CN105082171B - A kind of multi-purpose machine human wrist of replaceable end effector - Google Patents
A kind of multi-purpose machine human wrist of replaceable end effector Download PDFInfo
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- CN105082171B CN105082171B CN201510574503.4A CN201510574503A CN105082171B CN 105082171 B CN105082171 B CN 105082171B CN 201510574503 A CN201510574503 A CN 201510574503A CN 105082171 B CN105082171 B CN 105082171B
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Abstract
nullA kind of multi-purpose machine human wrist of replaceable end effector，The present invention relates to the robot wrist of a kind of replaceable end effector，The present invention is to solve that in employing prior art, a lot of robot wrists link together with end effector，Same wrist cannot be realized and drive the function of multiple end effector，Cause its cost of manufacture the highest，And inconvenient problem with use，It includes outer layer power take-off mechanism、Intermediate layer locking and relieving mechanism、Internal layer power take-off mechanism and tool mechanism，Outer layer power take-off mechanism and intermediate layer locking are sleeved on internal layer power take-off mechanism successively with relieving mechanism ecto-entad，Tool mechanism is arranged on the clutch end of outer layer power take-off mechanism、On the clutch end of intermediate layer locking and the clutch end of relieving mechanism and internal layer power take-off mechanism，Invention is applicable to end effector and need to change and lock field with executor.
Description
Technical field
The present invention relates to the robot wrist of a kind of replaceable end effector, be specifically related to a kind of replaceable end effector
Multi-purpose machine human wrist.
Background technology
Robot wrist is widely used in industrial robot, and it plays an important role in the industrial production.In order to full
The job requirements that foot is different, the function of tail end manipulator of robot is the most different.In order to make productivity effect maximize and reduce into
This, a kind of robot wrist should drive multiple end effector.In order to realize above-mentioned target, robot wrist is at mechanical arm
Driving under need to dock from different end effectors and realize locking.Meanwhile, robot wrist is also required to be end effector and carries
Input for a number of power, to facilitate end effector operation.Current a lot of robot wrists are and end effector
Link together, it is impossible to realize same wrist and drive the function of multiple end effector, cause its cost of manufacture the highest, use
Inconvenient.
Summary of the invention
The present invention is to solve that in employing prior art, a lot of robot wrists link together with end effector, it is impossible to real
Existing same wrist drives the function of multiple end effector, causes its cost of manufacture the highest, and inconvenient problem with use,
And then the multi-purpose machine human wrist of a kind of replaceable end effector is provided.
The present invention solves that the problems referred to above the technical scheme is that
The multi-purpose machine human wrist of a kind of replaceable end effector: it includes outer layer power take-off mechanism, intermediate layer lock
Tight and relieving mechanism, internal layer power take-off mechanism and tool mechanism, outer layer power take-off mechanism and intermediate layer are locked and machine for releasing
Structure ecto-entad is sleeved on internal layer power take-off mechanism successively, and the power that tool mechanism is arranged on outer layer power take-off mechanism is defeated
Go out on the clutch end of end, intermediate layer locking and the clutch end of relieving mechanism and internal layer power take-off mechanism.
The invention has the beneficial effects as follows: the simple in construction of the present invention, use machine driving to realize robot wrist to end completely
The control of end executor, driving means is placed in wrist, and end effector only plays a part to transmit power, it is simple to driving
Device is protected.It is utilized respectively the power input as three Hooke's hinges of two motors and mechanical arm, driving-chain can be simplified
Structure, optimizes wrist overall structure size, and is conducive to controlling operation.The present invention can realize and multiple end effector
Butt-joint locking, and can be that different end effector provides power input.
Accompanying drawing explanation
Fig. 1 is entirety schematic diagram of the present invention, and Fig. 2 is that robot wrist removes drive mechanism bearing 1-1 and tool mechanism 4
Overall structure schematic diagram, Fig. 3 is the schematic diagram of three Hooke's hinge socket join structures in robot wrist, and Fig. 4 is A-A in Fig. 3
Direction view, Fig. 5 is robot wrist and the interface diagram of tool mechanism 4, and Fig. 6 is that ' T ' shape nut 2-10 locked by instrument
Being arranged on the schematic diagram on instrument locking ' T ' shape screw rod 2-9 with multiple steel ball 2-11, Fig. 7 is two kinds of Flos Mume tool interfaces
4-1, tool interface seat 4-2 and end-of-arm tooling 4-3 are placed on the schematic diagram on tool stand 4-4.
