CN210998716U - Worm and gear type robot joint and robot - Google Patents
Worm and gear type robot joint and robot Download PDFInfo
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- CN210998716U CN210998716U CN201921763309.0U CN201921763309U CN210998716U CN 210998716 U CN210998716 U CN 210998716U CN 201921763309 U CN201921763309 U CN 201921763309U CN 210998716 U CN210998716 U CN 210998716U
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Abstract
The utility model relates to a robot joint drive technical field especially relates to a worm gear formula robot joint and robot. The utility model discloses a be provided with power unit, power conduction mechanism and actuating mechanism, actuating mechanism passes through power conduction mechanism and is connected with power unit, and the worm gear by power conduction mechanism drives the scheme setting of accomplishing the action, provides a worm gear formula robot joint. The utility model discloses follow-up good, small. The robot made by connecting the manipulator motor and the manipulator at the front end of the worm-gear type robot joint can flexibly and conveniently realize related operation functions.
Description
Technical Field
The utility model relates to a robot joint drive technical field especially relates to a worm gear formula robot joint and robot.
Background
A robot is an automated machine that mimics certain activities of a human. Generally, the walking and production tool operation actions can be realized, and the walking and production tool operation actions can be used for replacing people to work in an environment which cannot be adapted by people. Modern robots are equipped with electronic computers, which, through programming, can have a certain degree of artificial intelligence, such as recognizing languages and images, and making appropriate responses.
In the moving process of the robot, the robot can simulate certain actions of a human, and an automatic operation device used for grabbing and carrying objects or operating tools according to a fixed program needs to drive joints of the robot to perform a series of motions such as linear motion, rotation and the like, so that all actions are completed. In recent years, mechanical arms are widely applied to the field of automation, but the existing mechanical arms often have no following property, and because the joints between the arm support and the arm support are in rigid connection, when the mechanical arms move, the joints connecting the arm support do not have following property; further, conventional robots have various very complicated mechanisms in the joints, so that the joints of the robot become abnormally bulky. The size of the joints becomes a critical factor for small robots, especially for cooperative robots that are required to cooperate with people to perform complex, secondary production operations. The above-mentioned shortcomings in the prior art bring much inconvenience to practical use, so it is necessary to improve.
SUMMERY OF THE UTILITY MODEL
The utility model provides a worm gear formula robot joint, aim at provide a robot joint that following nature is good, small.
In order to achieve the above object, the utility model adopts the following technical scheme:
a worm-gear type robot joint comprises
A power mechanism is arranged on the base plate,
the input end of the power transmission mechanism is connected with the output end of the power mechanism;
and the actuating mechanism is connected with the output end of the power transmission mechanism, and the power transmission mechanism drives the actuating mechanism to complete the action.
The power mechanism adopts a main motor, and the output end of the main motor is connected with the input end of the power transmission mechanism.
The power transmission mechanism comprises a driven gear, a driving gear, a transmission shaft, a flexible shaft connecting shaft, a flexible shaft, a shaft coupler, a worm shaft sleeve chamber, a worm shaft sleeve chamber bracket and a worm shaft sleeve; the driving gear is connected to the output end of the power mechanism, the driving gear is connected to one end of a flexible shaft connecting shaft through a driven gear which is connected to a transmission shaft in a meshed mode, the other end of the flexible shaft connecting shaft is connected with one end of a flexible shaft, the other end of the flexible shaft is connected with one end of a worm through a shaft coupler, the worm is connected in a worm shaft sleeve which is located in a worm shaft sleeve chamber, the other end of the worm is in contact fit with the executing mechanism, and the worm shaft sleeve is fixed to the executing mechanism through a worm shaft sleeve chamber support.
Preferably, the power transmission mechanism further comprises a gear box and a gear box end cover plate; a driven gear, a driving gear and a transmission shaft are arranged in the gear box; one side surface of the gear box is connected with the power mechanism, and the other side surface of the gear box is connected with the actuating mechanism through a gear box end cover plate; and the flexible shaft connecting shaft penetrates through the end cover plate of the gear box and then is connected with the flexible shaft.
