Manipulator with precision transmission device

Abstract

The invention discloses a manipulator with a precision transmission device, and relates to the technical field of robots. The manipulator with the precision transmission device comprises a wrist, anda wrist moving part for driving the wrist, wherein the wrist is an end effector; the wrist moving part comprises a four-axis driving part for driving the wrist to rotate, and a five-axis moving part for driving the wrist to swing up and down. According to the manipulator with the precision transmission device, the wrist is driven to swing up and down through the five-axis driving part, namely, theaxis position can be radially adjusted through a five-axis speed reduction wheel set, and assembling clearances of a first-stage gearwheel and an input gear are removed, and meanwhile, the assemblingclearances of a second-stage pinion and a second-stage gearwheel is removed. With the adoption of the manipulator with the precision transmission device, the engaging states of the two-stage gear transmission can be synchronously adjusted, so that the adjusted five-axis driving part is high in transmission rigidity and transmission stability; in addition, the four-axis driving part can be optimized, so that the stability of the wrist in rotating can be improved; and the wrist can be accurately positioned.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a manipulator with a precision transmission device. Background technique [0002] At present, in the industrial field, the manipulator is playing an increasingly important role. As the wrist of the end effector, it requires high movement precision, but the current transmission device is difficult to meet the requirements. The manipulator needs to rotate the wrist, swing up and down, and Circular motion, and the precise positioning of the wrist is mainly guaranteed by the parts that perform the wrist rotation and up and down motions, and these two parts are affected by the transmission device. At present, most of them are realized by harmonic gear transmission mechanism, but harmonic Wave gear transmission also has some disadvantages, such as easy fatigue damage, difficult manufacture, difficult maintenance, large starting torque, etc. Therefore, a set of precision transmission dev...

AI Technical Summary

Problems solved by technology

[0002] At present, in the industrial field, the manipulator is playing an increasingly important role. As the wrist of the end effector, it requires high movement precision, but the current transmission device is difficult to meet the requirements. The manipulator needs to rotate the wrist, swing up and down, and Circular motion, and the precise positioning of the wrist is mainly guaranteed by the parts that perform the wrist rotation and up and down motions, and these two parts are affected by the transmission device. At present, most of them are realized by harmonic gear transmission mechanism, but harmonic Wave gear transmission also has some disadvantages, such as easy fatigue damage, difficult manufacture, difficult maintenance, large starting torque, etc. Therefore, a set of precision transmission device is needed to ensure the precise positioning of the end effector of the manipulator

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