Quarter twist belt drive mode-based robot wrist mechanism

Abstract

The invention relates to a quarter twist belt drive mode-based robot wrist mechanism, which comprises a forearm, a sixth shaft driving device and a tensioning device, and also comprises a wrist body assembly arranged at the left end of the forearm, a quarter twist synchronous belt, a guide device matched with the quarter twist synchronous belt, and a locking device which is used for fixing the guide device and connected with the forearm, wherein one end of the quarter twist synchronous belt is connected with the sixth shaft driving device, and the other end of the quarter twist synchronous belt is connected with the wrist body assembly. The quarter twist belt drive mode-based robot wrist mechanism provided by the invention has the advantages of high working precision, stable and reliable work, small size, compact structure and convenient operation and maintenance. The quarter twist belt drive mode of a synchronous pulley is realized by adding the guide device on the forearm of a robotso as to overcome the noise and vibration defects brought by gear drive, reduce the production and manufacturing cost of the robot, and simplify the assembly mode of the robot wrist; a self-lubricating joint bearing structure is arranged inside the pulley, thus being favorable for eliminating the alternating stress generated by the high-speed movement of the robot wrist so as to ensure the stability of robot drive.

Description

technical field [0001] The invention relates to the technical field of robot wrist transmission mechanisms, in particular to a robot wrist mechanism based on a semi-cross transmission mode. Background technique [0002] The wrist of an industrial robot is an important part connecting the forearm and the end effector of the robot. Since the wrist part of the robot is at the end of the robot, its structure and transmission mode will directly affect the repetitive positioning accuracy, carrying capacity, and working mode of the robot. In the transmission structure of the general industrial robot wrist, most of them use bevel gears for transmission. The transmission of bevel gears will additionally introduce two disadvantages of clearance and friction. Domestic robot manufacturers are limited by the processing capacity of bevel gears, the accuracy of gears, and the materials It is not comparable to foreign manufacturers. Therefore, it is prone to noise and vibration, which serio...

AI Technical Summary

Problems solved by technology

In the transmission structure of the general industrial robot wrist, most of them use bevel gears for transmission. The transmission of bevel gears will additionally introduce two disadvantages of clearance and friction. Domestic robot manufacturers are limited by the processing capacity of bevel gears, the accuracy of gears, and the materials It is not comparable to foreign manufacturers. Therefore, it is prone to noise and vibration, which seriously affects the life and accuracy of domestic robots. In addition, the wrist of the bevel gear structure has great requirements for production and assembly, which will increase the production cost.

In order to solve the shortcomings caused by gear transmission, robot manufacturers at home and abroad have proposed a structure in which the motor directly drives the end effector. Although it can improve the accuracy of the robot and reduce the difficulty of assembly, the weight of the motor will cause excessive force on the wrist. , reducing the load capacity of the robot will also increase the overall weight of the robot. The direct connection of the motor requires a large space, resulting in a large structure of the robot wrist, which will cause the overall robot to be uncoordinated.

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