CN113070902B - Three-axis rotating robot joint - Google Patents
Three-axis rotating robot joint Download PDFInfo
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- CN113070902B CN113070902B CN202110378592.0A CN202110378592A CN113070902B CN 113070902 B CN113070902 B CN 113070902B CN 202110378592 A CN202110378592 A CN 202110378592A CN 113070902 B CN113070902 B CN 113070902B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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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
Technical Field
The invention relates to the technical field of robot joints, in particular to a robot joint capable of rotating in three axes.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by depending on the power energy and control capability of the industrial robot; the robot system consists of a visual sensor, a mechanical arm system and a main control computer, wherein the mechanical arm system comprises a modularized mechanical arm and a dexterous hand; the mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling; because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.
In the field of current mechanical arm manufacturing, a component with one-degree-of-freedom input and one-degree-of-freedom output is often adopted, and the structure of an industrial robot is single and solidified; in order to realize more functions of the robot, parts have to be added, so that the structure is more complex, the production cost is higher, and faults are easy to occur; in order to solve the above problems, we propose a three-axis rotational robot joint.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to manufacture a three-axis rotating robot joint which can selectively provide three output degrees of freedom, has multiple working modes, has a simple and compact structure, good economical efficiency and strong dynamic property on the premise of one power input, so that the robot joint is more flexible and efficient.
2. Technical scheme
In order to achieve the purpose, the invention provides the following technical scheme:
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 installed on the rear end installation shell through a fixing bolt, a planetary wheel mechanism is connected to an output shaft of the driving motor, the planetary wheel mechanism is installed inside the rear end installation shell and the middle end installation shell, the planetary wheel mechanism is further connected with a planetary differential mechanism, and the planetary differential mechanism is installed inside the middle end installation shell, the front end installation shell and the front end installation block.
Preferably, the planet wheel mechanism comprises a sun wheel, a first planet wheel, a coupling gear and a gear ring, the sun wheel is fixedly connected with an output shaft of the driving motor, the coupling gear is connected to a shaft rod of the sun wheel in a rotating mode, the first planet wheel is close to the central side and is connected with the sun wheel in a meshing mode, the outer side of the first planet wheel is connected with the gear ring in a meshing mode, the coupling gear is arranged on the inner side of the gear ring, and the outer side of the gear ring is connected to the inner wall of the joint of the rear end mounting shell and the middle end mounting shell in a rotating mode.
Preferably, the planetary gear mechanism further comprises a duplex straight gear, a third duplex bevel gear, a first output shaft lever and a second bevel gear, the duplex straight gear is fixedly connected with the third duplex bevel gear, the duplex straight gear and the third duplex bevel gear are axially and rotatably connected to the rear end mounting shell, the first output shaft lever is vertically and rotatably connected to the rear end mounting shell, the second bevel gear is fixedly connected to the first output shaft lever, the duplex straight gear is meshed with the inner wall of the gear ring and is connected to the third duplex bevel gear in a meshed manner.
Preferably, the planetary differential mechanism comprises a coupling gear ring, a second planet wheel, a gear carrier, a first bevel gear, a second bevel gear and a third planet wheel, the coupling gear ring is rotatably installed at the joint of the middle-end installation shell and the front-end installation shell, the gear carrier is also rotatably connected to a shaft rod of the sun wheel, the second planet wheel and the third planet wheel are axially and rotatably connected to one side, close to the driving motor, of the gear carrier, the second planet wheel and the third planet wheel are meshed with the inner wall of the coupling gear ring and connected to the gear carrier in a meshing manner, and the first bevel gear and the second bevel gear are further rotatably connected to the gear carrier.
Preferably, the planetary differential mechanism further comprises a first duplex bevel gear, a second output shaft lever and a first connecting shaft bevel gear, the first duplex bevel gear and the second duplex bevel gear are fixedly connected, the first duplex bevel gear and the second duplex bevel gear are axially and rotatably connected to the front end mounting shell, the second output shaft lever is vertically and rotatably connected to the joint of the front end mounting block and the front end mounting shell, the first connecting shaft bevel gear is fixedly connected to the second output shaft lever, the first duplex bevel gear is in meshing connection with the first connecting shaft bevel gear, and the second duplex bevel gear is in meshing connection with the first bevel gear and the second bevel gear.
Preferably, a first locking device is fixedly mounted on the second output shaft rod, a second locking device is fixedly mounted on the coupling gear ring, and a third locking device is fixedly mounted on the gear ring.
3. Advantageous effects
(1) According to the transmission scheme with the single input and the three output modes, the motor and the output shaft are in meshing transmission through the gears, the planetary gear mechanism and the planetary differential mechanism are adopted to provide different power output paths, the locking and the unlocking of the locking device are adopted to realize the switching of the three output modes, and the three-axis rotation is realized.
(2) The invention adopts the planetary wheel mechanism and the planetary differential mechanism, has more compact structure and reduced volume, and is suitable for the related fields of robot joints and the like.
(3) According to the invention, free selection and independent control of three output modes of the two output shafts of the joint can be realized through locking and unlocking of the locker, so that the application flexibility of the joint is improved, and the control difficulty is reduced.
(4) According to the invention, the bevel gear transmission and the planetary gear mechanism are connected in series to form the planetary differential mechanism, so that the structure is more compact, and the space is saved.
Drawings
Fig. 1 is a schematic structural diagram of a robot joint with three axes of rotation according to the present invention;
fig. 2 is an exploded view of a three-axis-rotation robot joint according to the present invention;
fig. 3 is a schematic plane structure diagram of a three-axis-rotation robot joint according to the present invention;
fig. 4 is an exploded schematic view of a planetary gear mechanism of a three-axis-rotation robot joint according to the present invention;
fig. 5 is an exploded view of a planetary differential mechanism of a three-axis rotating robot joint according to the present invention.
The reference numbers in the figures illustrate:
1. a sun gear; 2. a first planet gear; 3. a connecting gear; 4. a ring gear; 5. a carrier-connected gear ring; 6. a second planet wheel; 7. a gear carrier; 8. a first bevel gear; 9. a second output shaft; 10. a first connecting shaft bevel gear; 11. a first double bevel gear; 12. a first latch; 13. a second double bevel gear; 14. a second bevel gear; 15. a second locker; 16. a third planet gear; 17. a third locker; 18. a dual spur gear; 19. a third duplex bevel gear; 20. a first output shaft; 21. a second coupling bevel gear; 22. a motor; 23. the rear end is provided with a shell; 24. the middle end is provided with a shell; 25. the front end is provided with a shell; 26. the front end mounting block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
referring to fig. 1-5, a robot joint with three axes rotation includes a driving motor 22, a rear end mounting housing 23, a middle end mounting housing 24, a front end mounting housing 25 and a front end mounting block 26, wherein the rear end mounting housing 23, the middle end mounting housing 24, the front end mounting housing 25 and the front end mounting block 26 are sequentially and fixedly connected along an axis direction to form a complete mounting housing; the driving motor 22 is fixedly mounted on the rear end mounting shell 23 through a fixing bolt, a planetary gear mechanism is connected to an output shaft of the driving motor 22, the planetary gear mechanism is mounted inside the rear end mounting shell 23 and the middle end mounting shell 24, the planetary gear 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 planetary gear mechanism comprises a sun gear 1, a first planet gear 2, a carrier gear 3 and a gear ring 4, the sun gear 1 is fixedly connected with an output shaft of a driving motor 22, the carrier gear 3 is rotatably connected to a shaft rod of the sun gear 1, the first planet gear 2 is close to the central side and is meshed with the sun gear 1, the outer side of the first planet gear 2 is meshed with the gear ring 4, the carrier gear 3 is arranged on the inner side of the gear ring 4, and the outer side of the gear ring 4 is rotatably 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 rod 20 and a second connecting shaft 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 rod 20 is vertically and rotatably connected to the rear end mounting shell 23, the second connecting shaft bevel gear 21 is fixedly connected to the first output shaft rod 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 connecting shaft 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 at one side close to the driving motor 22, the second planet wheel 6 and the third planet wheel 16 are meshed and connected with the inner wall of the carrier ring gear 5, and the gear carrier 7 is further rotatably connected with the first bevel gear 8 and the second bevel gear 14.
The planetary differential mechanism further 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 is fixedly connected with the second duplex bevel gear 13, the first duplex bevel gear 11 and the second duplex bevel gear 13 are axially and rotatably connected to the front end mounting shell 25, the second output shaft lever 9 is vertically and rotatably connected to 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, and the second duplex bevel gear 13 is meshed 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.
According to the transmission scheme of the single-input three-output form, the driving motor 22 and the output shaft are in meshing transmission through the gears, the planetary gear mechanism and the planetary differential mechanism are adopted to provide different power output paths, the locking and unlocking of the locking device are adopted to realize the switching of the three output forms, and the three-axis rotation is realized; meanwhile, the invention adopts the planetary wheel mechanism and the planetary differential mechanism, has more compact structure and reduced volume, and is suitable for the related fields of robot joints and the like; furthermore, the joint can realize free selection and independent control of three output modes of two output shafts of the joint through locking and unlocking of the locker, so that the application flexibility of the joint is improved, and the control difficulty is reduced; finally, the bevel gear transmission and the planetary gear mechanism are connected in series to form the planetary differential mechanism, so that the structure is more compact, and the space is saved.
Example 2:
referring to fig. 1-5, the basic difference between the embodiments 1,
when the first output shaft lever 20 is required to rotate, the second locking device 15 is used for locking the coupling gear ring 5 to enable the coupling gear ring to be incapable of rotating, the first locking device 12 is used for locking the second output shaft lever 9 to enable the coupling gear ring to also be incapable of rotating, so that the fixed locking of the coupling gear 3 can be realized, at the moment, the driving motor 22 is started, the driving motor 22 drives the sun gear 1 to rotate through the output shaft, the sun gear 1 drives the first planet gear 2 which is meshed and connected with the sun gear 1 to rotate when rotating, the first planet gear 2 is meshed and connected with the gear ring 4 to enable power to be transmitted to the gear ring 4 only, the gear ring 4 is also meshed and connected with the double straight gear 18 at the same time, the double straight gear 18 is fixedly connected with the third double straight gear 19 and coaxially rotates to enable the third double straight gear 19 to rotate, the third double straight gear 19 is meshed and connected with the second coupling bevel gear 21 to drive the second coupling bevel gear 21 to rotate, further, the power is transmitted to the first output shaft 20, and the rotation of the first output shaft 20 is realized.
Example 3:
referring to fig. 1-5, the basic difference between the embodiments 1-2 is that,
when the second output shaft lever 9 is required to rotate, the gear ring 4 is locked by the third locking device 17 and cannot rotate, the carrier gear ring 5 is locked by the second locking device 15 and cannot rotate, the driving motor 22 is started at the moment, the driving motor 22 drives the sun gear 1 to rotate through the output shaft, the sun gear 1 drives the first planet gear 2 which is meshed and connected with the sun gear 1 to rotate when rotating, the first planet gear 2 is meshed and connected with the carrier gear ring 5, so that power can be transmitted to the carrier gear ring 5 exclusively, and the carrier gear ring 5 rotates through the second planet gear 6 and the third planet gear 16 which are meshed and connected with the carrier gear ring 5 to further drive the gear carrier 7 to rotate; the carrier 7 is rotatably connected with a first bevel gear 8 and a second bevel gear 14, and power is sequentially transmitted to a second duplex bevel gear 13, a first duplex bevel gear 11 and a first connecting shaft bevel gear 10 through the first bevel gear 8 and the second bevel gear 14, so that the second output shaft lever 9 rotates.
Example 4:
referring to fig. 1-5, the basic difference between embodiments 1-3 is that,
the first output shaft 20 and the second output shaft 9 have a relative joint axis turnaround:
when the first output shaft lever 20 and the second output shaft lever 9 are required to rotate relative to the joint axis, the gear ring 4 is locked by the third lock 17 so as not to rotate, and the second output shaft lever 9 is locked by the first lock 12 so as not to rotate the carrier 7; the driving motor 22 is started, the driving motor 22 drives the sun gear 1 to rotate through the output shaft, the sun gear 1 drives the first planet gear 2 connected with the sun gear in a meshed mode to rotate, when the first planet gear 2 rotates, power is transmitted to the coupling gear 3, the coupling gear 3 is connected with the second planet gear 6 and the third planet gear 16 in a meshed mode, therefore, the power can be transmitted to the coupling gear ring 5 exclusively, and then the relative joint axis turnover of the first output shaft rod 20 and the second output shaft rod 9 can be achieved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the 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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110378592.0A CN113070902B (en) | 2021-04-08 | 2021-04-08 | Three-axis rotating robot joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110378592.0A CN113070902B (en) | 2021-04-08 | 2021-04-08 | Three-axis rotating robot joint |
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| CN113070902A CN113070902A (en) | 2021-07-06 |
| CN113070902B true CN113070902B (en) | 2022-09-16 |
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