CN204525513U - A kind of Three Degree Of Freedom wrist part structure without singular point - Google Patents
A kind of Three Degree Of Freedom wrist part structure without singular point Download PDFInfo
- Publication number
- CN204525513U CN204525513U CN201420654569.5U CN201420654569U CN204525513U CN 204525513 U CN204525513 U CN 204525513U CN 201420654569 U CN201420654569 U CN 201420654569U CN 204525513 U CN204525513 U CN 204525513U
- Authority
- CN
- China
- Prior art keywords
- sub
- assembly
- decelerator
- connecting plate
- motor sleeve
- 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
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a kind of Three Degree Of Freedom wrist part structure without singular point, comprises the first sub-assembly, the second sub-assembly, the 3rd sub-assembly; Second connecting plate of described first sub-assembly and the 3rd connecting plate of the second sub-assembly are bolted; The output shaft of the 2nd RV decelerator of described second sub-assembly and the 4th connecting plate of the 3rd sub-assembly are bolted.Relative to 4,5,6 axles of the industrial robot motion arm of routine, the utility model has three orthogonal rotary freedoms of axis, when the axis of elimination regular industrial robot arm the 4th axle, the 6th axle is in overlapping positions, occurs singular point.
Description
Technical field
The utility model relates to a kind of Three Degree Of Freedom wrist part structure without singular point, belongs to industrial robot motion arm technical field.
Background technology
Traditional industrial robot motion arm, 4,5,6 axles are normally arranged according to the order of " turn-pendulum-turn ", and when the axis of the 4th axle, the 6th axle is in overlapping positions, there will be singular point, now the velocity of rotation of the 4th axle, the 6th axle can become suddenly very large.
Utility model content
The defect that the utility model exists for prior art, object proposes a kind of Three Degree Of Freedom wrist part structure without singular point, arranged by three rotary freedoms along three mutually perpendicular directions, eliminates singular point.The utility model is especially suitable for use as the vertical Three Degree Of Freedom wrist part structure down of Cartesian robot.
For achieving the above object, the technical solution adopted in the utility model is as follows:
Without a Three Degree Of Freedom wrist part structure for singular point, comprise the first sub-assembly, the second sub-assembly, the 3rd sub-assembly; Second connecting plate of described first sub-assembly and the 3rd connecting plate of the second sub-assembly are bolted; The output shaft of the 2nd RV decelerator of described second sub-assembly and the 4th connecting plate of the 3rd sub-assembly are bolted.
Described first sub-assembly is made up of the first connecting plate, the first servomotor, the first motor sleeve, the first input gear, a RV decelerator, the second connecting plate; Described first motor sleeve, the first input gear and a RV decelerator by bolt and the first connecting plate fastening, described first servomotor by bolt and the first motor sleeve fastening, described second connecting plate is fastening by the output shaft of bolt and a RV decelerator.
Described second sub-assembly is made up of the 3rd connecting plate, the second servomotor, the second motor sleeve, the second input gear, the 2nd RV decelerator; Described second motor sleeve, the second input gear and the 2nd RV decelerator by bolt and the 3rd connecting plate fastening, described second servomotor by bolt and the second motor sleeve fastening.
Described 3rd sub-assembly is made up of the 4th connecting plate, the 3rd servomotor, the 3rd motor sleeve, the 3rd input gear, the 3rd RV decelerator, ring flange; Described 3rd motor sleeve, the 3rd input gear and the 3rd RV decelerator by bolt and the 4th connecting plate fastening, described 3rd servomotor by bolt and the 3rd motor sleeve fastening, described ring flange is fastening by the output shaft of bolt and the 3rd RV decelerator.
One RV decelerator of described first sub-assembly realizes first rotational freedom; 2nd RV decelerator of described second sub-assembly realizes second rotational freedom; 3rd RV decelerator of described 3rd sub-assembly realizes the 3rd rotational freedom; Three pivotal axis of first rotational freedom, second rotational freedom, the 3rd rotational freedom are vertical between two, and the axis of rotation of the 3rd rotational freedom is crossing with the axis of rotation of first rotational freedom, second rotational freedom, does not exist biased.
