CN212096414U

CN212096414U - Robot joint mechanism

Info

Publication number: CN212096414U
Application number: CN202020126501.5U
Authority: CN
Inventors: 单明明; 汪永旭; 王勇
Original assignee: Shenzhen Saiwenbote Intelligent Technology Co ltd
Current assignee: Shenzhen Saiwenbote Intelligent Technology Co ltd
Priority date: 2020-01-19
Filing date: 2020-01-19
Publication date: 2020-12-08
Anticipated expiration: 2030-01-19

Abstract

The utility model relates to a robot joint mechanism, which comprises a first connecting rod and a second connecting rod; the first connecting rod comprises a shell and a transmission device arranged in the shell, and the transmission device is connected with the second connecting rod so as to control the second connecting rod to move relative to the first connecting rod; the transmission device comprises a first synchronous pulley component connected with a power source, a second synchronous pulley component connected with the second connecting rod, and a transmission belt for connecting the first synchronous pulley component and the second synchronous pulley component. The robot joint mechanism adopts the belt transmission device, can set a power source at the base of the mechanical arm device or close to the base, reduces the motion load of the mechanical arm, and has the advantages of simple structure, strong practicability, cost saving, prolonged practical life and the like.

Description

Robot joint mechanism

Technical Field

The utility model relates to a robot field, more specifically say, relate to a robot joint mechanism.

Background

With the development of industrialization and the continuous progress of society, the degree of mechanization is higher and higher, and fully mechanized devices such as manipulators and robots become common equipment in the fields of industry, agriculture, human daily life and the like. Robots in places such as existing manipulators, industrial robots, residential quarters and the like generally adopt three motion modes of combination of linear motion, rotary motion and two motion modes. The linear motion adopts a motion mode similar to that of a machine tool, three-coordinate space linear motion is realized through a guide rail and a screw rod, and the rotary motion adopts a multi-rotary joint and arm mechanism to realize plane or three-dimensional space motion. The existing multi-joint robot generally comprises a base, a large arm, a small arm, a plurality of working components combined with movement, a power source and the like; the base is used as the robot supporting frame and is used for supporting all joints and power sources of the whole robot; the large arm is connected with the base by a movable joint, and the large arm is connected with the small arm by a movable joint and is approximately similar to the whole arm of a human; the movable joint is generally provided with a driving motor, a reducer, a transmission joint and other parts; the big arm, the small arm and the movable joint move in a matching way along with the setting of different programs so as to meet different working requirements. Because the robot has at least two joints, the movement of the working arm component is realized by at least adopting two sets of driving motors, a speed reducer, a set of ball screw and a rolling spline or double-guide-rod driving. And at least one set of driving mechanisms such as driving electrodes, speed reducers and the like move along with the movement of the working arm assembly, but the power sources such as the motors, the speed reducers and the like are generally heavier, the burden of the working arm assembly is increased to a certain extent, the quality requirement on the working arm assembly is higher, the cost is increased, the damage is easy, and particularly, the influence on the mechanical arm moving at high speed is larger.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in, to prior art's above-mentioned defect, a robot joint mechanism is provided.

The utility model provides a technical scheme that its technical problem adopted is: a robot joint mechanism is provided. The robot joint mechanism comprises a first connecting rod and a second connecting rod; the first connecting rod comprises a shell and a transmission device arranged in the shell, and the transmission device is connected with the second connecting rod so as to control the second connecting rod to move relative to the first connecting rod;

the transmission device comprises a first synchronous pulley component connected with a power source, a second synchronous pulley component connected with the second connecting rod, and a transmission belt for connecting the first synchronous pulley component and the second synchronous pulley component.

In some embodiments, the robot joint mechanism further includes a tensioning assembly, the tensioning shaft assembly includes a tensioning shaft and at least one third bearing sleeved on the tensioning shaft, two ends of the tensioning shaft are movably mounted on the housing respectively, and the at least one third bearing abuts against the driving belt.

In some embodiments, the tensioning assembly further comprises at least one positioning sleeve with internal threads, and at least one ejector rod with external threads and axially movably screwed in the at least one positioning sleeve, wherein one end of the ejector rod is abutted against the tensioning shaft assembly to drive the tensioning shaft assembly to move towards a direction close to or away from the transmission belt, so that the transmission belt is tensioned or loosened.

In some embodiments, the upper side and the lower side of the housing are respectively provided with a sliding groove for moving two ends of the tensioning shaft.

