CN218518694U

CN218518694U - Mechanical arm joint transmission structure

Info

Publication number: CN218518694U
Application number: CN202222532555.3U
Authority: CN
Inventors: 龙海生; 常程栋
Original assignee: Hebei Yiwalker Robot Technology Co ltd
Current assignee: Hebei Yiwalker Robot Technology Co ltd
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2023-02-24
Anticipated expiration: 2032-09-23

Abstract

The utility model provides a mechanical arm joint transmission structure, which comprises a driver, a transmission component and a cycloid reducer, wherein the driver is arranged in an action arm, and the shell of the driver is used for being connected with the action arm; the transmission assembly is connected with the output end of the driver; and the cycloid speed reducer is connected with the transmission assembly and is used for reducing the rotating speed of the shell of the driver. The utility model provides a mechanical arm joint transmission structure aims at solving the problem that the joint is bulky among the prior art, and the structure is complicated.

Description

Mechanical arm joint transmission structure

Technical Field

The utility model belongs to the technical field of the arm transmission, more specifically says, relates to a arm joint transmission structure.

Background

The mechanical arm is a novel device developed in the mechanical and automatic production process, and is widely applied to the automatic production line in the modern production process. A robot arm generally has a plurality of moving arms, and adjacent moving arms are transmitted through joints. The motion precision, the bearing capacity, the motion stability and the like of each joint of the mechanical arm are all influenced by the mutual position relation and the action relation among elements in the joint. If the existing mechanical arm needs to realize that the action arm rotates around the axis of the mechanical arm, a driver and a transmission device need to be arranged in the joint, so that the volume of the joint is increased. Therefore, how to realize the control of the mechanical arm is simpler and more accurate, the positions of elements are reasonably arranged in the limited space of the joints of the mechanical arm, the repeated design of different joints is avoided, the time of the production process is shortened, and the joints are easy to install and use, which are problems to be solved urgently.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mechanical arm joint transmission structure, aim at solving the problem that the joint is bulky among the prior art, and the structure is complicated.

In order to achieve the purpose, the utility model adopts the technical proposal that: provided is a mechanical arm joint transmission structure, including:

the driver is arranged in the action arm, and the shell of the driver is used for being connected with the action arm;

the transmission assembly is connected with the output end of the driver; and

and the input shaft of the cycloid speed reducer is connected with the transmission assembly, and the cycloid speed reducer is used for reducing the rotating speed of the shell of the driver.

In a possible implementation manner, the transmission assembly comprises a first worm wheel, a worm module and a second worm wheel which are sequentially meshed and connected, wherein the first worm wheel is connected with the output end of the driver; the second worm wheel is connected with the shell of the cycloid speed reducer.

In a possible implementation manner, the mechanical arm joint transmission structure further comprises a mounting seat connected with a shell of the cycloid speed reducer, and the mounting seat is used for fixing the worm module.

In a possible implementation manner, the mounting base comprises a fixed disk and a support arranged on the fixed disk, the fixed disk is connected with a shell of the cycloid speed reducer, and the support is used for fixing the worm module.

In a possible implementation manner, the bracket is provided with a mounting hole matched with the worm module, a bearing piece is arranged in the mounting hole, and the worm module is connected with the bearing piece.

In a possible implementation manner, the worm module includes a worm and a third worm wheel sleeved outside the worm, the worm is engaged with the second worm wheel, and the third worm wheel is engaged with the first worm wheel.

In a possible implementation manner, the axis of the first worm wheel is perpendicular to the axis of the second worm wheel, and the axis of the worm module is respectively arranged at an included angle with the first worm wheel and the second worm wheel.

In a possible implementation manner, the mechanical arm joint transmission structure further comprises a connecting assembly, the connecting assembly comprises a connecting plate arranged at the end of the shell of the driver and a flange arranged on the outer end face of the action arm, and the connecting plate is connected with the flange through a threaded connecting piece.

In a possible implementation manner, the connecting plate is provided with a receiving hole for receiving the transmission assembly and a connecting hole for connecting with the driver shell.

In a possible implementation manner, a plurality of lightening holes are further formed in the connecting plate, and the plurality of lightening holes are distributed at intervals in an annular shape.

