Movement decoupling hydraulic driving three-degree-of-freedom spherical wrist

Abstract

The invention belongs to the technical field of robots, and particularly relates to a movement decoupling hydraulic driving three-degree-of-freedom spherical wrist. The problems that the flexibility,the posture adjustment capacity and the precision positioning capacity of an end effector are conducted due to the fact that a wrist is complex in structure, incompact, small in power intensity, low in integration level and high in self weight, a transmission chain is long, and movement coupling exists are solved. The movement decoupling hydraulic driving three-degree-of-freedom spherical wrist comprises a rotation hydraulic motor, an angle sensor, a machine frame, a displacement sensor, a pitching hydraulic oil cylinder, a pitching ring, a side-sway end cover, a bearing, a transmission shaft,a transmission shaft coupler and a side-sway hydraulic oil cylinder. The pitching axis, the side-sway axis and the rotation axis of the movement decoupling hydraulic driving three-degree-of-freedom spherical wrist cross at one point, uncoupling of three active input movements including pitching, side-sway and rotation can be achieved, thus, the posture of the wrist is easy and convenient to control, the control precision is high, the posture capacity is high, and the mechanical arm vibrating phenomenon caused by movement coupling generated during joint matching adjustment is avoided.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a hydraulically driven three-degree-of-freedom spherical wrist with motion decoupling. Background technique [0002] In today's rapidly developing society, robots are entering light industry, heavy industry, medical, military, aviation and other industries on a large scale, replacing humans to complete material transfer, assembly, classification, environmental survey, precise positioning and measurement of objects, light or micro processing And other operations, effectively reducing labor intensity, improving labor efficiency and prolonging working time, and even completing the working conditions that humans cannot handle due to various reasons. In response to this demand, many types of industrial robots have been developed. What these robots have in common is that they all need a flexible wrist mechanism to drive the end effector in order to effectively replace humans...

AI Technical Summary

Problems solved by technology

[0006] The present invention aims at the problems existing in the above-mentioned traditional three-freedom wrist and the three-degree-of-freedom wrist based on motor transmission, gear transmission or belt transmission. Kinematic coupling and the heavy weight of the wrist itself lead to the limited flexibility, attitude adjustment ability and precise positioning ability of the end effector. It provides a small shape, compact structure, short transmission chain, strong attitude ability, high integration, High power density, motion decoupling, and hydraulically driven three-degree-of-freedom spherical wrist

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