The actuating mechanism comprises a worm gear, a joint arm, a worm gear shaft, a joint end cover plate and a joint arm positioning plate; the worm wheel is connected with a worm wheel shaft; the joint arm positioning plate is fixedly connected with one end of the joint arm close to the power mechanism end; the worm wheel is fixed with one end of the joint arm through a positioning piece.
The telescopic corrugated pipe and the telescopic corrugated pipe gland are also included; one end of the telescopic corrugated pipe is connected with the joint arm positioning plate through a telescopic corrugated pipe gland, the other end of the telescopic corrugated pipe is fixedly connected with the joint end cover plate, and the worm wheel, the joint arm and the worm wheel shaft are located in the telescopic corrugated pipe.
The positioning piece adopts a positioning bolt.
The power transmission mechanism comprises a driven gear, a driving gear, a transmission shaft, a flexible shaft connecting shaft, a flexible shaft, a shaft coupler, a worm shaft sleeve chamber, a worm shaft sleeve chamber bracket, a gear box end cover plate and a worm shaft sleeve; the actuating mechanism comprises a worm gear, a joint arm, a worm gear shaft, a joint end cover plate, a joint arm positioning plate, a telescopic corrugated pipe and a telescopic corrugated pipe gland; the driving gear is connected to the output end of the power mechanism, the driving gear is connected to one end of a flexible shaft connecting shaft through a driven gear which is connected to a transmission shaft in a meshing manner, the other end of the flexible shaft connecting shaft is connected to one end of a flexible shaft, the other end of the flexible shaft is connected to one end of a worm through a shaft coupler, the worm is connected in a worm shaft sleeve which is positioned in a worm shaft sleeve chamber, the other end of the worm is connected with a worm wheel of the actuating mechanism in a meshing manner, and the worm shaft sleeve is fixed on a joint arm of the actuating mechanism through a worm; a driven gear, a driving gear and a transmission shaft are arranged in the gear box; one side surface of the gear box is connected with the power mechanism, and the other side surface of the gear box is connected with the joint arm positioning plate through a gear box end cover plate; the flexible shaft connecting shaft penetrates through the end cover plate of the gear box and then is connected with the flexible shaft; the power mechanism adopts a main motor, and the output end of the main motor is connected with a driving gear of the power transmission mechanism; the worm wheel is connected with a worm wheel shaft; the three joint arms are movably connected with the worm wheel through worm wheel shafts, one end of the joint arm far away from the power mechanism end is fixedly connected with a joint end cover plate, and one end of the joint arm close to the power mechanism end is fixedly connected with a joint arm positioning plate; the worm wheel is fixed with one end of the joint arm through a positioning bolt; one end of the telescopic corrugated pipe is connected with the joint arm positioning plate through a telescopic corrugated pipe gland, the other end of the telescopic corrugated pipe is fixedly connected with the joint end cover plate, and the worm wheel, the joint arm and the worm wheel shaft are located in the telescopic corrugated pipe.
A robot comprises a worm and gear type robot joint, a manipulator and a manipulator motor; the front end of the worm-gear type robot joint is connected with a manipulator through a manipulator motor.
Has the advantages that:
(1) the utility model discloses a main motor rotates for the driving gear of connecting on the main motor drives driven gear, thereby makes the transmission shaft drive the flexible axle connecting axle, through flexible axle and axle connector, makes the worm rotate and drives the worm wheel and rotate, because the worm wheel is fixed mutually with the one end of knuckle arm through worm wheel positioning bolt, so drive knuckle arm synchronous rotation when the worm wheel rotates, because the worm wheel has self-locking function with the worm, so make the location between the knuckle arm become easy.
(2) The utility model discloses a motor can drive a plurality of articulated arms rotation angle regulation by simultaneous control.
(3) The utility model discloses follow-up good, small.
(4) The utility model discloses a manipulator and manipulator motor are connected at the front end of worm gear formula robot joint, do corresponding rotary motion through manipulator motor cooperation manipulator, make the motion effect of manipulator better, make its corresponding operating function of realization that the robot can be nimble, convenient.
The above description is only an overview of the technical solution of the present invention, and in order to clearly understand the technical means of the present invention and to implement the technical solution according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a side view of the present invention;
fig. 2 is a top view of the present invention;
fig. 3 is a front view of the present invention.