The utility model compared with prior art, has following substantive distinguishing features and technological progress:
Relative to 4,5,6 axles of the industrial robot motion arm of routine, the utility model has three orthogonal rotary freedoms of axis, when the axis of elimination regular industrial robot arm the 4th axle, the 6th axle is in overlapping positions, occurs singular point.
Accompanying drawing explanation
Fig. 1 is the overall perspective view of the utility model wrist part structure.
Fig. 2 is sub-assembly 1 stereogram of the utility model wrist part structure.
Fig. 3 is sub-assembly 1 sectional view of the utility model wrist part structure.
Fig. 4 is sub-assembly 2 stereogram of the utility model wrist part structure.
Fig. 5 is sub-assembly 2 sectional view of the utility model wrist part structure.
Fig. 6 is sub-assembly 3 stereogram of the utility model wrist part structure.
Fig. 7 is sub-assembly 3 sectional view of the utility model wrist part structure.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model and operation principle are described in detail.
As shown in Figure 1, a kind of Three Degree Of Freedom wrist part structure without singular point, comprises the first sub-assembly 1, second sub-assembly 2, the 3rd sub-assembly 3; Second connecting plate 106 of described first sub-assembly 1 and the 3rd connecting plate 201 of the second sub-assembly 2 are bolted; The output shaft of the 2nd RV decelerator 205 of described second sub-assembly 2 and the 4th connecting plate 301 of the 3rd sub-assembly 3 are bolted.
As shown in Figures 2 and 3, described first sub-assembly 1 is made up of the first connecting plate 101, first servomotor 102, first motor sleeve 103, first input gear 104, RV decelerator 105, second connecting plate 106; Described first motor sleeve 103, first input gear 104 and a RV decelerator 105 by bolt and the first connecting plate 101 fastening, described first servomotor 102 by bolt and the first motor sleeve 103 fastening, described second connecting plate 106 is fastening by the output shaft of bolt and a RV decelerator 105.
As shown in Figure 4 and Figure 5, described second sub-assembly 2 is made up of the 3rd connecting plate 201, second servomotor 202, second motor sleeve 203, second input gear 204, the 2nd RV decelerator 205; Described second motor sleeve 203, second input gear 204 and the 2nd RV decelerator 205 by bolt and the 3rd connecting plate 201 fastening, described second servomotor 202 by bolt and the second motor sleeve 203 fastening.
As shown in Figure 6 and Figure 7, described 3rd sub-assembly 3 is made up of the 4th connecting plate 301, the 3rd servomotor 302, the 3rd motor sleeve 303, the 3rd input gear 304, the 3rd RV decelerator 305, ring flange 306; Described 3rd motor sleeve 303, the 3rd input gear 304 and the 3rd RV decelerator 305 by bolt and the 4th connecting plate 301 fastening, described 3rd servomotor 302 by bolt and the 3rd motor sleeve 303 fastening, described ring flange 306 is fastening by the output shaft of bolt and the 3rd RV decelerator 305.
One RV decelerator 105 of described first sub-assembly 1 realizes first rotational freedom; 2nd RV decelerator 205 of described second sub-assembly 2 realizes second rotational freedom; 3rd RV decelerator 305 of described 3rd sub-assembly 3 realizes the 3rd rotational freedom; Three pivotal axis of first rotational freedom, second rotational freedom, the 3rd rotational freedom are vertical between two, and the axis of rotation of the 3rd rotational freedom is crossing with the axis of rotation of first rotational freedom, second rotational freedom, does not exist biased.
Operating process and the principle of this device are:
First transmission mechanism route: power is inputted by the first servomotor 102, a RV decelerator 105 is transported to through the first input gear 104, be sent to the second connecting plate 106 of the first sub-assembly after deceleration from RV decelerator 105 output shaft, formation relatively rotates, and realizes first rotational freedom.First servomotor 102 of the first transmission mechanism carries out axis, radial location by the first motor sleeve 103, first input gear 104 carries out axial location by the first servomotor 102 output shaft, and the first motor sleeve 103, first connecting plate 101 and the second connecting plate 106 are all carry out axis, radial location with endoporus and each cylindrical of a RV decelerator 105.
