CN205704264U - A kind of Wrist mechanism of robot - Google Patents
A kind of Wrist mechanism of robot Download PDFInfo
- Publication number
- CN205704264U CN205704264U CN201620562418.6U CN201620562418U CN205704264U CN 205704264 U CN205704264 U CN 205704264U CN 201620562418 U CN201620562418 U CN 201620562418U CN 205704264 U CN205704264 U CN 205704264U
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- China
- Prior art keywords
- arm
- fixed
- seat
- gear
- motor
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Abstract
The utility model discloses the Wrist mechanism of a kind of robot, including arm, the swing arm being articulated in arm front end, the rotation hand being fixed in the rotating disk of swing arm front end.Rotate hand and include telescoping mechanism and space swing mechanism；Space swing mechanism is fixed on the front end of telescoping mechanism；Telescoping mechanism includes retractable support seat and base；Space swing mechanism includes the fixing seat of periphery and internal rotating seat；Internal rotating seat upper side wall is movably installed with spheroid；It bottom spheroid and is provided with some connecting rods between internal rotating seat madial wall；Rotate hand execution end to be arranged on spheroid.The utility model rotates the connecting rod assembly action with rotating seat by spheroid around the centre of sphere can make rotation hand perform any swing of end, makes the wrist body operating of robot more flexibly, adapts to the technological requirement of various complexity.
Description
Technical field
The utility model relates to robotics, is specifically related to the Wrist mechanism of a kind of robot.
Background technology
The utility application of Application No. CN201210566463.5 discloses a kind of light-duty six axle general-purpose machinerys
People, wherein, the vitals of wrist Ti Shi robot, it has arm, is connected with swing arm in the front end of arm, at swing arm
Front end is also associated with rotating hand, arranges swing arm and rotation hand is provided to the wrist body operating of robot more flexibly, adapt to
The technological requirement of various complexity.
Although the combination of above-mentioned light-duty six axle all-purpose robot swing arms and rotation hand can make the wrist body of robot transport
Turn more flexible, but, the wrist body of above-mentioned light-duty six axle all-purpose robots but can not be in space as the wrist of natural person
Arbitrarily swing.
Utility model content
The utility model, for above-mentioned technical problem, provides a kind of wrist physical efficiency picture making light-duty six axle all-purpose robots certainly
The Wrist mechanism of the robot that the wrist of right people arbitrarily swings in space like that.
For reaching above-mentioned purpose, the utility model provides the Wrist mechanism of a kind of robot, including arm, be articulated in hand
The swing arm of arm front end, the first driver element driving swing arm swing, the rotation hand being fixed in the rotating disk of swing arm front end
With the second driver element driving rotating disk to rotate；Central axis when described swing arm swings is in the pivot of rotating disk
Line；Rotate hand and include telescoping mechanism and space swing mechanism；Telescoping mechanism is fixed in the rotating disk of swing arm；Space oscillating machine
Structure is fixed on the front end of telescoping mechanism；Space swing mechanism includes the fixing seat of periphery, internal rotating seat and plane rotating mechanism；Outward
Enclose fixing seat and offer the cylinder of cylindrical hole for inside；The fixing seat inner lower wall center of periphery is fixed with and arranges straight up
The first motor；Internal rotating seat is the cylinder that upper surface offers installing hole；Outside internal rotating seat rotary sliding is arranged on
Enclose in the installing hole within fixing seat；The upper surface of internal rotating seat forms ring-shaped guide rail；Internal rotating seat is led by annular
Rail rotational slide is arranged on the fixing upper side wall within seat of periphery；Center, internal rotating seat lower surface is fixed on the first motor
On output shaft；Plane rotating mechanism includes that spheroid, center connect seat, first connecting rod, the first rocking arm and the second motor；Spheroid activity
It is embedded in the fixing seat upper side wall center of periphery；Center connects that seat top is articulated in bottom spheroid, lower hinge is at first connecting rod one
End；Second motor is horizontally fixed on the madial wall of internal rotating seat；First one end is fixed on the output shaft of the second motor
One end upper, that the other end is hinged on first connecting rod；One end of first connecting rod is hinged on center, and to connect the bottom of seat, the other end hinged
One end at the first rocking arm；Rotate hand execution end to be arranged on spheroid.
