CN113070902B - Three-axis rotating robot joint - Google Patents

Abstract

The invention discloses a robot joint with three-axis rotation, belonging to the technical field of robot joints; a robot joint with three-axis rotation comprises a driving motor, a rear end mounting shell, a middle end mounting shell, a front end mounting shell and a front end mounting block, wherein the rear end mounting shell, the middle end mounting shell, the front end mounting shell and the front end mounting block are sequentially and fixedly connected along the axis direction to form a complete mounting shell; the driving motor is fixedly arranged on the rear end mounting shell through a fixing bolt, an output shaft of the driving motor is connected with a planetary wheel mechanism, the planetary wheel mechanism is arranged inside the rear end mounting shell and the middle end mounting shell, the planetary wheel mechanism is also connected with a planetary differential mechanism, and the planetary differential mechanism is arranged inside the middle end mounting shell, the front end mounting shell and the front end mounting block; the invention effectively solves the problems of single and solidified structure, complex structure, high use cost and easy failure of the existing design.

Description

A three-axis rotating robot joint

technical field

The invention relates to the technical field of robot joints, in particular to a three-axis rotating robot joint.

Background technique

Industrial robots are multi-joint manipulators or multi-degree-of-freedom mechanical devices widely used in the industrial field. They have a certain degree of automation and can realize various industrial processing and manufacturing functions by relying on their own power energy and control capabilities; the robot system is composed of vision sensors, It consists of a robotic arm system and a main control computer. The robotic arm system includes a modular robotic arm and a dexterous hand. The robotic arm refers to a complex system with high precision, multiple inputs and multiple outputs, highly nonlinear and strong coupling; The unique operational flexibility has been widely used in industrial assembly, safety and explosion-proof fields.

In the current field of robotic arm manufacturing, components with one degree of freedom input and one degree of freedom output are often used, and the structure of the industrial robot is single-solidified; in order to achieve more functions of the robot, parts have to be added, the structure is more complex, and the production cost It is high and prone to failure; to solve the above problems, we propose a three-axis rotating robot joint.

SUMMARY OF THE INVENTION

1. The technical problem to be solved by the present invention

The purpose of the present invention is to make a three-axis rotary rotator with three output degrees of freedom, multiple working modes, simple and compact structure, good economy and strong dynamic performance under the premise that the power input is one. Robot joints make robot joints more flexible and efficient.

2. Technical solutions

To achieve the above object, the present invention provides the following technical solutions:

A three-axis rotating robot joint includes a drive motor, a rear-end mounting shell, a middle-end mounting shell, a front-end mounting shell and a front-end mounting block, the rear-end mounting shell, the middle-end mounting shell, the front-end mounting block The installation casing and the front-end installation block are fixedly connected in turn along the axis direction to form a complete installation casing; the drive motor is fixedly installed on the rear-end installation casing through fixing bolts, and the output shaft of the drive motor is connected with a planetary gear mechanism , the planetary gear mechanism is installed inside the rear-end installation casing and the middle-end installation casing, and the planetary gear mechanism is also connected with a planetary differential mechanism, which is installed in the middle-end installation casing and the front-end Install the housing and the inside of the front mounting block.

Preferably, the planetary gear mechanism includes a sun gear, a first planetary gear, a carrier gear and a ring gear, the sun gear is fixedly connected with the output shaft of the drive motor, and the carrier gear is rotatably connected to the shaft of the sun gear On the rod, the first planetary gear is meshed with the sun gear near the center side, the outer side of the first planetary gear is meshed with the ring gear, the carrier gear is arranged on the inner side of the ring gear, and the outer side of the ring gear It is rotatably connected to the inner wall of the connection between the rear end mounting shell and the middle end mounting shell.

