CN105479481B - The wrist structure of articulated robot arm - Google Patents
The wrist structure of articulated robot arm Download PDFInfo
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- CN105479481B CN105479481B CN201410474244.3A CN201410474244A CN105479481B CN 105479481 B CN105479481 B CN 105479481B CN 201410474244 A CN201410474244 A CN 201410474244A CN 105479481 B CN105479481 B CN 105479481B
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Abstract
The invention discloses a kind of wrist structure of articulated robot arm, comprising：One wrist body, there is the holding part and one of a leading section, a rearward end, one between the forward and backward end located at the rearward end and make the holding part and the extraneous string holes being connected；One wrist turns, and can by controlling be hubbed on the leading section of the wrist body；One signal processing circuit plate, be arranged at the rearward end of the wrist body with can separating and in the holding part, and with a pair should string holes breach；A connector, link located at the wrist body and with the signal processing circuit plate signal；One control unit, link located at the holding part of the wrist body, and with the signal processing circuit plate signal；One driver element, located at the holding part of the wrist body, and wrist swivel is controlled relative to the wrist body oscillatory；Use on the premise of not limiting rotation angle, reduce the number of cables through the string holes of wrist, with erection ＆ lift, the convenience of maintenance and control.
Description
Technical field
The present invention relates to articulated robot arm, particularly relates to a kind of wrist structure of articulated robot arm.
Background technology
Because robotic arm has controllability, therefore it is widely used in the equipment in various fields.Such as apply
Field of machining, the robotic arm can be arranged in pairs or groups processing machine, and object is processed by the robotic arm automatic clamping and placing, allow processing machine pair
Processing object is processed operation；Apply again in medical field, the robotic arm can be controlled by doctor, to be performed the operation to sufferer
Medical treatment；Reapply in field of game entertainment, by control the robotic arm movement with carry out clamp game pieces function.
Refering to Fig. 1, an a kind of display U.S. US 20110154938 A1 wherein schema, there is provided joint of mechanical arm
Group structure, it is arranged at the revolution inside wrist joint 13 for control, makes multiple cables by entering inside arm joint 11
Enter the motor in wrist joint 13 with inside to be connected, to make the phenomenon that cable will not be wound when wrist joint rotates,
One shaft joint 14 with through hole 141 is set between the wrist joint 13 and arm joint 11, makes connection wrist joint motor
Cable can by shaft joint 14 through hole 141 enter wrist joint in.However, because the patent case is by the shaft joint 14
It is arranged in arm joint 11, therefore easily causes the problem of length of arm joint 11 is long, and because shaft joint 14 itself is tied
Structure intensity is weaker, and the moment of torsion for causing wrist joint 13 can bear is relatively low and can limit the angle rotatable of wrist joint 13.
To avoid above mentioned problem from driving wrist joint using the hollow type reductor with hollow hole, make cable straight
Connect and entered by the hollow hole of hollow type reductor in wrist joint, but the size limitation of the hollow hole due to hollow type reductor,
The number of cables that can be passed through is limited, to control the cable of the end-effector of arm end to must be provided with outside arm, makes
The problem of easily winding the external cable when being operated into arm.
Therefore, Japanese JP2006321026 patent cases provide a kind of industrial robot, it is walked to reduce inside arm
Line, matrix form converter is set up in each drive motor, make 3 phase AC power supplies of outside and the power sources in parallel of each motor, make original
Power line sum is reduced to 3 by 12, makes to be arranged in the number of cables inside arm and reduces, makes cable to pass through hollow
The hollow hole of formula reductor, reduce difficulty during distribution.However, the matrix converter control voltage will need with electric current simultaneously
More complicated control technology, therefore easily cause the complication of system.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of wrist structure of articulated robot arm, and it mainly exists
Not on the premise of limiting rotation angle, the number of cables through the string holes of wrist is reduced, with erection ＆ lift, maintenance with controlling just
Profit.
To solve the above problems, the present invention provides a kind of wrist structure of articulated robot arm, comprising：One wrist sheet
Body, there is the holding part and one of a leading section, a rearward end, one between the forward and backward end located at the rearward end and make this
The string holes that holding part is connected with the external world；One wrist turns, and can by controlling be hubbed on the leading section of the wrist body；One news
Number process circuit plate, it is arranged at the rearward end of the wrist body with can separating and in the holding part, and there is a correspondence
The breach of the string holes；A connector, link located at the wrist body and with the signal processing circuit plate signal；One control unit,
Link located at the holding part of the wrist body, and with the signal processing circuit plate signal；One driver element, located at the wrist body
Holding part, and control the wrist swivel relative to the wrist body oscillatory.