In the figure, 1-robot; 2-a manipulator motor; 3-a telescopic bellows; 4-a worm gear; 5-an articulated arm; 6-a telescopic corrugated pipe gland; 7-a gearbox; 8-a first connecting bolt; 9-main motor; 10-a driven gear; 11-a drive gear; 12-a drive shaft; 13-flexible shaft connecting shaft; 14-a flexible shaft; 15-shaft coupling; 16-worm housing chamber; 17-a worm; 18-worm housing chamber support; 19-a worm gear shaft; 20-knuckle end cap plate; 21-a second connecting bolt; 22-worm shaft sleeve; 23-gearbox end cover plate; 24-knuckle arm positioning plate; 25-worm wheel positioning bolt.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The first embodiment is as follows:
a worm-and-gear robot joint as shown in figures 1-3 comprises
A power mechanism is arranged on the base plate,
the input end of the power transmission mechanism is connected with the output end of the power mechanism;
and the actuating mechanism is connected with the output end of the power transmission mechanism, and the power transmission mechanism drives the actuating mechanism to complete the action.
When the worm-gear power transmission mechanism is actually used, the power mechanism provides kinetic energy, the gear of the power transmission mechanism transmits the power of the power mechanism to the worm, and the worm drives the actuating mechanism to complete the action. The technical scheme of the utility model, the follow-up is good, small, utilizes the utility model discloses make its function of realization that the robot can be nimble, convenient.
Example two:
the worm-and-gear type robot joint shown in fig. 1-3 is different from the first embodiment in that: the power mechanism adopts a main motor 9, and the output end of the main motor 9 is connected with the input end of the power transmission mechanism.
When in actual use, power unit adopts main motor 9, and prior art's motor type is extensive, and the technique is mature, and its use makes utility model's scheme be convenient for implement reduce cost.
Example three:
the worm-and-gear type robot joint shown in fig. 1-3 is different from the first embodiment in that: the power transmission mechanism comprises a driven gear 10, a driving gear 11, a transmission shaft 12, a flexible shaft connecting shaft 13, a flexible shaft 14, a shaft connector 15, a worm shaft sleeve chamber 16, a worm 17, a worm shaft sleeve chamber bracket 18 and a worm shaft sleeve 22; the driving gear 11 is connected with the output end of the power mechanism, the driving gear 11 is connected with one end of a flexible shaft connecting shaft 13 through a driven gear 10 which is connected with a transmission shaft 12 in a meshing manner, the other end of the flexible shaft connecting shaft 13 is connected with one end of a flexible shaft 14, the other end of the flexible shaft 14 is connected with one end of a worm 17 through a shaft connector 15, the worm 17 is connected in a worm shaft sleeve 22 positioned in a worm shaft sleeve chamber 16, the other end of the worm 17 is in contact fit with an actuating mechanism, and the worm shaft sleeve 22 is fixed on the actuating mechanism through a worm shaft sleeve chamber support 18.
Preferably, the power transmission mechanism further comprises a gear box 7 and a gear box end cover plate 23; a driven gear 10, a driving gear 11 and a transmission shaft 12 are arranged in the gear box 7; one side surface of the gear box 7 is connected with the power mechanism, and the other side surface of the gear box 7 is connected with the actuating mechanism through a gear box end cover plate 23; the flexible shaft connecting shaft 13 penetrates through a gear box end cover plate 23 and then is connected with the flexible shaft 14.
In actual use, the main motor 9 is started to drive the driving gear 11 to rotate, so as to drive the driven gear 10 to rotate, the transmission shaft 12 drives the flexible shaft connecting shaft 13, and the flexible shaft 14 and the shaft connector 15 drive the actuating mechanism to move to perform corresponding actions.
The gear box end cover plate 23 is fixedly connected with the power mechanism through a first connecting bolt 8. The setting of gear box 7 makes the utility model discloses a use safelyr, and guaranteed the utility model discloses an operation environment is more stable.
