Active wrist mechanism used for mechanical arm or snake shaped robot

Abstract

The invention discloses a two-rotation freedom degree active wrist mechanism for mini-mechanic arm or snake-moving robot in the mechanic technical domain, which is characterized by the following: fixing motor in two motor cylinders and two fixing caps; connecting two bevel gears and two big gears with output shaft of motor strictly; gearing two big gears and two small gears fixed on the output shaft of potentiometers; fixing two conical gears at the sector end surfaces with two shafts of cross-shaped coupling shaft; gearing the conical wheel and the conical gear at the sector end surface; fixing four racks on two upper and lower fixing end caps symmetrically; connecting the corrugation pipe with two fixing end lids to form a complete sealing mechanism. The invention has light and regular appearance, simple driven system, compact structure and good gesture, which improves the packing property for driving element and driven element to be convenient to integrate the system.

Description

technical field [0001] The invention relates to a device in the field of mechanical technology, specifically, an active wrist mechanism for a mechanical arm or a snake-like robot. Background technique [0002] At present, in terms of production and life, especially in dangerous and extreme environments, robots, as a special machine created by humans, have extremely broad application prospects. Robots are replacing people in various tasks, such as precise positioning, detection, imaging or rescue of specific objects. The robot wrist is the part connecting the end effector and the mechanical arm. Its main function is to adjust or change the orientation of the workpiece, so it has independent degrees of freedom to make the robot end effector adapt to complex action requirements. There are two types of typical robot wrists: (1) composed of hydraulic motor direct drive; (2) composed of gear transmission. Nowadays, 3-DOF wrists are mostly used, and most of them are composed of m...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies in the prior art, the present invention provides an active wrist mechanism for a mechanical arm or a snake-shaped robot that has a small number of parts, a simple and compact structure, a high degree of modularization, and can realize plug-and-play. There are problems in the technology that the robot wrist transmission system is complex, the structure is not compact enough, and the degree of modularization is not high

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