TWI454351B - Mechanical wrist - Google Patents

Description

Mechanical wrist

The invention relates to a mechanical wrist.

The key components of the mechanical wrist system are flexible and accurate, which largely determines the flexibility and accuracy of the robot.

A mechanical wrist includes a first axle seat, a bushing, a first bearing, a second bearing, and a second axle seat. The sleeve, the first bearing and the second bearing are sleeved on the first shaft seat, and the first bearing and the second bearing respectively abut against the two ends of the sleeve. The second shaft seat is sleeved on the first bearing and the second bearing, so that the second shaft seat is rotatable relative to the first shaft seat.

However, when the above-mentioned mechanical wrist is moved, the angle of its movement is constantly changing, so that the force of the second bearing is uneven, which may easily cause the bearing to be stuck.

In view of the above, it is necessary to provide a mechanical wrist that prevents the bearing from being stuck.

A mechanical wrist includes a first shaft seat, a sleeve, a first bearing, a second bearing, a second shaft seat and an anti-seize mechanism, and the sleeve, the first bearing and the second bearing are sleeved on the first shaft seat And the first bearing and the second bearing respectively abut against the two ends of the sleeve, the second shaft sleeve is sleeved on the first bearing and the second bearing, so that the second shaft seat is rotatable relative to the first shaft seat, The inner wall of the second shaft seat is provided with a resisting protrusion, and the anti-seize mechanism is resisted Between the second bearing and the resisting protrusion, the anti-seize mechanism comprises a guiding member sleeved on the sleeve, a limiting member disposed on the guiding member and an elastic member sleeved on the limiting member, the elastic member is partially exposed Outside the free end of the limiting member, a stepped hole is formed on one end surface of the guiding member, and the large aperture portion of the stepped hole is adjacent to the end surface of the guiding member, and the limiting member is a limiting shaft fixed in the stepped hole.

The second bearing of the mechanical wrist is forced to compress and deform the elastic member when subjected to an external force, thereby preventing the second bearing from being stuck due to uneven force.

100‧‧‧ mechanical wrist

20‧‧‧First shaft seat

21‧‧‧ Subject

23‧‧‧Rotary shaft

25‧‧‧Block

30‧‧‧First bearing

40‧‧‧ bushings

50‧‧‧Anti-dead mechanism

51‧‧‧ Guides

512‧‧‧step hole

52‧‧‧Limited parts

521‧‧‧Axis

524‧‧‧ fixed department

54‧‧‧Flexible parts

60‧‧‧second bearing

70‧‧‧Second axle seat

71‧‧‧ Housing Department

73‧‧‧Resist the bulge

80‧‧‧Transmission gear

1 is a perspective view of a mechanical wrist of the present invention.

2 is an exploded perspective view of the mechanical wrist shown in FIG. 1.

Figure 3 is a schematic cross-sectional view of Figure 1 taken along the line III-III.

Figure 4 is an enlarged view of the portion IV of Figure 3.

The mechanical wrist of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

1 and 2, a mechanical wrist 100 according to a preferred embodiment of the present invention includes a first axle housing 20, a first bearing 30, a bushing 40, an anti-seize mechanism 50, a second bearing 60, and a second axle housing 70. And the transmission gear 80.

The first axle seat 20 includes a main body 21, a rotating shaft portion 23, and a blocking portion 25. The main body 21 is substantially in the shape of a truncated cone. The shaft portion 23 is substantially cylindrical and is coaxially coupled to the body 21. The blocking portion 25 has an annular shape and is provided at a joint between the main body 21 and the rotating shaft portion 23.

The sleeve 40 is substantially cylindrical and is sleeved on the shaft portion 23 of the first shaft base 20.

The first bearing 30 and the second bearing 60 are sleeved on the rotating shaft portion 23 of the first shaft base 20 and abut against both ends of the sleeve 40. Specifically, in the present embodiment, the first bearing 30 and the second bearing 60 are tapered roller bearings.

The anti-seize mechanism 50 includes a guiding member 51, a plurality of limiting members 52 and a plurality of elastic members 54. The guide member 51 is substantially cylindrical and is sleeved on the sleeve 40. A plurality of stepped holes 512 are formed on one end surface of the guiding member 51. The plurality of stepped holes 512 are equally spaced along the axial direction of the guide 51. The large aperture portion of each stepped hole 512 is disposed adjacent to the end surface of the guide member 51.

Referring to FIG. 3 , in the embodiment, each of the limiting members 52 is a limiting shaft, and includes a shaft portion 521 and a fixing portion 524 fixed to one end of the shaft portion 521 . The fixing portion 524 is fixed in the small aperture portion of the stepped hole 512 of the guide member 51, and the shaft portion 521 is partially received in the large aperture portion of the stepped hole 512 of the guide member 51.

Each of the elastic members 54 is a cylindrical spring that is sleeved on the shaft portion 521 of the limiting member 52 and partially received in the large aperture portion of the stepped hole 512. The natural length of the elastic member 54 is greater than the length of the shaft portion 521 of the limiting member 52, and the elastic member 54 is partially exposed outside the free end of the shaft portion 521 of the limiting member 52.