Example four:
the worm-and-gear type robot joint shown in fig. 1-3 is different from the first embodiment in that: the actuating mechanism comprises a worm wheel 4, a joint arm 5, a worm wheel shaft 19, a joint end cover plate 20 and a joint arm positioning plate 24; the worm wheel 4 is connected with a worm wheel shaft 19; the number of the joint arms 5 is at least two, the joint arms 5 are movably connected with a worm wheel 4 through a worm wheel shaft 19, one end of the joint arm 5 far away from the power mechanism end is fixedly connected with a joint end cover plate 20, and one end of the joint arm 5 close to the power mechanism end is fixedly connected with a joint arm positioning plate 24; the worm wheel 4 and one end of the joint arm 5 are fixed through a positioning piece.
Preferably also a bellows 3 and a bellows gland 6; one end of the telescopic corrugated pipe 3 is connected with the joint arm positioning plate 24 through the telescopic corrugated pipe gland 6, the other end of the telescopic corrugated pipe 3 is fixedly connected with the joint end cover plate 20, and the worm wheel 4, the joint arm 5 and the worm wheel shaft 19 are positioned in the telescopic corrugated pipe 3.
Preferably, the positioning member is a positioning bolt 25.
During the in-service use, can confirm to adopt the number of articulated arm 5 as required, all connect through worm wheel 4 between a plurality of articulated arms 5, the conduction of power between adjacent worm wheel 4 is connected the worm 17 of adjacent worm wheel 4 below through flexible axle 14 that both ends are connected with coupling 15 and is carried out the conduction of power, so worm wheel 4 drives articulated arm 5 synchronous rotation when rotating. The worm wheel 4 and the worm 17 are arranged, according to the transmission characteristic of the worm, when the worm is meshed with the worm wheel for transmission, the motion direction of the worm rod is vertical to that of the worm wheel, when the worm does not act, the worm wheel is limited by the meshing of the worm, and the worm wheel cannot rotate, so that a self-locking function is formed, the positioning between the joint arms 5 is easy, and one motor can simultaneously control and drive the plurality of joint arms 5 to rotate for adjusting the angle. Because the worm wheel 4 is fixed with the worm wheel positioning bolt 25 at one end of the joint arm 5, the worm wheel 4 drives the joint arm 5 to rotate synchronously when rotating, thereby ensuring the utility model discloses the motion effect with better
The embodiment is convenient to connect and fix the bellows gland 6 and the knuckle arm positioning plate 24 through the first connecting bolt 8.
This technical scheme, the number of increase and decrease articulated arm 5 as required, the convenient joint that prolongs or shortens to satisfy different actual operation needs, better expansion the utility model discloses an application range.
Example five:
the worm-and-gear type robot joint shown in fig. 1-3 is different from the first embodiment in that: the power transmission mechanism comprises a driven gear 10, a driving gear 11, a transmission shaft 12, a flexible shaft connecting shaft 13, a flexible shaft 14, a shaft connector 15, a worm shaft sleeve chamber 16, a worm 17, a worm shaft sleeve chamber bracket 18, a gear box 7, a gear box end cover plate 23 and a worm shaft sleeve 22; the actuating mechanism comprises a worm gear 4, a joint arm 5, a worm gear shaft 19, a joint end cover plate 20, a joint arm positioning plate 24, a telescopic corrugated pipe 3 and a telescopic corrugated pipe gland 6; the driving gear 11 is connected with the output end of the power mechanism, the driving gear 11 is connected with one end of a flexible shaft connecting shaft 13 through a driven gear 10 which is connected with a transmission shaft 12 in a meshing manner, the other end of the flexible shaft connecting shaft 13 is connected with one end of a flexible shaft 14, the other end of the flexible shaft 14 is connected with one end of a worm 17 through a shaft connector 15, the worm 17 is connected in a worm shaft sleeve 22 positioned in a worm shaft sleeve chamber 16, the other end of the worm 17 is connected with a worm wheel 4 of the actuating mechanism in a meshing manner, and the worm shaft sleeve 22 is fixed on a joint arm 5 of the actuating mechanism through a worm shaft sleeve chamber bracket 18; a driven gear 10, a driving gear 11 and a transmission shaft 12 are arranged in the gear box 7; one side surface of the gear box 7 is connected with the power mechanism, and the other side surface of the gear box 7 is connected with the joint arm positioning plate 24 through a gear box end cover plate 23; the flexible shaft connecting shaft 13 penetrates through a gear box end cover plate 23 and then is connected with the flexible shaft 14; the power mechanism adopts a main motor 9, and the output end of the main motor 9 is connected with a driving gear 11 of the power transmission mechanism; the worm wheel 4 is connected with a worm wheel shaft 19; the number of the joint arms 5 is three, the joint arms 5 are movably connected with a worm wheel 4 through a worm wheel shaft 19, one end of each joint arm 5 far away from the power mechanism end is fixedly connected with a joint end cover plate 20, and one end of each joint arm 5 close to the power mechanism end is fixedly connected with a joint arm positioning plate 24; the worm wheel 4 and one end of the articulated arm 5 are fixed through a positioning bolt 25; one end of the telescopic corrugated pipe 3 is connected with the joint arm positioning plate 24 through the telescopic corrugated pipe gland 6, the other end of the telescopic corrugated pipe 3 is fixedly connected with the joint end cover plate 20, and the worm wheel 4, the joint arm 5 and the worm wheel shaft 19 are positioned in the telescopic corrugated pipe 3.