Preferred as technique scheme, telescoping mechanism includes retractable support seat, base, threaded rod, screw rod and the 3rd
Motor；Base includes base plate and some first support bars；First support bar one end is fixed on the bottom surface of the fixing seat of periphery, the other end
It is fixed on base plate；Base plate offers some circular holes and screwed hole of centre；Retractable support seat includes gripper shoe and some second
Strut；Second support bar one end is plugged in the circular hole of base plate, the other end is fixing on the supporting plate；Gripper shoe center is fixed with axle
Hold；Threaded rod upper end is screwed onto in the screwed hole of centre of base plate, lower end is plugged in bearing；Threaded rod bottom is fixed with worm gear；
Screw rod is articulated in a pair fixing the 3rd gripper shoe on the supporting plate；Spiral shell worm and wheel engages；Screw rod is fixed on the 3rd motor
Output shaft.Preferred as technique scheme, described first driver element includes the 4th motor, the connection being arranged on arm
Connect the first gear unit of the 4th motor and swing arm；Described first gear unit includes being articulated on arm and be coaxially disposed
It second gear and the 3rd gear, the 4th gear being articulated on arm and being coaxially disposed and the first synchronous pulley, is articulated in arm
On the 3rd axle, the second synchronous pulley being fixedly mounted on the 3rd axle；It is provided with first on the output shaft of described 4th motor
Gear, the first gear and the second gear engage, and the 3rd gear and the 4th gear engage, and the first synchronous pulley is by Timing Belt and the
Two synchronous pulleys couple, and the 3rd axle is fixing with swing arm to be connected.
Preferred as technique scheme, a spill gap is offered in the front end of described arm, and described swing arm is articulated in
In spill gap.
Preferred as technique scheme, ring-shaped guide rail cross section is T-shaped.
The beneficial effects of the utility model are: rotate permissible with the connecting rod assembly action of rotating seat around the centre of sphere by spheroid
Making rotation hand perform any swing of end, the wrist body operating making robot is more flexible, and the technique adapting to various complexity is wanted
Ask.
Brief description
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the left view of rotation hand of the present utility model；
Fig. 3 is the right view of rotation hand of the present utility model；
Fig. 4 is the cross-sectional view of A-A in Fig. 2 of the present utility model；
Fig. 5 is the cross-sectional view of B-B in Fig. 2 of the present utility model；
Fig. 6 is the cross-sectional view of C-C in Fig. 2 of the present utility model；
Fig. 7 is the cross-sectional view of D-D in Fig. 2 of the present utility model；
Fig. 8 is the cross-sectional view of E-E in Fig. 3 of the present utility model；
In figure, the 10th, space swing mechanism；11st, the fixing seat of periphery；12nd, the first motor；13rd, internal rotating seat；131st, annular
Guide rail；14th, plane rotating mechanism；141st, spheroid；142nd, center connects seat；143rd, first connecting rod；144th, the first rocking arm；145th,
Two motors；20th, telescoping mechanism；21st, base；211st, the first support bar；212nd, base plate；22nd, retractable support seat；221st, second support
Bar；222nd, gripper shoe；23rd, threaded rod；24th, worm gear；25th, screw rod；251st, the 3rd gripper shoe；26th, the 3rd motor；30th, arm；
31st, the first gear；32nd, the second gear；34th, the 4th gear；35th, the first synchronous pulley；36th, the 3rd axle；37th, the second Timing Belt
Wheel；38th, Timing Belt；40th, swing arm；41st, rotating disk.
Detailed description of the invention
As shown in Fig. 1～Fig. 5, Fig. 8, the Wrist mechanism of a kind of robot, including the 30th, arm is articulated in arm 30 front end
The 40th, swing arm drives swing arm 40 the first driver element swinging, the rotation hand being fixed in swing arm 40 front end rotating disk 41
With the second driver element driving rotating disk 41 to rotate；Central axis when described swing arm 40 swings is in the rotation of rotating disk 41
Turn center line；Rotate hand and include telescoping mechanism 20 and space swing mechanism 10；Telescoping mechanism 20 is fixed on the rotation of swing arm 40
On dish 41；Space swing mechanism 10 is fixed on the front end of telescoping mechanism 20；Space swing mechanism 10 includes that the fixing seat of periphery is the 11st, interior
Portion's rotating seat 13 and plane rotating mechanism 14；The fixing seat 11 of periphery offers the cylinder of cylindrical hole for inside；The fixing seat of periphery
11 inner lower wall centers are fixed with the first motor 12 arranging straight up；Internal rotating seat 13 offers installation for upper surface
The cylinder in hole；Internal rotating seat 13 rotary sliding is arranged in the fixing installing hole within seat 11 of periphery；Internal rotating seat 13
Upper surface form ring-shaped guide rail 131；Internal rotating seat 13 is arranged on the fixing seat of periphery by ring-shaped guide rail 131 rotational slide
On upper side wall within 11；Center, internal rotating seat 13 lower surface is fixed on the output shaft of the first motor 12；Plane Rotation machine
Structure 14 includes that spheroid the 141st, center connects seat the 142nd, first connecting rod the 143rd, the first rocking arm 144 and the second motor 145；Spheroid 141 is lived
The dynamic periphery that is embedded in fixes seat 11 upper side wall center；Seat 142 top is articulated in bottom spheroid 141, lower hinge exists in center connection
First connecting rod 143 one end；Second motor 145 is horizontally fixed on the madial wall of internal rotating seat 13；First rocking arm 144 one end is solid
Be scheduled on the output shaft of the second motor 145, the other end is hinged on one end of first connecting rod 143；One end of first connecting rod 143 is hinged
Connect the bottom of seat 142 at center, the other end is hinged on one end of the first rocking arm 144；Rotate hand execution end and be arranged on spheroid
On.
