CN207788942U - A kind of preposition wrist structure of robot motor - Google Patents
A kind of preposition wrist structure of robot motor Download PDFInfo
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- CN207788942U CN207788942U CN201721902397.9U CN201721902397U CN207788942U CN 207788942 U CN207788942 U CN 207788942U CN 201721902397 U CN201721902397 U CN 201721902397U CN 207788942 U CN207788942 U CN 207788942U
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- wrist
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- driving shaft
- harmonic wave
- speed reducing
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Abstract
A kind of preposition wrist structure of robot motor, including J6 axis transmission structures and wrist body, J6 axis transmission structures include the 6th driving shaft motor, the 6th harmonic wave speed reducing machine, J6 axis output end and wrist cover board, 6th driving shaft motor is arranged inside wrist body, 6th harmonic wave speed reducing machine is arranged in wrist body end portion, output end is connected with J6 axis output ends, and the 6th driving shaft motor directly drives the rotation that six axis harmonic wave speed reducing machines realize J6 axis output ends.The utility model is reduced small loading robotics human wrist transmission series, is had the advantages that low assembly difficulty, transmission efficiency, high-speed drive noise are small, while also having wrist sealability strong, realize convenient advantage by the J6 axle construction of electric-machine directly-driven speed reducer.
Description
Technical field
The utility model belongs to Industrial Robot Technology field, is related to robot wrist structure, is a kind of robot motor
Preposition wrist structure.
Background technology
Industrial robot is the important automated arm of modern manufacturing industry, with the manufacturing equipment of the artificial core of industrial machine
Demand increasingly increases.In robot body R＆D process, the design of robot wrist organization plan is one very crucial
Link is one of the technological core of entire robotic part research and development.In the domestic independent research robot wrist structure of investigation
Middle discovery, the low-load industrial robot wrist drive mechanism being supported within the scope of 20-35kg substantially use " servo motor
The drive mechanism of+toothed belt transmission+(bevel gear)+speed reducer+output end ".The concrete scheme of the structure is J5, J6 axis servo electricity
Machine is both placed in the cavity of wrist rear end, and J5 axis servo motors drive a toothed belt transmission, synchronous pulley to drive J5 axis speed reducers,
J5 axis output end of reducer and J5 axis output ends link together, specified to drive J5 axis to move to according to specified speed
Position；J6 axis servo motors drive a toothed belt transmission, synchronous pulley that bevel-gear sett transmission is driven to change transmission direction, cone again
Gear drives the rotation of J6 axis speed reducers, and J6 axis output end of reducer and J6 axis output ends link together, to drive J6 axis
Specified position is moved to according to specified speed.Wherein the servo motor of J5, J6 axis is maintained at wrist when J5, J6 shaft rotation are dynamic
In the cavity of portion rear end, do not moved with J5, J6 axis.J6 axis transmission series is more in such structure, transmission efficiency is low, the complicated efficiency of assembly
It is low；The bevel gear adjustment difficulty that wherein uses is big, regulated efficiency is low, and larger noise is also easy to produce when bevel gear high speed rotation.
Invention content
Problem to be solved in the utility model is：Robot is more in the presence of transmission series in the prior art, assembles transmission efficiency
Problem low, high speed noise is big.
The technical solution of the utility model is：A kind of preposition wrist structure of robot motor, including J6 axis transmission structures with
Wrist body, wherein J6 axis transmission structures include the 6th driving shaft motor, the 6th harmonic wave speed reducing machine, J6 axis output end and wrist cover
Plate, the 6th driving shaft motor are arranged inside wrist body, and the setting of the 6th harmonic wave speed reducing machine is in wrist body end portion, output end and J6 axis
Output end is connected, and the 6th driving shaft motor directly drives the rotation that six axis harmonic wave speed reducing machines realize J6 axis output ends.
The utility model further includes J5 axis transmission structures, and J5 axis transmission structures include wrist connector, the 5th transmission shaft electricity
Machine, synchronous belt and the 5th harmonic wave speed reducing machine, the 5th driving shaft motor are arranged inside wrist connector, and the 5th harmonic wave speed reducing machine is set
It sets in the end of wrist connector, the 5th harmonic wave speed reducing machine output end is connected with wrist body；5th driving shaft motor passes through same
It walks V belt translation and drives the 5th harmonic wave speed reducing machine, to drive wrist body to rotate, realize the transmission of J5 axis；Wrist body connects towards wrist
One end of junctor is equipped with wrist cover board, and wrist body is equipped with rotary oil seal with the place of rotatable connection of wrist connector.Realize wrist body
The sealing of cavity.