Preferably, the planetary gear mechanism further includes a double-connected spur gear, a third double-connected bevel gear, a first output shaft and a second connecting-shaft bevel gear, and the double-connected spur gear and the third double-connected bevel gear are fixed. connection, the double-connected spur gear and the third double-connected bevel gear are axially rotatably connected to the rear-end mounting housing, the first output shaft is vertically rotatably connected to the rear-end mounting housing, and the second connecting The shaft bevel gear is fixedly connected to the first output shaft, the double-connected spur gear is meshed with the inner wall of the ring gear, and the third double-connected bevel gear is meshed with the second shaft-connected bevel gear.

Preferably, the planetary differential mechanism includes a carrier ring gear, a second planetary gear, a gear carrier, a first bevel gear, a second bevel gear and a third planetary gear, and the carrier ring gear is rotatably installed at the middle end At the junction between the installation housing and the front-end installation housing, the gear carrier is also rotatably connected to the shaft of the sun gear, and the second planetary gear and the third planetary gear are axially rotatably connected to the side of the gear carrier close to the drive motor, The second planetary gear and the third planetary gear are meshed and connected with the inner wall of the coupling ring gear, and the gear frame is also rotatably connected with a first bevel gear and a second bevel gear.

Preferably, the planetary differential mechanism further includes a first double-connected bevel gear, a second double-connected bevel gear, a second output shaft and a first connected-shaft bevel gear, the first double-connected bevel gear and the second double-connected bevel gear. The double bevel gear is fixedly connected, the first double bevel gear and the second double bevel gear are axially rotatably connected to the front-end mounting housing, and the second output shaft is vertically rotatably connected to the front-end mounting block and the front-end mounting block. At the connection of the casing, the first coupling bevel gear is fixedly connected to the second output shaft, the first double bevel gear is meshed with the first coupling bevel gear, and the second double bevel gear is in meshing connection with the first coupling bevel gear. It is meshed with the first bevel gear and the second bevel gear.

Preferably, a first locker is fixedly installed on the second output shaft, a second locker is fixedly installed on the coupling gear ring, and a third locker is fixedly installed on the gear ring.

3. Beneficial effects

(1) The present invention provides a single-input and three-output transmission scheme. The motor and the output shaft are driven by gear meshing, and the planetary gear mechanism and the planetary differential mechanism are used to provide different power output paths. The locking and unlocking of the device can realize the switching of three output forms and realize three-axis rotation.

(2) The present invention adopts a planetary gear mechanism and a planetary differential mechanism, and has a more compact structure and reduced volume, and is suitable for related fields such as robot joints.

(3) The present invention can realize the free selection and independent control of the three output forms of the two output shafts of the joint through the locking and unlocking of the lock, thereby improving the flexibility of the joint application and reducing the difficulty of control.

(4) In the present invention, the bevel gear transmission and the planetary gear mechanism are connected in series to form a planetary differential mechanism, which has a more compact structure and saves space.

Description of drawings

1 is a schematic structural diagram of a three-axis rotating robot joint proposed by the present invention;

2 is a schematic diagram of an exploded structure of a three-axis rotating robot joint proposed by the present invention;

3 is a schematic plan view of a three-axis rotating robot joint proposed by the present invention;

4 is a schematic exploded structure diagram of a planetary gear mechanism of a three-axis rotating robot joint proposed by the present invention;

FIG. 5 is a schematic exploded structure diagram of a planetary differential mechanism of a three-axis rotating robot joint proposed by the present invention.

Description of the labels in the figure:

1. Sun gear; 2. The first planetary gear; 3. Linked gear; 4. Ring gear; 5. Linked ring gear; 6. Second planetary gear; 7. Gear carrier; 8. First bevel gear; 9 10, the first connecting shaft bevel gear; 11, the first double bevel gear; 12, the first lock; 13, the second double bevel gear; 14, the second bevel gear; 15 , the second lock; 16, the third planetary gear; 17, the third lock; 18, the double spur gear; 19, the third double bevel gear; 20, the first output shaft; 21, the second Connecting shaft bevel gear; 22, motor; 23, rear end mounting shell; 24, middle end mounting shell; 25, front end mounting shell; 26, front end mounting block.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1:

1-5, a three-axis rotating robot joint includes a drive motor 22, a rear-end mounting shell 23, a middle-end mounting shell 24, a front-end mounting shell 25, and a front-end mounting block 26. The casing 23, the middle-end installation casing 24, the front-end installation casing 25 and the front-end installation block 26 are fixedly connected in sequence along the axis direction to form a complete installation casing; the drive motor 22 is fixedly installed on the rear-end installation casing 23 by fixing bolts , the output shaft of the drive motor 22 is connected with a planetary gear mechanism. The planetary gear mechanism is installed inside the rear-end mounting housing 23 and the middle-end mounting housing 24. The planetary gear mechanism is also connected with the planetary differential mechanism. The planetary differential mechanism Installed inside the middle-end mounting housing 24 , the front-end mounting housing 25 and the front-end mounting block 26 .

The planetary gear mechanism includes a sun gear 1, a first planetary gear 2, a carrier gear 3 and a ring gear 4. The sun gear 1 is fixedly connected with the output shaft of the drive motor 22, and the carrier gear 3 is rotatably connected to the shaft of the sun gear 1. On the upper side, the first planetary gear 2 is meshed with the sun gear 1 near the center side, the outer side of the first planetary gear 2 is meshed with the ring gear 4, the carrier gear 3 is arranged on the inner side of the ring gear 4, and the outer side of the ring gear 4 is rotated and connected On the inner wall where the rear end mounting housing 23 and the middle end mounting housing 24 are connected.

The planetary gear mechanism also includes a double-connected spur gear 18, a third double-connected bevel gear 19, a first output shaft 20 and a second connecting shaft bevel gear 21. The double-connected spur gear 18 is fixedly connected with the third double-connected bevel gear 19. , the double-connected spur gear 18 and the third double-connected bevel gear 19 are axially rotatably connected to the rear mounting housing 23, the first output shaft 20 is vertically rotatably connected to the rear mounting housing 23, and the second connecting shaft cone The gear 21 is fixedly connected to the first output shaft 20 , the double-connected spur gear 18 is engaged with the inner wall of the ring gear 4 , and the third double-connected bevel gear 19 is engaged with the second connecting shaft bevel gear 21 .

The planetary differential mechanism includes a carrier ring gear 5, a second planetary gear 6, a gear carrier 7, a first bevel gear 8, a second bevel gear 14 and a third planetary gear 16. The carrier ring gear 5 is rotatably installed at the middle end. At the connection between the mounting housing 24 and the front mounting housing 25, the gear carrier 7 is also rotatably connected to the shaft of the sun gear 1, and the second planetary gear 6 and the third planetary gear 16 are axially connected to the gear carrier 7 for rotation close to the drive On the side of the motor 22 , the second planetary gear 6 and the third planetary gear 16 are engaged with the inner wall of the coupling ring gear 5 , and the gear carrier 7 is also rotatably connected with the first bevel gear 8 and the second bevel gear 14 .

The planetary differential mechanism also includes a first double-connected bevel gear 11, a second double-connected bevel gear 13, a second output shaft 9 and a first connecting shaft bevel gear 10, and the first double-connected bevel gear 11 and the second double-connected bevel gear. The bevel gear 13 is fixedly connected, the first double bevel gear 11 and the second double bevel gear 13 are axially rotatably connected to the front mounting housing 25, and the second output shaft 9 is vertically rotatably connected to the front mounting block 26 and the front mounting At the connection of the casing 25, the first connecting bevel gear 10 is fixedly connected to the second output shaft 9, the first double bevel gear 11 is meshed with the first connecting bevel gear 10, and the second double bevel gear 13 It is meshed with the first bevel gear 8 and the second bevel gear 14 .

A first lock 12 is fixedly installed on the second output shaft 9 , a second lock 15 is fixedly installed on the coupling gear ring 5 , and a third lock 17 is fixedly installed on the ring gear 4 .