In some embodiments, the tensioning assembly comprises two of the locating sleeves and two of the push rods; the upper side and the lower side of the shell are respectively provided with a clamping groove for the positioning sleeve to be arranged in, one side of the clamping groove is communicated with the sliding groove, and the other side of the clamping groove is communicated with the outside, so that the other end of the ejector rod is communicated with the outside.

In some embodiments, the housing comprises a first upper member and a first lower member cooperating with the first upper member; the two sliding grooves are formed in the first upper component and the first lower component; the two clamping grooves are respectively formed in the first upper component and the first lower component.

In some embodiments, the tensioning assembly comprises two of the third bearings in tandem.

In some embodiments, the first synchronous pulley assembly comprises a first pulley and the second synchronous pulley assembly comprises a second pulley, and the transmission belt is sleeved on the first pulley and the second pulley.

In some embodiments, the first synchronous pulley assembly further comprises a first bearing sleeved at two ends of the first pulley and connected with the housing;

the second synchronous pulley component also comprises a second bearing which is sleeved at two ends of the second belt pulley and connected with the second connecting rod.

In some embodiments, the second link comprises a second upper component and a second lower component mated with the second upper component; the second upper member and the second lower member are connected to both sides of the first link, respectively.

Implement the utility model discloses a robot joint mechanism has following beneficial effect: the robot joint mechanism adopts a belt transmission device, a power source can be arranged on a base of the mechanical arm device or a position close to the base, the motion load of the mechanical arm is reduced, and the robot joint mechanism has the advantages of simple structure, strong practicability, cost saving, prolonged practical service life and the like; the adoption of the tensioning assembly which can adjust the tightness of the transmission belt from the outside has the advantage of convenient operation.

Drawings

The invention will be further explained with reference to the drawings and examples, wherein:

fig. 1 is a schematic structural view of a robot joint mechanism according to some embodiments of the present invention;

FIG. 2 is an exploded schematic view of the robotic joint mechanism shown in FIG. 1;

FIG. 3 is a schematic view of a cross-sectional view perpendicular to the direction A-A of FIG. 1 and another view of the slide groove and the positioning groove;

fig. 4 is a schematic view of the tension assembly of part B of fig. 2.

Detailed Description

For a clearer understanding of the technical features, objects, and effects of the present invention, reference will now be made to the accompanying drawings.

It should be noted that the terms upper, lower, left, right, front, rear, etc. indicate the positional relationship based on the positional relationship shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred unit or element must have a specific orientation, be constructed in a specific orientation or operation, and thus should not be construed as limiting the present invention. The connections described herein may include any one of a direct connection, an indirect connection, a mechanical connection, a non-mechanical connection, an electrical connection, a wired connection, or a wireless connection.

Fig. 1 to 4 illustrate a robot joint mechanism according to some embodiments of the present invention, which may include a first link 10 connected to a power source and a second link 20 connected to the first link 10. One end of the first connecting rod 10 is connected with the second connecting rod 20, and the other end is connected with the power source. The first link 10 is driven by a power source to perform a rotation motion, a linear motion, a mixed motion, and the like. The first link 10 in some embodiments has a square cross-section with modified semi-circular arcs at both ends to facilitate movement or rotation. One end of the second connecting rod 20 is connected with the first connecting rod 10 and moves relative to the first connecting rod 20, and the other end is connected with the tooling fixture thereof so as to drive the tooling fixture to work. In some embodiments, the one end of the second connecting rod 20 is in a shape of a semi-circular arc, the shape and size of the one end of the second connecting rod 20 correspond to the shape and size of the one end of the first connecting rod 20, so as to be connected in a matching manner, the other end of the second connecting rod 20 is in a semi-circular arc shape, the width of the second connecting rod is smaller than the width of the one end of the second connecting rod 20, so as to save processing materials and cost, and in addition, the other end of the second connecting rod 20 is provided with a mounting.

The first link 20 includes a housing 21 and a transmission 23 disposed in the housing 21.

The housing 21 can be covered by a first mounting hole 210 arranged at one end and a second mounting hole 211 arranged at the other end and opposite to the first mounting hole 210; the first mounting hole 210 is for the first timing pulley assembly 231 to be disposed therein; the second mounting hole 211 is for the second synchronous pulley assembly 232 to be disposed therein, and is for connection to the second link 20. The power source device 23 is connected to the first synchronous pulley unit 231, and is disposed on the base frame or a portion near the base frame for supporting the robot joint mechanism. The power source device can comprise a power source, a motor and a speed reducer.