As shown in Fig. 2～Fig. 4, Fig. 8, telescoping mechanism 20 includes retractable support seat the 22nd, base the 21st, threaded rod the 23rd, screw rod 25
With the 3rd motor 26；Base 21 includes base plate 212 and some first support bars 211；First support bar 211 one end is fixed on periphery
The bottom surface of fixing seat 11, the other end are fixed on base plate 212；Base plate 212 offers some circular holes and screwed hole of centre；Flexible
Support seat 22 includes gripper shoe 222 and some second support bars 221；Second support bar 221 one end is plugged in the circular hole of base plate 212
In, the other end is fixed in gripper shoe 222；Gripper shoe 222 center is fixed with bearing；Threaded rod 23 upper end is screwed onto base plate 212
Screwed hole of centre in, lower end is plugged in bearing；Threaded rod 23 bottom is fixed with worm gear 24；Screw rod 25 is articulated in a pair and fixes
In the 3rd gripper shoe 251 in gripper shoe 222；Screw rod 25 engages with worm gear 24；Screw rod 25 is fixed on the defeated of the 3rd motor 26
Shaft.
As it is shown in figure 1, described first driver element include being arranged on arm 30 the 4th motor, couple the 4th motor with
First gear unit of swing arm 40；Described first gear unit includes the second gear being articulated on arm 30 and being coaxially disposed
32 and the 3rd gear, the 4th gear 34 being articulated on arm 30 and being coaxially disposed and the first synchronous pulley the 35th, be articulated in arm
The 36th, the 3rd axle on 30 is fixedly mounted on the second synchronous pulley 37 on the 3rd axle 36；Pacify on the output shaft of described 4th motor
Equipped with the first gear 31, the first gear 31 engages with the second gear 32, and the 3rd gear and the 4th gear 34 engage, the first Timing Belt
Wheel 35 is coupled with the second synchronous pulley 37 by Timing Belt 38, and the 3rd axle 36 is fixing with swing arm 40 to be connected.
As it is shown in figure 1, a spill gap is offered in the front end of described arm 30, described swing arm 40 is articulated in spill gap
In.
As shown in Fig. 4, Fig. 8, ring-shaped guide rail 131 cross section is T-shaped.
Concrete operations are as follows: telescoping mechanism 20: the three motor 26 drives worm screw 24 to rotate, and worm screw 24 is driven by worm gear 24
Threaded rod 23 rotates；Due to the existence of the second support bar 221, threaded rod 23 can only drive space swing mechanism 10 to move up and down.
Space swing mechanism 10: drive internal rotating seat 13 to rotate by the first motor 12；Second motor 145 drives first
Rocking arm 144 rotates, and the first rocking arm 144 drives spheroid 141 to do planar rotational movement around spheroid 141 centre of sphere by first connecting rod 143；
The spinning movement of internal rotating seat 13 and spheroid 141 combine around the Plane Rotation of its centre of sphere, can complete arbitrary plane in space
On motion.
Under the cooperating of the first driver element, the second driver element, space swing mechanism the 10th, telescoping mechanism 20, rotation
Change hands execution end arbitrarily to swing in space as the wrist of natural person.
Above content is only better embodiment of the present utility model, for those of ordinary skill in the art, according to this
The thought of utility model, all will change in specific embodiments and applications, and this specification content should not be understood
For to restriction of the present utility model.