The utility model provides a mechanical arm joint transmission structure's beneficial effect lies in: compared with the prior art, the utility model discloses arm joint transmission structure sets up the driver in the action arm, make full use of the space in the action arm, need not to occupy the space in the joint, reduced the volume of joint, make the spatial layout in the joint more reasonable. The transmission assembly and the cycloid speed reducer are arranged in the joint, the torque output by the driver is transmitted to the cycloid speed reducer through the transmission assembly, so that the output speed of the cycloid speed reducer is reduced, the rotating speed of the shell of the driver is reduced, the action arm and the shell of the driver synchronously rotate, and the action arm rotates around the axis of the action arm. The utility model has the advantages of simple structure, reduced articular volume, transmitted the output torque of driver for the cycloid reduction gear through drive assembly, utilized the speed difference between driver output and the cycloid reduction gear to make the driver casing rotate to drive the action arm and rotate.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions 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 it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural view of a mechanical arm joint transmission structure provided by an embodiment of the present invention when applied to a mechanical arm;

FIG. 2 is a schematic structural diagram of a transmission assembly employed in an embodiment of the present invention;

fig. 3 is a schematic structural view of a mechanical arm joint transmission structure provided by an embodiment of the present invention;

fig. 4 is a partial schematic view of a mechanical arm joint transmission structure provided in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a mounting seat according to an embodiment of the present invention.

In the figure:

1. an action arm;

2. a transmission assembly; 201. a first worm gear; 202. a worm module; 2021. a worm; 2022. a third worm gear; 203. a second worm gear;

3. a connecting assembly; 301. a connecting plate; 3011. a receiving hole; 3012. connecting holes; 3013. lightening holes; 302. a flange;

4. a mounting seat; 401. fixing the disc; 402. a support; 4021. mounting holes;

5. a joint housing;

6. a cycloidal reducer;

7. a driver.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

Referring to fig. 1 to 4, the transmission structure of the mechanical arm joint provided by the present invention will be described. The mechanical arm joint transmission structure comprises a driver 7, a transmission assembly 2 and a cycloid speed reducer 6, wherein the driver 7 is arranged in the action arm 1, and a shell of the driver 7 is used for being connected with the action arm 1; the transmission assembly 2 is connected with the output end of the driver 7; the output shaft of the cycloidal reducer 6 is connected with the transmission assembly 2, and the cycloidal reducer 6 is used for reducing the rotating speed of the shell of the driver 7.

The utility model provides a mechanical arm joint transmission structure compares with prior art, and utility model mechanical arm joint transmission structure sets up driver 7 in action arm 1, make full use of the space in action arm 1, need not to occupy the space in the joint, has reduced the volume of joint, makes the spatial layout in the joint more reasonable. The transmission assembly 2 and the cycloid speed reducer 6 are both arranged in the joint, the torque output by the driver 7 is transmitted to the cycloid speed reducer 6 through the transmission assembly 2, so that the output speed of the cycloid speed reducer 6 is reduced, the rotating speed of the shell of the driver 7 is reduced, the action arm 1 and the shell of the driver 7 synchronously rotate, and the action arm 1 rotates around the axis of the action arm 1. The utility model has the advantages of simple structure, reduced articular volume, transmitted the output torque of driver 7 for cycloid reduction gear 6 through drive assembly 2, utilized the difference in speed between 7 outputs of driver and cycloid reduction gear 6 to make 7 casings of driver rotate to drive action arm 1 and rotate.

In particular, the drive 7 is a motor.

It should be noted that, when the motor works, the motor casing is fixed, and the fixing surface offsets the torque of the motor, so that the output shaft of the motor rotates. Conversely, if the output shaft of the motor is fixed, the torque generated by the motor can rotate the motor shell. The rotation of the action arm 1 is realized by utilizing the principle of fixing the output shaft of the motor and rotating the motor shell in the application. The motor shell is connected with the action arm 1 (the action arm 1 is rotationally connected with the joint shell), the motor output shaft is connected with the cycloid speed reducer 6 through the transmission assembly 2, the output speed of the cycloid speed reducer 6 is reduced, and therefore a difference value exists between the output speed of the cycloid and the output speed of the motor, and a relative speed is formed, and the relative speed is the rotating speed of the motor shell.

Note that if the motor output shaft is completely fixed, the rotation speed of the motor housing is completely the same as the output rotation shaft of the motor, and in order to realize the speed reduction of the motor housing in the present application, the cycloid speed reducer 6 is provided to form a speed difference with the output speed of the motor, so as to avoid the over-high rotation speed of the action arm 1 connected with the motor housing.

It should be noted that the cycloidal reducer 6 is a novel transmission device which applies planetary transmission principle and adopts cycloidal pin gear engagement. All transmission devices of the cycloidal pin gear speed reducer can be divided into three parts: an input part, a deceleration part and an output part. The input shaft is equipped with a double eccentric sleeve dislocated by 180 deg., and on the eccentric sleeve two roller bearings called rotating arms are mounted, so that it can form H mechanism, and the central holes of two cycloid gears are the roller paths of the rotating arm bearings on the eccentric sleeve, and said cycloid gears are meshed with a group of annularly-arranged pin teeth on the pin gear so as to form an internal gearing speed-reducing mechanism whose tooth difference is one tooth (in order to reduce friction, in the speed reducer whose speed ratio is small, the pin teeth are equipped with pin tooth sleeve).