Second transmission mechanism route: moving is inputted by the second servomotor 202, the 2nd RV decelerator 205 is transported to through the second input gear 204, be sent to the 4th connecting plate 301 of the 3rd sub-assembly after deceleration from the 2nd RV decelerator 205 output shaft, formation relatively rotates, and realizes second rotational freedom.Second servomotor 202 of the second transmission mechanism carries out axis, radial location by the second motor sleeve 203, second input gear 204 carries out axial location by the second servomotor 202 output shaft, and the second motor sleeve 203, the 3rd connecting plate 201 and the 4th connecting plate 301 are all carry out axis, radial location with endoporus and each cylindrical of the 2nd RV decelerator 205.
3rd transmission mechanism route: moving is inputted by the 3rd servomotor 302, the 3rd RV decelerator 305 is transported to through the 3rd input gear 304, be sent to ring flange 306 from the 3rd RV decelerator 305 output shaft after deceleration, formation relatively rotates, and realizes the 3rd rotational freedom.3rd servomotor 302 of the 3rd transmission mechanism carries out axis, radial location by the 3rd motor sleeve 303,3rd input gear 304 carries out axial location by the 3rd servomotor 302 output shaft, and the 3rd motor sleeve 303, the 4th connecting plate 301 and ring flange 306 are all carry out axis, radial location with endoporus and each cylindrical of the 3rd RV decelerator 305.
Claims (5)
1. without a Three Degree Of Freedom wrist part structure for singular point, it is characterized in that: comprise the first sub-assembly (1), the second sub-assembly (2), the 3rd sub-assembly (3); Second connecting plate (106) of described first sub-assembly (1) and the 3rd connecting plate (201) of the second sub-assembly (2) are bolted; The output shaft of the 2nd RV decelerator (205) of described second sub-assembly (2) and the 4th connecting plate (301) of the 3rd sub-assembly (3) are bolted.
2. the Three Degree Of Freedom wrist part structure without singular point according to claim 1, is characterized in that: described first sub-assembly (1) is made up of the first connecting plate (101), the first servomotor (102), the first motor sleeve (103), the first input gear (104), a RV decelerator (105), the second connecting plate (106); Described first motor sleeve (103), the first input gear (104) and a RV decelerator (105) by bolt and the first connecting plate (101) fastening, described first servomotor (102) by bolt and the first motor sleeve (103) fastening, described second connecting plate (106) is fastening by the output shaft of bolt and a RV decelerator (105).
3. the Three Degree Of Freedom wrist part structure without singular point according to claim 1, is characterized in that: described second sub-assembly (2) is made up of the 3rd connecting plate (201), the second servomotor (202), the second motor sleeve (203), the second input gear (204), the 2nd RV decelerator (205); Described second motor sleeve (203), the second input gear (204) and the 2nd RV decelerator (205) by bolt and the 3rd connecting plate (201) fastening, described second servomotor (202) by bolt and the second motor sleeve (203) fastening.
4. the Three Degree Of Freedom wrist part structure without singular point according to claim 1, is characterized in that: described 3rd sub-assembly (3) is made up of the 4th connecting plate (301), the 3rd servomotor (302), the 3rd motor sleeve (303), the 3rd input gear (304), the 3rd RV decelerator (305), ring flange (306); Described 3rd motor sleeve (303), the 3rd input gear (304) and the 3rd RV decelerator (305) by bolt and the 4th connecting plate (301) fastening, described 3rd servomotor (302) by bolt and the 3rd motor sleeve (303) fastening, described ring flange (306) is fastening by the output shaft of bolt and the 3rd RV decelerator (305).
