CN104308858A - Wrist of industrial robot - Google Patents
Wrist of industrial robot Download PDFInfo
- Publication number
- CN104308858A CN104308858A CN201410585321.2A CN201410585321A CN104308858A CN 104308858 A CN104308858 A CN 104308858A CN 201410585321 A CN201410585321 A CN 201410585321A CN 104308858 A CN104308858 A CN 104308858A
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- belt wheel
- wrist
- forearm
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Abstract
The invention discloses a wrist of an industrial robot. The wrist comprises a forearm and a wrist shell which is rotatably connected to one end of the forearm. The other end of the forearm is provided with a vertical motor and a vertical reducer. An output shaft of the vertical reducer is connected with a left belt pulley. The wrist shell is internally provided with a horizontal motor and a horizontal reducer and connected with a right belt pulley through a fixing shaft. Transmission between the left belt pulley and the right belt pulley is facilitated through a transmission mechanism. According to the arrangement, bevel transmission is omitted, noise is reduced, and mechanical transmission is avoided, thus the wrist moves independently in the horizontal direction and vertical direction without coupling relationship, and machine precision is ensured. Besides, the vertical motor and the vertical reducer are arranged at the front, leading to small size of the wrist shell, and a synchronous belt is arranged at the low-speed end to prolong the service life thereof.
Description
Technical field
The present invention relates to a kind of industrial machine human wrist, belong to the field of industrial robot.
Background technology
In general industrial machine human wrist structure, major part uses Bevel Gear Transmission, to change transmission direction.Due to the existence of bevel gear, add the difficulty of machine-building, and bevel gear can produce noise when running up.Further, bevel gear generally all needs lubrication, if seal bad, can cause the problems such as oil seepage.
Meanwhile, in machine driving, be generally reductor away from motor side, near actuating station, and Timing Belt is in motor side, and such benefit is that actuating station is not almost moved when being subject to external force, because actuating station is difficult to impel reductor to reverse, reductor has certain self-locking action.And in robot wrist structure, require that robot wrist front end volume is little, be convenient to robot manipulating task, if traditionally structure, reductor be arranged in actuating station, robot wrist structure can be caused bulky.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of industrial machine human wrist, remove existing Bevel Gear Transmission, and by reductor design in motor side, reduces robot wrist front end volume, and at same transmission link application connecting rod and toothed belt transmission.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of industrial machine human wrist, comprise forearm and be rotationally connected with the wrist shell of forearm one end; the inner vertical reductor being fixed with motor vertical and being connected with the output shaft of motor vertical of the other end of forearm, motor vertical is coaxial with vertical reductor and consistent with the width of forearm; The horizontal reductor that the inside of described wrist shell is fixed with horizontal motor and is connected with the output shaft of horizontal motor, horizontal motor is coaxial with horizontal reductor and consistent with the length direction of forearm; The output shaft of described vertical reductor is connected with a left belt wheel, and described wrist shell is connected with right belt wheel by power transmission shaft, by transmission mechanism transmission between left belt wheel and right belt wheel near left belt wheel.
Preferably, described transmission mechanism is connecting rod and Timing Belt, and connecting rod is arranged on left belt wheel and right belt wheel by fixed axis, and Timing Belt is connected between left belt wheel and right belt wheel.Connecting rod can increase the rigidity of transmission, ensures transmission accuracy.Timing Belt overcomes the dead point in link transmission process, enables connecting rod keep continuous rotation.
Preferably, the output shaft of horizontal reductor is connected with an end flange.
Preferably, tension structure is provided with near right belt wheel place outside described Timing Belt.
Preferably, described tension structure comprises backstand, the turning set be positioned on backstand, fixed axis and tensioning screw, and described backstand is provided with Slotted bores, and tensioning screw is positioned at Slotted bores.
Preferably, described left belt wheel is identical with right belt tooth number, and the position of fixed axis on this two belt wheel is identical.
Preferably, have bearing to support between described connecting rod and fixed axis, and be rolling bearing at left belt wheel place, right belt wheel place is oscillating bearing.
Preferably, be rotationally connected between described forearm and wrist shell by bearing, this bearing is between power transmission shaft and forearm; Be rotationally connected away from two belt wheel ends also bearing, its bearing is arranged between wrist shell and bearing block.
