CN208132974U - A kind of carpal transmission system of mechanical arm - Google Patents
A kind of carpal transmission system of mechanical arm Download PDFInfo
- Publication number
- CN208132974U CN208132974U CN201820366670.9U CN201820366670U CN208132974U CN 208132974 U CN208132974 U CN 208132974U CN 201820366670 U CN201820366670 U CN 201820366670U CN 208132974 U CN208132974 U CN 208132974U
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- gear
- shaft
- wheel
- gear wheel
- transmission system
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Abstract
A kind of carpal transmission system of mechanical arm：Transmission including arm cylinder, control system, first servo motor to the first RV retarder constitutes end flange rotary drive train, the transmission composition wrist joint of the second servo motor to swinging frame swings power train, the transmission of third servo motor to brachiophore seat constitutes wrist joint rotary drive train.The transmission of three degree of freedom may be implemented in the utility model, has structure simple, and processing and manufacturing is easy, structurally reasonable, use reliability is high and has the advantages that stable drive is reliable, drive noise is low.
Description
Technical field
The utility model relates to a kind of transmission systems, and in particular to a kind of carpal transmission system of mechanical arm.
Background technique
Mechanical arm is high-precision, high speed machines hand.Production efficiency can be improved in mechanical arm, is mainly used in dispensing, UV shines
Penetrate, part place, screw locking, circuit board cutting etc. various work.
Application number 201010264122.3,101913144 B of Authorization Notice No. CN, entitled " mobile mechanical arm "
Patent of invention discloses a kind of mechanical arm configuration：" including：Mobile platform and the mechanical arm being set on mobile platform and two dimension
Rotary platform, the mechanical arm include：Waist joint, shoulder joint, large arm, elbow joint, forearm, wrist joint and gripper, wherein：Waist
Joint connects shoulder joint, and the both ends of large arm are connected with shoulder joint and elbow joint respectively, the both ends of forearm respectively with elbow joint and
Wrist joint is connected, and gripper is connected with carpal end." therein, there is wrist joint mutually orthogonal 1 to swing and 1
A revolution freedom degree, carpal freedom of motion quantity are few.
Summary of the invention
The main inventive purpose of the utility model is to provide a kind of with wrist joint may be implemented with three degree of freedom
The carpal transmission system of the mechanical arm of movement.
Technical solution used in the utility model is：A kind of carpal transmission system of mechanical arm：Including arm cylinder and control
System.The left end of arm cylinder and reduction box casing are connected, and the left end of reduction box casing and motor mounting rack are connected.The first, second,
Three servo motors are fixed on motor mounting rack.Wherein first servo motor and it is made of the first pinion gear and the first gear wheel
First deceleration transmission system is connected.Second servo motor and the second deceleration transmission being made of the second pinion gear and the second gear wheel
System is connected；Third servo motor and the third deceleration transmission system being made of third pinion with third gear wheel are connected；The
Two, the gear shaft of third gear wheel is hollow shaft；
The left end of the gear shaft of first gear wheel is located in the gear shaft of the second gear wheel, right end stretches out the second gear wheel
It is connected after gear shaft with first bevel gear, first bevel gear and second bevel gear engagement, second bevel gear are connected with the 4th gear,
4th gear and the engagement of the 5th gear, the 5th gear are connected with third hand tap gear, third hand tap gear and the engagement of the 4th bevel gear, the
Four bevel gears are connected with the first RV retarder.The transmission of first servo motor to the first RV retarder constitutes end flange rotation and passes
Dynamic system.
The left end of the gear shaft of second gear wheel is located in the gear shaft of third gear wheel, right end stretches out third gear wheel
It is connected after gear shaft with the 5th bevel gear, the 5th bevel gear and the engagement of the 6th bevel gear, the 6th bevel gear and the 2nd RV retarder
It is connected, exports end cap and swinging frame and be connected with the 2nd RV retarder.The transmission of second servo motor to swinging frame constitutes wrist and closes
Section swings power train.
