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Three-axis rotating robot joint

A technology of robot joints and three-axis rotation, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of complex structure, prone to failure, single solidification of industrial robot structure, etc.

Active Publication Date: 2021-07-06
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the current field of manipulator manufacturing, components with one degree of freedom input and one degree of freedom output are often used, and the structure of industrial robots is single and solidified; in order to realize more functions of robots, parts have to be added, the structure is more complicated, and the production cost High, and prone to failure; in order to solve the above problems, we propose a three-axis rotating robot joint

Method used

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  • Three-axis rotating robot joint
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  • Three-axis rotating robot joint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] see Figure 1-5 , a three-axis rotating robot joint, including a drive motor 22, a rear mounting shell 23, a middle mounting shell 24, a front mounting shell 25 and a front mounting block 26, a rear mounting shell 23, a middle mounting The installation housing 24, the front-end installation housing 25 and the front-end installation block 26 are fixedly connected sequentially along the axial direction to form a complete installation housing; the driving motor 22 is fixedly installed on the rear-end installation housing 23 through fixing bolts, and the output of the driving motor 22 A planetary gear mechanism is connected to the shaft, and the planetary gear mechanism is installed inside the rear-end installation housing 23 and the middle-end installation housing 24. The planetary gear mechanism is also connected with the planetary differential mechanism, and the planetary differential mechanism is installed in the middle-end installation housing. Body 24, front-end insta...

Embodiment 2

[0036] see Figure 1-5 , with the basis of Example 1 differing in that,

[0037] Rotation form of the first output shaft rod 20:

[0038] When it is required to rotate with the first output shaft 20, the second locker 15 is used to lock the coupling ring gear 5 so that it cannot rotate, and the second output shaft 9 is locked by the first locker 12 at the same time. so that it cannot rotate by itself, so that the fixed locking of the coupling gear 3 can be realized. At this time, the driving motor 22 is started, and the driving motor 22 drives the sun gear 1 to rotate through the output shaft. When the sun gear 1 rotates, it drives and meshes with it. The first planetary gear 2 rotates, and the first planetary gear 2 meshes with the ring gear 4, so that the power can be transmitted to the ring gear 4 exclusively. The ring gear 4 is also meshed with the double spur gear 18, and the double spur gear 18 is fixedly connected with the third double-joint bevel gear 19 and rotates ...

Embodiment 3

[0040] see Figure 1-5 , the basis of combining Examples 1-2 is different in that,

[0041] Rotation form of the second output shaft rod 9:

[0042] When required to rotate with the second output shaft 9, utilize the third lock 17 to lock the ring gear 4 so that it cannot rotate, and utilize the second lock 15 to lock the coupling ring gear 5 simultaneously so that It cannot be rotated. At this time, the driving motor 22 is started, and the driving motor 22 drives the sun gear 1 to rotate through the output shaft. The frame ring gear 5 is meshed and connected, so that the power can be uniquely transmitted to the frame ring gear 5. When the frame ring gear 5 rotates, the second planetary gear 6 and the third planetary gear 16 that are meshed with it rotate, thereby driving the gear The frame 7 rotates; the first bevel gear 8 and the second bevel gear 14 are connected in rotation on the gear frame 7, and the power is sequentially transmitted to the second double bevel gear 13,...

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PUM

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Abstract

The invention discloses a three-axis rotating robot joint, and belongs to the technical field of robot joints. The three-axis rotating robot joint comprises a driving motor, a rear-end mounting shell, a middle-end mounting shell, a front-end mounting shell and a front-end mounting block, and the rear-end mounting shell, the middle-end mounting shell, the front-end mounting shell and the front-end mounting block are fixedly connected in sequence in the axis direction to form a complete mounting shell; and the driving motor is fixedly installed on the rear-end mounting shell through a fixing bolt, an output shaft of the driving motor is connected with a planet wheel mechanism, the planet wheel mechanism is installed in the rear-end mounting shell and the middle-end mounting shell, and the planet wheel mechanism is further connected with a planet differential mechanism, and the planet differential mechanism is mounted in the interiors of the middle-end mounting shell, the front-end mounting shell and the front-end mounting block. The problems that an existing design structure is single and fixed, the structure is complex, the use cost is high, and faults are prone to occurring are effectively solved.

Description

technical field [0001] The invention relates to the technical field of robot joints, in particular to a three-axis rotating robot joint. Background technique [0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have certain automation and can realize various industrial processing and manufacturing functions by relying on their own power energy and control capabilities. The robotic arm system and the main control computer consist of two parts: the modular robotic arm and the dexterous hand; the robotic arm refers to a complex system with high precision, multiple input and multiple output, high nonlinearity, and strong coupling; Unique operational flexibility has been widely used in industrial assembly, safety explosion-proof and other fields. [0003] In the current field of manipulator manufacturing, components with one degree of freedom input and one degree of freedom output are often u...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/02
Inventor 邱明明秦梅玲唐子临赵润辰
Owner HEFEI UNIV OF TECH