Beneficial effect of the present invention: present invention eliminates Bevel Gear Transmission, reduce noise, decrease machine driving link simultaneously, make the motion in the horizontal direction of wrist shell, horizontal motor, horizontal reductor and end flange and end flange separate in the motion of vertical direction, no longer there is coupled relation, ensure that accuracy of machines.Wrist shell positive counter-movement is in the horizontal direction that the rotating speed of motor vertical is first by after horizontal reductor deceleration simultaneously, realize through the transmission of Timing Belt again, such benefit is the volume that can effectively reduce wrist shell place, and makes Timing Belt be in low speed end, improves the service life of Timing Belt.The application of connecting rod, ensure that the precision of horizontal motion, realizes the transmission of moment of torsion.The utilization of oscillating bearing, compensation link manufacturing tolerance, facilitates the assembling of connecting rod.
Accompanying drawing explanation
Fig. 1 is external structure schematic diagram of the present invention;
Fig. 2 is the A-A profile of Fig. 1;
Fig. 3 is the B-B profile of Fig. 1;
In figure: 1, forearm, 2, motor vertical, 3, horizontal motor, 4, bearing block, 5, wrist shell, 6, horizontal reductor, 7, end flange, 8, right belt wheel, 9, power transmission shaft, 10, tension structure, 11, left belt wheel, 12, Timing Belt, 13, horizontal reductor, 14, connecting rod, 15, fixed axis, 16, shaft block ring, 17, block bearing.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described further and limit.
The present invention includes forearm 1, motor vertical 2, horizontal motor 3, bearing block 4, wrist shell 5, horizontal reductor 6, end flange 7, right belt wheel 8, power transmission shaft 9, tension structure 10, left belt wheel 11, Timing Belt 12, horizontal reductor 13, connecting rod 14, fixed axis 15, shaft block ring 16, bearing 17.
Forearm 1 one end is rotationally connected by the bearing between bearing block 4 and wrist shell 5, other end inside is provided with motor vertical 2 and vertical reductor 13, the output shaft of motor vertical 2 is connected with the power shaft of vertical reductor 13, and motor vertical 2 is coaxial and consistent with the width of forearm 1 with vertical reductor 13.Wrist shell 5 internal fixtion has horizontal motor 3 and horizontal reductor 6, and the output shaft of horizontal motor 3 is connected with the power shaft of horizontal reductor 6, and the output shaft of horizontal reductor 6 is connected with an end flange 7.The output shaft of vertical reductor 13 is connected by screw left belt wheel 11, and right belt wheel 8 is fixed on power transmission shaft 9, and power transmission shaft 9 is connected with wrist shell 5, and left belt wheel 11 and right belt wheel 8 are by connecting rod 14 and Timing Belt 12 transmission.
So far, when motor vertical 2 rotates, the deceleration of rotating speed by vertical reductor 13 and the transmission of connecting rod 14 and Timing Belt 12, can realize wrist shell 5, horizontal motor 3, horizontal reductor 6 and end flange 7 positive counter-movement in the horizontal direction, namely in figure arrow 1 indicate direction.When horizontal motor 3 rotates, rotating speed drives end flange 7 in the positive counter-movement of vertical direction by the deceleration of horizontal reductor 6 afterwards, the positive counter-movement in the direction that namely in figure, arrow 2 indicates.
In the transmission mechanism of the present embodiment, connecting rod 14 can increase the rigidity of transmission, and ensure transmission accuracy, realize the transmission of moment of torsion, Timing Belt overcomes the dead point in connecting rod 14 transmission process, enables connecting rod keep continuous rotation.Connecting rod 14 is arranged on left belt wheel 11 and right belt wheel 8 by fixed axis 15, in order to make the position of fixed axis 15 fix, being provided with shaft block ring 16 outside fixed axis 15, being provided with bearing 17 between shaft block ring 16 and connecting rod 14.At close left belt wheel 11 place, described bearing 17 is rolling bearings; Taking turns 8 places near right belt, described bearing 17 is oscillating bearings.The utilization of oscillating bearing, compensation link 14 manufacturing tolerance, facilitates the assembling of connecting rod 14.
In the present embodiment, it is identical that described left belt wheel 11 and right belt take turns 8 numbers of teeth, and the position of fixed axis 15 on this two belt wheel is identical.
In the present embodiment, described Timing Belt 12 can be tensioned to appropriate level by tension structure 10.Described tension structure 10 comprises backstand, turning set and is positioned at the turning cylinder of turning set inside, and described backstand is provided with more than one Slotted bores, is provided with the tensioning screw that regulates tensity of synchronous belt in each Slotted bores.In addition, have a bearing in the inside of bearing block, this bearing can reduce the wearing and tearing to motor cable when wrist shell 5 rotates.