It is preferred that the signal processing circuit plate has more a tandem signal transmission interface, the string holes of the wrist body is to supply
One composite cable is placed through in the holding part, and the composite cable connects the tandem signal transmission interface and to pass comprising a signal
Send the tandem signal cable of tandem signal.
It is preferred that the signal processing circuit plate is with more one first connector module, one second connector module, one defeated
Enter/export module and a processing unit, the first connector module is that signal connects the tandem signal transmission interface and the tandem
Between signal cable, the processing unit is delivered to again tandem signal is sent into the tandem signal transmission interface, the processing list
Member decodes to tandem signal, and the second connector module signal connects the input/output module, and respectively with the control list
The control RCA of signal connection one, a connection RCA between member, the connector.
It is preferred that the signal processing circuit plate is arranged at the rearward end of the wrist body in which can separate by a board
And in the holding part, there is the board locking to connect the Quick Release portion in the Quick Release portion of the wrist body rearward end and one
And in the wrist body holding part and for the load portion of signal processing circuit plate locking.
It is preferred that wrist swivel has one to be hubbed on the first movable part of the wrist body leading section and one be hubbed at this
Second movable part of the first movable part, the driver element have one to control first movable part relative to the wrist body oscillatory
First groups of motors and second groups of motors that is rotated relative to first movable part of control second movable part.
It is preferred that the composite cable further includes a motor power cable and one for being electrically connected to first and second groups of motors
Motor signal cable.
It is preferred that first groups of motors includes one first reductor and first horse linked with the first reductor power
Reach, second groups of motors includes one second reductor and second motor linked with the second reductor power.
It is preferred that the rearward end of the wrist body is can be pivotally located at proficiency arm body, the arm body is provided with one
Connection drives the hollow type reductor of the wrist body rearward end, and the hollow type reductor has one to be connected with the string holes and for one
The hollow hole that composite cable places.
Brief description of the drawings
Fig. 1 is the A1 of a U.S. US 20110154938 wherein schema.
Fig. 2 is the side view of the present invention, and the display present invention is provided with end-effector and is located at robotic arm arm joint
State.
Fig. 3 is the three-dimensional combination figure of the present invention.
Fig. 4 is the three-dimensional exploded view of the present invention, and display signal process circuit plate is located away from the state of wrist body.
Fig. 5 is the three-dimensional exploded view of the present invention, and display board is located away from the state of wrist body with signal processing circuit plate.
Fig. 6 is the top view of the present invention.
Fig. 7 be the present invention side view, the state of display signal process circuit plate.
Fig. 8 is the block diagram of the present invention, shows the schematic diagram of signal control of the present invention.
Fig. 9 is the three-dimensional exploded view of the present invention, and the display present invention, which can pivotally be located at one, has hollow type reductor
The state of arm body.
Description of reference numerals
Wrist joint 11
End-effector 12
Arm joint 13
Shaft joint 14
Arm body 21
End-effector 22
Controller 23
Tandem signal transmission interface 231
CPU 232
Hollow type reductor 26
Hollow hole 261
Wrist body 30
Leading section 31
Rearward end 32
Holding part 33
String holes 34
Wrist swivel 40
First movable part 41
Second movable part 42
Signal processing circuit plate 50
Breach 51
Stud 52
Tandem signal transmission interface 53
First connector module 54
Input/output module 55
Second connector module 56
Processing unit 57
Connector 60
Connector RCA 61
Signal/power line 62
Control unit 70
Control unit RCA 71
Driver element 80
First groups of motors 81
First reductor 811
First motor 812
Second groups of motors 82
Second reductor 821
Second motor 822
Composite cable 91
The tandem signal cable 911 of tandem signal
Motor power cable 912
Motor signal cable 913
Board 96
Quick Release portion 961
Load portion 962
Board breach 963
Embodiment
Refering to shown in Fig. 2 to Fig. 8, a kind of wrist structure for articulated robot arm that the embodiment of the present invention is provided, its
It is applicable and is located on robotic arm arm body 21, and be provided with end-effector 22, and is by a wrist body 30, wrist swivel
40th, a signal processing circuit plate 50, a connector 60, a control unit 70 and a driver element 80, wherein：
The wrist body 30, there is a leading section 31, a rearward end 32, one to be located between the forward and backward end 31,32
Holding part 33 and one is located at the rearward end 32 and makes the holding part 33 and the extraneous string holes 34 being connected；In the present embodiment, after this
End 32 is the arm body 21 that can be pivotally located at robotic arm, and the string holes 34 is available for a composite cable 91 to be placed through the appearance
Put in portion 33, the composite cable 91 includes tandem signal cable 911, motor power cable 912 and the motor signal of tandem signal
Cable 913.