As an alternative solution, in J5 axis transmission structures, toothed belt transmission is replaced using gear drive.
Further, the position that wrist body is corresponded on J5 axis transmission structures wrist connector is equipped with forearm cover board, forearm lid
There is plate cavity body structure, the cable of the 6th driving shaft motor to pass through the cable one of the cavity and the 5th driving shaft motor of forearm cover board
It rises and is connected on robot circuit.
The utility model compared with prior art, has the following advantages：
1) transmission series is few, transmission efficiency：
J6 axis is designed using motor direct-connected speed reducer in the utility model, and more previous wrist saves at least 2 grades transmissions, is driven
It is efficient.
2) gearless adjustment link is assembled, efficiency of assembling is high, and high-speed motion noise is small：
The transmission of J6 axis does not use bevel gear, no adjustment link, efficiency of assembling height.Do not use Bevel Gear Transmission, zerol bevel gear
The noise that high-speed motion is brought.
3) processing of wrist sealing structure is simple, and it is convenient to realize, degree of protection is high：
Wrist structure uses flat seal, and processing is simple, easy to assembly, sealed reliable.It can effectively prevent machine tool cutting liquid
Deng into inside wrist, the elements such as damage motor, degree of protection is high.
Description of the drawings
Fig. 1 is J5, J6 axis transmission structure schematic diagram of the utility model wrist structure.
Fig. 2 is J6 axis transmission structure schematic diagrames in the utility model structure.
Fig. 3 is in the utility model structure, and J5 axis uses gear transmission structure schematic diagram.
Specific implementation mode
The object of the present invention is to provide a kind of industrial robot wrist part structures, solve robot transmission series in the prior art
More, the assembly problem that transmission efficiency is low, high speed noise is big.
As shown in Figs. 1-2, the utility model is made of J5 axis transmission structures, J6 axis transmission structures and wrist body 21：
J5 axis transmission structure wrists connector 11, the 5th driving shaft motor 12, synchronous belt 13, the 5th harmonic wave speed reducing machine 14,
5th driving shaft motor 12 is arranged inside wrist connector 11, and the 5th harmonic wave speed reducing machine 14 is arranged at the end of wrist connector 11
Portion, 14 output end of the 5th harmonic wave speed reducing machine are connected with wrist body 21, and 11 end of wrist connector clamps wrist body 21, simultaneously
21 axis of wrist body is rotatably arranged on the end of wrist connector 11, and the 5th driving shaft motor 12 passes through the transmission of synchronous belt 13 driving the
Five harmonic wave speed reducing machines 14 realize the transmission of J5 axis to drive wrist body 21 to rotate.
J6 axis transmission structures include the 6th driving shaft motor 22, the 6th harmonic wave speed reducing machine 23, J6 axis output end 24 and wrist
Cover board 25, the 6th driving shaft motor 22 are arranged inside wrist body 21, and the 6th harmonic wave speed reducing machine 23 is arranged in 21 end of wrist body,
Output end is connected with J6 axis output end 24, and the 6th driving shaft motor 22 directly drives six axis harmonic wave speed reducing machines 23 and realizes that J6 axis is defeated
The rotation of outlet.
Wrist body 21 is equipped with wrist cover board 25, wrist body 21 and wrist connector 11 towards one end of wrist connector 11
It is equipped with rotary oil seal 16 at rotatable connection, realizes the sealing of 21 cavity of wrist body.On the wrist connector 11 of J5 axis transmission structures
The position of corresponding wrist body 21 is equipped with forearm cover board 15, as shown in Figure 1, forearm cover board 15 has cavity body structure, the 6th transmission shaft
The cable of motor 22 passes through the cavity of forearm cover board 15 to be connected to robot circuit together with the cable of the 5th driving shaft motor 12
On.
In the utility model, J5 axis transmission structures can also replace toothed belt transmission using gear drive, such as Fig. 3 institutes
Show.