Stability Analysis of Structures of the present invention is reliable, is easy to realize, and can ensure accuracy of machines.Remove bevel gear, noise and mechanical processing difficulty can be reduced; By preposition for vertical reductor 13, (wrist body volume reduces can to effectively reduce wrist shell 5 place structural volume, the adaptability of robot can be improved, particularly when robot wrist enters small space), simultaneously because the reduction of Timing Belt 12 rotating speed can improve its service life; Bearing 15 can effectively reduce cable abrasion, improves cable service life, increases the reliability of machine.
The above-mentioned embodiment of the present invention, just illustrates, is not only, and the change within the scope of the present invention all or equivalent scope of the present invention is all surrounded by the present invention.
Claims (8)
1. an industrial machine human wrist, comprise forearm (1) and be rotationally connected with the wrist shell (5) of forearm (1) one end, it is characterized in that: the vertical reductor (13) that the other end inside of forearm (1) is fixed with motor vertical (2) and is connected with the output shaft of motor vertical (2), motor vertical (2) is coaxial with vertical reductor (13) and consistent with the width of forearm (1); The horizontal reductor (6) that the inside of described wrist shell (5) is fixed with horizontal motor (3) and is connected with the output shaft of horizontal motor (3), horizontal motor (3) is coaxial with horizontal reductor (6) and consistent with the length direction of forearm (1); The output shaft of described vertical reductor (13) is connected with a left belt wheel (11), described wrist shell (5) near left belt wheel (11) while be connected with right belt wheel (8) by power transmission shaft (9), pass through transmission mechanism transmission between left belt wheel (11) and right belt wheel (8).
2. industrial machine human wrist according to claim 1, it is characterized in that: described transmission mechanism is connecting rod (14) and Timing Belt (12), connecting rod (14) is arranged in left belt wheel (11) and right belt wheel (8) by fixed axis (15), and Timing Belt (12) is connected between left belt wheel (11) and right belt wheel (8).
3. industrial machine human wrist according to claim 1 and 2, is characterized in that: the output shaft of horizontal reductor (6) is connected with an end flange (7).
4. industrial machine human wrist according to claim 1 and 2, is characterized in that: described Timing Belt (12) outside is provided with tension structure (10) near right belt wheel (8) place.
5. industrial machine human wrist according to claim 4, it is characterized in that: described tension structure (10) comprises backstand, the turning set be positioned on backstand, fixed axis and tensioning screw, described backstand is provided with more than one Slotted bores, and tensioning screw is positioned at Slotted bores.
6. industrial machine human wrist according to claim 1 and 2, is characterized in that: described left belt wheel (11) takes turns (8) number of teeth with right belt identical, and the position of fixed axis (15) on this two belt wheel is identical.
7. industrial machine human wrist according to claim 1 and 2, is characterized in that: have block bearing (17) between described connecting rod (14) and fixed axis (15), and is rolling bearing at left belt wheel (11) place, and right belt wheel (8) place is oscillating bearing.
8. industrial machine human wrist according to claim 1, is characterized in that: be rotationally connected by bearing between described forearm (1) and wrist shell (5), and this bearing is positioned between power transmission shaft (9) and forearm (1); Away from two belt wheel ends also for bearing is rotationally connected, bearing is installed between wrist shell (5) and bearing block (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410585321.2A CN104308858A (en) | 2014-10-28 | 2014-10-28 | Wrist of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410585321.2A CN104308858A (en) | 2014-10-28 | 2014-10-28 | Wrist of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104308858A true CN104308858A (en) | 2015-01-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410585321.2A Pending CN104308858A (en) | 2014-10-28 | 2014-10-28 | Wrist of industrial robot |
