CN2419011Y

CN2419011Y - Joints of arm and wrist of robot

Info

Publication number: CN2419011Y
Application number: CN 00233011
Authority: CN
Inventors: 黄浩权; 倪立新; 刘建群; 杨庆安; 黄文卓
Original assignee: Foshan Robot Co ltd Foshan Cit
Current assignee: Foshan University
Priority date: 2000-04-29
Filing date: 2000-04-29
Publication date: 2001-02-14
Anticipated expiration: 2010-04-29

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, 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.