CN 00233011 CN 00233011 U CN00233011 U CN 00233011U CN 2419011 Y CN2419011 Y CN 2419011Y
Authority
CN
China
Prior art keywords
joint
wrist
arm
pendulum
turn
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
CN 00233011
Other languages
Chinese (zh)
Inventor
黄浩权
倪立新
刘建群
杨庆安
黄文卓
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.)
Foshan University
Original Assignee
Foshan Robot Co ltd Foshan Cit
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 Foshan Robot Co ltd Foshan Cit filed Critical Foshan Robot Co ltd Foshan Cit
Priority to CN 00233011 priority Critical patent/CN2419011Y/en
Application granted granted Critical
Publication of CN2419011Y publication Critical patent/CN2419011Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to joints of an arm and a wrist of a robot, which comprises a fixed base, an arm turn joint, a wrist swing joint and a wrist turn joint, wherein a transmission sleeve shaft of the arm turn joint is movably sheathed on the fixed base and is driven by a motor which is fixedly connected with the fixed base through a gear set. The utility model is characterized in that a transmission shaft of the wrist swing joint is movably sheathed in the transmission sleeve shaft of the arm turn joint. A transmission motor of the waist swing joint is fixedly connected with the end of the transmission sleeve shaft of the arm turn joint. A transmission motor of the wrist turn joint is fixedly connected with the wrist swing joint. A sensor for measuring the turn state of the wrist turn joint is fixedly connected with the wrist swing joint. The utility model has the advantage that the coupled effect does not generate among the arm turn joint, the wrist swing joint and the wrist turn joint when the arm turn joint and the wrist swing joint are turned.

Description

A kind of arm of robot changes, wrist is put, wrist joint
The utility model relates to a kind of articulation structure of robot.
As shown in Figure 1, existing both domestic and external five or the electrically driven (operated) spray robot of six degree of freedom, its arm changes joint 1, wrist pendulum joint 2, the machine driving of wrist joint 3, adopt the structure of concentric sleeve mostly, the transmission sleeve 4 that is arm commentaries on classics joint 1 is actively socketed on holder 5, the transmission sleeve 6 of wrist joint 3 is actively socketed on arm to be changeed on the power transmission shaft 4 in joint 1, the power transmission shaft 7 in wrist pendulum joint 2 is actively socketed on the power transmission shaft 6 in wrist pendulum joint 2, three power transmission shafts 4,6,7 respectively by the motor 10 that is fixed on the holder 5,11,12 by corresponding gear drive, although concrete structure is had nothing in common with each other, but the feature of transmission all is the same, i.e. the motion in these three joints be implicative of each other (coupling).With Fig. 1 is example, and when rotated in wrist pendulum joint 2, wrist joint 3 can be followed some rotations, and was same, and when arm changeed joint 1 rotation, wrist pendulum joint 2, wrist joint 3 all can be followed some rotations.For a position programming robot, it does not have any ill-effect, because can solve by editor, but robot for the teaching of teach-by-doing continuous path, because the transfer process between continuous path teaching and the track reproducing is arranged, when also rotating owing to wrist pendulum joint, wrist joint can be followed some rotations, equally, when arm changes the joint rotation, wrist pendulum joint, wrist joint all can be followed some rotations, so, for the robot of teach-by-doing continuous path teaching, in the teaching process, wrist pendulum joint, especially the position of wrist joint can be subjected to the former influence, through after such teaching in the reproduction process, wrist pendulum joint and wrist joint just repeat this motion that is subjected to the influence of prime joint coupling, have caused the inconvenience of teaching operation.Because the negative effect brought of coupling influence also has: wrist pendulum joint and wrist joint mechanical origin can not reach it uniqueness and unreliable, this is owing to be used for determining the Hall element of wrist pendulum joint and wrist joint mechanical origin, because of the position of the continuous mobile phase of coupling influence for this joint, when it has arrived other position (non-standard origin position), if when just running into code-disc and send the Z pulse, incorrect code-disc pulse numeration just occurs, thereby caused whole joint cisco unity malfunction.
Goal of the invention of the present utility model is to provide a kind of arm commentaries on classics joint, when rotate in wrist pendulum joint, can produce arm commentaries on classics, wrist pendulum, the wrist joint of the robot of coupling influence between arm commentaries on classics joint, wrist pendulum joint, the wrist joint.
The utility model is to realize like this, comprise that holder, arm change joint, wrist pendulum joint, wrist joint, wherein, the transmission sleeve that arm changes the joint is actively socketed on the holder, and by gear train by the driven by motor that is fixed on the holder, its special feature is that the power transmission shaft in wrist pendulum joint is actively socketed on arm and changes in the transmission sleeve in joint, its driving motor is fixed in the drive sleeve shaft end that arm changes the joint, the driving motor of wrist joint is fixed on the wrist pendulum joint, measures the walk around sensor of moving situation of wrist and is fixed on the wrist pendulum joint.
The utility model compared with the prior art, because when arm changes the joint rotation, rotation is also followed together with driving motor, power transmission shaft in wrist pendulum joint, therefore, wrist pendulum joint and arm change the pass internode can not produce coupling phenomenon, the driving motor of wrist joint is fixed on the wrist pendulum joint, omitted the wrist joint power transmission shaft that is actively socketed on the power transmission shaft of wrist pendulum joint, not only simplify the unitary construction of each joint transmission mechanism, also avoided wrist joint to be subjected to wrist pendulum joint, the coupling influence when arm changes the joint rotation simultaneously.
Fig. 1 is the structural representation of prior art;
Fig. 2 is a structural representation of the present utility model.
Now in conjunction with the accompanying drawings and embodiments the utility model is described in further detail:
As shown in Figure 2, the utility model comprises holder 1, arm changes joint 2, wrist pendulum joint 3, wrist joint 4, wherein, the transmission sleeve 5 that arm changes joint 2 is actively socketed on the holder 1, and drive by the motor 7 that is fixed on the holder 1 by gear train 6, arm changes joint sensors 8 and is fixed on the holder 1, its special feature is that the power transmission shaft 9 in wrist pendulum joint 3 is actively socketed on arm and changes in the transmission sleeve 5 in joint 2, its driving motor 10 is fixed in transmission sleeve 5 ends that arm changes joint 2, the sensor 13 in wrist pendulum joint 3 is fixed in arm to be changeed on the joint 2, wrist pendulum joint 3 links to each other with the power transmission shaft 9 in wrist pendulum joint 3 by the driving gear set 14 that are arranged in the arm commentaries on classics joint 2, the driving motor 11 of wrist joint 4 is fixed on the wrist pendulum joint 3, measure the walk around sensor 12 of moving situation of wrist and be fixed on the wrist pendulum joint 3, wrist joint 4 links to each other with the driving motor 11 of wrist joint 4 by the driving gear set 13 that are arranged in the wrist pendulum joint 3.