Detailed description of the invention
Detailed description of the invention one: combine Fig. 1-Fig. 7 and present embodiment is described, a kind of replaceable end effector multi-functional
Robot wrist, it includes outer layer power take-off mechanism 1, intermediate layer locking and relieving mechanism 2, internal layer power take-off mechanism
3 and tool mechanism 4, in outer layer power take-off mechanism 1 and intermediate layer locking are sleeved on successively with relieving mechanism 2 ecto-entad
On layer power take-off mechanism 3, tool mechanism 4 is arranged on the clutch end of outer layer power take-off mechanism 1, intermediate layer locking
With on the clutch end of relieving mechanism 2 and the clutch end of internal layer power take-off mechanism 3.
Detailed description of the invention two: combine Fig. 1-Fig. 5 and present embodiment is described, the replaceable end of one of present embodiment is held
The multi-purpose machine human wrist of row device, described outer layer power take-off mechanism 1 includes outside drive mechanism bearing 1-1, outer cross axle
Ring 1-2, outer cross axle internal ring 1-4, outer cross axle 1-5, eight rib tool wrench 1-6 and four outer layer mechanism fillister head screws
1-3, eight rib tool wrench 1-6 are machined with multiple groove, outer cross axle outer shroud 1-2, outer cross axle internal ring 1-4 and outer ten
Word axle 1-5 ecto-entad is set with setting successively, and four outer layer mechanism fillister head screw 1-3 are along the circumference side of outer cross axle 1-5
It is arranged on outer cross axle outer shroud 1-2 to uniform, and outside each outer layer mechanism fillister head screw 1-3 ecto-entad sequentially passes through
Cross axle outer shroud 1-2 and outer cross axle internal ring 1-4 is also threadably mounted on outer cross axle 1-5, and outer cross axle outer shroud 1-2 leads to
Crossing screw and be arranged on one end of drive mechanism bearing 1-1, eight rib tool wrench 1-6 are arranged on outer cross axle internal ring by screw
On 1-4, other structure is identical with detailed description of the invention one.
Detailed description of the invention three: combine Fig. 1-Fig. 6 and present embodiment is described, the replaceable end of one of present embodiment is held
The multi-purpose machine human wrist of row device, the locking of described intermediate layer includes the first servomotor assembly 2-1, band with relieving mechanism 2
Have the gear 2-2 of the first gear shaft, gear 2-3 with the second gear shaft, the 3rd gear 2-4, middle cross axle outer shroud 2-5,
Middle cross axle internal ring 2-7, middle cross axle 2-8, instrument locking ' T ' shape screw rod 2-9, instrument locking ' T ' shape nut
2-10, four relieving mechanism fillister head screw 2-6 and multiple steel ball 2-11, instrument locking ' T ' shape nut 2-10 processes
There is multiple fin corresponding with multiple grooves on eight rib tool wrench 1-6, and it is recessed to be machined with arc between adjacent two fins
Groove, one end of the first servomotor assembly 2-1 output shaft is connected with the gear 2-2 gear shaft with the first gear shaft, with
The gear 2-2 of the first gear shaft and the gear 2-3 tooth with the second gear shaft engage, with the gear 2-2 of the first gear shaft
It is arranged on drive mechanism bearing 1-1 with the gear 2-3 with the second gear shaft, and with the gear 2-3 of the second gear shaft
Engaging with the 3rd gear 2-4 tooth, the 3rd gear 2-4 is connected with middle cross axle outer shroud 2-5 by screw, middle cross axle
Outer shroud 2-5 is set on the outer wall of middle cross axle internal ring 2-7, and middle cross axle 2-8 is inlaid in middle cross axle internal ring 2-7
On, four relieving mechanism fillister head screw 2-6 are all not arranged in middle cross axle along middle cross axle outer shroud 2-5 circumferencial direction
On outer shroud 2-5, and the end of thread of each relieving mechanism fillister head screw 2-6 to sequentially pass through middle cross axle outer shroud 2-5 sheathed
At the outer wall of middle cross axle internal ring 2-7 and threaded be arranged on middle cross axle 2-8, middle cross axle internal ring 2-7
It is connected by screw is fixing with instrument locking ' T ' shape screw rod 2-9, instrument locking ' T ' shape threaded peace of nut 2-10
It is contained on instrument locking ' T ' shape screw rod 2-9, and eight rib tool wrench 1-6 are set in instrument locking ' T ' shape nut 2-10
On, and each instrument locking ' T ' shape nut 2-10 fin be inlaid in a groove on eight rib tool wrench 1-6,
And be provided with a steel ball 2-11 in the arc groove of each instrument locking ' T ' shape nut 2-10, other structure be embodied as
Mode one is identical.