The present invention provides a single-input and three-output transmission scheme. The drive motor 22 and the output shaft are driven by gear meshing. The planetary gear mechanism and the planetary differential mechanism are used to provide different power output paths, and a lock is used. The locking and unlocking of the device realize the switching of three output forms and realize three-axis rotation; meanwhile, the invention adopts a planetary gear mechanism and a planetary differential mechanism, which has a more compact structure and reduced volume, and is suitable for related fields such as robot joints; further , the present invention can realize the free selection and independent control of the three output forms of the two output shafts of the joint through the locking and unlocking of the lock, improve the flexibility of the joint application and reduce the difficulty of control; finally, the present invention drives the bevel gear to drive A planetary differential mechanism is formed in series with the planetary gear mechanism, which has a more compact structure and saves space.

Example 2:

Referring to Figures 1-5, the basic difference in combination with Embodiment 1 is that,

The rotation form of the first output shaft 20:

When the first output shaft 20 is required to rotate, the second lock 15 is used to lock the coupling ring gear 5 so that it cannot rotate, and the first lock 12 is used to lock the second output shaft 9 The drive motor 22 is started at this time, and the drive motor 22 drives the sun gear 1 to rotate through the output shaft, and when the sun gear 1 rotates, it drives the meshing connection with it. The first planetary wheel 2 rotates, and the first planetary wheel 2 is meshed and connected with the ring gear 4, so that the power can be uniquely transmitted to the ring gear 4. At the same time, the ring gear 4 is also meshed with the double spur gear 18. The double spur gear 18 is fixedly connected with the third double-connected bevel gear 19 and rotates coaxially, so that the third double-connected bevel gear 19 can be driven to rotate, and the third double-connected bevel gear 19 is meshed and connected with the second connecting-shaft bevel gear 21, which can then drive the third double-connected bevel gear 19 to rotate. The two-shaft bevel gear 21 rotates, and further transmits the power to the first output shaft 20 to realize the rotation of the first output shaft 20 .

Example 3:

Referring to Figures 1-5, the basis of the combination of Embodiments 1-2 is different in that,

The rotation form of the second output shaft 9:

When the second output shaft 9 is required to rotate, the third lock 17 is used to lock the ring gear 4 so that it cannot rotate, and at the same time, the second lock 15 is used to lock the interlocking ring gear 5 so that the It cannot be rotated. At this time, the driving motor 22 is started. The driving motor 22 drives the sun gear 1 to rotate through the output shaft. When the sun gear 1 rotates, it drives the first planetary gear 2 meshed with it to rotate. The carrier ring gear 5 is meshed and connected, so that the power can be uniquely transmitted to the coupling ring gear 5. When the coupling ring gear 5 rotates, the second planetary gear 6 and the third planetary gear 16 meshingly connected with it rotate, thereby driving the gears. The rack 7 rotates; the gear rack 7 is rotatably connected with the first bevel gear 8 and the second bevel gear 14, and the power is sequentially transmitted to the second double bevel gear 13, the first bevel gear 14 and the second bevel gear 14 through the first bevel gear 8 and the second bevel gear. The double-connected bevel gear 11 and the first-connected bevel gear 10 further realize the self-rotation of the second output shaft 9 .

Example 4:

Referring to Figures 1-5, the basic difference in combination with Embodiments 1-3 is that,

The rotation form of the first output shaft 20 and the second output shaft 9 relative to the joint axis:

When the first output shaft 20 and the second output shaft 9 are required to rotate relative to the joint axis, the third lock 17 is used to lock the ring gear 4 so that it cannot rotate, and the first lock 12 is used to lock the ring gear 4 The second output shaft 9 is locked so that the gear frame 7 cannot rotate; the drive motor 22 is started, and the drive motor 22 drives the sun gear 1 to rotate through the output shaft, and the sun gear 1 drives the first planetary gear 2 meshed with it to rotate. , when the first planetary gear 2 rotates, the power is transmitted to the connecting gear 3, and the connecting gear 3 is meshed with the second planetary gear 6 and the third planetary gear 16, so that the power can be uniquely transmitted to the connecting ring gear 5 , so that the first output shaft 20 and the second output shaft 9 can rotate relative to the joint axis.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. The equivalent replacement or change of the improved concept thereof shall be included within the protection scope of the present invention.

