CN106625748A - Wrist structure of spray robot - Google Patents
Wrist structure of spray robot Download PDFInfo
- Publication number
- CN106625748A CN106625748A CN201611190586.8A CN201611190586A CN106625748A CN 106625748 A CN106625748 A CN 106625748A CN 201611190586 A CN201611190586 A CN 201611190586A CN 106625748 A CN106625748 A CN 106625748A
- Authority
- CN
- China
- Prior art keywords
- wrist
- spur gear
- gear
- straight bevel
- wrist joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 39
- 239000007921 spray Substances 0.000 title claims abstract description 13
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 56
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 210000000245 forearm Anatomy 0.000 claims description 6
- 239000012636 effector Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 abstract description 3
- 239000002904 solvent Substances 0.000 abstract description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a wrist structure of a spray robot. The wrist structure comprises a wrist base, a first straight gear, a second straight gear, a third straight gear, a fourth straight gear, a fifth straight gear, a sixth straight gear, a first straight bevel gear, a second straight bevel gear, a third straight bevel gear, a fourth straight bevel gear, a first wrist joint, a fifth straight bevel gear, a sixth straight bevel gear, a second wrist joint and a third wrist joint. According to the wrist structure of the spray robot, the structure is compact, enough space exists inside the wrist structure for the arrangement of pipelines of spraying, solvent and the like, and knotting or fracture is not liable to occur.
Description
Technical field
The present invention relates to robot field, the wrist structure of more particularly to a kind of robot.
Background technology
Especially spray robot is widely used in modern industry industrial robot, and its wrist drives high speed end to perform
Device is located at working space foremost, with single-degree-of-freedom, two-freedom or Three Degree Of Freedom.Wherein, Three Degree Of Freedom wrist is flexible
Degree is high, with gimbal function, therefore is most widely used.The domestic many imports of robot at present are held high in the enterprises such as ABB, equipment
It is expensive, high cost, and at present robot of the robot of country's independent development especially with universal wrist is less, still can not meet
Commercial Application.
In view of this, need to be improved prior art, at present especially there is universal wrist to robot to meet
Robot use requirement.
The content of the invention
The technical problem to be solved is to overcome the deficiencies in the prior art, there is provided a kind of wrist of spray robot
Structure, structure simplifies, and the free degree is big, disclosure satisfy that the use requirement of industry spraying.
For achieving the above object, invention provides following technical scheme：
A kind of wrist structure of spray robot, including：Wrist pedestal, the first spur gear, the second spur gear, the 3rd straight-tooth
Wheel, the 4th spur gear, the 5th spur gear, the 6th spur gear, the first straight bevel gear, the second straight bevel gear, the 3rd straight-tooth cone
Gear, the 4th straight bevel gear, the first wrist joint, the 5th straight bevel gear, the 6th straight bevel gear, the second wrist joint,
3rd wrist joint.
Further, wrist pedestal is connected with the end face of robot forearm front end, and the power transmission shaft from forearm passes through bearing
Be arranged in wrist pedestal and drive the first spur gear, the first spur gear drive successively the second spur gear, the 3rd spur gear, the 4th
Spur gear, the 5th spur gear, the 6th spur gear.
Further, the first wrist joint is closed with wrist pedestal, the first wrist joint and the second wrist joint, the second wrist
There is the circular contact face of coaxial line between section and the 3rd wrist joint, to realize relatively rotating.
Further, the first wrist joint and the second wrist joint are two tube-like envelopes that can mutually rotate, the 3rd
The end face of wrist joint is flange arrangement, for installing end effector；
Further, the first wrist joint is driven by the 5th spur gear, the 6th spur gear and intermediate connector, drives second
Wrist joint is rotated around own axes together with the 3rd wrist joint relative to wrist pedestal.
Further, the second wrist joint is bored by the 3rd spur gear, the 4th spur gear Jing intermediate connectors and the first straight-tooth
Gear, the 4th straight bevel gear drive, and drive the 3rd wrist joint together with respect to the first wrist joint around own axis.
Further, the 3rd wrist joint is by the first spur gear, the second spur gear, intermediate connector, the second straight-tooth cone tooth
Wheel, the 3rd straight bevel gear, the 5th straight bevel gear, the 6th straight bevel gear drive, and drive end effector together with respect to the
Two wrist joints are around own axis.
Description of the drawings
Fig. 1 is the wrist structural representation of the spray robot of the present invention.
