CN216830929U - Wrist mechanism and robot - Google Patents
Wrist mechanism and robot Download PDFInfo
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- CN216830929U CN216830929U CN202220050178.7U CN202220050178U CN216830929U CN 216830929 U CN216830929 U CN 216830929U CN 202220050178 U CN202220050178 U CN 202220050178U CN 216830929 U CN216830929 U CN 216830929U
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- wrist
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- rudder disc
- palm
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Abstract
The utility model provides a wrist mechanism and robot, include: the wrist device comprises a palm, a first wrist rudder disc, a wrist pull rod, a second wrist rudder disc, a first wrist motor and a second wrist motor; the palm is connected with the end face of the first wrist motor and is driven by the first wrist motor to rotate axially around the first wrist motor; the first wrist motor is arranged on the second wrist rudder plate and rotates; the wrist second rudder disc is connected with the wrist first rudder disc through a wrist pull rod; the wrist second motor is connected with the end face of the wrist first rudder disc and drives the wrist first rudder disc to rotate axially around the wrist second motor; when the second motor rotates, the first wrist rudder disc rotates and pulls the second wrist rudder disc to rotate through the wrist pull rod, and the second wrist rudder disc drives the first wrist motor and the palm to perform pitching motion. The design realizes the pitching motion of the palm through the structure that the wrist is connected with the pull rod in parallel, the structure is compact, and the volume of the wrist mechanism is reduced.
Description
Technical Field
The utility model relates to a robot mechanism field specifically, relates to wrist mechanism and robot.
Background
With the widespread popularization of robots, more and more robots are applied to production and life, and therefore, the requirements on the robots are higher and higher. In order to meet the increasing demands and adapt to various situations, the anthropomorphic robot has higher demands on the overall degree of freedom of the robot and the stability of the robot. Since the wrist mechanism is an important component for achieving high degree of freedom and stability, it is desirable to provide a robot wrist mechanism having a simple structure and high degree of freedom and stability.
Patent document CN102218741B provides an umbilical member arrangement mechanism that effectively avoids interference between an umbilical member and peripheral equipment and achieves high rigidity with a simple configuration. The umbilical member arrangement means includes a guide member including a first plate-like member attached to the end of the wrist, a second plate-like member disposed to face the first plate-like member, and a connection member connecting the first plate-like member and the second plate-like member to each other, wherein a cross-sectional shape of the connection member in a cross-section perpendicular to the wrist axis includes the wrist axis, and the cross-sectional length of the umbilical member in the first radial direction is greater than or equal to 1/2 and less than or equal to 1/2, respectively, in the first radial direction and in a second radial direction axially symmetric to the first radial direction, and the umbilical member is arranged so as to be in contact with one or both of the second plate-like member and the connection member when the guide member is at an arbitrary rotation angle position within a predetermined rotation angle range.
Patent document CN1178495A provides a wrist mechanism of a multi-joint robot, in which an arm end portion has a tilt arm tilted in an arm length direction, and a housing fixed to the tilt arm end portion and provided with a mount parallel to a rotation axis on a side opposite to the rotation axis, a driving portion for driving a wrist portion is composed of a driving motor fixed in the tilt arm and a speed reducer fixed to the mount on the housing, and an output shaft of the driving motor is engaged with an input shaft of the speed reducer through two bevel gears.
The above-mentioned prior art patent fails to realize a wrist mechanism having high degree of freedom and stability while having a simple structure.
SUMMERY OF THE UTILITY MODEL
To the defects in the prior art, the utility model aims at providing a wrist mechanism and robot.
According to the utility model provides a pair of wrist mechanism, include: the wrist device comprises a palm, a first wrist rudder disc, a wrist pull rod, a second wrist rudder disc, a first wrist motor and a second wrist motor;
the palm is connected with the end face of the first wrist motor and is driven by the first wrist motor to rotate axially around the first wrist motor;
the first wrist motor is arranged on the second wrist rudder disc and is driven to rotate by the second wrist rudder disc;
the wrist second rudder disc is connected with the wrist first rudder disc through the wrist pull rod;
the wrist second motor is connected with the end surface of the wrist first rudder disc and drives the wrist first rudder disc to rotate around the wrist second motor in the axial direction;
when the second motor rotates, the first wrist rudder disc rotates and pulls the second wrist rudder disc to rotate through the wrist pull rod, and the second wrist rudder disc drives the first wrist motor and the palm to perform pitching motion.
Preferably, the first and second wrist rudders are mounted on a wrist brace housing;
one end of the wrist pull rod shell is provided with a rudder disc mounting plate, and the rudder disc mounting plate vertically extends out of the roll motor mounting plate towards the other end of the wrist pull rod shell;
the first wrist rudder disc and the second wrist rudder disc are arranged on the rudder disc mounting plate and are allowed to rotate relative to the rudder disc mounting plate.
Preferably, the side of the transverse rolling motor mounting plate back to the rudder disk mounting plate is provided with a half sole palm transverse rolling motor output shaft;
the output shaft of the half sole palm transverse rolling motor drives the wrist pull rod shell to axially rotate around the output shaft of the half sole palm transverse rolling motor.
