CN206317093U - The wrist structure of spray robot - Google Patents
The wrist structure of spray robot Download PDFInfo
- Publication number
- CN206317093U CN206317093U CN201621407982.7U CN201621407982U CN206317093U CN 206317093 U CN206317093 U CN 206317093U CN 201621407982 U CN201621407982 U CN 201621407982U CN 206317093 U CN206317093 U CN 206317093U
- 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.)
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Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 37
- 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 abstract description 19
- 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
Landscapes
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
The utility model provides a kind of wrist structure of spray robot, including wrist pedestal, the first spur gear, the second spur gear, the 3rd spur gear, 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 bevel gear, the 4th straight bevel gear, the first wrist joint, the 5th straight bevel gear, the 6th straight bevel gear, the second wrist joint, the 3rd wrist joint.According to the wrist structure of spray robot described in the utility model, compact conformation, inside have enough spaces to set the pipelines such as spraying, solvent, are difficult to knot or fracture.
Description
Technical field
The utility model is related to robot field, the wrist structure of more particularly to a kind of robot.
Background technology
Industrial robot especially spray robot is widely used in modern industry, 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 the especially robot with universal wrist of the robot of domestic independent development is less at present, can not still meet
Commercial Application.
In view of this, it is necessary to be improved to prior art, especially there is universal wrist to robot at present to meet
Robot use requirement.
Utility model content
Technical problem to be solved in the utility model overcomes the deficiencies in the prior art, and there is provided a kind of spray robot
Wrist structure, structure simplifies, and the free degree is big, disclosure satisfy that the use requirement of industry spraying.
To achieve the above object, utility model 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
It is arranged in wrist pedestal and drives the first spur gear, the first spur gear drives the second spur gear, the 3rd spur gear, the 4th successively
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 relative rotation.
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 together with the 3rd wrist joint around own axes relative to wrist pedestal.
Further, the second wrist joint is bored by the 3rd spur gear, the 4th spur gear through intermediate connector and the first straight-tooth
Gear, the driving of the 4th straight bevel gear, drive the 3rd wrist joint together with respect to the first wrist joint around own axis.
Further, the 3rd wrist joint bores tooth by the first spur gear, the second spur gear, intermediate connector, the second straight-tooth
Wheel, the driving of the 3rd straight bevel gear, the 5th straight bevel gear, the 6th straight bevel gear, drive end effector together with respect to the
Two wrist joints are around own axis.
Brief description of the drawings
Fig. 1 is the wrist structural representation of spray robot of the present utility model.
(note：Shown structure in accompanying drawing is simply to illustrate that the signal of utility model feature, is not intended to according to accompanying drawing
Shown structure.)
Embodiment
As shown in figure 1, according to the wrist structure of spray robot described in the utility model, including：Wrist pedestal 1,
One spur 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, first are straight
Bevel gear 8, the second straight bevel gear 9, the 3rd straight bevel gear 10, the 4th straight bevel gear 11, the first wrist joint 12,
Five straight bevel gears 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 set by bearing
In the wrist pedestal 1 and drive the first spur gear 2, the first spur gear 2 drives the second spur gear 3, the 3rd spur gear 4, the successively
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 relative rotation.
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 together with the 3rd wrist joint 16 around own axes relative to wrist pedestal 1.
Second wrist joint 15 by the 3rd spur gear 4, the 4th spur gear 5 through intermediate connector 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 is 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, pass through bearing connection mutually nested with screw.
According to the wrist structure of spray robot described in the utility model, the wrist structure with traditional spray robot
Compare, have the characteristics that：
(1) compact conformation, space are small；(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 only preferred embodiment of utility model is not intended to limit the protection domain of utility model,
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in practical new
Within the protection domain of type.
Claims (2)
1. a kind of wrist structure 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), and the first spur gear (2) drives 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 relative rotation；
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 for saving (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 together with the 3rd wrist joint (16) around own axes relative to wrist pedestal (1)；
Second wrist joint (15) is by the 3rd spur gear (4), the 4th spur gear (5) through intermediate connector 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 driving of the 6th straight bevel gear (14), 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, passes through bearing connection mutually nested with screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621407982.7U CN206317093U (en) | 2016-12-21 | 2016-12-21 | The wrist structure of spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621407982.7U CN206317093U (en) | 2016-12-21 | 2016-12-21 | The wrist structure of spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206317093U true CN206317093U (en) | 2017-07-11 |
Family
ID=59258452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621407982.7U Active CN206317093U (en) | 2016-12-21 | 2016-12-21 | The wrist structure of spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206317093U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625748A (en) * | 2016-12-21 | 2017-05-10 | 扬州科文机器人有限公司 | Wrist structure of spray robot |
-
2016
- 2016-12-21 CN CN201621407982.7U patent/CN206317093U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625748A (en) * | 2016-12-21 | 2017-05-10 | 扬州科文机器人有限公司 | Wrist structure of spray robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 225100 24F, building 1, Cathay Pacific Building, No. 450, Wenchang West Road, Hanjiang District, Yangzhou City, Jiangsu Province Patentee after: Jiangsu kauerga Culture Technology Co.,Ltd. Address before: 225008 2, No. 8, kekekeyuan Road, Yangzhou City, Jiangsu Province Patentee before: YANGZHOU KEWEN ROBOT Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210922 Address after: 201404 floor 12, building 2, No. 1919, Baziqiao Road, Nanqiao Town, Fengxian District, Shanghai Patentee after: Ha Wu industry (Shanghai) Co.,Ltd. Address before: 225100 24F, building 1, Cathay Pacific Building, No. 450, Wenchang West Road, Hanjiang District, Yangzhou City, Jiangsu Province Patentee before: Jiangsu kauerga Culture Technology Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211116 Address after: Room 74, Zone D, floor 2, building 16, No. 588, Lane 7548, waiqingsong highway, Qingpu District, Shanghai 201700 Patentee after: Aozhun enterprise development (Shanghai) Co.,Ltd. Address before: 201404 floor 12, building 2, No. 1919, Baziqiao Road, Nanqiao Town, Fengxian District, Shanghai Patentee before: Ha Wu industry (Shanghai) Co.,Ltd. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20211206 Address after: 201404 floor 12, building 2, No. 1919, Baziqiao Road, Nanqiao Town, Fengxian District, Shanghai Patentee after: Shanghai wuchuang Dazhi High Tech Group Co.,Ltd. Address before: Room 74, Zone D, floor 2, building 16, No. 588, Lane 7548, waiqingsong highway, Qingpu District, Shanghai 201700 Patentee before: Aozhun enterprise development (Shanghai) Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220113 Address after: Room 74, Zone D, floor 2, building 16, No. 588, Lane 7548, waiqingsong highway, Qingpu District, Shanghai 201700 Patentee after: Aozhun enterprise development (Shanghai) Co.,Ltd. Address before: 201404 floor 12, building 2, No. 1919, Baziqiao Road, Nanqiao Town, Fengxian District, Shanghai Patentee before: Shanghai wuchuang Dazhi High Tech Group Co.,Ltd. |
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Effective date of registration: 20240428 Address after: 200120 GW002 workstation on the first floor, No. 288 Hongfeng Road, China (Shanghai) Pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: Wuchang Industrial Automation Technology (Shanghai) Co.,Ltd. Country or region after: China Address before: Room 74, Zone D, floor 2, building 16, No. 588, Lane 7548, waiqingsong highway, Qingpu District, Shanghai 201700 Patentee before: Aozhun enterprise development (Shanghai) Co.,Ltd. Country or region before: China |
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| TR01 | Transfer of patent right |