Claims (1)

1. The utility model provides a triaxial pivoted robot joint, is including driving motor (22), rear end installation casing (23), middle-end installation casing (24), front end installation casing (25) and front end installation piece (26), its characterized in that: the rear end mounting shell (23), the middle end mounting shell (24), the front end mounting shell (25) and the front end mounting block (26) are sequentially and fixedly connected along the axis direction to form a complete mounting shell; the driving motor (22) is fixedly mounted on the rear end mounting shell (23) through a fixing bolt, an output shaft of the driving motor (22) is connected with a planetary wheel mechanism, the planetary wheel mechanism is mounted inside the rear end mounting shell (23) and the middle end mounting shell (24), the planetary wheel mechanism is further connected with a planetary differential mechanism, and the planetary differential mechanism is mounted inside the middle end mounting shell (24), the front end mounting shell (25) and the front end mounting block (26);

the planet wheel mechanism comprises a sun wheel (1), a first planet wheel (2), a coupling gear (3) and a gear ring (4), wherein the sun wheel (1) is fixedly connected with an output shaft of a driving motor (22), the coupling gear (3) is rotationally connected to a shaft rod of the sun wheel (1), the first planet wheel (2) is meshed with the sun wheel (1) at the side close to the center, the outer side of the first planet wheel (2) is meshed with the gear ring (4), the coupling gear (3) is arranged on the inner side of the gear ring (4), and the outer side of the gear ring (4) is rotationally connected to the inner wall of the joint of a rear end mounting shell (23) and a middle end mounting shell (24);

the planetary gear mechanism further comprises a duplex straight gear (18), a third duplex bevel gear (19), a first output shaft lever (20) and a second coupling bevel gear (21), the duplex straight gear (18) is fixedly connected with the third duplex bevel gear (19), the duplex straight gear (18) and the third duplex bevel gear (19) are axially and rotatably connected to a rear end mounting shell (23), the first output shaft lever (20) is vertically and rotatably connected to the rear end mounting shell (23), the second coupling bevel gear (21) is fixedly connected to the first output shaft lever (20), the duplex straight gear (18) is in meshed connection with the inner wall of the gear ring (4), and the third duplex bevel gear (19) is in meshed connection with the second coupling bevel gear (21);

the planetary differential mechanism comprises a carrier ring gear (5), a second planet wheel (6), a gear carrier (7), a first bevel gear (8), a second bevel gear (14) and a third planet wheel (16), wherein the carrier ring gear (5) is rotatably installed at the joint of a middle-end installation shell (24) and a front-end installation shell (25), the gear carrier (7) is also rotatably connected to a shaft rod of the sun wheel (1), the second planet wheel (6) and the third planet wheel (16) are axially and rotatably connected to the gear carrier (7) and are close to one side of a driving motor (22), the second planet wheel (6) and the third planet wheel (16) are meshed with the inner wall of the carrier ring gear (5), and the gear carrier (7) is also rotatably connected with the first bevel gear (8) and the second bevel gear (14);

the planetary differential mechanism also comprises a first duplex bevel gear (11), a second duplex bevel gear (13), a second output shaft lever (9) and a first connecting shaft bevel gear (10), the first duplex bevel gear (11) and the second duplex bevel gear (13) are fixedly connected, the first duplex bevel gear (11) and the second duplex bevel gear (13) are axially and rotationally connected on the front end mounting shell (25), the second output shaft lever (9) is vertically and rotatably connected at the joint of the front end mounting block (26) and the front end mounting shell (25), the first connecting shaft bevel gear (10) is fixedly connected to the second output shaft lever (9), the first duplex bevel gear (11) is meshed with the first connecting shaft bevel gear (10), the second duplex bevel gear (13) is in meshed connection with the first bevel gear (8) and the second bevel gear (14);

the second output shaft lever (9) is fixedly provided with a first locking device (12), the yoke gear ring (5) is fixedly provided with a second locking device (15), and the gear ring (4) is fixedly provided with a third locking device (17).

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