Three-degree-of-freedom spherical wrist based on hydraulic direct drive without singular configuration

Abstract

The invention discloses a three-degree-of-freedom spherical wrist based on hydraulic direct drive without singular configuration. The three-degree-of-freedom spherical wrist comprises a fixed block, an angle sensor, hydraulic motors, a rotating disc, a rotating ring and a rotating half ring. The fixed block is used for fixing the first-stage hydraulic motor. The rotating disc is rotationally connected to the fixed block through a bearing. The rotating disc and the first-stage hydraulic motor are in gear transmission. The rotating ring and the rotating disc are rotationally connected by the bearing. The second-stage hydraulic motor and the angle sensor are fixed on the inner side of the rotating ring. A shaft of the second-stage hydraulic motor penetrates an inner ring of the bearing and is fixedly connected to the rotating disc. The connection between the rotating half ring and the rotating ring is the same as the connection between the rotating ring and the rotating disc. By the adoption of the three-degree-of-freedom spherical wrist, the hydraulically driven three-degree-of-freedom spherical wrist movement does not have the singular configuration, a high-precision reducer does not need to be used and the three-degree-of-freedom spherical wrist has a series of advantages of the simple and compact structure, high power density, high load / self-weight ratio, strong bearing capacity and the like.

Description

technical field [0001] The invention relates to the field of robots, in particular to a hydraulically driven three-degree-of-freedom spherical wrist for an industrial robot without a singular configuration. Background technique [0002] Industrial robot (manipulator) is an important supporting technology of a country's advanced manufacturing industry and an important production equipment in an information society. It is of great significance to social development and enhancing military and national defense strength. Another strategic emerging industry. [0003] The wrist unit connects the robotic arm and the end effector, and its main function is to adjust the spatial attitude of the end effector to meet the job requirements. The wrist unit has an important influence on the positioning accuracy and space attitude control performance of the end effector, and its performance has become one of the main factors restricting the application of robots, and has become an important ...

AI Technical Summary

Problems solved by technology

[0005] The wrist joint motion transmission chain is long and the mechanical structure of the wrist unit is complicated , high manufacturing / maintenance costs, poor dynamic response characteristics of joints, low load / weight ratio, and cannot be used in sensitive electromagnetic environment conditions;

[0006] In the two major In terms of core components, there is a big gap between my country and developed countries such as Japan and Germany. In particular, high-precision reducers and servo drive systems are heavily dependent on imports, resulting in high cost of domestic industrial manipulators, which seriously restricts the development of my country's robot industry and international competitiveness. Formation

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