The wrist swivel 40, it can by controlling be hubbed on the leading section 31 of the wrist body 30；, should in the present embodiment
Wrist swivel 40 has first movable part 41 for being hubbed on the leading section 31 of wrist body 30 and one to be hubbed at this first movable
Second movable part 42 in portion 41, and second movable part 42 is provided with the end-effector 22.
The signal processing circuit plate 50, it is arranged at the rearward end 32 of the wrist body 30 with can separating and is located at the appearance
Put in portion 33, and with a pair should string holes 34 breach 51；In the present embodiment, the signal processing circuit plate 50 is by a board
96 and be arranged at the rearward end 32 of the wrist body 30 with can separating and in the holding part 33, the board 96 has a lock
Gu the Quick Release portion 961 is connected in the Quick Release portion 961 and one of the rearward end 32 of wrist body 30 and is housed positioned at the wrist body 30
In portion 33 and for the load portion 962 of the signal processing circuit plate 50 locking, certainly, the board 96 also have to should string holes 34 hold
Plate breach 963, and mutually locked through each and every one more studs 52 between the signal processing circuit plate 50 and the board 96；In addition,
The signal processing circuit plate 50 connects the tandem signal transmission interface 53 with more a tandem signal transmission interface 53, a signal
First connector module 54, an input/output module 55, a signal connect the second connector mould of the input/output module 55
The processing unit 57 of group 56 and one, the tandem signal cable 911 of the composite cable 91 is that signal connects the first connector module 54
And be connected with the tandem signal transmission interface 53 in signal, and to transmit tandem signal.
The connector 60, link located at the wrist body 30 and with the signal processing circuit plate signal 50；The present embodiment
In, the connector 60 be lift input/output connector exemplified by, and by the signal of a connector RCA 61 connect this second connection
Device module 56, so that the connector 60 is connected with the signal of input/output module 55 of the signal processing circuit plate 50, in addition,
It can be connect between the connector 60 and the end-effector 22 and set one signal/power line 62 (as shown in Figure 2), to be used as control signal
And the transmission of electric power.
Described control unit 70, located at the holding part 33 of the wrist body 30, and with the signal of signal processing circuit plate 50
Link；In the present embodiment, the control unit 70 is exemplified by lifting control unit of electromagnetic valve, and by the signal of a magnetic valve RCA 71
The second connector module 56 is connected, so that the control unit 70 and the input/output module 55 of the signal processing circuit plate 50
Signal connects.
The driver element 80, located at the holding part 33 of the wrist body 30, and wrist swivel 40 is controlled relative to this
Wrist body 30 is swung；In the present embodiment, the driver element 80 has one to control first movable part 41 relative to the wrist sheet
The first groups of motors 81 and second horse for controlling second movable part 42 to be rotated relative to first movable part 41 that body 30 is swung
Up to group 82, and controlled by the controller 23 located at robotic arm base, and the signal control of first and second groups of motors 81,82
And power source is motor power cable 912 and motor signal cable 913 in the composite cable 91；And first motor
Group 81 includes one first reductor 811 and first motor 812 linked with the power of the first reductor 811, second motor
Group 82 includes one second reductor 821 and second motor 822 linked with the power of the second reductor 821.
Described above is main member of the embodiment of the present invention and its configuration explanation.The effect of as the embodiment of the present invention make with
Lower explanation.
Because the present invention is provided with the signal processing circuit plate 50 in the holding part 33 of the wrist body 30, and at the signal
At least there is the tandem signal transmission interface 53 on reason circuit board 50, and through the first connector module 54 and signal connection this
One end of the tandem signal cable 911 of composite cable 91, and the other end of the tandem signal cable 911 is then connected to robotic arm
On the controller 23 of base (as shown in Figure 8), therefore, the tandem signal for sending the controller 23 of the robotic arm is able to
It is decoded as signal arranged side by side, and using the signal arranged side by side as output signal controlling the control unit 70 or end-effector 22；
Similarly, the input signal received with juxtaposition is also converted to tandem signal by the signal processing circuit plate 50 simultaneously, then
The tandem signal is sent to robotic arm controller 23, is used and is reached in not limiting rotation angle and increase the hole of string holes 34
On the premise of footpath, the number of cables through the string holes 34 of robotic arm wrist is reduced, with erection ＆ lift, maintenance with controlling just
Profit.