The right end of the gear shaft of third gear wheel is installed with splined shaft, and splined shaft is connected with cycloidal reducer, cycloid reduction
The output end of device is connected with brachiophore seat.The transmission of third servo motor to brachiophore seat constitutes wrist joint rotary drive train.
The transmission of Three Degree Of Freedom may be implemented in the utility model, has structure simple, and processing and manufacturing is easy, and using effect is good
The advantages of.
Preferably, the gear shaft of third gear wheel and third gear wheel is connected by bolt, the gear of third gear wheel
Axis is connected by bolt with splined shaft, and splined shaft is connected by spline with cycloidal reducer.Second gear wheel with it is second largest
The gear shaft of gear is connected by key, and the gear shaft of the second gear wheel is connected by spline with the gear shaft of the 5th bevel gear.
The gear shaft of first gear wheel and the first gear wheel is connected by key, and the gear shaft of the first gear wheel passes through spline and the first cone tooth
Wheel is connected, and the gear shaft of second bevel gear is connected by key with the 4th gear, and the 5th gear passes through the gear of key and bevel gear
Axis is connected, and the output end and connector of the first RV retarder are fixedly connected with, and end flange is fixedly connected with by bolt and connector, in this way
Connector can drive end flange to make rotating motion, to realize end flange rotary drive.This preferred embodiment, structure are closed
Reason, processing and manufacturing are easy, and use reliability is high.
Preferably, the first pinion gear, the first gear wheel, the second pinion gear, the second gear wheel, third pinion, third
Gear wheel, the 4th gear and the 5th gear are helical gear.This preferred embodiment, stable drive is reliable, and drive noise is low.
In conclusion the utility model has the beneficial effects that：The transmission of three degree of freedom may be implemented, there is structure letter
Single, processing and manufacturing is easy, structurally reasonable, use reliability is high and has the advantages that stable drive is reliable, drive noise is low.
Detailed description of the invention
Fig. 1：Wrist joint transmission mechanism schematic illustration；
Fig. 2：Wrist joint three dimensional structure diagram；
Fig. 3：Wrist joint transmission system front end schematic cross-sectional view；
Fig. 4：Wrist joint transmission system rear end schematic cross-sectional view；
In figure：First servo motor 1011, the second servo motor 1012, third servo motor 1013, reduction box casing
102, arm cylinder 103, cycloidal reducer 104, brachiophore seat 105, swinging frame 106, connector 107, end flange 108, output end cap
109, the first pinion gear 201, the first gear wheel 202, the second pinion gear 203, the second gear wheel 204, third pinion 205, the
Three gear wheels 206, the gear shaft 207 of third gear wheel, the gear shaft 208 of the second gear wheel, the gear shaft of the first gear wheel
209, splined shaft 210, the 5th bevel gear 211, the 6th bevel gear 212, the 2nd RV retarder 213, first bevel gear 214, second
Bevel gear 215, the 4th gear 216, the 5th gear 217, third hand tap gear 218, the 4th bevel gear 219, the first RV retarder
220。
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the utility model includes arm cylinder 103 and control system not shown in the figure.Arm
The left end of cylinder and reduction box casing 102 are connected, and the left end of reduction box casing and motor mounting rack are connected.First, second, third watches
Motor 1011,1012,1013 is taken to be fixed on motor mounting rack.Wherein first servo motor and by the first pinion gear 201 and
The first deceleration transmission system that one gear wheel 202 is constituted is connected.Second servo motor and by the second pinion gear 203 and the second canine tooth
The second deceleration transmission system that wheel 204 is constituted is connected.Third servo motor and by third pinion 205 and third gear wheel 206
The third deceleration transmission system of composition is connected.The gear shaft of second and third gear wheel is the gear shaft with the first gear wheel 202
209 coaxial hollow shafts.
The left end of the gear shaft 209 of first gear wheel is located in the gear shaft 208 of the second gear wheel, right end stretching is second largest
It is connected after the gear shaft of gear with first bevel gear 214.First bevel gear and second bevel gear 215 engage.Second bevel gear
The axis of axis and the 4th gear 216 is connected.4th gear and the engagement of the 5th gear 217.The axis and third of 5th gear are bored
The axis of gear 218 is connected.Third hand tap gear and the engagement of the 4th bevel gear 219.4th bevel gear and 220 phase of the first RV retarder
Even.The transmission of first servo motor to the first RV retarder constitutes end flange rotary drive train.
The left end of the gear shaft of second gear wheel is located in the gear shaft 207 of third gear wheel, right end stretches out third canine tooth
It is connected after the gear shaft of wheel with the gear shaft of the 5th bevel gear 211.5th bevel gear and the engagement of the 6th bevel gear 212.6th cone
Gear and the 2nd RV retarder 213 are connected.End cap 109 and swinging frame 106 is exported to be connected with the 2nd RV retarder.Second servo
The transmission of motor to swinging frame constitutes wrist joint and swings power train.
The right end of the gear shaft of third gear wheel is installed with splined shaft 210.Splined shaft is connected with cycloidal reducer 104, pendulum
The output end of line retarder is connected with brachiophore seat 105.The transmission of third servo motor to brachiophore seat constitutes wrist joint rotary drive
System.
Wherein, the gear shaft 207 of third gear wheel 206 and third gear wheel is connected by bolt, the tooth of third gear wheel
Wheel shaft 207 is connected by bolt with splined shaft 210, and splined shaft 210 is connected by spline with cycloidal reducer 104.Second
Gear wheel 204 and the gear shaft 208 of the second gear wheel are connected by key, and the gear shaft 208 of the second gear wheel passes through spline and the
The gear shaft of five bevel gears 211 is connected.The gear shaft 209 of first gear wheel 202 and the first gear wheel is connected by key, and first
The gear shaft 209 of gear wheel is connected by spline with first bevel gear 214, and the gear shaft of second bevel gear passes through key and the 4th
Gear 216 is connected, and the 5th gear 217 is connected by key with the gear shaft of bevel gear 218, the output end of the first RV retarder 220
It is fixedly connected with connector 107, end flange 108 is fixedly connected with by bolt with connector 107.In addition, the first pinion gear 201,
One gear wheel 202, the second pinion gear 203, the second gear wheel 204, third pinion 205, third gear wheel 206, the 4th gear
216 and the 5th gear 217 be both preferably helical gear.
The specific embodiment of the above is only the preferable embodiment of the utility model, and is not limited with this practical
Novel specific implementation structure and practical range.In fact, according to shape, structure and purpose of design described in the utility model
Some equivalent variations can be made.Therefore, all according to made by shape, structure and purpose of design described in the utility model
Some equivalence changes ought to be all contained in the protection scope of the utility model namely these equivalence changes all should be by this reality
With novel protection.
Claims (5)
1. a kind of carpal transmission system of mechanical arm, it is characterized in that：Including arm cylinder（103）And control system；The left end of arm cylinder
And reduction box casing（102）It is connected, the left end of reduction box casing and motor mounting rack are connected；First, second and third servo motor
（1011,1012,1013）It is fixed on motor mounting rack；Wherein first servo motor and by the first pinion gear（201）With first
Gear wheel（202）The the first deceleration transmission system constituted is connected；Second servo motor and by the second pinion gear（203）With it is second largest
Gear（204）The the second deceleration transmission system constituted is connected；Third servo motor and by third pinion（205）With third canine tooth
Wheel（206）The third deceleration transmission system of composition is connected；The gear shaft of second and third gear wheel is hollow shaft；
The gear shaft of first gear wheel（209）Left end be located at the gear shaft of the second gear wheel（208）Interior, right end stretches out second largest
After the gear shaft of gear and first bevel gear（214）It is connected, first bevel gear and second bevel gear（215）Engagement, the second cone tooth
Wheel and the 4th gear（216）It is connected, the 4th gear and the 5th gear（217）Engagement, the 5th gear and third hand tap gear（218）Phase
Even, third hand tap gear and the 4th bevel gear（219）Engagement, the 4th bevel gear and the first RV retarder（220）It is connected, the first servo
The transmission of motor to the first RV retarder constitutes end flange rotary drive train；
The left end of the gear shaft of second gear wheel is located at the gear shaft of third gear wheel（207）Interior, right end stretches out third gear wheel
Gear shaft after and the 5th bevel gear（211）It is connected, the 5th bevel gear and the 6th bevel gear（212）Engagement, the 6th bevel gear and
2nd RV retarder（213）It is connected, exports end cap（109）And swinging frame（106）It is connected with the 2nd RV retarder, the second servo
The transmission of motor to swinging frame constitutes wrist joint and swings power train；
The right end of the gear shaft of third gear wheel is installed with splined shaft（210）, splined shaft and cycloidal reducer（104）It is connected, pendulum
The output end and brachiophore seat of line retarder（105）It is connected；The transmission of third servo motor to brachiophore seat constitutes wrist joint rotation and passes
Dynamic system.
2. the carpal transmission system of a kind of mechanical arm according to claim 1, it is characterized in that：Third gear wheel（206）
With the gear shaft of third gear wheel（207）It is connected by bolt, the gear shaft of third gear wheel（207）Pass through bolt and splined shaft
（210）It is connected, splined shaft（210）Pass through spline and cycloidal reducer（104）It is connected.
3. the carpal transmission system of a kind of mechanical arm according to claim 1, it is characterized in that：Second gear wheel（204）
With the gear shaft of the second gear wheel（208）It is connected by key, the gear shaft of the second gear wheel（208）Pass through spline and the 5th cone tooth
Wheel（211）Gear shaft be connected.
4. the carpal transmission system of a kind of mechanical arm according to claim 1, it is characterized in that：First gear wheel（202）
With the gear shaft of the first gear wheel（209）It is connected by key, the gear shaft of the first gear wheel（209）Pass through spline and the first cone tooth
Wheel（214）It is connected, the gear shaft of second bevel gear passes through key and the 4th gear（216）It is connected, the 5th gear（217）Pass through key
With bevel gear（218）Gear shaft be connected, the first RV retarder（220）Output end and connector（107）It is fixedly connected with, end method
It is blue（108）Pass through bolt and connector（107）It is fixedly connected with.
5. the carpal transmission system of a kind of mechanical arm according to any one of claims 1-4, it is characterized in that：First is small
Gear（201）, the first gear wheel（202）, the second pinion gear（203）, the second gear wheel（204）, third pinion（205）,
Three gear wheels（206）, the 4th gear（216）With the 5th gear（217）It is helical gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820366670.9U CN208132974U (en) | 2018-03-16 | 2018-03-16 | A kind of carpal transmission system of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820366670.9U CN208132974U (en) | 2018-03-16 | 2018-03-16 | A kind of carpal transmission system of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208132974U true CN208132974U (en) | 2018-11-23 |
Family
ID=64289184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820366670.9U Expired - Fee Related CN208132974U (en) | 2018-03-16 | 2018-03-16 | A kind of carpal transmission system of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208132974U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390869A (en) * | 2019-01-02 | 2020-07-10 | 财团法人工业技术研究院 | Transmission device and mechanical arm |
| TWI720397B (en) * | 2019-01-02 | 2021-03-01 | 財團法人工業技術研究院 | Transmission device and robotic arm |
-
2018
- 2018-03-16 CN CN201820366670.9U patent/CN208132974U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390869A (en) * | 2019-01-02 | 2020-07-10 | 财团法人工业技术研究院 | Transmission device and mechanical arm |
| TWI720397B (en) * | 2019-01-02 | 2021-03-01 | 財團法人工業技術研究院 | Transmission device and robotic arm |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181123 |
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| CF01 | Termination of patent right due to non-payment of annual fee |