Robot wrist and robot

Abstract

The invention discloses a robot wrist and a robot. The robot wrist comprises a wrist main body provided with a connecting end of a tail end flange, wherein an n-1 axis speed reducer mounting frame perpendicular to the connecting end of the tail end flange is arranged in the wrist main body; the inner space of the wrist main body is divided by the n-1 axis speed reducer mounting frame into a firstchamber and a second chamber; an n-1 axis speed reducer perpendicular to the n-1 axis speed reducer mounting frame is arranged in the first chamber; an n-axis driving motor parallel to the n-1 axis speed reducer mounting frame is arranged in the second chamber; an output end of the n-axis driving motor faces the connecting end of the tail end flange; an output end of the n-1 axis speed reducer isfixedly connected to the n-1 axis speed reducer mounting frame; and an input end of the n-1 axis speed reducer extends out of the wrist main body from the outside of an interface of an n-2 axis connecting rod. The robot comprises a machine wrist part, the tail end flange provided with an n-axis speed reducer and the n-2 axis connecting rod provided with an n-2 axis speed reducer, wherein the n-axis speed reducer and the n-2 axis speed reducer are coaxial. According to the robot wrist and the robot, the length of the wrist can be reduced, three axes intersect at one point, the operation space is reduced, and the energy consumption is reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot wrist and a robot. Background technique [0002] A robot generally includes joints such as end flanges, wrists, n-2 axis links and n-3 axis links. In the prior art, the robot wrist is relatively large in size, especially in a long length. The main reason is that the hollow reducer, hollow motor, and hollow motor driver are coaxially installed in the main body of the wrist along the length direction, and it will also cause the wrist The center of gravity is moved forward, reducing load capacity, and the cost of hollow components is much higher than that of non-hollow components. [0003] A longer wrist length requires a larger working space, which will cause the wrist to be set eccentrically relative to the n-2 axis. Refer to Figure 5 As shown, this will cause the n-axis, n-1 axis and n-2 axis to not intersect at one point, so that the Pieper criterion in robot kinematics...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the above-mentioned prior art, the present invention provides a robot wrist, which solves the technical problem of longer wrist length in the prior art; the present invention also provides a robot, which can solve the problem of n-axis, n-1 axis and n-axis - The technical problem that the two axes cannot intersect the three axes at one point can reduce the required work space and reduce energy consumption

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