95 results about "Robot wrist" patented technology

An apparatus (1) and associated method for automatically testing an infotainment system of a motor vehicle (V) comprises: a first multi-axis articulated robot (2) including a chain of robotic elements (21, 22, 23) articulated to one another and terminating in a robot wrist (24); a second multi-axis articulated robot (3) mounted on the wrist (24) of the first robot (2), the second robot (3) being configured to enter a passenger compartment of the motor vehicle (V).

An apparatus and method for automatically testing an infotainment system of a motor-vehicle. The apparatus includes, and the method is configured to use, a first multi-axis articulated robot including a chain of connected robot elements which are mutually articulated and ending with a robot wrist, and a second multi-axis articulated robot mounted on the wrist of the first robot. Wherein the second robot is configured for entering into a passenger compartment of the motor-vehicle to automatically test the infotainment system.

The invention belongs to the technical field of flange manufacturing, and provides a mechanism for reducing abrasion of a wrist flange plate of a six-axis robot. A groove structure is arranged on the matching surface of the wrist flange plate and the pressing ring and comprises a first groove and a first elastic body, a boss embedded into the pressing ring is arranged in the center of the wrist flange plate, the first groove surrounds the boss, the first elastic body is arranged in the first groove, one side of the first elastic body is in contact with the wrist flange plate, and the other side of the first elastic body is in contact with the pressing ring. The other side of the first elastic body contacts with the pressing ring. By changing the structure, complete rigid connection is converted into elastic and plastic connection, so that abnormal abrasion is reduced, and the service life of the wrist flange plate is prolonged; lubricating oil is stored, so that the friction coefficient between parts is reduced, and the impact of abnormal clamping and collision of the external clamping jaw can be absorbed; the elastic body is arranged between the wrist flange plate and the pressing ring, fixing reliability between the wrist flange plate and the pressing ring is improved, and machining requirements are reduced.

The present invention proposes a mobile robotic system capable of carrying out the movement, manipulation and precise installation of industrial loads (pipes, plates, equipment, parts, materials, etc.), using a single operator for that and presenting ease of use. The invention is basically composed of an anthropomorphic-type industrial robot (3) and a crawler mobile platform (11). The load capacity of the invention is limited by the maximum load capacity of the industrial robot employed. The precise positioning step has a special force amplification system (external exoskeleton) capable of moving a load fixed on the industrial robot wrist (position and orientation) with the force actions of an operator, directly on the robot wrist, or by means of a security extension. The robotic system can be controlled by radio control, capable of allowing both the control of the robot and the movement of the platform.The proposed system of this invention comprises a mobile platform for all types of terrain, an industrial robotic arm, an effector for handling pipes, an effector to pick up metal plates, the respective supports of effectors in a quick tool change system, a diesel electric generator, an industrial radio control, safety sensors and a video monitor for two cameras positioned on the robot structure.

A robot system including a plurality of robots, controllers that respectively control the robots, hands attached to wrist ends of the robots and configured to hold and release a workpiece, and a sensor configured to detect that the workpiece is being held by the hands of the robots. The controllers are interconnected and configured to exchange signals so that the robots operate in coordination in response to an operation command that includes a coordination command, and prohibit operation of each of the robots based on an operation command that lacks a coordination command in a state in which the sensor detects the workpiece being held.

The utility model discloses a robot wrist and a robot. The robot wrist comprises a forearm body, a wrist body and an autorotation driving mechanism. The rotation driving mechanism is used for driving the actuator to rotate around a J6 axis relative to the wrist body; and the rotation driving mechanism and the wrist body as a whole rotate around a J5 axis relative to the forearm body so as to drive the actuator to rotate around the J5 axis. The wrist body comprises a mounting cavity extending along the J6 axis, and the mounting cavity comprises a mounting cavity side wall perpendicular to the J6 axis. The autorotation driving mechanism comprises an autorotation motor and an autorotation speed reducer used for being connected with an actuator. The autorotation speed reducer is mounted on the outer side of the side wall of the mounting cavity. The rotation motor is directly installed on the inner side of the side wall of the installation cavity under the positioning effect of the positioning mechanism and located in the installation cavity. The motor shaft of the autorotation motor is connected with the autorotation speed reducer through the through hole in the side wall of the mounting cavity, so that the autorotation motor is high in mounting precision and simple to mount through combination of a positioning function and direct mounting.

A computerized method for estimating joint friction in a robotic wrist joint of an end effector is disclosed. A sensor measurement of force or torque is generated in a transmission device that mechanically couples the robotic wrist to an actuator. The joint friction in the robotic wrist joint driven by the actuator is calculated by applying the sensor measurement of force or torque to a closed form mathematical expression that relates a transmission force or transmission torque variable to a joint friction variable. A tracking error of the end effector is also calculated using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.