In present embodiment, the first servomotor assembly 2-1 is clockwise and anticlockwise motor.
Detailed description of the invention four: combine Fig. 1-Fig. 4 and present embodiment is described, the replaceable end of one of present embodiment is held
The multi-purpose machine human wrist of row device, described internal layer power take-off mechanism 3 includes the second servomotor assembly 3-1, connecting shaft
3-2, cross axle 3-3, bolt axle 3-4 and hexagonal wrench 3-5, the second servomotor assembly 3-1 is arranged on drive mechanism and props up
In seat 1-1, one end of the second servomotor assembly 3-1 output shaft is connected by screw with one end of connecting shaft 3-2, connects
The other end of axle 3-2 is rotatably assorted with cross axle 3-3 and is connected, and bolt axle 3-4 is inserted on the endoporus of cross axle 3-3, and six
One end of rib spanner 3-5 is arranged on the two ends of bolt axle 3-4, and the other end of hexagonal wrench 3-5 is inserted into instrument locking ' T '
In shape screw rod 2-9, other structure is identical with detailed description of the invention one.
In present embodiment, the second servomotor assembly 3-1 is clockwise and anticlockwise motor.
Detailed description of the invention five: combination figure and Fig. 7 illustrate present embodiment, the replaceable end of one of present embodiment is held
The multi-purpose machine human wrist of row device, described tool mechanism 4 includes Flos Mume tool interface 4-1, tool interface seat 4-2 and end
Ending tool 4-3, one end of Flos Mume tool interface 4-1 is connected with one end of tool interface seat 4-2, tool interface seat 4-2's
The other end is connected with end-of-arm tooling 4-3, identical with detailed description of the invention one according to other structure.
Operation principle
The drive mechanism bearing 1-1 of the present invention is fixing with one end of mechanical arm to be connected, and the first servomotor assembly in the present invention
2-1 and the second servomotor assembly 3-1 provides power, and realization is locked robot wrist and end effector and is end respectively
Executor provides the function of two power inputs, and during work, first robot wrist is delivered to above end effector by mechanical arm,
Tool wrench 1-6 and the docking of Flos Mume tool interface 4-1 from all directions is realized by the motion of mechanical arm.
First servomotor assembly 2-1 drives the gear 2-2 with the first gear shaft to rotate, with the gear of the first gear shaft
2-2 drives the gear 2-3 with the second gear shaft to rotate, with the gear 2-3 of the second gear shaft by gear-driven form
Drive the 3rd gear 2-4 to rotate by gear-driven form, thus drive middle cross axle outer shroud 2-5 to rotate.Middle cross
Axle outer shroud 2-5 drives middle cross axle internal ring 2-7 to rotate by middle cross shaft device.And then the instrument of driving locking T-shaped spiral shell
Bar 2-9 rotates, and instrument locking ' T ' shape nut 2-10 realizes translation under the driving of instrument locking ' T ' shape screw rod 2-9
Motion, extrusion is positioned at the steel ball 2-11 in the instrument locking upper arc groove of ' T ' shape nut 2-10, it is achieved robot wrist and
The locking function of end effector, (during the first servomotor assembly 2-1 reversion, then steel ball 2-11 slips into instrument locking ' T '
In the arc groove of shape nut 2-10, it is achieved wrist and the unblock of end effector.) additionally, this wrist can be also end holds
Row device provides two power inputs.First power input is provided by robotic arm: robotic arm drives drive mechanism bearing 1-1 to turn
Dynamic, drive mechanism bearing 1-1 drives outer cross axle outer shroud 1-2 to rotate, and outer cross axle outer shroud 1-2 passes through outer cross shaft device
Drive outer cross axle internal ring 1-4 to rotate, and then drive eight rib tool wrench 1-6 to rotate, thus drive end effector to move.