Referring to FIG. 4 together, the second shaft seat 70 is provided with a receiving portion 71. The rotation shaft portion 23 of the first shaft base 20, the first bearing 30, the boss 40, the anti-seize mechanism 50, and the second bearing 60 are housed in the housing portion 71. An annular resisting projection 73 is provided on the side wall of the receiving portion 71. There is a gap between the resisting projection 73 and the free end of the shaft portion 521 of the limiting member 52. The gap is smaller than the axial distance between the transmission gear 80 and the second shaft housing 70, so that the limiting member 52 and the resisting projection are provided. When the 73 phase is resisted, the inner side walls of the transmission gear 80 and the second shaft base 70 are not resisted. Specifically, in the present embodiment, the gap between the resisting projection 73 and the free end of the shaft portion 521 of the limiting member 52 is 0.25 mm.

The transmission gear 80 is fixedly sleeved on the free end of the rotating shaft portion 23 of the first axle housing 20 and is abutted against the second bearing 60.

Referring to FIG. 2 and FIG. 3 simultaneously, when the mechanical wrist 100 is assembled, the first bearing 30, the second bearing 60, and the sleeve 40 are sleeved on the rotating shaft portion 23 of the first shaft base 20. The first bearing 30 and the second bearing 60 respectively abut against both ends of the sleeve 40. The fixing portion 524 of the plurality of limiting members 52 of the anti-seize mechanism 50 is correspondingly fixed in the small aperture portion of the plurality of stepped holes 512 of the guiding member 51. The plurality of elastic members 54 are sleeved on the shaft portion 521 of the limiting member 52 and partially received in the plurality of stepped holes 512 of the guiding member 51. The second shaft seat 70 is sleeved on the first bearing 30 and the second bearing 60, and the resisting protrusion 73 of the second shaft seat 70 is abutted against the plurality of elastic members 54 of the anti-seize mechanism 50, and the guiding member 51 and The second bearing 60 abuts.

The transmission gear 80 is fixedly sleeved on the free end of the rotating shaft portion 23 of the first axle housing 20 and is abutted against the second bearing 60.

The elastic member 54 of the anti-seize mechanism 50 of the mechanical wrist 100 of the present invention abuts against the second bearing 60, so that the second bearing 60 is forced to compress and deform the elastic member 54 when subjected to an external force, thereby preventing the second bearing 60 from being stressed. Uneven and stuck. In addition, when the external force is too large, the end of the elastic member 54 is contracted to the shaft portion 521 of the limiting member 52 of the anti-seize mechanism 50, so that the shaft portion 521 of the limiting member 52 directly abuts against the second shaft seat 70. 73 is resisted to prevent the transmission gear 80 from abutting against the second shaft base 70, so that the transmission gear 80 is detached from the shaft portion 23 of the first shaft base 20, thereby preventing the second shaft seat 70 from being removed from the first shaft base 20. The shaft portion 23 is detached and an accident occurs.

It can be understood that the anti-seize mechanism 50 can also be reversely disposed. At this time, the elastic member 54 abuts against the second bearing 60, and the guiding member 51 abuts against the abutting protrusion 73 of the second shaft seat 70. The number of the elastic members 54 and the limiting members 52 is not limited to a plurality, and may be one.

In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims.

100‧‧‧ mechanical wrist

20‧‧‧First shaft seat

21‧‧‧ Subject

23‧‧‧Rotary shaft

25‧‧‧Block

30‧‧‧First bearing

40‧‧‧ bushings

50‧‧‧Anti-dead mechanism

51‧‧‧ Guides

512‧‧‧step hole

52‧‧‧Limited parts

54‧‧‧Flexible parts

60‧‧‧second bearing

70‧‧‧Second axle seat

71‧‧‧ Housing Department

73‧‧‧Resist the bulge

Claims (6)

A mechanical wristband includes a first axle seat, a bushing, a first bearing, a second bearing, and a second axle seat, the bushing, the first bearing and the second bearing are sleeved on the first axle seat, and The first bearing and the second bearing respectively abut against the two ends of the sleeve, the second shaft sleeve is sleeved on the first bearing and the second bearing, so that the second shaft seat is opposite to the first shaft seat The rotation is improved in that: the inner wall of the second shaft seat is provided with a resisting protrusion, and the mechanical wrist further comprises an anti-seize mechanism that is resisted between the second bearing and the resisting protrusion, and the anti-seize mechanism The mechanism includes a guiding member sleeved on the sleeve, a limiting member disposed on the guiding member, and an elastic member sleeved on the limiting member, the elastic member partially exposing the free end of the limiting member, the A stepped hole is formed on one end surface of the guiding member, and a large aperture portion of the stepped hole is adjacent to an end surface of the guiding member, and the limiting member is a limiting shaft fixed in the stepped hole. The mechanical wrist according to claim 1, wherein the limiting shaft comprises a shaft portion and a fixing portion connected to the shaft portion, and the fixing portion is fixed in the small aperture portion of the stepped hole. The mechanical wrist according to claim 2, wherein the elastic member is a spring sleeved on the shaft portion, and the natural length of the spring is greater than the length of the shaft portion. The mechanical wrist according to the first aspect of the invention, wherein the first axle base comprises a body and a rotating shaft portion coaxially connected with the main body, the bushing, the first bearing and the second bearing are sleeved on the rotating shaft portion on. The mechanical wrist according to claim 4, wherein the mechanical wrist further comprises a transmission gear fixedly disposed on the free end of the rotating shaft portion and abutting against the second bearing. The mechanical wrist according to claim 1, wherein the guiding member is in contact with the second bearing, the elastic member is abutting against the resisting protrusion, and the elastic member is elastically deformed, so that the limiting member and the limiting member are The limit protrusions are resisted.