CN215037616U - Mechanical arm joint module - Google Patents
Mechanical arm joint module Download PDFInfo
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- CN215037616U CN215037616U CN202120300485.1U CN202120300485U CN215037616U CN 215037616 U CN215037616 U CN 215037616U CN 202120300485 U CN202120300485 U CN 202120300485U CN 215037616 U CN215037616 U CN 215037616U
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Abstract
The utility model provides a mechanical arm joint module, which comprises a shell, a driving module, an end cover, a threaded cover, a transmission module and a waterproof module; the shell comprises a first opening, a second opening and a third opening which are respectively arranged on three sides, the driving module is connected to the first opening, the end cover is connected to the second opening, the threaded through cover is connected to the third opening, and the transmission module is located in the shell and connected with the driving module; the waterproof module is used for sealing the connection of each opening; the transmission module includes hypoid horn gear, hypoid basin gear and main shaft, and the both ends of hypoid horn gear are connected with drive module and hypoid basin gear transmission respectively, and the main shaft rotates and sets up in the shell, and one end and hypoid basin gear fixed connection, the other end runs through the screw thread and passes through the lid and prolong. The utility model discloses a arm joint module is small, and rigidity and the good moment of torsion of intensity are big to can obtain higher reduction ratio.
Description
Technical Field
The utility model relates to an artificial intelligence auxiliary instrument technical field, in particular to robot skeleton joint module.
Background
At present, frameless direct drive motors or right-angle gears are basically adopted in existing robot skeleton intelligent limb auxiliary tool joint modules in the market, a servo driver, a harmonic speed reducer, an absolute value encoder and a brake are integrated in a 90-degree double-flange structure, and in order to improve driving efficiency and output torque, a joint actuator driven by a motor usually adopts a speed reducing mechanism (such as a harmonic speed reducer) with a high speed reduction ratio, so that the joint is large in size and dead weight, and the necessary passive compliance is lacked in a joint non-enabling state; on the other hand, the controller of the assistive device needs to sense the operating state of the actuating joint by means of additionally installed torque and joint rotation angle sensor modules, but due to the lack of a structural integrated design, the structural complexity of the joint is further improved, and due to the fact that the sensor elements are not optimized to be wired, sensor information is possibly lost, and therefore the overall safety and reliability of the assistive device are reduced.
Therefore, it is desirable to provide a lightweight and highly integrated robot joint module to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model provides a mechanical arm joint module, it carries out the transmission through setting up hypoid basin gear and hypoid horn gear, can make the appearance more compact than worm gear, the volume is littleer, rigidity and intensity are good, the moment of torsion is big, and can obtain higher reduction ratio, clearance ratio worm gear's clearance between hypoid basin gear and the hypoid horn gear is littleer simultaneously, can reduce the arm joint module shake because the clearance produces, with the poor problem of the poor and applied reliability of the big integrated level of the arm joint module volume among the solution prior art.
In order to solve the technical problem, the utility model adopts the technical scheme that: a robot joint module, comprising:
the shell comprises a first opening, a second opening and a third opening which are respectively arranged on three sides, wherein the second opening is opposite to the third opening;
the driving module is connected to the first opening;
an end cap connected to the second opening;
the threaded through cover is connected to the third opening;
the transmission module is arranged in the shell and is connected with the driving module; and
the waterproof module is used for sealing the connection among the first opening, the second opening and the third opening;
wherein, the transmission module includes hypoid horn gear, hypoid bevel ring gear and main shaft, the both ends of hypoid horn gear respectively with the drive module with hypoid bevel ring gear transmission is connected, the main shaft rotates to set up in the shell, one end with hypoid bevel ring gear fixed connection, the other end runs through the screw thread is covered thoroughly and is prolonged in order to be used for carrying out transmission output.
In the utility model, the mechanical arm joint module also comprises a potentiometer and a connecting shaft, and the main shaft is a through hollow shaft;
the potentiometer is arranged at one end, close to the threaded through cover, of the main shaft, the connecting shaft is located in the main shaft, and the two ends of the connecting shaft are connected with the rotating shaft of the potentiometer and the end cover respectively.
The utility model discloses in the end cover with be provided with first sealing washer between the shell the screw thread pass through the lid with be provided with the second sealing washer between the shell the screw thread pass through the lid with be provided with the third sealing washer between the main shaft.
In the utility model, the mechanical arm joint module further comprises a joint base, one end of the joint base is connected to the outer side of the threaded transparent cover, and the other end of the joint base is a connecting end for connecting with a corresponding rod body;
a fourth sealing ring is arranged between the joint base and the main shaft;
and two layers of fifth sealing rings are arranged between the joint base and the threaded transparent cover.