Second power input is provided by the second servomotor assembly 3-1: the second servomotor assembly 3-1 drive connection axle 3-2 turns
Dynamic, connecting shaft 3-2 drives outer hexagon 3-5 to rotate by inner cross shaft device, and it can be that end effector provides another
One power input, is available for different end effector selectivity and uses, and then realize the purpose of the present invention.
Claims (4)
1. a multi-purpose machine human wrist for replaceable end effector, it includes outer layer power take-off mechanism (1), centre
Layer locking and relieving mechanism (2), internal layer power take-off mechanism (3) and tool mechanism (4), it is characterised in that: outer layer power
Output mechanism (1) includes drive mechanism bearing (1-1), outer cross axle outer shroud (1-2), outer cross axle internal ring (1-4), outer
Cross axle (1-5), eight rib tool wrench (1-6) and four outer layer mechanisms fillister head screw (1-3), outer layer output machine
Structure (1) and intermediate layer locking are sleeved on internal layer power take-off mechanism (3) successively with relieving mechanism (2) ecto-entad, work
Tool mechanism (4) is arranged on the clutch end of outer layer power take-off mechanism (1), intermediate layer locking and relieving mechanism (2)
On the clutch end of clutch end and internal layer power take-off mechanism (3), eight rib tool wrench (1-6) are machined with many
Individual groove, outer cross axle outer shroud (1-2), outer cross axle internal ring (1-4) and outer cross axle (1-5) ecto-entad are set with successively
Arranging, four outer layer mechanisms fillister head screw (1-3) are arranged on outer cross axle along the circumferencial direction of outer cross axle (1-5) is uniform
On outer shroud (1-2), and each outer layer mechanism fillister head screw (1-3) ecto-entad sequentially passes through outer cross axle outer shroud (1-2)
With outer cross axle internal ring (1-4) being threadably mounted on outer cross axle (1-5), outer cross axle outer shroud (1-2) passes through screw
Being arranged on one end of drive mechanism bearing (1-1), eight rib tool wrench (1-6) are arranged on outer cross axle internal ring (1-4) by screw
On.
The multi-purpose machine human wrist of a kind of replaceable end effector the most according to claim 1, it is characterised in that:
Described intermediate layer locking with relieving mechanism (2) include the first servomotor assembly (2-1), with the first gear shaft gear (2-2),
With the gear (2-3) of the second gear shaft, the 3rd gear (2-4), middle cross axle outer shroud (2-5), middle cross axle internal ring
(2-7), middle cross axle (2-8), instrument locking ' T ' shape screw rod (2-9), instrument locking ' T ' shape nut (2-10),
Four relieving mechanism fillister head screws (2-6) and multiple steel ball (2-11), instrument locking ' T ' shape nut (2-10) adds
Work has the fin that multiple multiple grooves upper with eight rib tool wrench (1-6) are corresponding, and is machined with arc between adjacent two fins
Groove, one end of the first servomotor assembly (2-1) output shaft is connected with gear (2-2) gear shaft with the first gear shaft,
Gear (2-2) with the first gear shaft and the engagement of gear (2-3) tooth with the second gear shaft, with the first gear shaft
Gear (2-2) and the gear (2-3) with the second gear shaft are arranged on drive mechanism bearing (1-1), and with second
The gear (2-3) of gear shaft engages with the 3rd gear (2-4) tooth, and the 3rd gear (2-4) is by screw and middle cross axle
Outer shroud (2-5) connects, and middle cross axle outer shroud (2-5) is set on the outer wall of middle cross axle internal ring (2-7), middle
Cross axle (2-8) is inlaid on middle cross axle internal ring (2-7), and four relieving mechanism fillister head screws (2-6) are along middle
Cross axle outer shroud (2-5) circumferencial direction is all not arranged on middle cross axle outer shroud (2-5), and each relieving mechanism socket cap
The end of thread of screw (2-6) sequentially passes through middle cross axle outer shroud (2-5) and is set in outside middle cross axle internal ring (2-7)
Wall also threaded is arranged on middle cross axle (2-8), and middle cross axle internal ring (2-7) locks ' T ' shape spiral shell with instrument
Bar (2-9) connects by screw is fixing, and instrument locking ' T ' shape nut (2-10) is threaded is arranged on instrument locking ' T '
On shape screw rod (2-9), and eight rib tool wrench (1-6) are set on instrument locking ' T ' shape nut (2-10), and often
The fin of individual instrument locking ' T ' shape nut (2-10) is inlaid in a groove on eight rib tool wrench (1-6), and
It is provided with a steel ball (2-11) in the arc groove of each instrument locking ' T ' shape nut (2-10).
