CN204278034U - A kind of six axle lightweight robotic wrists - Google Patents
A kind of six axle lightweight robotic wrists Download PDFInfo
- Publication number
- CN204278034U CN204278034U CN201420730211.6U CN201420730211U CN204278034U CN 204278034 U CN204278034 U CN 204278034U CN 201420730211 U CN201420730211 U CN 201420730211U CN 204278034 U CN204278034 U CN 204278034U
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- China
- Prior art keywords
- wrist
- motor
- reductor
- cradle head
- angular wheel
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Abstract
The utility model relates to a kind of six axle lightweight robotic wrists, belong to mechanical device field, comprise wrist wrist body, cradle head one and cradle head two, motor one and motor two are installed in described wrist wrist body side by side, the utility model is introduced in robot wrist structure design by the mode of being moved by feed belt driving-belt movable joint, make the motor one of wrist and motor two can and drain in wrist body, compared with motor two directly being put into the structure of wrist leading portion in the past, due to the problems such as motor two wiring can be considered, wrist front-end architecture can be allowed to design lighter, volume, rotary inertia all also becomes less.
Description
Technical field
The utility model relates to a kind of robot, particularly relates to a kind of six axle lightweight robotic wrists, belongs to mechanical device field.
Background technology
Along with the development of modern industrial technology, the application of industrial robot is also extensive gradually, also more and more higher to the requirement of industrial robot, except content with funtion performance, also starts to pay close attention to characteristics such as the quality of robot own, volume, noises.For articulated robot, the requirement main difficulty of these characteristics is just the restriction of the design, particularly volume of robot leading portion wrist structure, brings impact is particularly outstanding on wrist structural design.
Utility model content
The utility model is for the requirement of six-shaft industrial robot light-duty design, a kind of six axle lightweight robotic wrists are provided, the mode that feed belt driving-belt movable joint moves is introduced in robot wrist structure design, make robot wrist structure quality, volume less.
For solving the problem, technical solution adopted in the utility model is as follows:
A kind of six axle lightweight robotic wrists, comprise wrist wrist body, cradle head one and cradle head two, motor one and motor two are installed in described wrist wrist body side by side, the output shaft installation direction of described motor one and motor two is contrary, described cradle head one comprises reductor one, described reductor one is fixedly mounted in the sidewall of the front end of wrist wrist body, described motor one is in transmission connection by feed belt and reductor one, described cradle head two comprises reductor two and angular wheel, the feed belt that the front end motor two that described reductor two is fixedly mounted on wrist wrist body passes through and angular wheel are in transmission connection, by angular wheel transmission speed reducer two.
Further, described angular wheel is fixedly mounted in wrist wrist body by support member, and described support member is fixedly connected with by rolling bearing with angular wheel.
Further, described motor one and motor two are AC servomotor, and described reductor one and reductor two are hollow type reductor.
Compared with prior art, implementation result of the present utility model is as follows for the utility model:
The utility model is introduced in robot wrist structure design by the mode of being moved by feed belt driving-belt movable joint, make the motor one of wrist and motor two can and drain in wrist body, compared with motor two directly being put into the structure of wrist leading portion in the past, due to the problems such as motor two wiring can be considered, wrist front-end architecture can be allowed to design lighter, volume, rotary inertia all also become less.
Accompanying drawing explanation
Fig. 1 is a kind of six axle lightweight robotic wrist structural representations described in the utility model;
Wherein, 1-wrist wrist body, 2-motor one, 3-motor two, 4-feed belt, 5-cradle head one, 6-reductor one, 7-cradle head two, 8-reductor two, 9-angular wheel, 10-support member, 11-rolling bearing.
Detailed description of the invention
Below in conjunction with specific embodiments content of the present utility model is described.
As shown in Figure 1, for a kind of six axle lightweight robotic wrist structural representations, comprise wrist wrist body 1, cradle head 1 and cradle head 27, motor 1 and motor 23 are installed in described wrist wrist body 1 side by side, the output shaft installation direction of described motor 1 and motor 23 is contrary, described cradle head 1 comprises reductor 1, described reductor 1 is fixedly mounted in the sidewall of the front end of wrist wrist body 1, described motor 1 is in transmission connection by feed belt 4 and reductor 1, described cradle head 27 comprises reductor 28 and angular wheel 9, feed belt 4 and angular wheel 9 that the front end motor 23 that described reductor 28 is fixedly mounted on wrist wrist body 1 passes through are in transmission connection, by angular wheel 9 transmission speed reducer 28.
