A hydraulically driven three-degree-of-freedom spherical wrist with motion decoupling

A degree of freedom and movement technology, applied in the field of robots, can solve the problems of limited attitude adjustment ability and precise positioning ability, heavy wrist weight, and long wrist transmission chain, etc., to achieve strong attitude ability, compact structure, and small moment of inertia. Effect

Active Publication Date: 2022-06-07
TAIYUAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • A hydraulically driven three-degree-of-freedom spherical wrist with motion decoupling
  • A hydraulically driven three-degree-of-freedom spherical wrist with motion decoupling
  • A hydraulically driven three-degree-of-freedom spherical wrist with motion decoupling

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Embodiment Construction

[0022] Attached below figure 1 ~attached image 3 The embodiments of the present invention will be further described.

[0023] like Figure 1-Figure 3As shown, the motion-decoupled hydraulically driven three-degree-of-freedom spherical wrist in this embodiment is composed of an autorotation hydraulic motor 1, an angle sensor 2, a frame 3, a first displacement sensor 4, a pitch hydraulic oil 5, and a pitch Ring 6, first connecting screw 7, connecting rib 8, second connecting screw 9, side swing end cover 10, first bearing 11, second transmission shaft 12, universal joint 13, first transmission shaft 14, coupling Shaft 15, second bearing 16, side swing hydraulic cylinder 17, second displacement sensor 18, wherein the bottom of the frame 3 is provided with a cylindrical groove for placing the autorotation hydraulic motor 1, and a cylindrical groove for placing the second bearing 16 is opened in the middle. The groove and the round hole for the motor shaft to extend, the top is...

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Abstract

The invention belongs to the technical field of robots, and specifically relates to a hydraulically driven three-degree-of-freedom spherical wrist with motion decoupling. The heavy weight of the wrist itself leads to the limitation of the flexibility, attitude adjustment ability and precise positioning ability of the end effector, including autorotation hydraulic motor, angle sensor, rack, displacement sensor, pitch hydraulic cylinder, pitch ring, side Swing end cover, bearing, drive shaft, drive shaft coupling, side swing hydraulic cylinder. The pitch axis, side swing axis and rotation axis of the wrist of the present invention intersect at one point in space to form a spherical wrist, which can realize the decoupling of the three active input motions of pitch, side swing and rotation, making the control of wrist posture simple and easy It has high control precision and strong attitude ability, which avoids the shaking phenomenon of the mechanical arm caused by kinematic coupling when the joints are coordinated and adjusted.

Description

technical field [0001] The invention belongs to the technical field of robots, and particularly relates to a motion-decoupled hydraulically driven three-degree-of-freedom spherical wrist. Background technique [0002] In today's fast-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, accurate positioning and measurement of objects, light or micro processing. Such operations can effectively reduce labor intensity, improve labor efficiency and prolong labor time, and even complete 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 require a flexible wrist mechanism to drive the end effector to effectively replace humans to complete specific tasks. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02
CPCB25J17/0275
Inventor 汪成文陈帅张震阳郭新平兰媛
Owner TAIYUAN UNIV OF TECH
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