CN202825853U - Mechanical wrist device - Google Patents
Mechanical wrist device Download PDFInfo
- Publication number
- CN202825853U CN202825853U CN 201220572848 CN201220572848U CN202825853U CN 202825853 U CN202825853 U CN 202825853U CN 201220572848 CN201220572848 CN 201220572848 CN 201220572848 U CN201220572848 U CN 201220572848U CN 202825853 U CN202825853 U CN 202825853U
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- CN
- China
- Prior art keywords
- shaft
- bevel gear
- wrist joint
- joint arrangement
- bearing block
- 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.)
- Expired - Fee Related
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Abstract
The utility model relates to a mechanical transmission device, in particular relates to a mechanical wrist device. The mechanical wrist device comprises a horizontal hollow substrate, wherein a horizontal through shaft is installed in the substrate, two ends of the through shaft are protruded out of two sides of the substrate and connected with an external flange respectively, a large bevel gear is sleeved on the through shaft, the surface of the substrate is provided with an opening, a bearing seat is installed at the opening, an angular contact ball bearing is horizontally installed in the bearing seat, a servo motor is fixed above the bearing seat, the output end of the servo motor is connected with a vertically arranged small bevel gear, the middle part of the small bevel gear passes through the angular contact ball bearing, and the lower end of the small bevel gear is connected with the large bevel gear to perform intersecting shaft transmission. The mechanical wrist device can enlarge the output torsion, simultaneously transfers rotation, and has the characteristics of small occupied space and convenience in use.
Description
Technical field
The present invention relates to mechanical driving device, especially a kind of wrist joint arrangement.
Background technology
At present, be known in the kind of drive that all adopts straight line on automatic production line that various fields uses and the streamline, carry out the motion of straight line at X ﹑ Y ﹑ Z axis, reached the purpose of transportation or carrying.But, use in the Linear transmission mode situation at us, require us that motion path design and the crawled object receiving force situation in space are fettered.
Summary of the invention
For the deficiency that above-mentioned prior art exists, the purpose of this invention is to provide a kind of take up room little, be easy to carry out preferably wrist joint arrangement of technology controlling and process and flexibility.
To achieve these goals, the technical solution adopted in the present invention is:
It comprises the hollow base of a level, the through shaft of one level is installed in the described pedestal, the through shaft two ends stretch out in respectively the pedestal both sides, two parts of through shafts connect respectively an external flange, be socketed with a large bevel gear on the through shaft, pedestal upper surface is provided with an opening, opening part is installed a bearing block, level is installed an angular contact ball bearing in the described bearing block, a servomotor is fixed in described bearing block top, the output of servomotor connects a vertically disposed cone pinion, and angular contact ball bearing is passed at the cone pinion middle part, and cone pinion lower end and large bevel gear join and carry out the concurrent aces transmission.
Preferably, described pedestal opening place extends upward bearing block carrying mouthful perpendicular to pedestal upper surface.
Preferably, described pedestal both sides are connected with through shaft by one or four crossed roller bearings respectively.
Preferably, described large bevel gear is installed on the through shaft by shaft retaining ring.
Preferably, the described bearing block carrying mouthful upper a pair of flange Connection Block that passes through connects servomotor, and servomotor is installed on two flange Connection Blocks top vertically downward.
Preferably, the output of described servomotor is connected in the cone pinion end by axle sleeve.
Preferably, described angular contact ball bearing is fixed in the bearing block and by a locking nut by a bearing compressing tablet and locks.
After adopting said structure, the present invention is compared with existing technology the advantage that has: the cone pinion by two vertical connections and large bevel gear respectively connect servomotor and external flange carries out transfer of torque, and cone pinion and large bevel gear are installed in the confined space in the pedestal simultaneously, output torque can be increased by said structure, transmit simultaneously and rotate, and have little, the easy to use characteristics that take up room.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples:
Fig. 1 is the forward cross section structure schematic diagram of embodiments of the invention;
Fig. 2 is the side structure schematic diagram of the embodiment of the invention.
Among the figure: pedestal 1, through shaft 2, external flange 3 and 3 ', large bevel gear 4, bearing block 5, angular contact ball bearing 6, servomotor 7, cone pinion 8,4 crossed roller bearings 9 and 9 ', shaft retaining ring 10, two flange Connection Block 11, axle sleeve 12, bearing compressing tablet 13, locking nut 14; Bearing block carrying mouth 101.
The specific embodiment
The following stated only is preferred embodiment of the present invention, does not therefore limit protection scope of the present invention.
As depicted in figs. 1 and 2, the wrist joint arrangement of present embodiment comprises the hollow base 1 of a level, the through shaft 2 of one level is installed in the described pedestal 1, through shaft 2 two ends stretch out in respectively the pedestal both sides, 2 two parts of through shafts connect respectively an external flange 3 and 3 ', be socketed with a large bevel gear 4 on the through shaft 2, pedestal 1 upper surface is provided with an opening, opening part is installed a bearing block 5, level is installed an angular contact ball bearing 6 in the described bearing block 5, a servomotor 7 is fixed in described bearing block 5 tops, the output of servomotor 7 connects a vertically disposed cone pinion 8, angular contact ball bearing 6 is passed at cone pinion 8 middle parts, and cone pinion 8 lower ends and large bevel gear 4 join and carry out the concurrent aces transmission.
In order to make drive disk assembly that enough vertical installing spaces be arranged, in the present embodiment, described pedestal 1 opening part extends upward bearing block carrying mouth 101 perpendicular to pedestal upper surface.
For make can firmly install between pedestal 1 and the through shaft 2 and through shaft 2 with respect to pedestal 1 steady Zhou Dong, in the present embodiment, described pedestal 1 both sides respectively by one or four crossed roller bearings 9 and are connected ' be connected with through shaft 2.
In order to make firm being installed on the through shaft 2 of large bevel gear, in the present embodiment, described large bevel gear 4 is installed on the through shaft 2 by shaft retaining ring 10, and shaft retaining ring 10 on through shaft 2, prevents that it is loosening with large bevel gear 4 limit mounting.
In the present embodiment, connect servomotors 7 by a pair of flange Connection Block 11 on the described bearing block carrying mouth 101, servomotor 7 is installed on two flange Connection Block 11 tops vertically downward, the output of servomotor 7 is positioned at the space of two flange Connection Blocks 11, and the output of described servomotor 7 is connected in cone pinion 8 ends by axle sleeve 12.
Stability for strengthening part is installed prevents from becoming flexible, and reduces power transmission loss, and in the present embodiment, described angular contact ball bearing 6 is fixed in the bearing block 5 and by a locking nut 14 by a bearing compressing tablet 13 locks.
During work, servo motor 7 rotates, connected axle sleeve 12 drives cone pinion 8 and rotates simultaneously, cone pinion 8 is fixed on the angular contact ball bearing 6 can bear axial force, when rotating, cone pinion drives large bevel gear 4, cone pinion 6 has the number of teeth poor with large bevel gear 4, so increased moment of torsion, large bevel gear 4 also drives coupled through shaft 2 and rotates when rotating, through shaft 2 is rotated the rotation that has also driven external flange 3 and 3 ', so the object that is connected with external flange is thereupon rotation also, and since in the device between pedestal 1 both sides and the through shaft 2 installation be 4 crossed roller bearings 9 and 9 ', also can bear the advantage of larger load when having the moment that can bear a plurality of directions.
The above only is the preferred embodiments of the present invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (7)
1. wrist joint arrangement, it is characterized in that: the hollow base that comprises a level, the through shaft of one level is installed in the described pedestal, the through shaft two ends stretch out in respectively the pedestal both sides, two parts of through shafts connect respectively an external flange, be socketed with a large bevel gear on the through shaft, pedestal upper surface is provided with an opening, opening part is installed a bearing block, level is installed an angular contact ball bearing in the described bearing block, and a servomotor is fixed in described bearing block top, and the output of servomotor connects a vertically disposed cone pinion, angular contact ball bearing is passed at the cone pinion middle part, and cone pinion lower end and large bevel gear join and carry out the concurrent aces transmission.
2. wrist joint arrangement as claimed in claim 1 is characterized in that: described pedestal opening place extends upward bearing block carrying mouthful perpendicular to pedestal upper surface.
3. wrist joint arrangement as claimed in claim 2 is characterized in that: described pedestal both sides are connected with through shaft by one or four crossed roller bearings respectively.
4. wrist joint arrangement as claimed in claim 3, it is characterized in that: described large bevel gear is installed on the through shaft by shaft retaining ring.
5. wrist joint arrangement as claimed in claim 4 is characterized in that: described bearing block carrying is mouthful upper to connect a servomotor by an a pair of flange Connection Block, and servomotor is installed on two flange Connection Blocks top vertically downward.
6. wrist joint arrangement as claimed in claim 5, it is characterized in that: the output of described servomotor is connected in the cone pinion end by axle sleeve.
7. wrist joint arrangement as claimed in claim 6 is characterized in that: described angular contact ball bearing is fixed in the bearing block by a bearing compressing tablet and by locking nut locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220572848 CN202825853U (en) | 2012-11-01 | 2012-11-01 | Mechanical wrist device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220572848 CN202825853U (en) | 2012-11-01 | 2012-11-01 | Mechanical wrist device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202825853U true CN202825853U (en) | 2013-03-27 |
Family
ID=47937642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220572848 Expired - Fee Related CN202825853U (en) | 2012-11-01 | 2012-11-01 | Mechanical wrist device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202825853U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104772772A (en) * | 2015-04-10 | 2015-07-15 | 哈尔滨工程大学 | Fast connecting mechanism for joints |
| CN106584501A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Two-degree-of-freedom joint mechanism |
| CN108032287A (en) * | 2017-12-30 | 2018-05-15 | 楼 | A kind of energy-saving mechanical hand conveniently removed and installed |
-
2012
- 2012-11-01 CN CN 201220572848 patent/CN202825853U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104772772A (en) * | 2015-04-10 | 2015-07-15 | 哈尔滨工程大学 | Fast connecting mechanism for joints |
| CN106584501A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Two-degree-of-freedom joint mechanism |
| CN106584501B (en) * | 2015-10-20 | 2019-02-19 | 沈阳新松机器人自动化股份有限公司 | A kind of two degree-of-freedom joint mechanism |
| CN108032287A (en) * | 2017-12-30 | 2018-05-15 | 楼 | A kind of energy-saving mechanical hand conveniently removed and installed |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20151101 |
|
| EXPY | Termination of patent right or utility model |