The present invention discloses a robot wrist body processing inspection tool in the field of inspection tool technology, including an inspection base plate, a front fork frame, a cross fork frame and a positioning frame fixedly connected to the top of the inspection base plate, the cross fork frame is provided with two on both sides of the front fork frame, a positioning column and a center column are fixedly installed in the positioning frame, and a front pressure plate is slidably connected to the outside of the center column; the present invention can inspect multiple surfaces and specific positions at one time, is more efficient, saves time and improves efficiency, and the fixed inspection is more accurate and more flexible to use.

The invention relates to a robot wrist and an assembling method thereof, the robot wrist comprises a fixing seat and a mounting frame, and the mounting frame is connected to the fixing seat; a driving driving module and a driven driving module are arranged on the mounting frame, and the driven driving module is connected with an output flange capable of outputting left and right yawing actions; the driving driving module is in transmission connection with the driven driving module through a belt transmission assembly, so that the driving driving module can drive the driven driving module to perform up-and-down pitching action on the mounting frame; an idle wheel capable of moving up and down is connected to the mounting frame and can press down at least one part of the transmission belt; the device further comprises a falling weight, and the falling weight is detachably connected to the idle wheel in a hung mode and used for adjusting the tensioning force of the transmission belt through the gravity of the falling weight.

A system or methodology for controlling the movement of a robot (600) using actuators, the system may include one or more first type actuators (1002) positioned at the robot's torso, shoulder, and hip positions, one or more second type actuators (1004) positioned at the robot's wrist positions, one or more third type actuators (1006) positioned at the robot's wrist positions, one or more fourth type actuators (1008) positioned at the robot's elbow and ankle positions, one or more fifth type actuators (1010) positioned at the robot's torso and hip positions, and one or more sixth type actuators (1012) positioned at the robot's knee and hip positions.

The invention relates to a robot (1) comprising a robot base (2), a rotatable robot limb (5), a proximal robot arm (6), a distal robot arm (7), and a robot wrist axis (8). The invention provides that the first robot axis (A1) lies between the robot base (2) and the rotatable robot limb (5), and the fourth robot axis (A4) lies between the distal robot arm (7) and the robot wrist axis (8), in offset planes independent of the robot's position.

An end effector includes a body including a first body portion connected to a robot wrist; a second body portion extending from the first body portion and including a first arm, a second arm, and a slot between the first and second arms; and a plurality of contact pads. The plurality of contact pads include N contact pads arranged on the second body portion adjacent to the first body portion, where N is an integer greater than two; M contact pads arranged on distal ends of the first arm and the second arm, respectively; P contact pads; and Q contact pads, where M, P, and Q are an integers greater than one. The P contact pads and the Q contact pads are located on the first arm and the second arm between the N contact pads and the M contact pads.

The utility model provides a wrist structure of industrial robot belongs to the technical field of robot, it has solved the wrist structure of existing industrial robot to be difficult to guarantee the technical problem of sealing while improving the convenience of wiring. The wrist structure of this industrial robot, including including box and wrist shell, wrist shell rotates and is connected on the box, and the wrist shell includes the body and the wire outlet cylinder that is annular, the outside of body has the annular boss, one end face of wire outlet cylinder has the annular positioning convex ring, and the wire outlet cylinder is coaxial with the boss and is fixedly connected, and the positioning convex ring is coaxially positioned and inserts in the boss. The utility model has considered the sealing and the convenience of wiring of robot wrist.

The present application relates to the technical field of surgical robots, and discloses a wrist mechanism, a master manipulator, a master console and a surgical robot. The wrist mechanism comprises a rotating assembly, a first wrist connecting rod, a rotating shaft and a compensation assembly. The rotating assembly is connected to a first end of the rotating shaft, the rotating shaft is horizontally arranged and rotatably arranged in the first wrist connecting rod, and the compensation assembly comprises a flexible member, an elastic member, a winding member and two guide wheels. One end of the elastic member is connected to the first wrist connecting rod, the winding member is connected to a second end of the rotating shaft, the gravity center of the winding member and the rotating assembly is respectively located on the two sides of the rotating shaft axis, the guide wheels are rotatably connected to the first wrist connecting rod, the guide wheels are located below the rotating shaft, one end of the flexible member is connected to the winding member, the flexible member passes through the gap between the two guide wheels and is connected to the elastic member. The present application can balance the gravity of the rotating assembly, is beneficial to relieving the fatigue of the operator, improves the safety of the operation, simultaneously reduces the possibility of structural damage, reduces the maintenance cost and the production cost.

