CN112571448A - Three-degree-of-freedom wrist device of robot - Google Patents
Three-degree-of-freedom wrist device of robot Download PDFInfo
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- CN112571448A CN112571448A CN202011371032.4A CN202011371032A CN112571448A CN 112571448 A CN112571448 A CN 112571448A CN 202011371032 A CN202011371032 A CN 202011371032A CN 112571448 A CN112571448 A CN 112571448A
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 30
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 52
- 239000010959 steel Substances 0.000 claims abstract description 52
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 15
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000013461 design Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 7
- 210000003857 wrist joint Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
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Abstract
本发明公开了一种机器人三自由度手腕装置，包括法兰盘、连接杆、支撑杆、十字轴、圆柱直齿轮、主动锥齿轮、被动锥齿轮、侧板、围板、导向轮组、第一钢丝绳、第二钢丝绳、第三钢丝绳、第四钢丝绳、第一电机、谐波减速器、电机架和转动孔，所述围板的外壁上分布固定连接有导向轮组，所述围板的一侧内壁上对称固定连接有侧板；该发明结构简单，使用方便，通过十字轴、圆柱直齿轮、主动锥齿轮、被动锥齿轮、导向轮组、钢丝绳、第一电机和谐波减速器的配合使用，结构简单，通过拟人化的外形结构设计，实现了该手腕装置进行仰俯、偏转和回转运动，提高了机器人手腕装置的灵活度和操作空间，便于使用。
The invention discloses a three-degree-of-freedom wrist device for a robot, comprising a flange plate, a connecting rod, a support rod, a cross shaft, a cylindrical spur gear, a driving bevel gear, a passive bevel gear, a side plate, a surrounding plate, a guide wheel set, a A steel wire rope, a second steel wire rope, a third steel wire rope, a fourth steel wire rope, a first motor, a harmonic reducer, a motor frame and a rotating hole, a guide wheel group is distributed and fixed on the outer wall of the enclosure plate, and the A side plate is symmetrically and fixedly connected to the inner wall of one side; the invention has a simple structure and is easy to use. When used together, the structure is simple, and through the anthropomorphic shape structure design, the wrist device can perform pitch, yaw and rotation movements, which improves the flexibility and operation space of the robot wrist device, and is easy to use.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a three-degree-of-freedom wrist device of a robot.
Background
With the continuous application of the robot technology, the wrist of the robot becomes one of the research hotspots in the robot field, in the development field of new technology, the industrial robot is very important technology, the existing high and new robot technology is comprehensively formed by the micro-electronic technology, various mechanical technologies, the sensing technology and the like, the industrial robot is widely integrated with the aspects of the modern society, and the robot plays a very important role in various fields of aerospace, industrial production, medical education and the like; the wrist device is an important component of a manipulator, the manipulator is enabled to have more anthropomorphic appearance structure on the one hand by the robot wrist device, the flexibility and the operation space of the manipulator can be enhanced on the other hand, in recent years, the robot field of China is rapidly developed, more and more enterprises are engaged in the robot industry in China, but the ubiquitous product level is not high, key parts depend on the imported current situation, and a plurality of blanks exist in the aspect of special robot wrists particularly, so that a novel three-degree-of-freedom wrist device of the robot is urgently needed at the present stage.
Disclosure of Invention
The present invention provides a three-degree-of-freedom wrist device for a robot, which solves the problems in the background art.