The mechanical arm joint module also comprises a tensioning nut and a plane bearing;
the main shaft is connected with the joint base through a screw, and the extension direction of the screw is consistent with the axial direction of the main shaft;
a flange is arranged at one end, far away from the joint base, in the shell, the tensioning nut is in threaded connection with one end, far away from the joint base, of the spindle, and the plane bearing is located between the tensioning nut and the outer side face of the flange, so that the position of the spindle, far away from the shell, can be adjusted by adjusting the tensioning nut and the screw.
Wherein, a motor driving plate is fixedly connected with the connecting end.
The joint base of the present invention has a connection end and a first opening end of the housing is provided with a locking ring.
The utility model discloses in the periphery of main shaft is provided with the convex shoulder, hypoid basin gear cup joints the periphery of main shaft and with convex shoulder fixed connection, the main shaft pass through the bearing with the shell and the screw thread is covered thoroughly and is formed the rotation and connect.
Further, an elastic washer is arranged between the hypoid bevel ring gear and the convex shoulder.
The utility model discloses compare in prior art, its beneficial effect is: the utility model discloses an arm carries out the transmission through setting up hypoid basin gear and hypoid horn gear, can make the appearance more compact than worm gear, and the volume is littleer, and rigidity and intensity are good moment of torsion are big, and can obtain higher speed reduction ratio, and the clearance between hypoid basin gear and the hypoid horn gear is littleer than the clearance of worm gear simultaneously, can reduce the arm joint module shake because the clearance produces;
the main shaft is provided with a potentiometer conveniently for the through hollow shaft, various routing lines are also conveniently arranged, and the position of the main shaft in the shell can be adjusted through the tensioning nut and the screw, so that the hypoid bevel gear and the hypoid bevel gear are accurately installed and matched.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments are briefly introduced below, and the drawings in the following description are only corresponding drawings of some embodiments of the present invention.
Fig. 1 is a schematic structural view of the mechanical arm joint module of the present invention.
Fig. 2 is an explosion structure diagram of the mechanical arm joint module of the present invention.
Fig. 3 is a cross-sectional structural view of the mechanical arm joint module of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.
In the present invention, the directional terms, such as "up", "down", "front", "back", "left", "right", "inner", "outer", "side", "top" and "bottom", refer to the orientation of the drawings, and the directional terms are used for illustration and understanding, but not for limiting the present invention.
The terms "first," "second," and the like in the terms of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, nor should they be construed as limiting in any way.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "secured" are to be construed broadly, e.g., the connection may be a detachable connection or a connection in a unitary structure; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The mechanical arm joint module in the prior art has poor shock resistance and large volume-power ratio, thereby limiting the application of the mechanical arm joint module in certain fields, such as field environment or outdoor complex pavement and the like.
The following is the utility model provides a can solve the above technical problem's the preferred embodiment of arm joint module.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a robot joint module according to the present invention. Fig. 2 is an explosion structure diagram of the mechanical arm joint module of the present invention.
In the drawings, elements having similar structures are denoted by the same reference numerals.
The utility model provides a mechanical arm joint module, it includes shell 1, drive module 2, end cover 3, screw thread contribution, transmission module and waterproof module.
The housing 1 includes a first opening, a second opening, and a third opening respectively provided on three sides, the second opening and the third opening being opposite to each other.
The drive module 2 is connected on first opening, and the periphery cover at the first opening one end of shell 1 is equipped with waterproof circle 11 to make and corresponding body of rod form sealing connection.
The end cap 3 is attached to the second opening.
A screw through cap 4 is attached to the third opening.
The transmission module is arranged in the shell 1 and is connected with the driving module 2.
The waterproof module is used for sealing the connection of first opening, second opening and third opening, and the waterproof module is including setting up a plurality of sealing washers between each part.
Wherein, the transmission module includes hypoid horn gear 10, hypoid basin gear 18 and main shaft 22, the both ends of hypoid horn gear 10 are connected with drive module 2 and hypoid basin gear 18 transmission respectively, main shaft 22 rotates and sets up in shell 1, one end and hypoid basin gear 18 fixed connection, the other end runs through the screw thread and passes through lid 4 and prolong in order to be used for carrying out transmission output, the transmission cooperation of hyperboloid horn gear 10 and hypoid basin gear 18, make compact structure, the volume is littleer, rigidity and good moment of torsion of intensity are big, and can obtain higher reduction ratio, simultaneously the clearance between hypoid basin gear 18 and the hypoid horn gear 10 is littleer than the clearance of worm gear, can reduce the arm joint module shake because the clearance produces.
The hypoid horn gear 10 in this embodiment is in driving connection with the drive module 2 via the flange assembly 8 and the bearing 9.
