Multifunctional robot wrist with replaceable end actuator

An end-effector and multi-functional technology, applied in the field of robot wrists, can solve the problems of high production cost, inconvenient use, inability to drive multiple end-effectors with the same wrist, etc., and achieves simple structure, convenient protection, and favorable control. effect of operation

Active Publication Date: 2015-11-25
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that many robot wrists are connected with end effectors in the prior art, the function of driving multiple end effectors by the sa

Method used

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  • Multifunctional robot wrist with replaceable end actuator
  • Multifunctional robot wrist with replaceable end actuator
  • Multifunctional robot wrist with replaceable end actuator

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0008] Specific implementation mode 1: Combination Figure 1-Figure 7 To illustrate this embodiment, a multifunctional robot wrist with replaceable end effectors includes an outer power output mechanism 1, a middle layer locking and releasing mechanism 2, an inner power output mechanism 3, and a tool mechanism 4. The output mechanism 1 and the middle layer locking and releasing mechanism 2 are sequentially fitted on the inner power output mechanism 3 from the outside to the inside. The tool mechanism 4 is installed on the power output end of the outer power output mechanism 1 and the middle layer locking and releasing mechanism 2. The power output end and the power output end of the inner power output mechanism 3.

Example Embodiment

[0009] Specific implementation manner two: combination Figure 1-Figure 5 To illustrate this embodiment, a multifunctional robot wrist with replaceable end effectors in this embodiment. The outer power output mechanism 1 includes a drive mechanism support 1-1, an outer cross shaft outer ring 1-2, and an outer cross Shaft inner ring 1-4, outer cross shaft 1-5, octagonal tool wrench 1-6, and four outer mechanism cylinder head screws 1-3. The octagonal tool wrench 1-6 is machined with multiple grooves. The cross shaft outer ring 1-2, the outer cross shaft inner ring 1-4 and the outer cross shaft 1-5 are set in sequence from the outside to the inside, and the four outer mechanism cylinder head screws 1-3 are along the circumference of the outer cross shaft 1-5 The directions are uniformly arranged on the outer cross shaft outer ring 1-2, and each outer mechanism cylinder head screw 1-3 passes through the outer cross shaft outer ring 1-2 and the outer cross shaft inner ring 1-4 from ...

Example Embodiment

[0010] Specific implementation mode three: combination Figure 1-Figure 6 To illustrate this embodiment, a multifunctional robot wrist with a replaceable end effector in this embodiment. The intermediate layer locking and releasing mechanism 2 includes a first servo motor assembly 2-1 and a gear with a first gear shaft. 2-2, gear 2-3 with second gear shaft, third gear 2-4, middle cross shaft outer ring 2-5, middle cross shaft inner ring 2-7, middle cross shaft 2-8, tool lock Tighten the'T' screw 2-9, tool lock the'T' nut 2-10, four release mechanism cylinder head screws 2-6 and multiple steel balls 2-11, tool lock the'T' nut 2 A number of convex edges corresponding to the grooves on the octagonal tool wrench 1-6 are processed on 10, and an arc-shaped groove is processed between two adjacent convex edges. The output shaft of the first servo motor assembly 2-1 One end is connected with the gear 2-2 gear shaft with the first gear shaft, the gear 2-2 with the first gear shaft meshe...

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Abstract

The invention relates to a multifunctional robot wrist with a replaceable end actuator. The multifunctional robot wrist is aimed at solving the problems that in the prior art, most robot wrists are connected with end actuators, so that the function that one wrist drives various end actuators can not be achieved, manufacturing cost is high, and using is inconvenient. The multifunctional robot wrist comprises an outer power output mechanism, a middle locking and unlocking mechanism, an inner power output mechanism and a tool mechanism. The outer power output mechanism and the middle locking and unlocking mechanism are sequentially arranged on the inner power output mechanism from outside to inside in a sleeving mode. The tool mechanism is installed at the power output end of the outer power output mechanism, the power output end of the middle locking and unlocking mechanism and the power output end of the inner power output mechanism. The multifunctional robot wrist is applied to the field where end actuators need to be replaced and actuators need to be locked.

Description

technical field [0001] The invention relates to a robot wrist with a replaceable end effector, in particular to a multifunctional robot wrist with a replaceable end effector. Background technique [0002] The robot wrist has been widely used in industrial robots, and it plays an important role in industrial production. In order to meet different job requirements, the functions of robot end effectors are often different. In order to maximize production efficiency and reduce costs, a robot wrist should be able to drive a variety of end effectors. In order to achieve the above goals, the robot wrist needs to be docked and locked with different end effectors driven by the mechanical arm. At the same time, the robot wrist also needs to provide a certain amount of power input for the end effector to facilitate the operation of the end effector. Many current robot wrists are connected to end effectors, which cannot realize the function of driving multiple end effectors with the ...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J9/12
Inventor 李楠高海波邢宏军丁亮陈明邓宗全马常友夏科睿
Owner HARBIN INST OF TECH
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