Claims (5)
1. a Wrist mechanism for robot, including arm (30), the swing arm (40) being articulated in arm (30) front end, driving pendulum
The first driver element, the rotation hand being fixed on swing arm (40) front end rotating disk (41) and driving that swing arm (40) swings rotate
The second driver element that dish (41) rotates；Central axis when described swing arm (40) swings is in the rotation of rotating disk (41)
Heart line；Rotate hand and include telescoping mechanism (20) and space swing mechanism (10)；Telescoping mechanism (20) is fixed on swing arm (40)
In rotating disk (41)；Space swing mechanism (10) is fixed on the front end of telescoping mechanism (20)；It is characterized in that: space swing mechanism
(10) the fixing seat (11) of periphery, internal rotating seat (13) and plane rotating mechanism (14) are included；The fixing seat (11) of periphery is inside
Offer the cylinder of cylindrical hole；Fixing seat (11) the inner lower wall center of periphery is fixed with the first motor arranging straight up
(12)；Internal rotating seat (13) is the cylinder that upper surface offers installing hole；Internal rotating seat (13) rotary sliding is arranged on
In the internal installing hole of the fixing seat (11) of periphery；The upper surface of internal rotating seat (13) forms ring-shaped guide rail (131)；Internal rotation
Swivel base (13) is arranged on the internal upper side wall of the fixing seat (11) of periphery by ring-shaped guide rail (131) rotational slide；Internal rotating
Seat (13) center, lower surface is fixed on the output shaft of the first motor (12)；Plane rotating mechanism (14) include spheroid (141), in
The heart connects seat (142), first connecting rod (143), the first rocking arm (144) and the second motor (145)；Spheroid (141) is movably embedded in
Fixing seat (11) the upper side wall center of periphery；Center connects seat (142) top and is articulated in spheroid (141) bottom, lower hinge the
One connecting rod (143) one end；Second motor (145) is horizontally fixed on the madial wall of internal rotating seat (13)；First rocking arm (144)
One end is fixed on the output shaft of the second motor (145), the other end is hinged on one end of first connecting rod (143)；First connecting rod
(143) one end is hinged on that center connects the bottom of seat (142), the other end is hinged on one end of the first rocking arm (144)；Rotate hand
Perform end to be arranged on spheroid.
2. the Wrist mechanism of a kind of robot according to claim 1, it is characterised in that: telescoping mechanism (20) includes stretching
Support seat (22), base (21), threaded rod (23), screw rod (25) and the 3rd motor (26)；Base (21) include base plate (212) and
Some first support bars (211)；First support bar (211) one end is fixed on the bottom surface of the fixing seat (11) of periphery, the other end is fixed
On base plate (212)；Base plate (212) offers some circular holes and screwed hole of centre；Retractable support seat (22) includes gripper shoe
And some second support bars (221) (222)；Second support bar (221) one end is plugged in the circular hole of base plate (212), the other end
It is fixed in gripper shoe (222)；Gripper shoe (222) center is fixed with bearing；Threaded rod (23) upper end is screwed onto base plate (212)
Screwed hole of centre is interior, lower end is plugged in bearing；Threaded rod (23) bottom is fixed with worm gear (24)；Screw rod (25) is articulated in a pair
It is fixed in the 3rd gripper shoe (251) in gripper shoe (222)；Screw rod (25) engages with worm gear (24)；Screw rod (25) is fixed on
The output shaft of the 3rd motor (26).
3. the Wrist mechanism of a kind of robot according to claim 1, it is characterised in that: described first driver element includes
It is arranged on the 4th motor on arm (30), the first gear unit coupling the 4th motor and swing arm (40)；Described first passes
Moving cell includes the second gear (32) and the 3rd gear that are articulated on arm (30) and are coaxially disposed, is articulated on arm (30)
And it is the 4th gear (34) that is coaxially disposed and the first synchronous pulley (35), the 3rd axle (36) being articulated on arm (30), fixing
It is arranged on the second synchronous pulley (37) on the 3rd axle (36)；On the output shaft of described 4th motor, the first gear is installed
(31), the first gear (31) engages with the second gear (32), the 3rd gear and the engagement of the 4th gear (34), the first synchronous pulley
(35) being coupled with the second synchronous pulley (37) by Timing Belt (38), the 3rd axle (36) is fixing with swing arm (40) to be connected.
4. the Wrist mechanism of a kind of robot according to claim 1, it is characterised in that: the front end of described arm (10) is opened
If a spill gap, described swing arm (20) is articulated in spill gap.
5. the Wrist mechanism of a kind of robot according to claim 1, it is characterised in that: ring-shaped guide rail (131) cross section in
" T " font.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620562418.6U CN205704264U (en) | 2016-06-08 | 2016-06-08 | A kind of Wrist mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620562418.6U CN205704264U (en) | 2016-06-08 | 2016-06-08 | A kind of Wrist mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205704264U true CN205704264U (en) | 2016-11-23 |
Family
ID=57301432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620562418.6U Expired - Fee Related CN205704264U (en) | 2016-06-08 | 2016-06-08 | A kind of Wrist mechanism of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205704264U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881584A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Robot wrist mechanism |
-
2016
- 2016-06-08 CN CN201620562418.6U patent/CN205704264U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881584A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Robot wrist mechanism |
| CN105881584B (en) * | 2016-06-08 | 2017-12-08 | 重庆欧荣莱汽车配件有限公司 | A kind of Wrist mechanism of robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Xiaoqi Inventor before: Fu Shuzhen |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170614 Address after: Tangxia Town, Guangdong city in Dongguan Province, the 523721 people Foling Industry Street No. 5 Patentee after: Dongguan Yike Plastic Machinery Manufacturing Co. Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Patentee before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161123 Termination date: 20180608 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |