CN117901169A - Modularized robot forearm - Google Patents

Abstract

The application relates to the technical field of robots, solves the problem of inconvenience in disassembly and assembly of a robot forearm, and discloses a modularized robot forearm, which comprises a driving module, a transmission module and an execution module; the driving module comprises a mounting plate, a first driving piece and a second driving piece which are arranged on the mounting plate at intervals in parallel; the transmission module comprises an arm shell fixedly connected with the mounting plate, and a first transmission assembly and a second transmission assembly which are respectively and rotatably connected in the arm shell; the execution module comprises a joint shell rotationally connected to the arm shell, a wrist driving wheel rotationally arranged in the joint shell, a first driving wheel fixedly connected to the outside of the joint shell and a second driving wheel in transmission connection with the wrist driving wheel; the rotation axis of the first driving wheel is perpendicular to the rotation axis of the wrist driving wheel. The three modules are spliced together after being respectively installed, the internal transmission structure of the three modules is automatically matched, the whole structure is simple and compact, the modularized mode is adopted, the convenience of installation is improved, and the disassembly and assembly are convenient and quick.

Description

Modularized robot forearm

Technical Field

The application relates to the technical field of robots, in particular to a modularized robot forearm.

Background

With the continuous progress of industrial robots and humanoid service robot technologies, robots are widely used in various industries. Among them, in the industrial manufacturing field where various operations such as transportation, cutting, installation, welding, and painting are required, six-axis industrial robots capable of satisfying the operation requirements also play an increasingly important role, and six-axis industrial robots are still being improved in order to improve the operation accuracy and realize more complex motion trajectories.

Six axes of a six-axis industrial robot refers to the six joints of the robot, which typically include a rotating base, a large arm, a small arm, a wrist, and an end effector, which are driven by motors to allow flexible movement in three spaces.

However, with the improvement of technology, the internal structure of six industrial robots is more and more complex, especially the forearm that is located the middle part, inside needs to set up two at least axial transmission structures, and parts such as motor, gear, bearing of different models all need assemble in proper order, still need a lot of screws to fix, and installation and maintenance process are all comparatively troublesome, still have the installation error very easily, lead to debugging calibration's time extension.

Disclosure of Invention

In order to overcome the defect of inconvenience in assembly and disassembly of the robot arm, the application provides a modularized robot arm.

The application provides a modularized robot forearm, which adopts the following technical scheme:

A modular robotic forearm comprising:

The driving module comprises a mounting plate, a first driving piece and a second driving piece which are arranged on the mounting plate at intervals in parallel;

The transmission module comprises an arm shell fixedly connected with the mounting plate, and a first transmission assembly and a second transmission assembly which are respectively and rotatably connected in the arm shell;

The execution module comprises a joint shell, a first driving wheel and a second driving wheel, wherein the joint shell is rotationally connected to the arm shell, the first driving wheel is fixedly connected to the joint shell, a mounting cavity penetrating through two opposite end faces is formed in the joint shell, a wrist driving wheel is rotationally mounted in the mounting cavity, the second driving wheel is in transmission connection with the wrist driving wheel, a sealing cover and a supporting cover for limiting the wrist driving wheel to axially move are respectively and hermetically connected to two openings of the mounting cavity, an adjusting piece is further connected to one side of the wrist driving wheel, facing the sealing cover, of the wrist driving wheel, and the position of the wrist driving wheel mounted in the mounting cavity along the axial direction can be adjusted and fixed through cooperation of the adjusting piece and the supporting cover;

The rotating shaft of the first driving wheel is perpendicular to the rotating shaft of the wrist driving wheel, the first transmission assembly is used for being in transmission connection with the first driving piece and the first driving wheel, and the second transmission assembly is used for being in transmission connection with the second driving piece and the second driving wheel.

By adopting the technical scheme, the whole robot forearm is mainly divided into three modules, namely a driving module, a transmission module and an execution module. When in installation, the first driving piece and the second driving piece are fixedly installed on the installation plate to form a driving module; the first transmission assembly and the second transmission assembly are respectively rotatably arranged in the arm shell to form a transmission module; the wrist driving wheel is arranged in the installation cavity of the joint shell, then the installation cavity is sealed by the sealing cover and the supporting cover, the wrist driving wheel is fixed, and the first driving wheel and the second driving wheel are respectively arranged on the joint shell to form an execution module; then when the mounting plate and the arm shell are fixed, the first driving piece is connected with the first transmission assembly, and the second driving piece is connected with the second transmission assembly; and finally, the joint shell is connected with the arm shell, meanwhile, the first transmission assembly is connected with the first driving wheel, the second transmission assembly is connected with the second driving wheel, and further, the two axial rotations of the robot forearm are realized. On the other hand, when the transmission connection precision of the wrist driving wheel and the second driving wheel is required to be adjusted, the adjusting piece can be correspondingly adjusted and calibrated only by opening the sealing cover and the supporting cover, and the operation is simple and convenient.

Optionally, the execution module includes a wrist connection assembly, where the wrist connection assembly includes a wrist driving wheel and an adjusting member, the wrist connection assembly further includes a wrist rotating shaft, a first bearing, and a second bearing, and the first bearing, the wrist driving wheel, the second bearing, and the adjusting member are sequentially sleeved on the wrist rotating shaft along an axial direction of the wrist rotating shaft; the supporting cover and the adjusting piece are respectively connected to two end faces, deviating from the first bearing and the second bearing, of the adjusting piece, and the adjusting piece can move along the axial direction of the wrist rotating shaft.

Through adopting above-mentioned technical scheme, execution module specifically includes two main parts of joint shell and wrist coupling assembling, during the installation, can cup joint first bearing, wrist drive wheel, second collar and regulating part in proper order in the wrist pivot in order to form an holistic wrist coupling assembling, then in inserting the installation cavity with wrist coupling assembling, finally through two openings with sealed lid and the sealed installation cavity of supporting lid to it is fixed with wrist coupling assembling. Because the wrist drive wheel is between the first bearing and the second bearing, the position of the alignment wrist drive wheel can be adapted for alignment by only moving the position of the adjustment member and the support cap axially along the mounting cavity.

Optionally, a plurality of axial adjusting gaskets are detachably connected between the supporting cover and the first bearing.

Through adopting above-mentioned technical scheme, supporting cover and joint shell location link together, be connected with axial adjustment gasket between supporting cover and the first bearing, adjust the position of wrist coupling assembling through adjusting the quantity of axial adjustment gasket in order to extrude first bearing to adjust the position of wrist drive wheel, adjust more accurately, and need not to dismantle the shell of robot forearm, it is more convenient to operate; the sealing performance can be further improved, and the stability of the internal transmission structure is ensured.

Optionally, an annular positioning groove and a limiting groove are respectively formed on one side, facing the joint shell, of the inner wall and the outer wall of the supporting cover, and an inserting ring is formed between the positioning groove and the limiting groove of the supporting cover; the groove bottom of the positioning groove is abutted to the end face of the joint shell, the axial adjusting gasket is placed on the limiting groove, and the inserting ring enters the mounting cavity and is abutted between the inner wall of the mounting cavity and the outer ring of the first bearing.

Through adopting above-mentioned technical scheme, because need lubricating oil in order to guarantee driven stability between the transmission structures such as gear, the supporting cover specifically sets up to the stairstepping, and it is sealed with installation cavity with joint shell and wrist coupling assembling cooperation from radial and axial two directions, has guaranteed transmission module's sealed effect, and then has guaranteed the lubrication effect of lubricating oil. The axial adjusting gasket can be adjusted in the position of the wrist driving wheel only by being placed on the supporting cover, and the operation is simple and convenient.

Optionally, the sealing cover includes adjusting screw, continuous fixed part and adjustment portion, the adjusting screw wears to establish behind the fixed part support tightly on the adjustment portion, adjustment portion can be towards being close to or keep away from the direction deformation of adjustment portion is to support on the second bearing.

Through adopting above-mentioned technical scheme, the outer lane through first bearing and second bearing offsets tightly just can be with wrist coupling assembling location installation inside the joint shell with the inner wall in installation cavity, after adjusting piece and axial adjustment gasket cooperation adjustment first bearing, wrist drive wheel and second bearing's position, when the lid is established to the lid, can support tight to the second bearing with the adjustment portion through screwing adjusting screw to make first bearing and second bearing and offset the wrist drive wheel axial of connection in first bearing and second bearing and be restrained, further improve the structural stability of execution module, and then make the inside transmission structure of whole forearm all more stable.

Optionally, the first driving piece is provided with a first output end which rotates, and the first transmission assembly comprises a first input gear meshed with the first output end and a first output gear coaxially connected with the first input gear; the first driving wheel is a first curved gear, and the first curved gear is meshed with the first output gear.

By adopting the technical scheme, the transmission direction of the output end of the first driving piece is vertically turned through the curved gear, so that the structure inside the small arm is more compact, and the first transmission assembly can realize eccentric meshing installation of the curved gear so as to ensure the transmission precision; when the first transmission assembly improves the transmission stability between the first driving piece and the first driving wheel, the distance between the first driving piece and the execution module can be properly prolonged, so that the vertical projections of the first driving piece with larger volume and the wrist connection unit can be overlapped, namely, the installation structure can be more compact, and the volume of the whole forearm can be reduced. The first transmission assembly is also inserted into the arm shell as a whole, and after the two ends of the arm shell are respectively connected with the mounting plate and the joint shell, the two ends of the first transmission assembly are respectively meshed with the first output end and the first driving wheel, so that the installation and the disassembly are convenient and quick.

Optionally, an intermediate driving wheel is meshed between the first output end and the first input gear.

By adopting the technical scheme, the intermediate driving wheel can further adjust the transmission ratio and the position of the first output gear, so as to adjust the meshing relationship of the first output gear on the first curved gear, and improve the applicability.

Optionally, the execution module further includes a third bearing installed between the joint shell and the arm shell, and two radial end surfaces of the third bearing are respectively connected to the joint shell and the first curved gear; a plurality of first radial adjusting gaskets are connected between the first curved gear and the third bearing.

Through adopting above-mentioned technical scheme, the regulation calibration of first drive wheel is adjusted through setting up the first radial gasket quantity of adjusting between first curved gear and third bearing, also only need pull down alright with the first drive wheel that is located the outermost during the adjustment, convenient and fast.

Optionally, the second driving piece is provided with a second output end which rotates, and the second transmission assembly comprises a second input gear meshed with the second output end and a second output gear coaxially connected with the second input gear; the second driving wheel comprises a second curved gear and a conical gear which are coaxially connected, the second curved gear is meshed with the first output gear, the conical gear is meshed with the wrist driving wheel, and a yielding hole for the conical gear to penetrate into the mounting cavity is formed in the joint shell in the radial direction.

Through adopting above-mentioned technical scheme, carry out the vertical steering and connect on the wrist drive wheel in the installation cavity with the output transmission direction of second driving piece through second curved surface gear and bevel gear cooperation to can realize the parallel installation of first driving piece and second driving piece, and then realize drive module's modular structure. During installation, the second curved gear and the conical gear are firstly installed into a whole and then inserted into the installation cavity through the abdication hole, so that the conical gear is meshed with the wrist driving wheel; the second transmission assembly is also inserted into the arm shell as a whole, and after the two ends of the arm shell are respectively connected with the mounting plate and the joint shell, the two ends of the second transmission assembly are respectively meshed with the second output end and the second curved gear, and each part is not required to be inserted and mounted inside respectively, so that the installation and the disassembly are convenient and quick.

Optionally, the execution module further includes a fourth bearing installed between the joint shell and the arm shell, the fourth bearing is sleeved on the conical gear, and two radial end surfaces of the fourth bearing are respectively connected to the joint shell and the second curved gear; and a plurality of second radial adjusting gaskets are connected between the second curved gear and the fourth bearing.

Through adopting above-mentioned technical scheme, the regulation calibration of second drive wheel is adjusted through setting up the radial gasket quantity of adjusting of second between second curved gear and third bearing, also only need with the second curved gear that is located the outside tear down alright during the adjustment, convenient and fast.

In summary, the present application includes at least one of the following beneficial effects:

1. The whole robot forearm mainly comprises three large modules: the driving module, the executing module and the transmission module are respectively installed firstly when being installed, then are butted together, the internal transmission structure is automatically matched, the whole structure is simple and compact, the modularization mode is adopted, the installation convenience is improved, and the disassembly and the assembly are convenient and quick;

2. In the process of adjusting and calibrating, only the supporting cover and the sealing cover which are positioned at the outer side, the first curved gear and the second curved gear are required to be detached respectively so as to replace the quantity of different adjusting gaskets, and the adjusting operation is simple and convenient.

Drawings

FIG. 1 is a schematic diagram of a modular robotic arm in an embodiment of the application;

FIG. 2 is a cross-sectional view of a modular robotic arm in an embodiment of the application;

FIG. 3 is a schematic diagram of an input module according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a transmission module according to an embodiment of the present application;

FIG. 5 is a schematic diagram of an execution module according to an embodiment of the present application;

FIG. 6 is a schematic view of the first drive member, first transmission assembly and first drive wheel connection in an embodiment of the present application;

FIG. 7 is a cross-sectional view of a first transmission assembly in an embodiment of the application;

FIG. 8 is a cross-sectional view of an execution module in an embodiment of the application;

FIG. 9 is a schematic illustration of the connection of a second drive member, a second transmission assembly and a second drive wheel in an embodiment of the present application;

fig. 10 is an enlarged view at a in fig. 8.

Reference numerals illustrate: 1. a driving module; 11. a mounting plate; 111. a mounting boss; 12. a first driving member; 121. a first output terminal; 13. a second driving member; 131. a second output terminal; 14. an intermediate transmission assembly; 141. a first intermediate wheel; 142. a second intermediate wheel; 2. a transmission module; 21. an arm housing; 211. a movable groove; 212. a connecting ring; 22. a first transmission assembly; 221. a first input gear; 222. a first output gear; 223. a fifth bearing; 224. a shaft sleeve; 225. a bearing lock nut; 23. a second transmission assembly; 231. a second input gear; 232. a second output gear; 3. an execution module; 31. a joint shell; 311. a mounting cavity; 32. a wrist connection assembly; 321. a wrist rotation shaft; 322. a wrist drive wheel; 323. a first bearing; 324. a second bearing; 325. a support sleeve; 33. sealing cover; 331. a fixing part; 332. an adjusting part; 333. adjusting a screw; 34. a support cover; 341. a positioning groove; 342. a limit groove; 343. a plug ring; 35. an axial adjustment shim; 36. a first drive wheel; 361. a first curved gear; 37. a third bearing; 38. a second drive wheel; 381. a second curved gear; 382. a bevel gear; 39. a fourth bearing; 4. an end effector flange; 5. a housing assembly; 41. connecting sleeves; 42. a first side plate; 43. and a second side plate.

Detailed Description

The application is described in further detail below with reference to fig. 1-10.

Referring to fig. 1 and 2, an embodiment of the present application discloses a modular robot arm, which includes a driving module 1, a transmission module 2 and an execution module 3, so that the robot arm rotates in two vertical directions. During installation, three modules are respectively installed and respectively butted together, the internal transmission structure of the three modules is automatically matched, the whole structure is simple and compact, the convenience of installation is improved by adopting a modularized mode, and the disassembly and assembly are convenient and quick.

Specifically, referring to fig. 2 and 3, the driving module 1 includes a mounting plate 11 and a first driving member 12 and a second driving member 13 mounted on the mounting plate 11 in parallel with a space between the first driving member 12 and the second driving member 13 preferably being 1-3mm to reduce the volume of the driving module 1, and two mounting bosses 111 may be provided on the mounting plate 11 for mounting the first driving member 12 and the second driving member 13, respectively. The first driving member 12 and the second driving member 13 may be the same servo motor, the first driving member 12 has a first output end 121 that rotates, the second driving member 13 has a second output end 131 that rotates, the first output end 121 and the second output end 131 both penetrate through the mounting plate 11, and the outer surfaces of the first output end 121 and the second output end 131 are both provided with teeth.

Referring to fig. 4, the transmission module 2 includes an arm shell 21 fixedly connected with the mounting plate 11, and a first transmission assembly 22 and a second transmission assembly 23 respectively rotatably connected in the arm shell 21, two movable slots 211 respectively inserted by the first transmission assembly 22 and the second transmission assembly 23 are formed in the arm shell 21, and the inside of the arm shell 21 is of a hollow structure and is provided with a plurality of staggered reinforcing ribs to strengthen the structure. The end of the arm housing 21 remote from the mounting plate 11 is provided with two attachment rings 212 spaced apart.

Referring to fig. 2 and 5, the implement module 3 includes an articulation shell 31, a wrist coupling assembly 32, a first drive wheel 36, and a second drive wheel 38; the joint shell 31 is located between the two connecting rings 212, the plane of the joint shell 31 is propped against the connecting rings 212, the joint shell 31 is rotationally connected with the arm shell 21, the wrist connecting assembly 32 comprises a wrist driving wheel 322 rotationally connected in the joint shell 31, a first driving wheel 36 is fixedly connected to the joint shell 31, a second driving wheel 38 is in transmission connection with the wrist driving wheel 322, the rotating shaft of the first driving wheel 36 is perpendicular to the rotating shaft of the wrist driving wheel 322, the first transmission assembly 22 is used for being in transmission connection with the first driving piece 12 and the first driving wheel 36, and the second transmission assembly 23 is used for being in transmission connection with the second driving piece 13 and the second driving wheel 38.

Referring to fig. 6, an intermediate transmission assembly 14 is further connected between the first output end 121 and the first transmission assembly 22, and the intermediate transmission assembly 14 may be preloaded on the mounting plate 11; the middle transmission assembly 14 comprises a first middle wheel 141 and a second middle wheel 142 which are coaxially connected in sequence, two ends, deviating from each other, of the first middle wheel 141 and the second middle wheel 142 are respectively connected with a deep groove ball bearing, a counter bore is formed in the surface, deviating from the driving main body of the first driving piece 12, of the mounting plate 11, the middle transmission assembly 14 is mounted on the mounting plate 11 through one deep groove ball bearing, the other deep groove ball bearing is connected in the arm shell 21, the diameter of the first middle wheel 141 is larger than that of the second middle wheel 142, and the first middle wheel 141 is meshed with the tooth part of the first output end 121.

The first transmission assembly 22 includes a first input gear 221 and a first output gear 222 coaxially connected, where the first input gear 221 and the first output gear 222 are meshed with the second intermediate wheel 142 and the first driving wheel 36, respectively, and the first driving wheel 36 is a first curved gear 361, i.e. the first driving wheel 36 is a hypoid gear.

Specifically, referring to fig. 7, the first output gear 222 is also a hypoid gear having curved teeth, and is used as a driving wheel to drive the first driving wheel 36 to rotate. The first output gear 222 has a long shaft, one end of the long shaft far away from the curved surface tooth part is set as a stepped shaft with smaller diameter, one end of the long shaft close to the curved surface tooth part is provided with a convex ring, the first input gear 221 is sleeved on the stepped shaft, two fifth bearings 223 and a shaft sleeve 224 which is abutted between the convex ring and the first input gear 221 are sleeved on the long shaft, the first input gear 221 is abutted on the inner ring of one fifth bearing 223, a bearing locking nut 225 is further sleeved on the first input gear 221, the bearing locking nut is abutted on the outer ring of the fifth bearing 223, and the axial movement of the two fifth bearings 223 along the long shaft is further limited by the bearing locking nut and the convex ring. The bearing lock nut 225 is further provided with an adjusting slit, and the adjusting slit divides the bearing lock nut 225 into two parts with a certain deformation displacement, so that the accurate installation of the first transmission assembly 22 can be adjusted.

Referring to fig. 6 and 8, the first driving wheel 36 is fixed to a surface of a connection ring 212 of the arm housing 21 facing away from the joint housing 31, the execution module 3 further includes a third bearing 37 mounted between the joint housing 31 and the arm housing 21, the third bearing 37 is preferably a crossed roller bearing, the third bearing 37 is mounted in the connection ring 212, two radial end surfaces of the third bearing 37 are respectively connected to the joint housing 31 and the first curved gear 361, a long rod bolt penetrates through the first curved gear 361 in the circumferential direction, the long rod bolt penetrates through an inner ring of the third bearing 37 and is then fixed to the joint housing 31 in a threaded connection manner, and an outer ring of the third bearing 37 is fixed to the connection ring 212 through a bolt. The joint shell 31 is provided with a mounting cavity 311 for accommodating the wrist connecting assembly 32, the inner wall of the mounting cavity 311 is also provided with a channel communicated with the inside of the connecting ring 212, and the connecting ring 212 and the joint shell 31 are arranged on the periphery of the channel and are provided with a sealing gasket and a framework oil seal at the end part of the third bearing 37 so as to ensure tightness.

The first output gear 222 is meshed with the first curved gear 361 after penetrating into the connecting ring 212 in the arm shell 21, so that the transmission direction of the output end of the first driving piece 12 is vertically turned, the structure inside the small arm can be more compact, and the volume of the whole small arm is reduced. When the first driving member 12 is operated, the joint housing 31 can be driven to rotate relative to the arm housing 21, and the wrist mechanism of the robot can be connected to the joint housing 31.

Further, referring to fig. 8, in order to facilitate adjustment and calibration, a plurality of first radial adjustment shims are further connected between the first curved gear 361 and the third bearing 37; during adjustment, only the first curved gear 361 positioned at the outermost side is detached, and the adjustment is performed by increasing and decreasing the number of the first radial adjusting gaskets, so that the adjustment is convenient and quick.

On the other hand, the robot arm as a whole can rotate about the center in the longitudinal direction.

Specifically, referring to fig. 9, the second transmission assembly 23 includes a second input gear 231 and a second output gear 232 coaxially connected, and the second driving wheel 38 includes a second curved gear 381 and a bevel gear 382 coaxially connected; the second input gear 231 is directly engaged with the teeth of the second output end 131, and the second output gear 232 is eccentrically engaged with the second curved gear 381, that is, the second curved gear 381 and the second output gear 232 are also hypoid gears. The second drive assembly 23 may be configured in accordance with the first drive assembly 22, but the long axis of the second output gear 232 may be adapted to ensure that the curved teeth engage the second curved gear 381. The joint housing 31 is provided with a yielding hole in the radial direction for the bevel gear 382 to penetrate into the mounting cavity 311, and the bevel gear 382 enters into the mounting cavity 311 to be meshed with the wrist driving wheel 322.

Referring to fig. 8, the execution module 3 further includes a fourth bearing 39 installed between the joint housing 31 and the arm housing 21, the fourth bearing 39 is preferably a tapered roller bearing, the fourth bearing 39 is installed in the other connecting ring 212 opposite to the third bearing 37, two radial end faces of the fourth bearing 39 are respectively connected to the joint housing 31 and the second curved gear 381, and an inner ring of the fourth bearing 39 is sleeved on the tapered gear 382; the connecting ring 212 and the joint housing 31 are provided with a gasket and a skeleton oil seal on the end portion of the fourth bearing 39 on the side of the relief hole. Further, a plurality of second radial adjusting shims are also connected between the second curved gear 381 and the fourth bearing 39, and the calibration can be performed by increasing or decreasing the number of second radial adjusting shims only by removing the second curved gear 381 located at the outermost side.

Specifically, the wrist connection assembly 32 further includes a wrist rotating shaft 321, a first bearing 323, a second bearing 324, a supporting sleeve 325, and an adjusting member, where the first bearing 323, the wrist driving wheel 322, the supporting sleeve 325, the second bearing 324, and the adjusting member are sequentially abutted against and sleeved on the wrist rotating shaft 321 along the axial direction of the wrist rotating shaft 321 to form a shaft-shaped whole. The mounting cavity 311 penetrates through two opposite end surfaces of the joint shell 31, the wrist connecting assembly 32 directly penetrates into the mounting cavity 311 after being assembled, and the joint shell 31 is respectively and hermetically connected with a sealing cover 33 and a supporting cover 34 for limiting the wrist driving wheel 322 to move along the axial direction at two openings of the mounting cavity 311; brace 325 can extend the spacing between wrist drive wheel 322 and second bearing 324 to facilitate entry of bevel gear 382 into engagement with wrist drive wheel 322, and correspondingly, wrist drive wheel 322 also has a conical toothing. Finally, an end execution flange 4 is fixedly connected to one end of the wrist rotating shaft 321, which is close to the first bearing 323 and extends out of the mounting cavity 311, and the end execution flange 4 is used for being connected with a robot wrist mechanism and other devices.

Further, referring to fig. 10, an annular positioning groove 341 and a limiting groove 342 are respectively formed on one side of the inner wall and the outer wall of the supporting cover 34 facing the joint shell 31, and a plug ring 343 is formed between the positioning groove 341 and the limiting groove 342 of the supporting cover 34; the tank bottom of the positioning groove 341 is abutted on the end surface of the joint shell 31 and is connected with a sealing ring, the outer ring of the first bearing 323 is connected with the tank bottom of the limiting groove 342, and the plug-in ring 343 enters the mounting cavity 311 and is abutted between the inner wall of the mounting cavity 311 and the outer ring of the first bearing 323. A framework oil seal is connected between one end of the mounting cavity 311 at the penetrating position of the wrist rotating shaft 321 and the supporting cover 34. Because lubricating oil is needed between the transmission structures such as gears and the like to ensure the stability of transmission, the supporting cover 34 is specifically arranged in a stepped shape, and the mounting cavity 311 is sealed by matching the joint shell 31 and the wrist connecting assembly 32 from two directions of radial and axial directions, so that the sealing effect of the transmission module 2 is ensured, and the lubricating effect of the lubricating oil is further ensured.

In order to facilitate the calibration of the transmission accuracy between the second drive wheel 38 and the wrist drive wheel 322, a plurality of axial adjustment shims 35 are detachably connected between the support cover 34 and the first bearing 323, and the axial adjustment shims 35 are placed on the bottom of the limit groove 342. The position of the wrist connecting assembly 32 is adjusted by adjusting the number of the axial adjusting gaskets 35 to press the first bearings 323, so that the position of the wrist driving wheel 322 is adjusted, the adjustment is more accurate, the outer shell of the robot forearm is not required to be disassembled, and the operation is more convenient; the sealing performance can be further improved, and the stability of the internal transmission structure is ensured.

Because the components sleeved on the wrist rotating shaft 321 can be moved according to the increase and decrease of the number of the axial adjusting gaskets 35, correspondingly, one end of the wrist rotating shaft 321 away from the axial adjusting gaskets 35 can be adaptively adjusted through the adjusting piece so as to ensure the structural stability of the wrist driving wheel 322. The adjusting piece is arranged as an adjusting nut in threaded connection with the end part of the wrist rotating shaft 321, the adjusting piece is abutted against one end of the inner ring of the second bearing 324, which is away from the supporting sleeve 325, and the adjusting piece can move along the axial direction of the wrist rotating shaft 321. Further, the sealing cover 33 includes an adjusting screw 333, a fixed portion 331 and an adjusting portion 332 connected to each other, and an adjusting slit can be formed on the sealing cover 33 to form the fixed portion 331 and the adjusting portion 332, and the adjusting screw 333 is tightly abutted to the adjusting portion 332 after penetrating through the fixed portion 331, so that the adjusting portion 332 can deform to be abutted to the outer ring of the second bearing 324 in a direction close to or far away from the adjusting portion 332, the structural stability of the wrist connecting assembly 32 after calibration is further improved, and the transmission structure inside the whole forearm is further stable.

An oil inlet hole connected with the inside of the mounting cavity 311 is formed in the middle of the sealing cover 33, and an oil blocking screw is detachably connected to the oil inlet hole.

With the end execution flange 4 as an execution output end, the second output gear 232 is meshed with the wrist driving wheel 322 after penetrating into the connecting ring 212 in the arm shell 21, so that the transmission direction of the output end of the second driving piece 13 is vertically turned, and the wrist driving wheel 322 is driven to rotate, so that the end execution flange 4 is driven to rotate, namely, the end execution flange rotates relative to the whole robot forearm.

When the first driving member 12 drives the joint housing 31 to rotate, the wrist driving wheel 322 rotates around the radial direction of the bevel gear 382, so that the wrist driving wheel 322 does not rotate the bevel gear 382 and thus does not interfere with each other.

In addition, the modularized robot forearm further comprises a housing assembly 5, the housing assembly 5 comprises a connecting sleeve 41 arranged on the periphery of the mounting plate 11, and a first side plate 42 and a second side plate 43 which cover the first driving wheel 36 and the second driving wheel 38 respectively, the connecting sleeve 41 encloses the first driving piece 12 and the second driving piece 13, the connecting sleeve 41 is matched and butted with the arm shell 21 and is fixed by bolts, the first side plate 42 and the second side plate 43 are connected to one side, away from the two connecting rings 212, of the two connecting rings 212, and sealing rings are connected between the two connecting rings 212 to ensure tightness.

The implementation principle of the small arm of the modularized robot in the embodiment of the application is as follows:

The whole robot forearm is mainly divided into three major modules, namely a driving module 1, a transmission module 2 and an execution module 3. During installation, the first driving piece 12 and the second driving piece 13 are fixedly installed on the installation plate 11 to form a driving module 1, the intermediate transmission assembly 14 is also installed on the installation plate 11, and then the connecting sleeve 41 is fixed; mounting the first transmission assembly 22 and the second transmission assembly 23 within the arm casing 21 to form the transmission module 2; the wrist driving wheel 322 is fitted into the mounting cavity 311 of the joint housing 31, the mounting cavity 311 is sealed by the seal cover 33 and the support cover 34 and the wrist driving wheel 322 is fixed, and the first driving wheel 36 and the second driving wheel 38 are mounted on the joint housing 31 to form the actuator module 3, respectively, and the bevel gear 382 is engaged with the wrist driving wheel 322. Then, when the mounting plate 11 and the arm housing 21 are fixed, the output end of the first driving member 12 is engaged with the first input gear 221, and the output end of the second driving member 13 is engaged with the second input gear 231; finally, the joint housing 31 is coupled to the arm housing 21, and the first output gear 222 is eccentrically engaged with the first curved gear 361, and the second output gear 232 is eccentrically engaged with the second curved gear 381, and then the first side plate 42 and the second side plate 43 are fixed, thereby completing the installation.

During calibration, only the support cover 34 and the sealing cover 33, the first curved gear 361 and the second curved gear 381 which are positioned on the outer side are required to be detached respectively to replace the quantity of different adjusting gaskets, and the adjusting piece and the sealing cover 33 can be operated to axially position the wrist driving wheel 322 for calibration, so that the adjustment operation is simple and convenient.

The robot arm is provided with two mutually perpendicular axial transmissions, on one hand, when the first driving piece 12 runs, the first driving wheel 36 is rotated through the first transmission component 22, so that the joint shell 31 and internal components are rotated, and the tail end executing flange 4 is driven to rotate by taking the axle center of the first driving wheel 36 as an axle; on the other hand, when the second driving member 13 is operated, the second driving wheel 38 is rotated by the second transmission assembly 23, and the wrist driving wheel 322 is rotated, so that the end effector flange 4 is rotated about the axis of the wrist driving wheel 322.

The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.

Claims (10)

1. A modular robotic forearm comprising:

The driving module (1) comprises a mounting plate (11), and a first driving piece (12) and a second driving piece (13) which are mounted on the mounting plate (11) at intervals in parallel;

the transmission module (2) comprises an arm shell (21) fixedly connected with the mounting plate (11), and a first transmission assembly (22) and a second transmission assembly (23) which are respectively and rotatably connected in the arm shell (21);

The execution module (3) comprises a joint shell (31), a first driving wheel (36) and a second driving wheel (38), wherein the joint shell (31) is rotationally connected to the arm shell (21), the first driving wheel (36) is fixedly connected to the joint shell (31), the joint shell (31) is provided with a mounting cavity (311) penetrating through two opposite end surfaces, a wrist driving wheel (322) is rotationally mounted in the mounting cavity (311), the second driving wheel (38) is in transmission connection with the wrist driving wheel (322), a sealing cover (33) and a supporting cover (34) for limiting the wrist driving wheel (322) to axially move are respectively and hermetically connected at two openings of the mounting cavity (311), one side of the wrist driving wheel (322) facing the sealing cover (33) is also connected with an adjusting piece, and the adjusting piece and the supporting cover (34) can be matched and used for adjusting and fixing the position of the wrist driving wheel (322) axially mounted in the mounting cavity (311);

The rotation axis of the first driving wheel (36) is perpendicular to the rotation axis of the wrist driving wheel (322), the first transmission assembly (22) is used for connecting the first driving piece (12) and the first driving wheel (36) in a transmission manner, and the second transmission assembly (23) is used for connecting the second driving piece (13) and the second driving wheel (38) in a transmission manner.

2. The modular robot forearm according to claim 1, characterized in that the execution module (3) comprises a wrist connection assembly (32), the wrist connection assembly (32) comprising the wrist drive wheel (322) and the adjustment member, the wrist connection assembly (32) further comprising a wrist rotation shaft (321), a first bearing (323) and a second bearing (324), the first bearing (323), the wrist drive wheel (322), the second bearing (324) and the adjustment member being sleeved on the wrist rotation shaft (321) in sequence along an axial direction of the wrist rotation shaft (321); the supporting cover (34) and the adjusting piece are respectively connected to two end faces, which are away from the first bearing (323) and the second bearing (324), and the adjusting piece can move along the axial direction of the wrist rotating shaft (321).

3. A modular robot forearm according to claim 2, characterized in that a number of axial adjustment shims (35) are detachably connected between the support cap (34) and the first bearing (323).

4. A modular robot arm according to claim 3, wherein an annular positioning groove (341) and a limiting groove (342) are respectively formed on one side of the inner wall and the outer wall of the supporting cover (34) facing the joint shell (31), and an inserting ring (343) is formed between the positioning groove (341) and the limiting groove (342) of the supporting cover (34); the groove bottom of the positioning groove (341) is abutted to the end face of the joint shell (31), the axial adjusting gasket (35) is placed on the limiting groove (342), and the inserting ring (343) enters the mounting cavity (311) and is abutted between the inner wall of the mounting cavity (311) and the outer ring of the first bearing (323).

5. The modular robot forearm according to claim 2, characterized in that the sealing cover (33) comprises an adjusting screw (333), a fixed part (331) and an adjusting part (332) which are connected, the adjusting screw (333) is arranged on the adjusting part (332) in a penetrating way after penetrating through the fixed part (331), and the adjusting part (332) can be deformed to be abutted on the second bearing (324) in a direction approaching or separating from the adjusting part (332).

6. A modular robot forearm as in claim 1, wherein the first drive member (12) has a first output end (121) for rotation, the first transmission assembly (22) comprising a first input gear (221) in meshed connection with the first output end (121) and a first output gear (222) coaxially connected to the first input gear (221); the first driving wheel (36) is a first curved gear (361), and the first curved gear (361) is meshed with the first output gear (222).

7. A modular robot forearm as in claim 6, wherein an intermediate transmission wheel is engaged between the first output (121) and the first input gear (221).

8. A modular robot forearm as in claim 6, wherein the execution module (3) further comprises a third bearing (37) mounted between the articulation shell (31) and the arm shell (21), the third bearing (37) being connected to the articulation shell (31) and to the first curved gear (361) along the radial two end faces, respectively; a plurality of first radial adjusting gaskets are connected between the first curved gear (361) and the third bearing (37).

9. A modular robot forearm according to claim 6, characterized in that the second drive (13) has a second output end (131) of rotation, the second transmission assembly (23) comprising a second input gear (231) in meshed connection with the second output end (131) and a second output gear (232) coaxially connected to the second input gear (231); the second driving wheel (38) comprises a second curved gear (381) and a conical gear (382) which are coaxially connected, the second curved gear (381) is meshed with the first output gear (222), the conical gear (382) is meshed with the wrist driving wheel (322), and a yielding hole for the conical gear (382) to penetrate into the mounting cavity (311) is formed in the joint shell (31) in the radial direction.

10. A modular robot forearm according to claim 9, characterized in that the execution module (3) further comprises a fourth bearing (39) mounted between the joint housing (31) and the arm housing (21), the fourth bearing (39) being fitted over the conical gear (382), the fourth bearing (39) being connected to the joint housing (31) and the second curved gear (381) at its radial two end faces, respectively; a plurality of second radial adjusting gaskets are connected between the second curved gear (381) and the fourth bearing (39).