(note：Shown structure in accompanying drawing is simply to illustrate that the signal of inventive features, is not intended to according to shown in accompanying drawing
Structure.)
Specific embodiment
As shown in figure 1, according to the wrist structure of spray robot of the present invention, including：Wrist pedestal 1, first is straight
Gear 2, the second spur gear 3, the 3rd spur gear 4, the 4th spur gear 5, the 5th spur gear 6, the 6th spur gear 7, the first straight-tooth cone
Gear 8, the second straight bevel gear 9, the 3rd straight bevel gear 10, the 4th straight bevel gear 11, the first wrist joint the 12, the 5th are straight
Bevel gear 13, the 6th straight bevel gear 14, the second wrist joint 15, the 3rd wrist joint 16.
Wherein, wrist pedestal 1 is connected with the end face of robot forearm front end, and the power transmission shaft from forearm is arranged by bearing
In the wrist pedestal 1 and drive the first spur gear 2, the first spur gear 2 drive successively the second spur gear 3, the 3rd spur gear 4, the
Four spur gears 5, the 5th spur gear 6, the 6th spur gear 7.
First wrist joint 12 and wrist pedestal 1, the first wrist joint 12 and the second wrist joint 15, the second wrist joint
15 and the 3rd circular contact face for having coaxial line between wrist joint 16, to realize relatively rotating.
First wrist joint 12 and the second wrist joint 15 are two tube-like envelopes that can mutually rotate, and the 3rd wrist is closed
The end face of section 16 is flange arrangement, for installing end effector.
Wherein, the first wrist joint 12 is driven by the 5th spur gear 6, the 6th spur gear 7 and intermediate connector, drives second
Wrist joint 15 is rotated around own axes together with the 3rd wrist joint 16 relative to wrist pedestal 1.
Second wrist joint 15 by the 3rd spur gear 4, the Jing intermediate connectors of the 4th spur gear 5 and the first straight bevel gear 8,
4th straight bevel gear 11 drives, and drives the 3rd wrist joint 16 together with respect to the first wrist joint 12 around own axis.
3rd wrist joint 16 by the first spur gear 2, the second spur gear 3, intermediate connector, the second straight bevel gear 9,
Three straight bevel gears 10, the 5th straight bevel gear 13, the 6th straight bevel gear 14 drive, and drive end effector together with respect to the
Two wrist joints 15 are around own axis.
Wherein, the second spur gear 3, the 4th spur gear 5, the 6th spur gear 7 and the first straight bevel gear 8, the second straight-tooth
Bevel gear 9, the 3rd straight bevel gear 10, the 4th straight bevel gear 11, the 5th straight bevel gear 13, the 6th straight bevel gear 14 are equal
For hollow gear, by bearing connection mutually nested with screw.
According to the wrist structure of spray robot of the present invention, the wrist structure phase with traditional spray robot
Than having the characteristics that：
(1) compact conformation, space are little；(2) it is internal to have enough spaces that the pipelines such as spraying, solvent are set；(3) it is difficult to knot
Or fracture.
The above, the preferred embodiment only invented is not intended to limit the protection domain of invention, all in invention
Spirit and principle within any modification, equivalent and the improvement made etc., should be included within the protection domain invented.
Claims (2)
1. the wrist structure of a kind of spray robot, including：Wrist pedestal (1), the first spur gear (2), the second spur gear (3),
3rd spur gear (4), the 4th spur gear (5), the 5th spur gear (6), the 6th spur gear (7), the first straight bevel gear (8),
It is two straight bevel gears (9), the 3rd straight bevel gear (10), the 4th straight bevel gear (11), the first wrist joint (12), the 5th straight
Bevel gear (13), the 6th straight bevel gear (14), the second wrist joint (15), the 3rd wrist joint (16)；It is characterized in that：
Wrist pedestal (1) is connected with the end face of robot forearm front end, and the power transmission shaft from forearm is arranged on wrist by bearing
Pedestal (1) is interior and drives the first spur gear (2), the first spur gear (2) to drive the second spur gear (3), the 3rd spur gear successively
(4), the 4th spur gear (5), the 5th spur gear (6), the 6th spur gear (7)；
First wrist joint (12) and wrist pedestal (1), the first wrist joint (12) and the second wrist joint (15), the second wrist
There is the circular contact face of coaxial line between joint (15) and the 3rd wrist joint (16), to realize relatively rotating；
First wrist joint (12) is two tube-like envelopes that can mutually rotate with the second wrist joint (15), and the 3rd wrist is closed
The end face of section (16) is flange arrangement, for installing end effector；
Wherein, the first wrist joint (12) is driven by the 5th spur gear (6), the 6th spur gear (7) and intermediate connector, drives the
Two wrist joints (15) are rotated around own axes together with the 3rd wrist joint (16) relative to wrist pedestal (1)；
Second wrist joint (15) is by the 3rd spur gear (4), the 4th spur gear (5) Jing intermediate connectors and the first straight bevel gear
(8), the 4th straight bevel gear (11) drives, and drives the 3rd wrist joint (16) together with respect to the first wrist joint (12) around itself
Axis is rotated；
3rd wrist joint (16) is by the first spur gear (2), the second spur gear (3), intermediate connector, the second straight bevel gear
(9), the 3rd straight bevel gear (10), the 5th straight bevel gear (13), the 6th straight bevel gear (14) drive, and drive end to perform
Device is together with respect to the second wrist joint (15) around own axis.