To provide a robot wrist that is compact and has a large stroke in a straight advance direction.SOLUTION: A robot wrist 4 comprises a first base 41, a second base 42, a link mechanism 6 and a first actuator 51. The link mechanism 6 includes a Chebyshev link mechanism 60 that connects the second base 42 to the first base 41 so that the second base can move linearly in a straight advance direction Z. The Chebyshev link mechanism 60 has: an original driving node 61 connected to the first base 41 rotatably around a drive shaft D and rotationally driven; a driven node 62 connected to the first base 41 rotatably around a shaft parallel to the drive shaft D; and intermediate nodes 63 connected to the original driving node 61 and the driven node 62 respectively rotatably around the shaft parallel to the drive shaft D. The second base 42 is connected to the intermediate node 63.SELECTED DRAWING: Figure 3

The invention relates to a mobile TCP calibration method for an industrial robot, which is characterized by comprising the following steps of: 1, setting a wrist coordinate system {R} taking a wrist end point of the robot as an original point; the initial tool coordinate system {T0} is set, the initial tool coordinate system takes the TCP as the original point TCP0, and the setting direction of the tool coordinate system {T0} is the same as that of the robot wrist coordinate system {R. The method is simple, easy to operate, extremely small in calculated amount and high in calibration accuracy. The calibration accuracy is improved in actual work, and a large amount of time is saved.

The utility model provides an automatic welding robot for building steel members, and relates to the technical field of welding robots. The top end face of the fixed base is rotationally connected with a robot big arm. The upper part of the robot big arm is rotationally connected with a robot crutch rod; the front part of the robot crutch rod is rotationally connected with a robot forearm; a robot wrist is rotationally connected into the robot forearm; a robot welding gun is arranged at the tail end of the robot wrist part; two mounting seats are symmetrically and fixedly connected to the bottom end surface of the robot welding gun; and a connecting rotating rod is rotationally connected into each of the two mounting seats. An electric push rod is started while the welding robot is used for welding, and then a connecting rotating rod drives an anti-splashing cover to be closed through a series of transmission to cover a robot welding gun and a welding area, so that the problem that welding slag splashes everywhere and easily falls out of the welding working area is solved; and the surrounding environment is polluted, and meanwhile, surrounding workers are easily injured.

To provide a system and a method for controlling a gripping force or an opening force of a surgical tool such as a wrist jaw of a robot-assisted surgical system.SOLUTION: The grip force generated by closing the robot wrist jaws while operating in the position mode in which the jaws are commanded to the desired jaw angle before being commanded to generate the grip force is limited, and the opening force generated by the robot wrist jaws operating in the position mode in which the jaws are commanded to the desired jaw angle is maintained. It also achieves a smooth transition in grip force when the wrist jaws transition between the position and force modes.SELECTED DRAWING: Figure 7

The invention discloses a forward and inverse kinematics calculation method for a 2-SPS-1U parallel mechanism of a humanoid robot, and relates to the technical field of humanoid robots. Inverse kinematics calculation includes the steps that the pitch angle and the roll angle of a wrist, the inherent position of a spherical hinge point at the tail end of an SPS branched chain and the fixed translation vector of a wrist rotating shaft base coordinate system relative to a driving motor coordinate system are obtained; and constructing an attitude rotation matrix to convert the tail end spherical hinge point to a real-time coordinate, converting the real-time coordinate to a driving motor coordinate system by combining a fixed translation vector, and calculating a coordinate vector modulus length to obtain a branched chain telescopic length. The forward kinematics solution comprises the steps of obtaining the actually measured length and constant parameters of the branched chain, and constructing a nonlinear equation set by taking a roll angle and a pitch angle as unknown quantities; and solving by combining a two-dimensional residual vector with a Newton iteration method, estimating a Jacobian matrix by using a finite difference method in iteration, and outputting an attitude angle when the residual is smaller than a threshold value. The method is accurate and stable in calculation and adapts to the robot wrist joint control requirement.

The invention discloses a three-degree-of-freedom robot wrist with bidirectional active clutch and brake functions, and relates to the technical field of mechatronics. The tail end parallel joint is installed on the top of the rack through the universal joint, the two linear motors are installed on the two sides of the tail end parallel joint, the bottom shell is rotationally connected with the top shell, the bottom rotating base is fixed in the bottom shell, the top rotating base is rotationally connected with the bottom rotating base, the bottom of the rack is fixed to the top rotating base, and the upper end of the rack is fixedly connected with the top shell. The rotating motor is fixed to the bottom in the rack and connected with the two-way clutch through the planetary gear reducer, and a rotating shaft of the two-way clutch is fixedly connected with the bottom rotating base. The torsion action is added on the basis of pitching and yawing, three-degree-of-freedom motion output is achieved, the three-degree-of-freedom motion output is intensively designed in the shell mechanism in a series-parallel mode, the axial size is reasonably controlled, bidirectional unlocking and locking of torsion are achieved through the bidirectional clutch, and the flexibility of the robot wrist is effectively improved.