In actual use, the main motor 9 is fixedly connected with one end of the gear box 7 through the first connecting bolt 8. The other end of the gear box 7 is fixedly connected with a telescopic corrugated pipe gland 6 through a first connecting bolt 8, the port of the telescopic corrugated pipe 3 is fixed in the telescopic corrugated pipe gland 6, one end of a first section of articulated arm 5 is welded with an articulated arm positioning plate 24 and is fixed with the gear box 7 through the first connecting bolt 8, a worm wheel 4 is arranged at the joint between each section of articulated arm 5, the worm wheel 4 is fixed on the articulated arm 5 through a worm wheel shaft 19, a worm shaft sleeve chamber support 18 is connected on the articulated arm 5, one end of a worm 17 extends into the worm shaft sleeve chamber support 18, the other end of the worm 17 is matched with the worm wheel 4, the worm 17 is connected with a shaft connector 15 through a flexible shaft 14, and the flexible shaft 14 is combined with a driving gear 11 of a main motor 9 through a flexible shaft 13 and a transmission shaft 12 through a driven gear 10. When the main motor 9 is started, the driving gear 11 connected to the main motor 9 drives the driven gear 10, the transmission shaft 12 drives the flexible shaft connecting shaft 13, the worm 17 rotates to drive the worm wheel 4 to rotate through the flexible shaft 14 and the shaft connector 15, and the worm wheel 4 and one end of one joint arm 5 are fixed through the worm wheel positioning bolt 25, so that the joint arm 5 is driven to synchronously rotate when the worm wheel 4 rotates. According to the transmission characteristic of the worm, when the worm is meshed with the worm wheel for transmission, the motion direction of the worm rod is vertical to that of the worm wheel, when the worm does not act, the worm wheel is limited by the meshing of the worm wheel, the worm wheel does not rotate, a self-locking structure is formed, and the positioning between the joint arms 5 is easy. The utility model discloses a motor can drive a plurality of articulated arms 5 rotation angle regulation of simultaneous control.
Example six:
the robot shown in fig. 1 and 2 comprises a worm-and-gear robot joint, and a manipulator 1 is connected to the front end of the worm-and-gear robot joint.
In actual use, the manipulator 1 is provided at the tip of the bellows 3 and fixed to the joint end cover plate 20 by the second connecting bolt 21. The technical scheme of the utility model, the follow-up is good, small, can be nimble, convenient its function of realization.
Example seven:
according to a robot shown in fig. 1 and 2, the difference from the sixth embodiment is that: the manipulator 1 is connected with a worm and gear type robot joint through a manipulator motor 2.
In practical use, the manipulator motor 2 and the manipulator 1 are arranged at the front end of the telescopic bellows 3 and are sequentially fixed on the joint end cover plate 20 through the second connecting bolt 21, and the manipulator 1 is matched with the worm and gear type robot joint through the manipulator motor 2 to do corresponding rotary motion, so that a better effect is achieved.