In order to solve the technical problems, the invention provides the following technical scheme: a three-degree-of-freedom wrist device of a robot comprises a flange plate, a connecting rod, a supporting rod, a cross shaft, a cylindrical straight gear, a driving bevel gear, a driven bevel gear, side plates, a surrounding plate, a guide wheel set, a first steel wire rope, a second steel wire rope, a third steel wire rope, a fourth steel wire rope, a first motor, a harmonic reducer, a motor frame and a rotating hole, wherein the guide wheel set is fixedly connected to the outer wall of the surrounding plate in a distributed mode, the side plates are symmetrically and fixedly connected to the inner wall of one side of the surrounding plate, the rotating hole is symmetrically communicated with the outer wall of one side of the side plate, the cross shaft is rotatably connected to the inner wall of one side of the rotating hole, the cylindrical straight gear is symmetrically and fixedly connected to the outer wall of two sides of the cross shaft, the driven bevel gear is symmetrically and fixedly connected to the outer wall of one, and one side outer wall of the driving bevel gear is engaged and connected to one side outer wall of the driven bevel gear, a connecting rod is fixedly connected to one side outer wall of the driving bevel gear, one end of the connecting rod is rotatably connected to one side outer wall of the cross shaft, the other end of the connecting rod is fixedly connected to a flange, a motor frame is fixedly connected to one side outer wall of the flange, a first motor is fixedly connected to one side inner wall of the motor frame, a harmonic reducer is fixedly connected to one side outer wall of the motor frame, an output shaft of the first motor is fixedly connected to the harmonic reducer, a first steel wire rope is fixedly connected to one side outer wall of the flange, the first steel wire rope is inserted into the guide wheel set, a second steel wire rope is fixedly connected to one side outer wall of the flange, the second steel wire rope is inserted into the guide wheel set, and a third steel wire rope is fixedly connected to, and the third steel wire rope is communicated and inserted in the guide wheel set, a fourth steel wire rope is fixedly connected to the outer wall of one side of the flange plate, and the fourth steel wire rope is communicated and inserted in the guide wheel set.
Furthermore, spring retainer rings are distributed and sleeved on the outer wall of the cross shaft.
Furthermore, a supporting rod is rotatably connected to the outer wall of one side of the cross shaft, and a flange plate is fixedly connected to the outer wall of one end of the supporting rod.
Furthermore, the number of the spur gears is four, and the upper and lower spur gears are meshed and connected.
Furthermore, one ends of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope are fixedly connected with a second motor, and the second motor is a linear motor.
Furthermore, the flange plate, the connecting rod and the supporting rod are connected to form a T-shaped mechanism.
Compared with the prior art, the invention has the following beneficial effects: the wrist device is simple in structure and convenient to use, the cross shaft, the cylindrical straight gear, the driving bevel gear, the driven bevel gear, the guide wheel set, the steel wire rope, the first motor and the harmonic reducer are matched for use, the wrist device is simple in structure, pitching, deflecting and rotating motions are achieved through the anthropomorphic appearance structure design, the flexibility and the operation space of the robot wrist device are improved, and the wrist device is convenient to use.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic overall perspective view of the present invention;
FIG. 2 is a schematic view of the overall exploded perspective structure of the present invention;
FIG. 3 is a schematic diagram of the overall pitch motion of the present invention;
FIG. 4 is a schematic structural view of the global yaw motion of the present invention;
FIG. 5 is a schematic view of the overall left swivel motion of the present invention;
FIG. 6 is a schematic view of the overall right swivel motion of the present invention;