According to the wrist structure of the humanoid robot and the humanoid robot, the universal joint structure is adopted for the wrist structure, and on the basis that a pitching rotating shaft and a rolling rotating shaft intersect, the intersection point is located in the structural center of the universal joint, so that no matter how the wrist of the robot tilts up and down, swings left and right and the like, the robot can stably rotate. The two central axes of pitching motion and left-right swing intersect at one point all the time, the structure is more compact, and due to the structure, when the wrist of the robot moves, the sweeping space of the motion is small; the structural design of the cross shaft is a structural form closest to wrist movement, and the wrist movement is in up-down and left-right symmetry, so that subsequent hand control and algorithm analysis are facilitated.

The utility model relates to the technical field of robots, and discloses a robot wrist joint power structure which comprises a robot base, a motor is fixedly installed on the right side of the robot base, a rotating shaft is fixedly installed at the output end of the motor, and two baffle rings are fixedly installed outside the rotating shaft. Lubricating mechanisms are arranged on the left side and the right side of the robot base correspondingly, collecting mechanisms are arranged in the lubricating mechanisms, when a baffle moves upwards to leak out of a rectangular groove, lubricating oil in an oil storage tank falls out of a rotating shaft through a discharging opening for lubricating, and redundant lubricating oil falls into an oil blocking frame and flows into an oil inlet groove through an oil storage gap; the part, rotating in the robot base, of the rotating shaft is lubricated, so that friction force between the rotating shaft and the robot base is reduced, redundant lubricating liquid is collected in a collecting drawer through an oil discharging groove, an inserting column is pulled upwards to be separated from the interior of the collecting drawer, the collecting drawer is pulled out, internal lubricating oil is taken out, and after treatment, secondary utilization is conducted again, and resources are saved.

The invention provides a robot wrist structure and a robot with the robot wrist structure, and the robot wrist structure comprises a wrist part which comprises a first shell, a tail end flange is rotatably arranged in the first shell around the axis of the first shell, one end of the tail end flange is used for being connected with a tail end execution component, and the tail end flange is of a hollow structure; the wrist part is rotatably connected with the arm part, the arm part comprises a second shell, a first transmission mechanism and a second transmission mechanism, the first transmission mechanism and the second transmission mechanism are arranged in the second shell, the first transmission mechanism is in transmission connection with the first shell, and at least part of the second transmission mechanism is in transmission connection with the tail end flange; and the first shell and the tail end flange are driven to rotate correspondingly, so that the problem that in the prior art, a robot wrist structure is large in size, the number of machining parts is large, and consequently cables and pipelines cannot penetrate through the double-support wrist part and are wrapped and protected is solved.

The utility model relates to the technical field of robots, in particular to a robot wrist joint steering structure which comprises a mechanical arm body, one end of the mechanical arm body is fixedly connected with two symmetrical L-shaped plates through bolts, and one end of the mechanical arm body is provided with a connecting plate through bolts. A double-end motor is installed at the other end of the connecting plate, the output end of the double-end motor is fixedly connected with the frame wall of the concave frame, the small mechanical arm is connected to the frame wall of the concave frame through a bolt, a mechanical arm body drives the small mechanical arm to rotate reversely, and the small mechanical arm drives the mechanical hand to rotate. The operation efficiency is improved in the scene that the mechanical arm rapidly switches the direction or bypasses the obstacle.

The invention relates to the technical field of industrial robots, in particular to a stacking robot wrist supporting structure and a rigidity calibration method. The structure comprises a forearm and a wrist, and the connecting end of the forearm and the connecting end of the wrist are each of a U-shaped structure. The small arm comprises a left small arm hinge lug and a right small arm hinge lug; the wrist comprises a left wrist hinge lug and a right wrist hinge lug; the left forearm hinge lug and the right forearm hinge lug are located on the inner side of the left wrist hinge lug and the inner side of the right wrist hinge lug respectively, the left forearm hinge lug and the left wrist hinge lug are hinged through a left short shaft assembly, and the right forearm hinge lug and the right wrist hinge lug are hinged through a right short shaft assembly. The supporting rigidity of the wrist is improved, the supporting rigidity can be adjusted while the axial relative position of the wrist and the forearm meets the bearing pre-pressing requirement, and the axial rigidity of the two hinge lugs of the wrist and the two hinge lugs of the forearm is improved.