Principle of the cycloidal reducer 6:

when the input shaft drives the eccentric sleeve to rotate for one circle, the motion of the cycloid wheel becomes a plane motion with revolution and rotation due to the characteristics of tooth profile curves on the cycloid wheel and the limitation of needle teeth on the needle gear, when the input shaft rotates for one circle, the eccentric sleeve also rotates for one circle, the cycloid wheel rotates for one tooth in the opposite direction to obtain speed reduction, and then the low-speed rotation motion of the cycloid wheel is transmitted to the output shaft through the pin shaft by virtue of the W output mechanism, so that a lower output rotating speed is obtained.

In some embodiments, referring to fig. 1 to 4, the transmission assembly 2 includes a first worm wheel 201, a worm module 202, and a second worm wheel 203, which are sequentially engaged and connected, wherein the first worm wheel 201 is connected with an output end of the driver 7; the second worm wheel 203 is connected with the housing of the cycloid speed reducer 6.

Two adjacent action arms 1 are arranged at an included angle, so that the joint shell 5 is generally a bent pipe, the space inside the bent pipe is limited, the space inside the joint can not meet the requirement by directly connecting the first worm wheel 201 with the second worm wheel 203, and if the axes of the first worm wheel 201 and the second worm wheel 203 are at a special angle, the first worm wheel 201 and the second worm wheel 203 need to be specially customized, so that the processing cost is increased. Because of the axis of first worm wheel 201 and second worm wheel 203 can be certain contained angle, connect first worm wheel 201 and second worm wheel 203 through worm module 202, can make the overall arrangement in the joint more reasonable, make full use of space in the joint.

In some embodiments, referring to fig. 1 to 4, the mechanical arm joint transmission structure further includes a mounting seat 4 connected to the housing of the cycloid speed reducer 6, and the mounting seat 4 is used for fixing the worm module 202.

The worm module 202 is fixed through the mounting seat 4, the mounting seat 4 is connected with the shell of the cycloid speed reducer 6, the worm module 202 does not need to be directly fixed on a joint shell, the bearing of the joint shell is reduced, and the joint shell 5 is prevented from being connected with the action arm 1 to fail.

In some embodiments, referring to fig. 5, the mounting seat 4 includes a fixing plate 401 and a bracket 402 disposed on the fixing plate 401, the fixing plate 401 is connected to the housing of the cycloid speed reducer 6, and the bracket 402 is used for fixing the worm module 202.

The worm module 202 is connected with the support 402, the fixed disc 401 is connected with the shell of the cycloid speed reducer 6, interference between the fixed disc 401 and the worm module 202 is avoided, and normal transmission of the worm module 202 is ensured.

In some embodiments, referring to fig. 5, a mounting hole 4021 adapted to the worm module 202 is formed in the bracket 402, a bearing is disposed in the mounting hole 4021, and the worm module 202 is connected to the bearing.

The worm module 202 is connected with the inner ring of the bearing piece, then the outer ring of the bearing piece is installed in the installation hole 4021, and the support 402 cannot influence the rotation of the worm module 202. The scheme in this embodiment is simple, can realize the fixed of worm module 202, does not influence the normal rotation of worm module 202 simultaneously.

In some embodiments, referring to fig. 1 to 4, the worm module 202 includes a worm 2021 and a third worm wheel 2022 sleeved outside the worm 2021, the worm 2021 is engaged with the second worm wheel 203, and the third worm wheel 2022 is engaged with the first worm wheel 201.

The first worm wheel 201 and the second worm wheel 203 may not have the same size and tooth profile, the third worm wheel 2022 is matched with the first worm wheel 201, the worm 2021 is matched with the second worm wheel 203, processing is facilitated, and increase of manufacturing cost caused by arrangement of two sets of tooth profiles on one worm 2021 is avoided. In addition, the worm module 202 is convenient to mount in the embodiment, and when the bracket 402 is used for fixing the worm module 202, the worm 2021 can be connected with the bracket 402, and then the third worm wheel 2022 is connected with the worm 2021, so that the worm module is more convenient to disassemble and assemble.

In some embodiments, referring to fig. 1 to 4, an axis of the first worm wheel 201 is perpendicular to an axis of the second worm wheel 203, and an axis of the worm module 202 is respectively disposed at an angle with respect to the first worm wheel 201 and the second worm wheel 203.