in the figure: 1. a flange plate; 2. a connecting rod; 3. a support bar; 4. a cross shaft; 5. a spur gear; 6. a drive bevel gear; 7. a driven bevel gear; 8. a side plate; 9. enclosing plates; 10. a guide wheel set; 11. a first wire rope; 12. a second wire rope; 13. a third wire rope; 14. a fourth wire rope; 15. a first motor; 16. a harmonic reducer; 17. a motor frame; 18. the hole is rotated.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: a three-degree-of-freedom wrist device of a robot comprises a flange plate 1, a connecting rod 2, a supporting rod 3, a cross shaft 4, a cylindrical straight gear 5, a driving bevel gear 6, a driven bevel gear 7, side plates 8, a coaming 9, a guide wheel set 10, a first steel wire rope 11, a second steel wire rope 12, a third steel wire rope 13, a fourth steel wire rope 14, a first motor 15, a harmonic reducer 16, a motor frame 17 and a rotating hole 18, wherein the guide wheel set 10 is fixedly distributed on the outer wall of the coaming 9, the side plates 8 are symmetrically and fixedly connected on the inner wall of one side of the coaming 9, the rotating hole 18 is symmetrically and penetratingly arranged on the outer wall of one side of the side plates 8, the cross shaft 4 is rotatably connected on the inner wall of one side of the rotating hole 18, the cylindrical straight gear 5 is symmetrically and fixedly connected on the outer walls of two sides of the cross shaft 4, a driving bevel gear 6 is symmetrically and rotatably connected to the outer walls of two sides of the cross shaft 4, one outer wall of one side of the driving bevel gear 6 is engaged and connected to the outer wall of one side of the driven bevel gear 7, a connecting rod 2 is fixedly connected to the outer wall of one side of the driving bevel gear 6, one end of the connecting rod 2 is rotatably connected to the outer wall of one side of the cross shaft 4, the other end of the connecting rod 2 is fixedly connected to a flange 1, a motor frame 17 is fixedly connected to the outer wall of one side of the flange 1, a first motor 15 is fixedly connected to the inner wall of one side of the motor frame 17, a harmonic reducer 16 is fixedly connected to the outer wall of one side of the motor frame 17, an output shaft of the first motor 15 is fixedly connected to the harmonic reducer 16, a first steel wire rope 11 is fixedly connected to the outer wall of one side of the flange 1, the first steel wire, the second steel wire rope 12 is inserted into the guide wheel set 10 in a penetrating manner, the outer wall of one side of the flange plate 1 is fixedly connected with a third steel wire rope 13, the third steel wire rope 13 is inserted into the guide wheel set 10 in a penetrating manner, the outer wall of one side of the flange plate 1 is fixedly connected with a fourth steel wire rope 14, and the fourth steel wire rope 14 is inserted into the guide wheel set 10 in a penetrating manner; spring retainer rings are distributed and sleeved on the outer wall of the cross shaft 4 to prevent the straight cylindrical gear 5, the driving bevel gear 6 and the driven bevel gear 7 on the cross shaft 4 from falling off; the supporting rod 3 is rotatably connected to the outer wall of one side of the cross shaft 4, the flange plate 1 is fixedly connected to the outer wall of one end of the supporting rod 3, and the supporting rod 3 is arranged, so that the movement stability of the three-degree-of-freedom wrist device of the robot is guaranteed; the number of the cylindrical straight gears 5 is four, the upper cylindrical straight gear 5 and the lower cylindrical straight gear 5 are meshed and connected, and the four cylindrical straight gears 5 are arranged, so that the three-degree-of-freedom wrist device of the robot can perform deflection motion conveniently; one ends of the first steel wire rope 11, the second steel wire rope 12, the third steel wire rope 13 and the fourth steel wire rope 14 are fixedly connected with second motors, the second motors are linear motors, and the three-degree-of-freedom wrist device of the robot is driven to move in multiple directions through the second motors.
When the three-degree-of-freedom wrist device of the robot is used, the initial state of the device is as shown in fig. 1, when the device takes the small end surface facing the driving bevel gear 6 as the structural front surface, the connecting rod 2 and the supporting rod 3 which are symmetrical in upper and lower structures are parallel to the side plate 8, and the connecting rod 2 and the supporting rod 3 which are symmetrical in upper and lower structures are parallel to the coaming 9, which is equivalent to the state that the wrist is in a relaxed state; when the two-degree-of-freedom joint takes the small end face facing the driving bevel gear 6 as the structural front face, the first steel wire rope 11 and the second steel wire rope 12 are respectively driven by the linear motor to pull the flange plate 1 at the top end of the wrist joint to rotate, the device can realize pitching motion, and the drawing processes are respectively shown in fig. 3 and fig. 4; as shown in fig. 3, the two-degree-of-freedom joint pulls the flange plate 1 at the top end of the wrist joint to rotate through the first steel wire rope 11, the connecting rod 2 and the supporting rod 3 drive the cross shaft 4 to rotate