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A wrist mechanism of a six-axis industrial robot

An industrial robot and wrist technology, applied in the field of robotics, can solve the problem that the wrist body cannot swing arbitrarily

Active Publication Date: 2018-03-23
GUANGDONG TIANJI IND INTELLIGENT SYST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem solved by the invention: the wrist body of a light-duty six-axis universal robot cannot swing arbitrarily in space like the wrist of a natural person

Method used

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  • A wrist mechanism of a six-axis industrial robot
  • A wrist mechanism of a six-axis industrial robot
  • A wrist mechanism of a six-axis industrial robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0023] Such as figure 1 , a wrist mechanism of a six-axis industrial robot, comprising an arm 10, a swing arm 20 pivotally connected to the front end of the arm, a first drive unit for driving the swing arm to swing, a rotating hand 30 pivotally connected to the front end of the swing arm, and driving the rotating hand to rotate The second drive unit; the center line of the swing arm when swinging is perpendicular to the rotation center line of the rotating hand. Wherein, the rotating hand includes a space swing body 300 pivotally connected to the front end of the swing arm, and a rotating hand execution end installed on the space swing body; the space swing body includes a base 31, a first telescopic rod 32, a swing table 34, A support rod 35, an internal gear 36 and an external gear 37 meshed together.

[0024] Such as figure 1 , the front end of the arm 10 defines a concave notch, and the swing arm 20 is pivotally connected in the concave notch.

[0025] Such as figure ...

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PUM

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Abstract

The invention discloses a wrist mechanism of a six-shaft industrial robot. The wrist mechanism comprises an arm, a swinging arm pivotally connected at the front end of the arm and a rotating hand pivotally connected at the front end of the swinging arm, wherein the rotating hand comprises a space swinging body pivotally connected at the front end of the swinging arm and a rotating hand executing terminal mounted on the space swinging body; and the space swinging body comprises a base, a swinging table and a swinging mechanism positioned between the swinging table and the base. According to the wrist mechanism, during practical operation, a central line of the swinging arm is vertical to a rotation central line of the rotating hand during swinging, and the rotating hand executing terminal can randomly swing in the space like the wrist of a natural person under the swinging of the arm, the rotation of the rotating hand and the swinging of the swinging table.

Description

Technical field: [0001] The invention relates to the technical field of robots, in particular to a wrist mechanism of a six-axis industrial robot. Background technique: [0002] The invention patent application with the application number CN201210566463.5 discloses a light-duty six-axis general-purpose robot, wherein the wrist body is an important part of the robot. It has an arm, and a swing arm is connected to the front end of the arm. Rotating the hand, setting the swing arm and rotating the hand are all for the robot's wrist body to operate more flexibly and adapt to various complex process requirements. [0003] Although the combination of the above-mentioned light six-axis universal robot swing arm and rotating hand can make the wrist body of the robot operate more flexibly, the wrist body of the above-mentioned light six-axis universal robot cannot swing arbitrarily in space like the wrist of a natural person. Invention content: [0004] The technical problem solve...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02B25J9/10B25J9/12
CPCB25J9/102B25J9/126B25J17/0275
Inventor 申舰莫卓亚
Owner GUANGDONG TIANJI IND INTELLIGENT SYST CO LTD