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| CN (1) | CN104308858A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104275706A (en) * | 2013-07-10 | 2015-01-14 | 发那科株式会社 | Wrist structure unit of industrial robot |
| CN106426264A (en) * | 2016-11-09 | 2017-02-22 | 常州机电职业技术学院 | Robot wrist with built-in driving shaft |
| CN106965204A (en) * | 2017-05-20 | 2017-07-21 | 重庆卓来科技有限责任公司 | A kind of industrial robot |
| CN108025444A (en) * | 2015-09-07 | 2018-05-11 | Abb瑞士股份有限公司 | Shaft coupling for industrial robot |
| CN108032287A (en) * | 2017-12-30 | 2018-05-15 | 楼 | A kind of energy-saving mechanical hand conveniently removed and installed |
| CN109605360A (en) * | 2018-12-26 | 2019-04-12 | 珠海格力电器股份有限公司 | A kind of joint of robot arm driving part and robot |
| CN110216662A (en) * | 2019-07-18 | 2019-09-10 | 江苏金恒信息科技股份有限公司 | A kind of industrial machine human body |
| CN110315568A (en) * | 2019-08-16 | 2019-10-11 | 重庆卓来科技有限责任公司 | A kind of robot wrist and robot |
| CN111906812A (en) * | 2020-07-14 | 2020-11-10 | 苏州汇川技术有限公司 | Gear transmission joint structure of robot |
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| JPH01307553A (en) * | 1988-06-06 | 1989-12-12 | Matsushita Electric Ind Co Ltd | Mechanism for transmitting rotary motion |
| US6125715A (en) * | 1996-06-12 | 2000-10-03 | Abb Ab | Device in a robot arm |
| CN1832830A (en) * | 2003-04-29 | 2006-09-13 | Abb股份有限公司 | An industrial robot |
| US20110048157A1 (en) * | 2009-09-03 | 2011-03-03 | Hong Fu Jin Precision Industry (Shenzhen)Co., Ltd. | Mechanical arm assembly |
| CN102718087A (en) * | 2012-04-24 | 2012-10-10 | 华中科技大学 | Synchronous driving pair roller device for compounding films |
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| CN203471789U (en) * | 2013-08-30 | 2014-03-12 | 广州机械科学研究院有限公司 | Robot wrist part |
| CN204136064U (en) * | 2014-10-28 | 2015-02-04 | 济南时代试金试验机有限公司 | Industrial machine human wrist |
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2014
- 2014-10-28 CN CN201410585321.2A patent/CN104308858A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH01307553A (en) * | 1988-06-06 | 1989-12-12 | Matsushita Electric Ind Co Ltd | Mechanism for transmitting rotary motion |
| US6125715A (en) * | 1996-06-12 | 2000-10-03 | Abb Ab | Device in a robot arm |
| CN1832830A (en) * | 2003-04-29 | 2006-09-13 | Abb股份有限公司 | An industrial robot |
| US20110048157A1 (en) * | 2009-09-03 | 2011-03-03 | Hong Fu Jin Precision Industry (Shenzhen)Co., Ltd. | Mechanical arm assembly |
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| CN102718087A (en) * | 2012-04-24 | 2012-10-10 | 华中科技大学 | Synchronous driving pair roller device for compounding films |
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| CN204136064U (en) * | 2014-10-28 | 2015-02-04 | 济南时代试金试验机有限公司 | Industrial machine human wrist |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104275706B (en) * | 2013-07-10 | 2016-04-27 | 发那科株式会社 | The wrist formations of industrial robot |
| CN104275706A (en) * | 2013-07-10 | 2015-01-14 | 发那科株式会社 | Wrist structure unit of industrial robot |
| CN108025444A (en) * | 2015-09-07 | 2018-05-11 | Abb瑞士股份有限公司 | Shaft coupling for industrial robot |
| CN106426264B (en) * | 2016-11-09 | 2018-10-02 | 常州机电职业技术学院 | A kind of robot wrist with built-in transmission shaft |
| CN106426264A (en) * | 2016-11-09 | 2017-02-22 | 常州机电职业技术学院 | Robot wrist with built-in driving shaft |
| CN106965204A (en) * | 2017-05-20 | 2017-07-21 | 重庆卓来科技有限责任公司 | A kind of industrial robot |
| CN106965204B (en) * | 2017-05-20 | 2018-03-27 | 重庆卓来科技有限责任公司 | A kind of industrial robot |
| CN108032287A (en) * | 2017-12-30 | 2018-05-15 | 楼 | A kind of energy-saving mechanical hand conveniently removed and installed |
| CN109605360A (en) * | 2018-12-26 | 2019-04-12 | 珠海格力电器股份有限公司 | A kind of joint of robot arm driving part and robot |
| CN109605360B (en) * | 2018-12-26 | 2024-05-24 | 珠海格力电器股份有限公司 | Robot joint arm driving part and robot |
| CN110216662A (en) * | 2019-07-18 | 2019-09-10 | 江苏金恒信息科技股份有限公司 | A kind of industrial machine human body |
| CN110315568A (en) * | 2019-08-16 | 2019-10-11 | 重庆卓来科技有限责任公司 | A kind of robot wrist and robot |
| CN110315568B (en) * | 2019-08-16 | 2024-06-04 | 重庆卓来科技有限责任公司 | Robot wrist and robot |
| CN111906812A (en) * | 2020-07-14 | 2020-11-10 | 苏州汇川技术有限公司 | Gear transmission joint structure of robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150128 |