To sum up, the utility model is provided with a power mechanism, a power transmission mechanism, the input end of which is connected with the output end of the power mechanism, and the power of the power mechanism is transmitted to the worm gear through a gear; the actuating mechanism is connected with the output end of the power transmission mechanism and is driven by a worm gear of the power transmission mechanism to complete the scheme of action, and a worm and gear type robot joint is provided. The utility model discloses follow-up good, small. The front end of the worm-and-gear type robot joint is connected with the manipulator and the manipulator motor, so that the robot can flexibly and conveniently realize the functions.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
In the case of no conflict, a person skilled in the art may combine the related technical features in the above examples according to actual situations to achieve corresponding technical effects, and details of various combining situations are not described herein.
The foregoing is illustrative of the preferred embodiments of the present invention, and the present invention is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Any simple modification, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention all fall within the scope of the technical solution of the present invention.
Claims (9)
1. The utility model provides a worm gear formula robot joint which characterized in that: comprises that
A power mechanism is arranged on the base plate,
the input end of the power transmission mechanism is connected with the output end of the power mechanism;
and the actuating mechanism is connected with the output end of the power transmission mechanism, and the power transmission mechanism drives the actuating mechanism to complete the action.
2. A worm-and-gear robot joint as claimed in claim 1, wherein: the power mechanism adopts a main motor (9), and the output end of the main motor (9) is connected with the input end of the power transmission mechanism.
3. A worm-and-gear robot joint as claimed in claim 1, wherein: the power transmission mechanism comprises a driven gear (10), a driving gear (11), a transmission shaft (12), a flexible shaft connecting shaft (13), a flexible shaft (14), a shaft coupler (15), a worm shaft sleeve chamber (16), a worm (17), a worm shaft sleeve chamber bracket (18) and a worm shaft sleeve (22); the driving gear (11) connect the output at power unit, the driven gear (10) that driving gear (11) connects on transmission shaft (12) through the meshing is connected with the one end of flexible axle connecting axle (13), the other end of flexible axle connecting axle (13) is connected with the one end of flexible axle (14), the other end of flexible axle (14) is connected with the one end of worm (17) through axle connector (15), worm (17) are connected in worm axle sleeve (22) that are located worm axle sleeve room (16), the other end and the actuating mechanism contact cooperation of worm (17), worm axle sleeve (22) fix on actuating mechanism through worm axle sleeve room support (18).
4. A worm-and-gear robot joint as claimed in claim 3, wherein: the power transmission mechanism also comprises a gear box (7) and a gear box end cover plate (23); a driven gear (10), a driving gear (11) and a transmission shaft (12) are arranged in the gear box (7); one side surface of the gear box (7) is connected with the power mechanism, and the other side surface of the gear box (7) is connected with the actuating mechanism through a gear box end cover plate (23); the flexible shaft connecting shaft (13) penetrates through the gear box end cover plate (23) and then is connected with the flexible shaft (14).
5. A worm-and-gear robot joint as claimed in claim 1, wherein: the actuating mechanism comprises a worm wheel (4), a joint arm (5), a worm wheel shaft (19), a joint end cover plate (20) and a joint arm positioning plate (24); the worm wheel (4) is connected with a worm wheel shaft (19); the number of the joint arms (5) is at least two, the joint arms (5) are movably connected with a worm wheel (4) through a worm wheel shaft (19), one end of each joint arm (5) far away from the power mechanism end is fixedly connected with a joint end cover plate (20), and one end of each joint arm (5) close to the power mechanism end is fixedly connected with a joint arm positioning plate (24); the worm wheel (4) and one end of the joint arm (5) are fixed through a positioning piece.
6. The worm-and-gear robot joint of claim 5, wherein: the corrugated pipe sealing device also comprises a telescopic corrugated pipe (3) and a telescopic corrugated pipe gland (6); one end of the telescopic corrugated pipe (3) is connected with the joint arm positioning plate (24) through a telescopic corrugated pipe gland (6), the other end of the telescopic corrugated pipe (3) is fixedly connected with the joint end cover plate (20), and the worm wheel (4), the joint arm (5) and the worm wheel shaft (19) are positioned in the telescopic corrugated pipe (3).