As shown in fig. 2, the housing 21 may include a first upper member 212 and a first lower member 213 engaged with the first upper member 31. In some embodiments, the first upper member 212 and the first lower member 213 can be combined by one or more of screw or bolt connection, clamping, linking, gluing, etc.

In some embodiments, as shown in fig. 3, the first upper member 212 and the first lower member 213 define a positioning groove 316 for the positioning sleeve 63 to be installed therein and a sliding groove 315 for the tensioning shaft 61 to slide; the positioning groove 316 corresponds to the shape of the first positioning sleeve 63, so that the positioning sleeve 63 is better matched with the first positioning sleeve; one side of the positioning groove 316 is communicated with the sliding groove 315, and the other side is communicated with the outside, so that the push rod 64 can abut against the tensioning shaft assembly and can be communicated with the outside, and further, the push rod 64 can be directly rotated through the outside to adjust the tightness of the transmission belt 233. The first sliding groove 315 in some embodiments is a square groove and has a circular arc shape near the inner end.

The transmission 23 is connected to the second link 20 to control the movement of the second link 20 relative to the first link 10. The driving device 23 in some embodiments may include a first synchronous pulley assembly 231 disposed in the first mounting hole 210, a second synchronous pulley assembly 232 disposed in the second mounting hole 211, and a driving belt 233 connecting the first synchronous pulley assembly 231 with the second synchronous pulley assembly 232. The first synchronous pulley component 231 is connected with a power source and drives the first connecting rod 10 to move; the second synchronous pulley assembly 232 drives the second link 20 to move relative to the first link 10. The belt 233 is used for power transmission. The transmission device 23 adopts a belt transmission mode, has a simple structure, can set power sources such as a motor, a speed reducer and the like on a support of a robot or a mechanical arm or other space positions convenient to install, can lighten the load of the first connecting rod 10 and the second connecting rod 20, saves complicated wire line arrangement, and has the advantages of simple structure, cost saving, strong practicability, prolonged practical life and the like.

The first synchronous pulley assembly 231 may include a first pulley 2311 and two first bearings 2312 sleeved at two ends of the first pulley 2311, and respectively sleeved at two ends of the first mounting hole 210 of the first link 10. The second synchronous pulley assembly 232 may include a second pulley 2321 and two second bearings 2322 sleeved at two ends of the second pulley 2321, and are respectively sleeved at two ends of the second mounting hole 211 of the first connecting rod 10.

The transmission belt 233 is sleeved on the first belt pulley 2311 and the second belt pulley 2321; the first belt pulley 2311 is connected with a power source to serve as a driving wheel, the second belt pulley 2321 is a driven wheel, and the first belt pulley 2311 drives the second belt pulley 2321 to transmit under the action of the transmission belt 50 so as to realize transmission. In some embodiments, the belt drive described above may also be modified to a chain drive or the like.

The second link 20 may include a second upper member 21 and a second lower member 22 engaged with the second upper member 21. In some embodiments, the second upper member 21 and the second lower member 22 can be combined by one or more of screw or bolt connection, clamping, linking, gluing, etc.

One end of the second upper member 21 and one end of the second lower member 22 are respectively fitted to the upper and lower sides of the other end of the first link 10, that is, are respectively disposed at the upper portion of the other end of the first upper member 11 and the lower portion of the other end of the first lower member 12. The second upper member 21 and the second lower member 22 are respectively provided at the above one ends with a first protrusion 210 and a second protrusion 220 for being fitted to the upper and lower ends of the other end of the first link 10.