The present invention relates to a vertical multi-joint robot wrist axis fastening structure. The present invention comprises: 5-axis bevel gear A having the other end connected to a 5-axis shaft, a bevel gear crest being formed on one end of the 5-axis bevel gear A, and the 5-axis bevel gear A being supported at a 6-axis shaft via a bearing; 5-axis bevel gear B meshing with a thread of the 5-axis bevel gear A at one end of the 5-axis shaft so as to convert the axis of rotation perpendicularly, the 5-axis bevel gear B being coupled to the input axis of a 5-axis reducer and fixed by a first nut; 6-axis bevel gear A positioned on the front end of a 6-axis shaft while being fixed by a second nut, the 6-axis bevel gear A having a bevel gear crest meshing with a bevel gear crest formed on one end of 6-axis bevel gear B for converting the axis of rotation perpendicularly; 6-axis bevel gear B having a bevel gear crest formed on one end thereof so as to mesh with the 6-axis bevel gear A, and having a spur gear crest formed on the other end thereof; 6-axis bevel gear C having a bevel gear crest formed on one end thereof so as to mesh with 6-axis bevel gear D, and having a spur gear crest formed on the other end thereof so as to mesh with the 6-axis bevel gear B; and 6-axis bevel gear D having a bevel gear crest formed on one end thereof so as to mesh with the 6-axis bevel gear C, the other end of the 6-axis bevel gear D being fixed to the input axis of a 6-axis reducer by a third nut. The position in which the 5-axis bevel gear A and the 5-axis bevel gear B mesh and position in which the 6-axis bevel gear A and the 6-axis bevel gear B mesh are determined such that respective axes of rotation are arranged on the same straight line.

The present invention belongs to the field of flange manufacturing technology, and provides a wear reduction mechanism for a wrist flange of a six-axis robot. The present invention includes a wrist flange and a pressure ring, and the mating surfaces of the wrist flange and the pressure ring are provided with a groove structure, and the groove structure includes a first groove and a first elastomer, and a boss embedded in the pressure ring is provided at the center of the wrist flange, and the first groove surrounds the boss, and a first elastomer is provided in the first groove, and one side of the first elastomer contacts the wrist flange, and the other side of the first elastomer contacts the pressure ring. Through the above-mentioned structural changes, the completely rigid connection is transformed into a connection method with elasticity and plasticity, thereby reducing abnormal wear and extending the service life of the wrist flange; storing lubricating oil reduces the friction coefficient between components, and can absorb the impact of abnormal clamping and collision of the external clamp; an elastomer is provided between the wrist flange and the pressure ring to improve the fixation reliability between the wrist flange and the pressure ring and reduce processing requirements.

The utility model relates to the field of robot wrists, in particular to a hollow robot wrist based on hypoid gears, which comprises an external shell and an internal transmission system. Specifically, the shell comprises a six-axis shell, a six-axis support, a wrist body connected with the six-axis support through a six-axis first screw, a five-axis support connected with the wrist body through a five-axis first screw, and a five-axis third gear connected with the six-axis shell through a five-axis second screw. The transmission system comprises a five-axis transmission system and a six-axis transmission system, through accurate calculation and selection of gaskets, the clearance between bearings is successfully eliminated, the stability and the accuracy of the transmission system are improved, the structure of the transmission system is simplified by using a quasi-double-gear transmission scheme, the number of parts and the assembly complexity are reduced, and the cost is reduced. And the system failure rate is reduced.

A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.

The application provides a quick assembly device and method for a robot wrist assembly, the assembly device comprising a left side plate and a right side plate vertically arranged on both sides of the assembly device, and a detachably connected upper cover plate and a lower bottom plate arranged in a horizontal direction between the left side plate and the right side plate, wherein the distance between the lower surface of the upper cover plate and the upper surface of the lower bottom plate is the same as the distance between the upper surface of the upper plate of the wrist assembly and the lower surface of the lower plate of the wrist assembly, and the upper cover plate is provided with an assembly hole. The method comprises placing the wrist assembly into the assembly device for accurate height and parallelism adjustment. The application can quickly and accurately make the upper plate of the wrist assembly and the lower plate of the wrist assembly reach a fixed assembly distance, and also make the upper plate of the wrist assembly and the lower plate of the wrist assembly reach accurate parallelism. Therefore, the quick assembly device and method provided by the application have the advantages of simplicity, quickness and high accuracy when assembling the wrist assembly.