integrally around the long axis of the cross shaft 4, the driving bevel gear 6 does not rotate and revolves clockwise around the long axis of the cross shaft 4, the driven bevel gear 7 rotates clockwise at the same rotating speed, the cylindrical spur gears 5 fixedly connected with the driving bevel gear 5 also rotate clockwise, and the four cylindrical spur gears 5 are meshed up and down two by two, so that the driven bevel gear 7 rotates at the same rotating speed in the opposite direction by the rotation of the cylindrical spur gears 5, at the moment, the driving bevel gear 6 revolves counterclockwise around the long axis of the cross shaft 4 and does not rotate per se, and drives the lower T-shaped structure fixedly connected with the driving bevel gear to move in; similarly, as shown in fig. 4, the two-degree-of-freedom joint pulls the flange plate 1 at the top end of the wrist joint to rotate through the second steel wire rope 12, the connecting rod 2 and the supporting rod 3 drive the cross shaft 4 to integrally rotate around the long axis of the cross shaft 4, the driving bevel gear 6 does not rotate and revolves anticlockwise around the long axis of the cross shaft 4, the driven bevel gear 7 rotates anticlockwise at equal rotation speed, and the cylindrical spur gear 5 fixedly connected with the driven bevel gear also rotates anticlockwise; because the four cylindrical straight gears 5 are meshed with each other up and down in pairs, the rotation of the cylindrical straight gears 5 enables the driven bevel gears 7 to generate constant-speed rotation in opposite directions, at the moment, the driving bevel gear 6 revolves clockwise around the long axis of the cross shaft 4, does not rotate, drives the lower T-shaped structure fixedly connected with the driving bevel gear to move in the same direction and at the same rotating speed as the upper T-shaped structure, and enables the rotating angle to be doubled; when the two-degree-of-freedom joint takes the small end face facing the driving bevel gear 6 as a structural front face, the third steel wire rope 13 and the fourth steel wire rope 14 are respectively driven by the linear motor to pull the flange plate 1 at the top end of the wrist joint to rotate, and the device can realize deflection motion, and similarly, as shown in fig. 5, the two-degree-of-freedom joint pulls the flange plate 1 at the top end of the wrist joint to rotate through the third steel wire rope 13, the driving bevel gear 6 does not revolve and rotates anticlockwise around the short axis of the cross shaft 4, while the driven bevel gear 7 rotates with the straight cylindrical gear 5 fixedly connected with the driven bevel gear 7, and the four straight cylindrical gears 5 are meshed up and down in pairs, so that the driving bevel gear 6 rotates clockwise around the short axis of the cross shaft 4 at the moment to drive the T-shaped; similarly, as shown in fig. 6, the two-degree-of-freedom joint pulls the flange plate 1 at the top end of the wrist joint to rotate through the fourth steel wire rope 14, the driving bevel gear 6 does not revolve and rotates clockwise around the short axis of the cross shaft 4, while the driven bevel gear 7 rotates with the straight cylindrical gear 5 fixedly connected with the driven bevel gear, and as the four straight cylindrical gears 5 are meshed up and down two by two, the driving bevel gear 6 rotates counterclockwise around the short axis of the cross shaft 4 at the moment so as to drive the T-shaped structure fixedly connected with the lower part of the cross shaft to move in the same direction and at the same rotating speed, so that the; when the first motor 15 rotates, because the first motor 15 and the harmonic reducer 16 are both installed on the motor frame 17, the motor frame 17 is fixedly connected with the flange plate 1 at the top end of the two-degree-of-freedom joint T-shaped mechanism, the output shaft of the first motor 15 is fixedly connected with the harmonic reducer 16, and the harmonic reducer 16 is fixedly connected with the motor frame 17, the first motor 15 drives the whole wrist to rotate together, thereby realizing the rotary motion.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a three degree of freedom wrist devices of robot, includes ring flange (1), connecting rod (2), bracing piece (3), cross axle (4), cylinder straight-teeth gear (5), initiative bevel gear (6), driven bevel gear (7), curb plate (8), bounding wall (9), direction wheelset (10), first wire rope (11), second wire rope (12), third wire rope (13), fourth wire rope (14), first motor (15), harmonic speed reducer ware (16), motor frame (17) and rotation hole (18), its characterized in that: the outer wall of the surrounding plate (9) is fixedly connected with a guide wheel set (10) in a distributed mode, a side plate (8) is fixedly connected to one side of the inner wall of the surrounding plate (9) in a symmetrical mode, a rotating hole (18) is formed in the outer wall of one side of the side plate (8) in a penetrating mode in a symmetrical mode, a cross shaft (4) is connected to one side of the inner wall of the rotating hole (18) in a rotating mode, cylindrical straight gears (5) are fixedly connected to two side outer walls of the cross shaft (4) in a symmetrical mode, driven bevel gears (7) are fixedly connected to one side outer wall, corresponding to the cylindrical straight gears (5), of the two side outer walls of the cross shaft (4) in a symmetrical mode, driving bevel gears (6) are connected to the two side outer walls of the cross shaft (4) in a symmetrical rotating mode, one side outer walls of the driving bevel gears (6) are connected, one end of the connecting rod (2) is rotatably connected to the outer wall of one side of the cross shaft (4), the other end of the connecting rod (2) is fixedly connected with the flange plate (1), the outer wall of one side of the flange plate (1) is fixedly connected with a motor frame (17), the inner wall of one side of the motor frame (17) is fixedly connected with a first motor (15), the outer wall of one side of the motor frame (17) is fixedly connected with a harmonic reducer (16), the output shaft of the first motor (15) is fixedly connected with the harmonic reducer (16), the outer wall of one side of the flange plate (1) is fixedly connected with a first steel wire rope (11), the first steel wire rope (11) is inserted into the guide wheel set (10), the outer wall of one side of the flange plate (1) is fixedly connected with a second steel wire rope (12), and the second steel wire rope (12) is inserted into the guide wheel set (10), fixedly connected with third wire rope (13) on the outer wall of one side of ring flange (1), and third wire rope (13) link up and peg graft in the inside of direction wheelset (10), fixedly connected with fourth wire rope (14) on the outer wall of one side of ring flange (1), and fourth wire rope (14) link up and peg graft in the inside of direction wheelset (10).
2. A three-degree-of-freedom wrist device of robot as claimed in claim 1, wherein: spring retainer rings are distributed and sleeved on the outer wall of the cross shaft (4).
3. A three-degree-of-freedom wrist device of robot as claimed in claim 1, wherein: the supporting rod (3) is rotatably connected to the outer wall of one side of the cross shaft (4), and the flange plate (1) is fixedly connected to the outer wall of one end of the supporting rod (3).
4. A three-degree-of-freedom wrist device of robot as claimed in claim 1, wherein: the number of the straight cylindrical gears (5) is four, and the upper straight cylindrical gear (5) and the lower straight cylindrical gear (5) are meshed and connected.
5. A three-degree-of-freedom wrist device of robot as claimed in claim 1, wherein: and one ends of the first steel wire rope (11), the second steel wire rope (12), the third steel wire rope (13) and the fourth steel wire rope (14) are fixedly connected with a second motor, and the second motor is a linear motor.
6. A three-degree-of-freedom wrist device of robot as claimed in claim 1, wherein: the flange plate (1), the connecting rod (2) and the supporting rod (3) are connected to form a T-shaped mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011371032.4A CN112571448A (en) | 2020-11-30 | 2020-11-30 | Three-degree-of-freedom wrist device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011371032.4A CN112571448A (en) | 2020-11-30 | 2020-11-30 | Three-degree-of-freedom wrist device of robot |
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| Publication Number | Publication Date |
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| CN112571448A true CN112571448A (en) | 2021-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011371032.4A Pending CN112571448A (en) | 2020-11-30 | 2020-11-30 | Three-degree-of-freedom wrist device of robot |
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| CN (1) | CN112571448A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114425785A (en) * | 2021-12-16 | 2022-05-03 | 哈尔滨理工大学 | A six-finger manipulator based on monocular vision with changeable grasping methods |
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| US20200047332A1 (en) * | 2017-04-26 | 2020-02-13 | The Board Of Trustees Of The Leland Stanford Junior University | Cabled differential for cable controlled joint |
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| CN114425785A (en) * | 2021-12-16 | 2022-05-03 | 哈尔滨理工大学 | A six-finger manipulator based on monocular vision with changeable grasping methods |
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Application publication date: 20210330 |