In some embodiments, as shown in fig. 2 and 4, the robot joint mechanism may further include a tensioning assembly 60 for adjusting the tightness of the driving belt 50, thereby adjusting the stroke and precision of the motion arm assembly, i.e., the first link 30 and the second link 40, of the robot joint mechanism to better control the operation of the clamp device. The tension assembly 60 in some embodiments comprises a tension shaft assembly. The tensioning shaft assembly may include a tensioning shaft 61, and a third bearing 62 sleeved on the tensioning shaft 61 and used for abutting against the driving belt 233; the tensioning shaft 61 is slidably disposed in the sliding groove 315, that is, both ends of the tensioning shaft 61 are disposed in the sliding groove 315 of the first upper member 212 and the sliding groove 315 of the first lower member 213, respectively, and can slide in the two sliding grooves 315. It will be appreciated that the tension shaft assembly may include a plurality of third bearings 62 and is received over the tension shaft 61 in a cross-over manner. The tensioning assembly 60 in some embodiments further comprises two locating sleeves 63 and two push rods cooperating with the two locating sleeves 63; the two positioning sleeves 63 are respectively mounted on the positioning groove 316 on the first upper member 212 and the positioning groove on the first lower member 213. One end of each of the two push rods 64 can be respectively abutted against the upper end and the lower end of the tensioning shaft 61, and the other end is communicated with the outside, so that the tightness of the transmission belt 233 can be adjusted by directly controlling the push rods 64 from the outside. The two positioning sleeves 63 in some embodiments are disposed up and down symmetrically, and two positioning sleeve holes 35 are disposed on the first upper member 31 and the second upper member 32 of the first connecting rod 30, respectively, for the ejector rod 64 to communicate with the outside. That is, the first upper member 212 and the second lower member 213 of the positioning sleeve 63 are provided with communication holes, respectively. The communicating hole can be used for the ejector rod 64 to match with the positioning sleeve and abut against the tensioning shaft component. In some embodiments, the locating sleeve 63 is internally threaded and the post rod 64 is externally threaded, the post rod 64 being movably threaded into the locating sleeve 63.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the embodiments is to enable people skilled in the art to understand the contents of the present invention and implement the present invention accordingly, which can not limit the protection scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention shall fall within the scope of the claims of the present invention.

It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are considered to be within the scope of the invention as defined by the following claims.

Claims

1. A robot joint mechanism comprises a first connecting rod and a second connecting rod; the first connecting rod comprises a shell and a transmission device arranged in the shell, and the transmission device is connected with the second connecting rod so as to control the second connecting rod to move relative to the first connecting rod;

the transmission device is characterized by comprising a first synchronous pulley component connected with a power source, a second synchronous pulley component connected with the second connecting rod, and a transmission belt for connecting the first synchronous pulley component with the second synchronous pulley component.

2. The robotic joint mechanism of claim 1, further comprising a tensioning assembly, the tensioning assembly including a tensioning shaft assembly, the tensioning shaft assembly including a tensioning shaft and at least one third bearing sleeved on the tensioning shaft, both ends of the tensioning shaft being movably mounted on the housing, respectively, the at least one third bearing abutting against the driving belt.

3. The robotic joint mechanism according to claim 2, wherein the tensioning assembly further comprises at least one positioning sleeve with internal threads, and at least one ejector pin with external threads axially movably screwed in the at least one positioning sleeve, the ejector pin having one end abutting against the tensioning shaft assembly to drive the tensioning shaft assembly to move toward or away from the driving belt, thereby tensioning or loosening the driving belt.

4. The robot joint mechanism according to claim 3, wherein sliding grooves for moving both ends of the tension shaft are provided on upper and lower sides of the housing, respectively.

5. The robotic joint mechanism of claim 4, wherein the tensioning assembly includes two of the locating sleeves and two of the push rods; the upper side and the lower side of the shell are respectively provided with a clamping groove for the positioning sleeve to be arranged in, one side of the clamping groove is communicated with the sliding groove, and the other side of the clamping groove is communicated with the outside, so that the other end of the ejector rod is communicated with the outside.

6. The robotic joint mechanism of claim 5, wherein the housing includes a first upper member and a first lower member cooperating with the first upper member; the two sliding grooves are formed in the first upper component and the first lower component; the two clamping grooves are respectively formed in the first upper component and the first lower component.

7. A robot joint mechanism according to any of claims 2 to 6, characterized in that the tensioning assembly comprises two said third bearings in series.

8. The robotic joint mechanism of claim 7, wherein the first synchronous pulley assembly comprises a first pulley and the second synchronous pulley assembly comprises a second pulley, the drive belt being sleeved over the first and second pulleys.

9. The robotic joint mechanism of claim 8, wherein the first synchronous pulley assembly further comprises a first bearing disposed at each end of the first pulley and coupled to the housing;

10. The robotic joint mechanism of claim 9, wherein the second link includes a second upper member and a second lower member cooperating with the second upper member; the second upper member and the second lower member are connected to both sides of the first link, respectively.