Claims (1)

1, a kind of arm of robot changes, wrist is put, wrist joint, comprise that holder, arm change joint, wrist pendulum joint, wrist joint, wherein, the transmission sleeve that arm changes the joint is actively socketed on the holder, and by gear train by the driven by motor that is fixed on the holder, the power transmission shaft that it is characterized in that wrist pendulum joint is actively socketed in the transmission sleeve in arm commentaries on classics joint, its driving motor is fixed in the drive sleeve shaft end that arm changes the joint, the driving motor of wrist joint is fixed on the wrist pendulum joint, measures the walk around sensor of moving situation of wrist and is fixed on the wrist pendulum joint.
CN 00233011 2000-04-29 2000-04-29 Joints of arm and wrist of robot Expired - Fee Related CN2419011Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 00233011 CN2419011Y (en) 2000-04-29 2000-04-29 Joints of arm and wrist of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 00233011 CN2419011Y (en) 2000-04-29 2000-04-29 Joints of arm and wrist of robot

Publications (1)

Publication Number Publication Date
CN2419011Y true CN2419011Y (en) 2001-02-14

Family

ID=33595478

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 00233011 Expired - Fee Related CN2419011Y (en) 2000-04-29 2000-04-29 Joints of arm and wrist of robot

Country Status (1)

Country Link
CN (1) CN2419011Y (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101401743B (en) * 2008-10-20 2010-06-02 北京理工大学 Medical robot wrist for improving positioning accuracy of magnetic position finder
CN103264398A (en) * 2013-05-08 2013-08-28 南京航空航天大学 Combination drive robot wrist transmission system
CN105058385A (en) * 2015-08-07 2015-11-18 泉州市微柏工业机器人研究院有限公司 Series robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101401743B (en) * 2008-10-20 2010-06-02 北京理工大学 Medical robot wrist for improving positioning accuracy of magnetic position finder
CN103264398A (en) * 2013-05-08 2013-08-28 南京航空航天大学 Combination drive robot wrist transmission system
CN103264398B (en) * 2013-05-08 2015-10-28 南京航空航天大学 The robot wrist transmission system of combination drive
CN105058385A (en) * 2015-08-07 2015-11-18 泉州市微柏工业机器人研究院有限公司 Series robot

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
ASS Succession or assignment of patent right

Owner name: FUSHAN SCIENCE TECHNOLOGY COLLEGE

Free format text: FORMER OWNER: FOSHAN ROBOT CO., LTD., FOSHAN

Effective date: 20030815

C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20030815

Address after: No. 18, Jiangwan, Foshan, Guangdong

Patentee after: Foshan Science &. Technology College

Address before: North Port Road, hi tech Development Zone, Guangdong, Foshan

Patentee before: Foshan Robot Co., Ltd., Foshan

C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20010214