Design of wrist in largemiddle industrial robot
GONG Zhonghua1, GONG Xiaowen2
(1.School of Electrical Engineering, Changzhou Institute of Mechatronic Technology, Changzhou 213164, China; 2.Wujin Investigation Team, State Statistics Bureau, Changzhou 213100, China)
 

Abstract: In order to solve the technological problems of separation and assembly of harmonic drive and transmission part in the manufacture and maintenance process of industrial robot, the new technique and new functional unit were investigated. After the analysis of structure and problems in transmission part, a modular design of industrial robot wrist used in largemiddle vertical series industrial robot was presented. The wrist used assembly design and standardized production parts, and when maintenance and installation, there was no need to adjust and separate the harmonic reducer and the transfer group. Transmission part was positioned by flange, any regulation needed not be carried out. The actual production and performance testing results show that the new wrist can solve the installation and maintenance issues in traditional structure and extend the tool life. And the speed and position accuracy of B and T axes are raised by 10% to 20%.
Key words: industrial robot; vertical series; rear drive wrist; design