What deserves to be explained is due to the signal processing circuit plate 50 be designed with a pair should string holes 34 breach 51, therefore,
After the composite cable 91 places the string holes 34 and distribution, such as it is intended to change the signal processing circuit plate 50, repairs
When, then by the design of the breach 51 so that will not be produced when separating the signal processing circuit plate 50 with the composite cable 91
Interference, have and separate the effect of facilitating.
Secondly as the signal processing circuit plate 50 is to be arranged at the wrist body with can separating by the board 96
30 rearward end 32 and in the holding part 33, therefore, can be straight when the signal processing circuit plate 50 is changed, repaired
Connect and the Quick Release portion 691 of the board 96 is detached in the rearward end 32 of the wrist body 30 can be taken off the signal processing circuit plate
50, highlight replacing, repair the effect of signal processing circuit plate 50 facilitates.
Finally, as shown in fig.8, the present invention signal control make flowing mode and configuration instruction is as follows.
There is the signal processing circuit plate 50 a tandem signal transmission interface 53, a signal to connect tandem signal transmission
One first connector module 54, an input/output module 55, a signal for interface 53 connects the of the input/output module 55
Two connector modules 56 and a processing unit 57, wherein：
The processing unit 57 is coding/decoding function, the output signal for being responsible for serial transmission for a microcontroller
The reading of control command and input signal.
The tandem signal transmission interface 53 is that the instruction that the processing unit 57 is sent out/received is converted into serial transmission
Form.
The input/output module 55 is to include electric signal switch element (optical relay and photo-coupler), wherein light
Relay provides output and isolation features；Photo-coupler provides input and isolation features.
The first connector module 54 is the connector of the tandem signal transmission interface 53.
The second connector module 56 is the connector of the input/output module 55, and by input/output module 55
Signal is connected to the connector 60 and control unit 70 of the wrist body 30.
The output signal that flowing mode is made in the signal control produces flow：
Tandem signal transmission interface 231 of the output signal of control through inside is intended to by controller 23 and is converted to tandem signal
And the signal processing circuit plate 50 inside the wrist body 30 is sent to, tandem signal is transmitted through the first connector module 54
Processing unit 57 is delivered to again to the tandem signal transmission interface 53, and the processing unit 57 decodes to tandem signal, and will solution
Output signal instruction after code is sent to the input/output module 55, is produced by the optical relay in the input/output module 55
The output signal of isolation, the output signal are sent to the connector 60 on the wrist body 30 through the second connector module 56
And control unit 70 makees corresponding control.
The input signal that flowing mode is made in the signal control receives flow：
Input signal is inputted by the connector 60 on the wrist body 30, is connected via the second of the signal processing circuit plate 50
Connect device module 56 and be sent to the input/output module 55, the defeated of isolation is produced by the photo-coupler in the input/output module 55
Enter signal and deliver to the processing unit 57, after the processing unit 57 reads this input signal, after being encoded, through signal processing
The tandem signal transmission interface 53 of circuit board 50 is sent in controller 23 through the first connector module 54, in the controller 23
CPU (CPU) 232 is passed to after the reception of tandem signal transmission interface 231 signal to be decoded and read input
Signal.
It is noted that as shown in fig.9, the rearward end 32 of the wrist body 30 is can be pivotally located at mechanical hand
The mode of arm body 21 of arm, it is mainly provided with a connection by the arm body 21 and drives the rearward end 32 of wrist body 30
Hollow type reductor 23 reached, and the hollow type reductor 23 has and one is connected with the string holes 34 and supply the composite cable 91
The hollow hole 231 placed.
In summary, the various embodiments described above and diagram be only presently preferred embodiments of the present invention, when can not with restriction
The scope of implementation of the invention, i.e., the equivalent changes and modifications made generally according to scope of the present invention patent, should all belong to the present invention
In the range of patent covers.