7. The worm-and-gear robot joint of claim 5, wherein: the positioning piece adopts a positioning bolt (25).
8. A worm-and-gear robot joint as claimed in claim 1, wherein: the power transmission mechanism comprises a driven gear (10), a driving gear (11), a transmission shaft (12), a flexible shaft connecting shaft (13), a flexible shaft (14), a shaft coupler (15), a worm shaft sleeve chamber (16), a worm (17), a worm shaft sleeve chamber bracket (18), a gear box (7), a gear box end cover plate (23) and a worm shaft sleeve (22); the actuating mechanism comprises a worm gear (4), a joint arm (5), a worm gear shaft (19), a joint end cover plate (20), a joint arm positioning plate (24), a telescopic corrugated pipe (3) and a telescopic corrugated pipe gland (6); the driving gear (11) is connected to the output end of the power mechanism, the driving gear (11) is connected to one end of a flexible shaft connecting shaft (13) through a driven gear (10) which is connected to a transmission shaft (12) in a meshed mode, the other end of the flexible shaft connecting shaft (13) is connected with one end of a flexible shaft (14), the other end of the flexible shaft (14) is connected with one end of a worm (17) through a shaft connector (15), the worm (17) is connected in a worm shaft sleeve (22) located in a worm shaft sleeve chamber (16), the other end of the worm (17) is connected with a worm wheel (4) of the executing mechanism in a meshed mode, and the worm shaft sleeve (22) is fixed on a joint arm (5) of the executing mechanism through a worm shaft sleeve chamber support (18); a driven gear (10), a driving gear (11) and a transmission shaft (12) are arranged in the gear box (7); one side surface of the gear box (7) is connected with the power mechanism, and the other side surface of the gear box (7) is connected with the joint arm positioning plate (24) through a gear box end cover plate (23); the flexible shaft connecting shaft (13) penetrates through a gear box end cover plate (23) and then is connected with the flexible shaft (14); the power mechanism adopts a main motor (9), and the output end of the main motor (9) is connected with a driving gear (11) of the power transmission mechanism; the worm wheel (4) is connected with a worm wheel shaft (19); the three articulated arms (5) are movably connected with the worm wheel (4) through worm wheel shafts (19), one end of the articulated arm (5) far away from the power mechanism end is fixedly connected with an articulated end cover plate (20), and one end of the articulated arm (5) close to the power mechanism end is fixedly connected with an articulated arm positioning plate (24); the worm wheel (4) is fixed with one end of the joint arm (5) through a positioning bolt (25); one end of the telescopic corrugated pipe (3) is connected with the joint arm positioning plate (24) through a telescopic corrugated pipe gland (6), the other end of the telescopic corrugated pipe (3) is fixedly connected with the joint end cover plate (20), and the worm wheel (4), the joint arm (5) and the worm wheel shaft (19) are positioned in the telescopic corrugated pipe (3).
9. A robot, characterized by: comprising a worm-and-gear robot joint according to any of the claims 1-8, a manipulator (1) and a manipulator motor (2); the front end of the worm-gear type robot joint is connected with a manipulator (1) through a manipulator motor (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921763309.0U CN210998716U (en) | 2019-10-21 | 2019-10-21 | Worm and gear type robot joint and robot |
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| CN201921763309.0U CN210998716U (en) | 2019-10-21 | 2019-10-21 | Worm and gear type robot joint and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112525122A (en) * | 2020-12-26 | 2021-03-19 | 九江如洋精密科技有限公司 | Data acquisition system of articulated arm type coordinate measuring machine |
| CN113770996A (en) * | 2021-09-16 | 2021-12-10 | 中国核电工程有限公司 | Master-slave manipulator for small joints |
-
2019
- 2019-10-21 CN CN201921763309.0U patent/CN210998716U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112525122A (en) * | 2020-12-26 | 2021-03-19 | 九江如洋精密科技有限公司 | Data acquisition system of articulated arm type coordinate measuring machine |
| CN112525122B (en) * | 2020-12-26 | 2022-02-08 | 九江如洋精密科技有限公司 | Data acquisition system of articulated arm type coordinate measuring machine |
| CN113770996A (en) * | 2021-09-16 | 2021-12-10 | 中国核电工程有限公司 | Master-slave manipulator for small joints |
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