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Robot wrist driving mechanism

A driving mechanism and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large overall structure, large differences, poor simulation, etc., and achieve the effect of improving position accuracy, low cost, and small size

Inactive Publication Date: 2017-12-15
陈有兵
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Bionic robots and mechanical exoskeletons have always been the cutting-edge fields of medicine and industrial manufacturing. The fingers and arms of traditional mechanical exoskeletons are generally driven by several cylinders or linear stepping motors. The overall structure is relatively large and heavy, and It is quite different from the biological muscle stretch drive, and the degree of simulation is also poor; at the same time, the traditional robot wrist structure is driven by several rotating stepper motors, which is heavy, causes large jitter when rotating, and has poor stability

Method used

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Embodiment Construction

[0018] The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.

[0019] Such as figure 1 and figure 2 As shown, the present invention is a robot wrist drive mechanism, including an X-axis rotation mechanism, a Y-axis rotation mechanism and an arm connection seat, wherein the arm connection seat is a symmetrical structure, and two groups of X-axis rotation bearing holes are arranged at the end; An X-axis rotation base is provided between the X-axis rotation bearing holes, and both ends of the X-axis rotation base are connected to the X-axis rotation bearing holes through the rotation axis A. One end of the X-axis rotation base An X-axis drive block is rotatably connected to the upper part, and an X-axis drive cable is fix...

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Abstract

The invention relates to a robot wrist drive mechanism, which includes an X-axis rotation mechanism, a Y-axis rotation mechanism and an arm connecting seat, two groups of X-axis rotation bearing holes are arranged at the end; X-axis rotating seat, one end of the X-axis rotating seat is rotatably connected to the X-axis driving block, and the X-axis driving cable is fixed in the middle of the X-axis driving block; the other end of the X-axis rotating seat is rotatably connected to the Y-axis positive drive Block and Y-axis negative drive block, Y-axis positive drive block and Y-axis negative drive block are coaxially fixed, Y-axis positive drive block is provided with winding groove A, and Y-axis negative drive block is provided with coil Cable trough B; the Y-axis positive drive cable is installed in the cable trough A, the Y-axis negative drive cable is set in the cable trough B, and the Y-axis positive drive cable and the Y-axis negative drive cable are installed. The driving direction is opposite; the tail of the Y-axis driving mechanism is connected with a hand connection seat; the arm connection seat is also connected with a guide rod through a universal ball mechanism.

Description

technical field [0001] The invention relates to a mechanism for a robot wrist connector, in particular to a robot wrist driving mechanism. Background technique [0002] Bionic robots and mechanical exoskeletons have always been the cutting-edge fields of medicine and industrial manufacturing. The fingers and arms of traditional mechanical exoskeletons are generally driven by several cylinders or linear stepping motors. The overall structure is relatively large and heavy, and It is quite different from the stretching drive of biological muscles, and the degree of simulation is also poor. At the same time, the traditional robot wrist structure is driven by several rotating stepper motors, which is heavy, causes large jitter when rotating, and has poor stability. Contents of the invention [0003] The technical problem to be solved by the present invention is to overcome the relatively large technical problem of the robot's elbow and finger part driving mechanism in the prior...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J9/00
CPCB25J17/00B25J9/0009
Inventor 陈有兵
Owner 陈有兵
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