Further, described angular wheel 9 is fixedly mounted in wrist wrist body 1 by support member 10, and described support member 10 is fixedly connected with by rolling bearing 11 with angular wheel 9.
Further, described motor 1 and motor 23 are AC servomotor, and described reductor 1 and reductor 28 are hollow type reductor, the convenient wiring of hollow type reductor.
The one six axle lightweight robotic wrist structure of the utility model design, mainly comprise robot 5 axle and 6 axles, two cradle heads, in structure, motor 1 and motor 23 are installed in wrist wrist body 1 side by side, motor 1 is connected with reductor 1 by feed belt 4 transmission of side, thus drives cradle head one to swing; Motor 23 is by feed belt 4 transmission of opposite side, the reductor 28 on wrist wrist body 1 top is delivered to again by two angular wheels 9, thus drive revolute joint 27 to rotate, the 5th axle of cradle head 1 and the corresponding robot of cradle head 27 difference and the 6th axle.
Robot motor 1, motor 23 are installed to wrist wrist body 1 inside side by side, and two motor output shaft installation directions are contrary; Wrist wrist body 1 is connected with the reductor 1 of side between wrist front-end architecture with the 5th axle, an opposite side support member 10 is connected with rolling bearing 11, installs the reductor 28 of the 6th axle for directly connecting robot load on the top of wrist front-end architecture simultaneously;
Motor one output shaft is connected by side belt pulley, then the 5th axle reductor 1 installed through the inner side in feed belt 4 and wrist front end is connected, thus completes the oscillating motion of robot the 5th axle;
Motor two output shaft is then connected by wrist wrist body 1 opposite side belt pulley, the Pulley shaft installed through feed belt 4 transmission and side, wrist front end is connected, then inner two angular wheels 9 of Pulley shaft and wrist front end, one of them angular wheel 9 last is connected with the reductor 8 of the 6th axle, thus completes the rotary motion of robot the 6th axle.
The foregoing is only preferred embodiment of the present utility model, and unrestricted scope of patent protection of the present utility model.Every equivalent structure and conversion thereof utilizing the utility model content, includes within scope of patent protection of the present utility model.
Claims (3)
1. an axle lightweight robotic wrist, it is characterized in that, comprise wrist wrist body, cradle head one and cradle head two, motor one and motor two are installed in described wrist wrist body side by side, the output shaft installation direction of described motor one and motor two is contrary, described cradle head one comprises reductor one, described reductor one is fixedly mounted in the sidewall of the front end of wrist wrist body, described motor one is in transmission connection by feed belt and reductor one, described cradle head two comprises reductor two and angular wheel, the feed belt that the front end motor two that described reductor two is fixedly mounted on wrist wrist body passes through and angular wheel are in transmission connection, by angular wheel transmission speed reducer two.
2. a kind of six axle lightweight robotic wrists according to claim 1, it is characterized in that, described angular wheel is fixedly mounted in wrist wrist body by support member, and described support member is fixedly connected with by rolling bearing with angular wheel.
3. a kind of six axle lightweight robotic wrists according to claim 1 or 2, it is characterized in that, described motor one and motor two are AC servomotor, and described reductor one and reductor two are hollow type reductor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420730211.6U CN204278034U (en) | 2014-11-26 | 2014-11-26 | A kind of six axle lightweight robotic wrists |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420730211.6U CN204278034U (en) | 2014-11-26 | 2014-11-26 | A kind of six axle lightweight robotic wrists |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204278034U true CN204278034U (en) | 2015-04-22 |
Family
ID=52861229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420730211.6U Expired - Fee Related CN204278034U (en) | 2014-11-26 | 2014-11-26 | A kind of six axle lightweight robotic wrists |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204278034U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479482A (en) * | 2015-12-30 | 2016-04-13 | 大族激光科技产业集团股份有限公司 | Wrist of six-axis robot arm |
| CN106078794A (en) * | 2016-07-01 | 2016-11-09 | 济南时代试金试验机有限公司 | The hollow wrist structure of industrial robot |
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
-
2014
- 2014-11-26 CN CN201420730211.6U patent/CN204278034U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479482A (en) * | 2015-12-30 | 2016-04-13 | 大族激光科技产业集团股份有限公司 | Wrist of six-axis robot arm |
| CN106078794A (en) * | 2016-07-01 | 2016-11-09 | 济南时代试金试验机有限公司 | The hollow wrist structure of industrial robot |
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150422 Termination date: 20201126 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |