Double-degree-of-freedom robot wrist joint steering engine

A technology of robot wrist and degrees of freedom, applied in the field of robots, can solve the problems of large inertia and poor dynamic response of the body, and achieve the effect of compact joint structure, excellent dynamic performance and small inertia.

Inactive Publication Date: 2013-01-09
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to its structural characteristics, ...

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  • Double-degree-of-freedom robot wrist joint steering engine
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  • Double-degree-of-freedom robot wrist joint steering engine

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with drawings and embodiments.

[0027] figure 1 Shown is a schematic diagram of the steering gear. It is a criss-cross structure, and there is an output shaft in each of the two axis directions to provide driving force.

[0028] Such as figure 2 Shown is the assembly explosion diagram of the steering gear. The steering gear consists of top cover 1, cross fixing piece 2, Y-direction transmission shaft 3, X-direction transmission shaft 4, fixing screws 5, control circuit board 6, top cover screws 7, shell Body 8, Y-direction deceleration head 9, Y-direction angle sensor 10, Y-direction bearing bushing 11, Y-direction bearing 12, Y-direction output end cover 13, Y-direction output end cover screw 14, X-direction deceleration head 15, X-direction Angle sensor 16, X-direction bearing bushing 17, X-direction bearing 18, X-direction output end cover 19, X-direction output end cover screw 20, Y-direction ...

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Abstract

The invention relates to a double-degree-of-freedom robot wrist joint steering engine. Mostly, the existing robot wrist joint steering engine is single-shaft output, namely only one degree of freedom can be provided for a robot. The double-degree-of-freedom robot wrist joint steering engine comprises an end cover and a shell. The end cover and the shell are connected through a screw to form a sealed space. The sealed space is internally provided with motors, a motor gear, a speed-reducing mechanism, a bearing, a control circuit board and an angle sensor. The motor gear is engaged with an input gear of the speed-reducing mechanism and an output shaft of the speed-reducing mechanism outputs power. The angle sensor is arranged on the output shaft. According to the double-degree-of-freedom robot wrist joint steering engine, the two motors are arranged in the same sealed space, and the power is output in two directions at the same time through the gear speed-reducing mechanism arranged in the shell; and the control circuit board and the angle sensor, which are arranged at the inner part, can respectively control output angles at the two directions, so that the robot wrist joint steering engine has the capability of providing two degrees of freedom.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a dual-degree-of-freedom robot wrist joint servo. Background technique [0002] With the continuous development of robots, the interaction between robots and humans is getting closer and closer, from the traditional industrial environment to the daily life of human beings. [0003] According to the principle of bionics, the movement of the robot imitates that of humans through joints. Each joint is consistent with the degree of freedom of each joint of the human being on the basis of accurate control. The degrees of freedom of the major movable joints of the human body are not the same. In order to achieve multi-degree-of-freedom motion, traditional robot joints usually use two sets of structurally independent power devices, each of which provides a degree of freedom. The overall structure of the joint is complex, the inertia is large, the dynamic response is poor, the reconfigura...

Claims

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Application Information

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IPC IPC(8): B25J17/02
Inventor 周建军林阿斌张亚平傅丹丹
Owner HANGZHOU DIANZI UNIV
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