The utility model has the characteristics that：
1, the 6th driving motor is preposition, electric-machine directly-driven speed reducer structure, and assembly difficulty is low, efficient, noise is small；
2, wrist body sealing structure, including the plane sealing structure of wrist cover board and the rotary oil seal sealing between J5 axis
Structure；
3, the 5th axis transmission structure can drive harmonic wave speed reducing machine by toothed belt transmission, can also be driven by gear drive humorous
Wave speed reducer.
To sum up, the utility model is reduced small loading robotics human wrist and is passed by the J6 axle construction of electric-machine directly-driven speed reducer
Dynamic series, there is that low assembly difficulty, transmission efficiency, high-speed drive noise are small, while also having wrist sealability
By force, convenient advantage is realized.
Claims (4)
1. a kind of preposition wrist structure of robot motor, including J6 axis transmission structures and wrist body (21), it is characterized in that J6 axis passes
Dynamic structure includes the 6th driving shaft motor (22), the 6th harmonic wave speed reducing machine (23), J6 axis output end (24) and wrist cover board (25),
The setting of 6th driving shaft motor (22) is internal in wrist body (21), and the setting of the 6th harmonic wave speed reducing machine (23) is held in wrist body (21)
Portion, output end are connected with J6 axis output end (24), and the 6th driving shaft motor (22) directly drives six axis harmonic wave speed reducing machines (23)
Realize the rotation of J6 axis output ends.
2. the preposition wrist structure of a kind of robot motor according to claim 1, it is characterized in that further including J5 axis transmission knot
Structure, J5 axis transmission structures include wrist connector (11), the 5th driving shaft motor (12), synchronous belt (13) and the 5th harmonic reduction
Machine (14), the setting of the 5th driving shaft motor (12) is internal in wrist connector (11), and the 5th harmonic wave speed reducing machine (14) is arranged in hand
The end of wrist connector (11), the 5th harmonic wave speed reducing machine (14) output end are connected with wrist body (21)；5th driving shaft motor
(12) the 5th harmonic wave speed reducing machine (14) of driving is driven by synchronous belt (13), to drive wrist body (21) to rotate, realizes J5 axis
Transmission；Wrist body (21) is equipped with wrist cover board (25) towards one end of wrist connector (11), and wrist body (21) connects with wrist
Rotary oil seal (16) is equipped at the rotatable connection of junctor (11).
3. the preposition wrist structure of a kind of robot motor according to claim 2 makes it is characterized in that in J5 axis transmission structures
Toothed belt transmission is replaced with gear drive.
4. the preposition wrist structure of a kind of robot motor according to claim 2, it is characterized in that J5 axis transmission structure wrists
The position that wrist body (21) is corresponded on connector (11) is equipped with forearm cover board (15), and forearm cover board (15) has cavity body structure, the
The cable of six driving shaft motors (22) passes through the cavity of forearm cover board (15) to connect together with the cable of the 5th driving shaft motor (12)
It is connected on robot circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721902397.9U CN207788942U (en) | 2017-12-29 | 2017-12-29 | A kind of preposition wrist structure of robot motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721902397.9U CN207788942U (en) | 2017-12-29 | 2017-12-29 | A kind of preposition wrist structure of robot motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207788942U true CN207788942U (en) | 2018-08-31 |
Family
ID=63279745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721902397.9U Active CN207788942U (en) | 2017-12-29 | 2017-12-29 | A kind of preposition wrist structure of robot motor |
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| Country | Link |
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| CN (1) | CN207788942U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605361A (en) * | 2018-12-28 | 2019-04-12 | 国家电网有限公司 | Manipulator |
| CN110315568A (en) * | 2019-08-16 | 2019-10-11 | 重庆卓来科技有限责任公司 | A kind of robot wrist and robot |
| CN113618703A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator and teleoperation equipment |
-
2017
- 2017-12-29 CN CN201721902397.9U patent/CN207788942U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605361A (en) * | 2018-12-28 | 2019-04-12 | 国家电网有限公司 | Manipulator |
| CN110315568A (en) * | 2019-08-16 | 2019-10-11 | 重庆卓来科技有限责任公司 | A kind of robot wrist and robot |
| CN110315568B (en) * | 2019-08-16 | 2024-06-04 | 重庆卓来科技有限责任公司 | Robot wrist and robot |
| CN113618703A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator and teleoperation equipment |
| CN113618703B (en) * | 2021-10-12 | 2022-08-30 | 深圳市越疆科技有限公司 | Teleoperation manipulator and teleoperation equipment |
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