The space in the joint is limited, and the worm module 202 is respectively arranged at an included angle with the first worm wheel 201 and the second air flow, so that the transmission of the first worm wheel 201 and the second worm wheel 203 can be realized, the space in the joint can be fully utilized, the overlarge volume of the joint is avoided,

optionally, the worm module 202 forms an angle of 45 ° with the first worm wheel 201 and the second worm wheel 203, respectively.

In some embodiments, referring to fig. 1 to 4, the mechanical arm joint transmission structure further includes a connecting assembly 3, the connecting assembly 3 includes a connecting plate 301 disposed at an end of a housing of the actuator 7, and a flange 302 disposed on an outer end surface of the actuating arm 1, and the connecting plate 301 and the flange 302 are connected by a threaded connection.

The flange 302 abuts against the connecting plate 301 and then is connected through a threaded connection piece, so that the action arm 1 and the driver 7 can be quickly connected, and the action arm 1 and the driver 7 can rotate synchronously. In addition, the end part of the shell of the driver 7 is provided with the connecting plate 301, the flange 302 is arranged on the outer end face of the action arm 1, a connecting structure does not need to be arranged in the action arm 1, processing is convenient, manufacturing cost is reduced, connection is convenient, and assembling efficiency is improved.

In some embodiments, referring to fig. 1 to fig. 4, the connection board 301 is formed with a receiving hole 3011 for receiving the transmission component 2 and a connection hole 3012 for connecting with the housing of the driver 7.

The connecting holes 3012 on the connecting plate 301 are connected with the fixing holes on the shell of the driver 7 through bolts, so that the shell of the driver 7 can be quickly connected with the connecting plate 301, and the structure is simple. The driving end of the driver 7 is inserted into the receiving hole 3011, and the transmission assembly 2 is connected with the driving end of the driver 7 through the receiving hole.

In some embodiments, referring to fig. 1 to 4, the connecting plate 301 further has a plurality of weight-reducing holes 3013, and the weight-reducing holes 3013 are annularly spaced.

The lightening holes 3013 can reduce the weight of the connecting plate 301, thereby reducing the overall weight of the actuating arm 1 and enabling the actuating arm 1 to work more flexibly. The plurality of lightening holes 3013 are distributed at intervals in a ring shape, so that the stress on the connecting plate 301 is uniform, and the connecting plate is prevented from being broken during working.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. Arm joint transmission structure, its characterized in that includes:

the transmission assembly is connected with the output end of the driver; and

2. The mechanical arm joint transmission structure as claimed in claim 1, wherein the transmission assembly comprises a first worm wheel, a worm module and a second worm wheel which are meshed and connected in sequence, wherein the first worm wheel is connected with the output end of the driver; the second worm gear is connected with the shell of the cycloid speed reducer.

3. The mechanical arm joint transmission structure of claim 2, further comprising a mounting seat connected with a housing of the cycloid speed reducer, wherein the mounting seat is used for fixing the worm module.

4. The mechanical arm joint transmission structure as claimed in claim 3, wherein the mounting base comprises a fixed disk and a bracket arranged on the fixed disk, the fixed disk is connected with the shell of the cycloid speed reducer, and the bracket is used for fixing the worm module.

5. The mechanical arm joint transmission structure as claimed in claim 4, wherein the support is provided with a mounting hole adapted to the worm module, a bearing member is disposed in the mounting hole, and the worm module is connected to the bearing member.

6. The mechanical arm joint transmission structure as claimed in claim 2, wherein the worm module comprises a worm and a third worm wheel sleeved outside the worm, the worm is engaged with the second worm wheel, and the third worm wheel is engaged with the first worm wheel.

7. The mechanical arm joint transmission structure as claimed in claim 6, wherein the axis of the first worm wheel is perpendicular to the axis of the second worm wheel, and the axes of the worm modules are respectively arranged at an included angle with the first worm wheel and the second worm wheel.

8. The joint transmission structure of a robot arm according to claim 1, further comprising a coupling member including a coupling plate provided at an end of the housing of the actuator and a flange provided at an outer end surface of the actuator arm, wherein the coupling plate is coupled to the flange by a screw coupling member.

9. The mechanical arm joint transmission structure as claimed in claim 8, wherein the connecting plate is provided with a receiving hole for receiving the transmission assembly and a connecting hole for connecting with the driver housing.

10. The transmission structure of a mechanical arm joint as claimed in claim 9, wherein the connecting plate is further provided with a plurality of lightening holes, and the lightening holes are annularly distributed at intervals.