2. the wrist structure of spray robot according to claim 1, it is characterised in that：
Second spur gear (3), the 4th spur gear (5), the 6th spur gear (7) and the first straight bevel gear (8), the second straight-tooth cone
Gear (9), the 3rd straight bevel gear (10), the 4th straight bevel gear (11), the 5th straight bevel gear (13), the 6th straight-tooth cone tooth
Wheel (14) is hollow gear, by bearing connection mutually nested with screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190586.8A CN106625748A (en) | 2016-12-21 | 2016-12-21 | Wrist structure of spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611190586.8A CN106625748A (en) | 2016-12-21 | 2016-12-21 | Wrist structure of spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625748A true CN106625748A (en) | 2017-05-10 |
Family
ID=58834395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611190586.8A Pending CN106625748A (en) | 2016-12-21 | 2016-12-21 | Wrist structure of spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625748A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927824A (en) * | 2018-08-18 | 2018-12-04 | 卿茂荣 | A kind of articulated robot wrist Guo Xian mechanism |
| CN109421065A (en) * | 2017-08-31 | 2019-03-05 | 株式会社安川电机 | Robot and robot system |
| CN113771019A (en) * | 2021-09-02 | 2021-12-10 | 清研同创机器人（天津）有限公司 | Industrial robot wrist |
| CN113771020A (en) * | 2021-09-02 | 2021-12-10 | 清研同创机器人（天津）有限公司 | Be applied to industrial robot's forearm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120160163A1 (en) * | 2010-12-27 | 2012-06-28 | Hon Hai Precision Industry Co., Ltd. | Robot arm and robot using the same |
| CN103538053A (en) * | 2012-07-17 | 2014-01-29 | 昆山华恒焊接股份有限公司 | Six-freedom-degree spray coating robot |
| CN106142131A (en) * | 2016-08-03 | 2016-11-23 | 希美埃（芜湖）机器人技术有限公司 | A kind of spray robot hollow wrist structure |
| CN206317093U (en) * | 2016-12-21 | 2017-07-11 | 扬州科文机器人有限公司 | The wrist structure of spray robot |
-
2016
- 2016-12-21 CN CN201611190586.8A patent/CN106625748A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120160163A1 (en) * | 2010-12-27 | 2012-06-28 | Hon Hai Precision Industry Co., Ltd. | Robot arm and robot using the same |
| CN103538053A (en) * | 2012-07-17 | 2014-01-29 | 昆山华恒焊接股份有限公司 | Six-freedom-degree spray coating robot |
| CN106142131A (en) * | 2016-08-03 | 2016-11-23 | 希美埃（芜湖）机器人技术有限公司 | A kind of spray robot hollow wrist structure |
| CN206317093U (en) * | 2016-12-21 | 2017-07-11 | 扬州科文机器人有限公司 | The wrist structure of spray robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109421065A (en) * | 2017-08-31 | 2019-03-05 | 株式会社安川电机 | Robot and robot system |
| CN109421065B (en) * | 2017-08-31 | 2022-03-15 | 株式会社安川电机 | Robot and robot system |
| CN108927824A (en) * | 2018-08-18 | 2018-12-04 | 卿茂荣 | A kind of articulated robot wrist Guo Xian mechanism |
| CN113771019A (en) * | 2021-09-02 | 2021-12-10 | 清研同创机器人（天津）有限公司 | Industrial robot wrist |
| CN113771020A (en) * | 2021-09-02 | 2021-12-10 | 清研同创机器人（天津）有限公司 | Be applied to industrial robot's forearm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20240712 |