5. the Three Degree Of Freedom wrist part structure without singular point according to claim 1, is characterized in that: a RV decelerator (105) of described first sub-assembly (1) realizes first rotational freedom; 2nd RV decelerator (205) of described second sub-assembly (2) realizes second rotational freedom; 3rd RV decelerator (305) of described 3rd sub-assembly (3) realizes the 3rd rotational freedom; Three pivotal axis of first rotational freedom, second rotational freedom, the 3rd rotational freedom are vertical between two, and the axis of rotation of the 3rd rotational freedom is crossing with the axis of rotation of first rotational freedom, second rotational freedom, does not exist biased.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420654569.5U CN204525513U (en) | 2014-11-05 | 2014-11-05 | A kind of Three Degree Of Freedom wrist part structure without singular point |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420654569.5U CN204525513U (en) | 2014-11-05 | 2014-11-05 | A kind of Three Degree Of Freedom wrist part structure without singular point |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204525513U true CN204525513U (en) | 2015-08-05 |
Family
ID=53739560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420654569.5U Expired - Fee Related CN204525513U (en) | 2014-11-05 | 2014-11-05 | A kind of Three Degree Of Freedom wrist part structure without singular point |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204525513U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108115658A (en) * | 2016-11-26 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of double freedom modularized joint device and the robot with the device |
| CN108608447A (en) * | 2018-05-02 | 2018-10-02 | 阜阳盛东智能制造技术研发有限公司 | A kind of bindiny mechanism for feeding manipulator |
| CN109591049A (en) * | 2018-12-07 | 2019-04-09 | 英华达（上海）科技有限公司 | The extended structure of mechanical arm and mechanical arm with extended structure |
| CN113043321A (en) * | 2019-12-27 | 2021-06-29 | 上海微电子装备（集团）股份有限公司 | Robot arm and carrying device |
| CN113511282A (en) * | 2021-06-30 | 2021-10-19 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hip joint for foot type robot and foot type robot |
-
2014
- 2014-11-05 CN CN201420654569.5U patent/CN204525513U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108115658A (en) * | 2016-11-26 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of double freedom modularized joint device and the robot with the device |
| CN108115658B (en) * | 2016-11-26 | 2021-04-16 | 沈阳新松机器人自动化股份有限公司 | Two-degree-of-freedom modular joint device and robot with same |
| CN108608447A (en) * | 2018-05-02 | 2018-10-02 | 阜阳盛东智能制造技术研发有限公司 | A kind of bindiny mechanism for feeding manipulator |
| CN109591049A (en) * | 2018-12-07 | 2019-04-09 | 英华达（上海）科技有限公司 | The extended structure of mechanical arm and mechanical arm with extended structure |
| CN109591049B (en) * | 2018-12-07 | 2022-02-11 | 英华达（上海）科技有限公司 | Extension structure of mechanical arm and mechanical arm with extension structure |
| CN113043321A (en) * | 2019-12-27 | 2021-06-29 | 上海微电子装备（集团）股份有限公司 | Robot arm and carrying device |
| CN113511282A (en) * | 2021-06-30 | 2021-10-19 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hip joint for foot type robot and foot type robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204525513U (en) | A kind of Three Degree Of Freedom wrist part structure without singular point | |
| CN204209684U (en) | The high speed SCARA robot that full fixed electrical machinery drives | |
| CN203875677U (en) | Feeding and discharging manipulator | |
| CN104385295A (en) | Seven-DOF (Degree of Freedom) human-simulated mechanical arm on basis of parallel differential driving joint | |
| CN204076277U (en) | A kind of joint of robot | |
| CN103591235A (en) | Universal gear mechanism | |
| CN103317537A (en) | Chipless cutting machine for polyolefine pipes | |
| CN205654786U (en) | Planetary speed reducer | |
| CN205588965U (en) | Box of tricks of bi -motor control | |
| CN204553711U (en) | A kind of flexbile gear structure of double-circular arc harmonic wave gear retarder | |
| CN203548757U (en) | Universal gear mechanism | |
| CN204459011U (en) | A kind of compound full-depth tooth drives eccentric active-tooth transmission | |
| CN204805439U (en) | Big drive ratio reducing gear box | |
| CN103899720A (en) | Reversible driving speed reduction mechanism for precision power transmission system | |
| CN203767862U (en) | Trolley travel mechanism connected through spline housing | |
| CN203779369U (en) | Engine jacking and rotating locating machine | |
| CN203845443U (en) | Tire gripper for tire X-ray inspection machine | |
| CN208163642U (en) | A kind of industrial robot hand unit | |
| CN206738502U (en) | A kind of transmission mechanism | |
| CN205331326U (en) | Gas turbine and motor coupling power take -off | |
| CN205350214U (en) | Small -size planetary reducer | |
| CN204072504U (en) | Ring waist transfer device on diaper production lines | |
| CN103615520A (en) | Device for connecting hydraulic retarder and reduction gearbox | |
| CN205745118U (en) | Planetary gear speed reducing mechanism | |
| CN104653716A (en) | Compound full-tooth driven eccentric movable tooth driving device |
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: 20150805 Termination date: 20151105 |
|
| EXPY | Termination of patent right or utility model |