The multi-purpose machine human wrist of a kind of replaceable end effector the most according to claim 2, it is characterised in that:
Described internal layer power take-off mechanism (3) include the second servomotor assembly (3-1), connecting shaft (3-2), cross axle (3-3),
Bolt axle (3-4) and hexagonal wrench (3-5), the second servomotor assembly (3-1) is arranged on drive mechanism bearing (1-1)
In, one end of the second servomotor assembly (3-1) output shaft is connected by screw with one end of connecting shaft (3-2), connecting shaft
(3-2) the other end is rotatably assorted with cross axle (3-3) and is connected, and bolt axle (3-4) is inserted into the interior of cross axle (3-3)
Kong Shang, one end of hexagonal wrench (3-5) is arranged on the two ends of bolt axle (3-4), the other end of hexagonal wrench (3-5)
It is inserted in instrument locking ' T ' shape screw rod (2-9).
The multi-purpose machine human wrist of a kind of replaceable end effector the most according to claim 3, it is characterised in that:
Described tool mechanism (4) includes Flos Mume tool interface (4-1), tool interface seat (4-2) and end-of-arm tooling (4-3), Flos Mume
One end of tool interface (4-1) is connected with one end of tool interface seat (4-2), the other end of tool interface seat (4-2) with
End-of-arm tooling (4-3) connects, and Flos Mume tool interface (4-1) is arranged on eight rib tool wrench (1-6), instrument locking ' T '
On shape screw rod (2-9) and instrument locking ' T ' shape nut (2-10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510574503.4A CN105082171B (en) | 2015-09-10 | 2015-09-10 | A kind of multi-purpose machine human wrist of replaceable end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510574503.4A CN105082171B (en) | 2015-09-10 | 2015-09-10 | A kind of multi-purpose machine human wrist of replaceable end effector |
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| Publication Number | Publication Date |
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| CN105082171A CN105082171A (en) | 2015-11-25 |
| CN105082171B true CN105082171B (en) | 2016-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510574503.4A Active CN105082171B (en) | 2015-09-10 | 2015-09-10 | A kind of multi-purpose machine human wrist of replaceable end effector |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106378787A (en) * | 2016-12-05 | 2017-02-08 | 必诺机械（东莞）有限公司 | Flexible machining system and method |
| CN106737797A (en) * | 2017-03-23 | 2017-05-31 | 马鞍山工蜂智能科技有限公司 | A kind of robot fixture of automatically replaceable fixture |
| CN113400349B (en) * | 2021-06-02 | 2022-11-25 | 北京思灵机器人科技有限责任公司 | Quick change device for manipulator of mechanical arm |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD219426A1 (en) * | 1983-11-23 | 1985-03-06 | Smab Forsch Entw Rat | DRIVE-FREE GRIPPERS FOR INDUSTRIAL ROBOTS |
| SE508735C2 (en) * | 1995-01-27 | 1998-11-02 | Asea Brown Boveri | Wrist unit for an industrial robot |
| SE0303539D0 (en) * | 2003-12-22 | 2003-12-22 | Abb Ab | Device for an industrial robot |
| DE602006009424D1 (en) * | 2006-07-03 | 2009-11-05 | Valiani S R L | SYSTEM FOR FAST CHANGE OF HEADS ON OPERATING MACHINES |
| CN103386688B (en) * | 2013-07-30 | 2015-03-11 | 哈尔滨工业大学 | Tool replacing device for tail end of space robot |
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2015
- 2015-09-10 CN CN201510574503.4A patent/CN105082171B/en active Active
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| CN105082171A (en) | 2015-11-25 |
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