Claims (7)
1. a kind of wrist structure of articulated robot arm, comprising：
One wrist body, there is the holding part and one of a leading section, a rearward end, one between the forward and backward end to be located at should
Rearward end and the string holes for making the holding part be connected with the external world；
One wrist turns, and can by controlling be hubbed on the leading section of the wrist body；
One signal processing circuit plate, it is arranged at the rearward end of the wrist body with can separating and in the holding part, and has
Have a pair should string holes breach；
A connector, link located at the wrist body and with the signal processing circuit plate signal；
One control unit, link located at the holding part of the wrist body, and with the signal processing circuit plate signal；
One driver element, located at the holding part of the wrist body, and wrist swivel is controlled relative to the wrist body oscillatory；
It is characterized in that：The signal processing circuit plate is arranged at the rear end of the wrist body in which can separate by a board
Portion and in the holding part, there is the board locking to connect the Quick Release in the Quick Release portion of the wrist body rearward end and one
Portion and the load portion to lock in the wrist body holding part and for the signal processing circuit plate.
2. the wrist structure of articulated robot arm as claimed in claim 1, it is characterised in that：The signal processing circuit plate
With more a tandem signal transmission interface, the string holes of the wrist body is to be placed through for a composite cable in the holding part, and this is multiple
Close cable and connect the tandem signal transmission interface and comprising a signal to transmit the tandem signal cable of tandem signal.
3. the wrist structure of articulated robot arm as claimed in claim 2, it is characterised in that：The signal processing circuit plate
With more one first connector module, one second connector module, an input/output module and a processing unit, first company
It is that signal is connected between the tandem signal transmission interface and the tandem signal cable to connect device module, tandem signal to be sent to
The tandem signal transmission interface delivers to the processing unit again, and the processing unit decodes to tandem signal, second connector
Module signal connects the input/output module, passes through a control RCA between the second connector module and the control unit
Signal connects, and is connected between the second connector module and the connector by a connector RCA signal.
4. the wrist structure of articulated robot arm as claimed in claim 2, it is characterised in that：The wrist swivel has one
It is hubbed on the first movable part of the wrist body leading section and one is hubbed at the second movable part of first movable part, the driving list
Member has one to control first movable part to control second movable part relative to the first groups of motors of the wrist body oscillatory and one
The second groups of motors rotated relative to first movable part.
5. the wrist structure of articulated robot arm as claimed in claim 4, it is characterised in that：The composite cable further includes
One is electrically connected to the motor power cable of first and second groups of motors and a motor signal cable.
6. the wrist structure of articulated robot arm as claimed in claim 4, it is characterised in that：First groups of motors includes
One first reductor and first motor linked with the first reductor power, second groups of motors include one second reductor
And one with the second reductor power link the second motor.
7. the wrist structure of articulated robot arm as claimed in claim 1, it is characterised in that：The rear end of the wrist body
Portion is can be pivotally located at proficiency arm body, and the arm body is provided with the hollow type that a connection drives the wrist body rearward end
Reductor, the hollow type reductor have a hollow hole for connecting with the string holes and being placed for a composite cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410474244.3A CN105479481B (en) | 2014-09-17 | 2014-09-17 | The wrist structure of articulated robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410474244.3A CN105479481B (en) | 2014-09-17 | 2014-09-17 | The wrist structure of articulated robot arm |
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| Publication Number | Publication Date |
|---|---|
| CN105479481A CN105479481A (en) | 2016-04-13 |
| CN105479481B true CN105479481B (en) | 2017-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410474244.3A Active CN105479481B (en) | 2014-09-17 | 2014-09-17 | The wrist structure of articulated robot arm |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712692A (en) * | 2019-11-27 | 2020-01-21 | 深圳市施罗德工业集团有限公司 | Crawling robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101299A (en) * | 2009-12-18 | 2011-06-22 | 财团法人工业技术研究院 | Wrist joint structure of mechanical arm |
| CN102452080A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| EP2542391A1 (en) * | 2010-03-02 | 2013-01-09 | ABB Research Ltd. | A system for electrically connecting a tool to a robot wrist and a method therefor |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2823674B2 (en) * | 1990-10-01 | 1998-11-11 | 株式会社不二越 | Industrial robot |
| JPH07124887A (en) * | 1993-10-29 | 1995-05-16 | Fanuc Ltd | Cable treating device for industrial robot |
| JP5225658B2 (en) * | 2007-11-09 | 2013-07-03 | 東芝機械株式会社 | Robot for work |
-
2014
- 2014-09-17 CN CN201410474244.3A patent/CN105479481B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101299A (en) * | 2009-12-18 | 2011-06-22 | 财团法人工业技术研究院 | Wrist joint structure of mechanical arm |
| EP2542391A1 (en) * | 2010-03-02 | 2013-01-09 | ABB Research Ltd. | A system for electrically connecting a tool to a robot wrist and a method therefor |
| CN102452080A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
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