Preferably, the end surface of the wrist second motor is parallel to the rudder disc mounting plate and the wrist first rudder disc;
the axis of the first wrist motor is parallel to the rudder disc mounting plate, the second wrist rudder disc and the roll motor mounting plate;
the first wrist motor and the second wrist motor are mounted on the wrist pull rod shell.
Preferably, the wrist pull rod is provided with two;
the two wrist pull rods are parallel.
Preferably, two ends of the two wrist pull rods are respectively installed on the first wrist rudder disc and the second wrist rudder disc through pull rod buckles;
the wrist pull rod is connected through a wrist rudder disc bearing and rotates relative to the first wrist rudder disc and the second wrist rudder disc;
the first wrist rudder disc, the second wrist rudder disc and the two wrist pull rods form a wrist parallel pull rod structure;
the wrist second motor drives the palm to do pitching motion through the wrist parallel pull rod structure.
Preferably, the palm is connected with the wrist first motor through a palm connecting structure;
palm connection structure one end fixed mounting be in the first motor terminal surface of wrist, the first motor of wrist drives palm connection structure winds the first motor axis of wrist rotates.
Preferably, the other end of the palm connecting structure is fixedly connected with the palm;
when the first wrist motor rotates, the palm connecting structure swings left and right and drives the palm to swing left and right.
Preferably, a forearm wrist shell is mounted on the outer sides of the wrist parallel pull rod structure, the wrist second motor and the wrist pull rod shell;
and a plurality of fingers are rotatably arranged at one end of the palm, which faces away from the first motor of the wrist.
Preferably, a robot employs the wrist mechanism.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the design realizes the pitching motion of the palm through the structure that the wrist is connected with the pull rod in parallel, the structure is compact, and the volume of the wrist mechanism is reduced;
2. the design can realize the multi-degree-of-freedom movement of the robot wrist mechanism.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of a wrist mechanism;
FIG. 2 is a diagram of the positional relationship of the motor;
FIG. 3 is a schematic view of a wrist parallel tie bar structure.
Shown in the figure:
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one of ordinary skill in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
Example 1
As shown in fig. 1 to 3, a wrist mechanism, which can be used for a robot, includes: the palm 11, the wrist first rudder disc 47, the wrist pull rod 48, the wrist second rudder disc 49, the wrist first motor 70 and the wrist second motor 701; the palm 11 is connected with the end face of the first wrist motor 70 and is driven to rotate around the first wrist motor 70 in the axial direction through the first wrist motor 70, the first wrist motor 70 is installed on the second wrist rudder disc 49 and is driven to rotate through the second wrist rudder disc 49, the second wrist rudder disc 49 is connected with the first wrist rudder disc 47 through the wrist pull rod 48, the second wrist motor 701 is connected with the end face of the first wrist rudder disc 47 and drives the first wrist rudder disc 47 to rotate around the second wrist motor 701 in the axial direction, when the second motor 701 rotates, the first wrist rudder disc 47 rotates and pulls the second wrist rudder disc 49 to rotate through the wrist pull rod 48, and the second wrist rudder disc 49 drives the first wrist motor 70 and the palm 11 to perform pitching motion. The palm 11 is connected with the first motor 70 of wrist through the palm connecting structure 12, one end of the palm connecting structure 12 is fixedly installed on the end face of the first motor 70 of wrist, and the first motor 70 of wrist drives the palm connecting structure 12 to rotate around the axis of the first motor 70 of wrist. The other end of the palm connecting structure 12 is fixedly connected with the palm 11, and when the first wrist motor 70 rotates, the palm connecting structure 12 swings left and right and drives the palm 11 to swing left and right.
The first wrist rudder disc 47 and the second wrist rudder disc 49 are arranged on the wrist pull rod shell 46; one end of the wrist pull rod shell 46 is arranged as a rudder disk mounting plate, the rudder disk mounting plate vertically extends out of the roll motor mounting plate towards the other end of the wrist pull rod shell 46, and a first wrist rudder disk 47 and a second wrist rudder disk 49 are mounted on the rudder disk mounting plate and are allowed to rotate relative to the rudder disk mounting plate. The two wrist pull rods 48 are arranged in parallel, two ends of each wrist pull rod 48 are respectively installed on a first wrist rudder disc 47 and a second wrist rudder disc 49 through pull rod buckles, the wrist pull rods 48 are connected through wrist rudder disc bearings 50 and rotate relative to the first wrist rudder disc 47 and the second wrist rudder disc 49, the first wrist rudder disc 47, the second wrist rudder disc 49 and the two wrist pull rods 48 form a wrist parallel pull rod structure, and the second wrist motor 701 drives the palm 11 to do pitching motion through the wrist parallel pull rod structure. The wrist parallel pull rod structure, the wrist second motor 701 and the wrist pull rod shell 46 are provided with a forearm wrist shell 9, and one end of the palm 11 back to the wrist first motor 70 is provided with a plurality of fingers 10 in a rotating way.
The side of the rolling motor mounting plate back to the rudder disk mounting plate is provided with a half sole palm rolling motor output shaft 45, and the half sole palm rolling motor output shaft 45 drives the wrist pull rod shell 46 to axially rotate around the half sole palm rolling motor output shaft 45. The end face of the wrist second motor 701 is parallel to the rudder disc mounting plate and the wrist first rudder disc 47, the axis of the wrist first motor 70 is parallel to the rudder disc mounting plate, the wrist second rudder disc 49 and the roll motor mounting plate, and the wrist first motor 70 and the wrist second motor 701 are mounted on the wrist pull rod shell 46.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A wrist mechanism, comprising: the wrist training device comprises a palm (11), a first wrist rudder disc (47), a wrist pull rod (48), a second wrist rudder disc (49), a first wrist motor (70) and a second wrist motor (701);
the palm (11) is connected with the end face of the wrist first motor (70) and is driven by the wrist first motor (70) to rotate around the wrist first motor (70) in the axial direction;
the wrist first motor (70) is arranged on the wrist second rudder disc (49) and is driven to rotate by the wrist second rudder disc (49);
the wrist second rudder plate (49) is connected with the wrist first rudder plate (47) through the wrist pull rod (48);
the wrist second motor (701) is connected with the end face of the wrist first rudder disc (47) and drives the wrist first rudder disc (47) to axially rotate around the wrist second motor (701);
when the second motor (701) rotates, the first wrist rudder disc (47) rotates and pulls the second wrist rudder disc (49) to rotate through the wrist pull rod (48), and the second wrist rudder disc (49) drives the first wrist motor (70) and the palm (11) to perform pitching motion.
2. A wrist mechanism according to claim 1, characterized in that: the wrist first rudder plate (47) and the wrist second rudder plate (49) are arranged on the wrist pull rod shell (46);
one end of the wrist pull rod shell (46) is provided with a rudder disc mounting plate, and the rudder disc mounting plate vertically extends out of a roll motor mounting plate towards the other end of the wrist pull rod shell (46);
the first wrist rudder disc (47) and the second wrist rudder disc (49) are mounted on the rudder disc mounting plate and are allowed to rotate relative to the rudder disc mounting plate.
3. A wrist mechanism according to claim 2, characterized in that: a half-sole palm transverse rolling motor output shaft (45) is arranged on one side of the transverse rolling motor mounting plate back to the rudder disk mounting plate;
the palm transverse rolling motor output shaft (45) drives the wrist pull rod shell (46) to axially rotate around the palm transverse rolling motor output shaft (45).
4. A wrist mechanism according to claim 2, characterized in that: the end surface of the wrist second motor (701) is parallel to the rudder disc mounting plate and the wrist first rudder disc (47);
the axis of the wrist first motor (70) is parallel to the rudder disc mounting plate, the wrist second rudder disc (49) and the roll motor mounting plate;
the wrist first motor (70) and the wrist second motor (701) are mounted on the wrist brace housing (46).
5. A wrist mechanism according to claim 2, characterized in that: two wrist pull rods (48) are arranged;
the two wrist pull rods (48) are parallel.
6. A wrist mechanism according to claim 5, characterized in that: two ends of the two wrist pull rods (48) are respectively installed on the first wrist rudder disc (47) and the second wrist rudder disc (49) through pull rod buckles;
the wrist pull rod (48) is connected through a wrist rudder disc bearing (50) and rotates relative to the first wrist rudder disc (47) and the second wrist rudder disc (49);
the wrist first rudder disc (47), the wrist second rudder disc (49) and the two wrist pull rods (48) form a wrist parallel pull rod structure;
the wrist second motor (701) drives the palm (11) to do pitching motion through the wrist parallel pull rod structure.
7. A wrist mechanism according to claim 1, characterized in that: the palm (11) is connected with the first wrist motor (70) through a palm connecting structure (12);
palm connection structure (12) one end fixed mounting be in wrist first motor (70) terminal surface, wrist first motor (70) drive palm connection structure (12) winds wrist first motor (70) axis rotates.
8. A wrist mechanism according to claim 7, characterized in that: the other end of the palm connecting structure (12) is fixedly connected with the palm (11);
when the first wrist motor (70) rotates, the palm connecting structure (12) swings left and right and drives the palm (11) to swing left and right.
9. A wrist mechanism according to claim 6, characterized in that: a forearm wrist shell (9) is arranged on the outer sides of the wrist parallel pull rod structure, the wrist second motor (701) and the wrist pull rod shell (46);
and a plurality of fingers (10) are rotatably arranged at one end of the palm (11) back to the first motor (70) of the wrist.
10. A robot, characterized by: the robot using a wrist mechanism according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220050178.7U CN216830929U (en) | 2022-01-10 | 2022-01-10 | Wrist mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220050178.7U CN216830929U (en) | 2022-01-10 | 2022-01-10 | Wrist mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216830929U true CN216830929U (en) | 2022-06-28 |
Family
ID=82113438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220050178.7U Active CN216830929U (en) | 2022-01-10 | 2022-01-10 | Wrist mechanism and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216830929U (en) |
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2022
- 2022-01-10 CN CN202220050178.7U patent/CN216830929U/en active Active
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