Please refer to fig. 3, wherein fig. 3 is a cross-sectional structural view of the robot joint module according to the present invention.
The utility model discloses in, arm joint module still includes potentiometre 19 and even axle 20 in order to be used for detecting and feedback rotatory information, and main shaft 22 is the hollow shaft that link up.
The potentiometer 19 is arranged at one end of the main shaft 22 close to the threaded through cover 4, the connecting shaft 20 is positioned in the main shaft 22, and two ends of the connecting shaft are respectively connected with the rotating shaft of the potentiometer 19 and the end cover 3.
The utility model discloses in, be provided with first sealing washer 15 between end cover 3 and shell 1, be provided with second sealing washer 16 between screw thread lid 4 and shell 1, be provided with third sealing washer 21 between screw thread lid 4 and main shaft 22.
In the utility model, the mechanical arm joint module also comprises a joint base 5, one end of the joint base 5 is connected with the outer side of the threaded transparent cover 4, and the other end is a connecting end used for connecting with a corresponding rod body;
a fourth sealing ring 25 is arranged between the joint base 5 and the main shaft 22;
two layers of fifth sealing rings 24 are arranged between the joint base 5 and the threaded through cover 4.
In this embodiment, can adopt the design of O type circle water-proof groove at static seal position, the dynamic seal position is then sealed by the multilayer sealing washer, and dustproof performance is guaranteed to the external seal circle, and the internal seal circle forms dynamic seal structure with the outside to have better waterproof nature, the protection level is high.
Referring to fig. 2 and 3, the robot joint module in this embodiment further includes a tension nut 14 and a plane bearing 13.
The spindle 22 and the joint base 5 are connected by a screw 27, and the screw 27 extends in the same direction as the axial direction of the spindle 22.
A flange 26 is arranged at one end of the shell 1 far away from the joint base 5, the tension nut 14 is screwed at one end of the main shaft 22 far away from the joint base 5, and the plane bearing 13 is arranged between the tension nut 14 and the outer side surface of the flange 26, so that the position of the main shaft 22 in the shell 1 can be adjusted by adjusting the tension nut 14 and the screw 27.
Further, a motor drive board 6 is fixedly connected to the connection end of the joint base 5.
In this embodiment, a lock ring for reinforcing the connection with the corresponding rod body, such as the lock ring 7 at one end of the joint base 5 and the lock ring 12 at one end of the housing 1, is provided at the connection end of the joint base 5 and at the first open end of the housing 1.
In the utility model discloses in, be provided with convex shoulder 221 in the periphery of main shaft 22, hypoid basin gear 18 cup joints in the periphery of main shaft 22 and with convex shoulder 221 fixed connection, the both ends of main shaft 22 respectively through bearing 23 and bearing 17 with form to rotate with shell 1 and screw thread through-cover 4 and be connected.
Preferably, an elastic washer 181 is arranged between the hypoid bevel ring gear 18 and the shoulder 221, so that the hypoid bevel ring gear can play a role in protecting and buffering when the mechanical arm joint module is impacted, and the gear surface is not easily damaged by the impact.
The arm joint module of this embodiment is when the assembly, tensioning nut 14 and screw 27 are adjusted in order to adjust the position that main shaft 22 is located shell 1 to the accessible, so that the kinetic energy conduction is more stable, wearing and tearing are little, the shock resistance is good, when using, by motor drive plate 6 control drive module 2 operation, then kinetic energy passes through flange subassembly 8, hypoid horn gear 10, hypoid basin gear 18 conducts to main shaft 22 on, can drive joint base 5 and shell 1 and take place relative rotation like this, pivoted in-process can be detected feedback rotation information by potentiometre 19, in order to improve the rotation accuracy.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so that the scope of the present invention shall be determined by the scope of the appended claims.
Claims (9)
1. The utility model provides a arm joint module which characterized in that includes:
the shell comprises a first opening, a second opening and a third opening which are respectively arranged on three sides, wherein the second opening is opposite to the third opening;
the driving module is connected to the first opening;
an end cap connected to the second opening;
the threaded through cover is connected to the third opening;
the transmission module is arranged in the shell and is connected with the driving module; and
the waterproof module is used for sealing the connection among the first opening, the second opening and the third opening;
wherein, the transmission module includes hypoid horn gear, hypoid bevel ring gear and main shaft, the both ends of hypoid horn gear respectively with the drive module with hypoid bevel ring gear transmission is connected, the main shaft rotates to set up in the shell, one end with hypoid bevel ring gear fixed connection, the other end runs through the screw thread is covered thoroughly and is prolonged in order to be used for carrying out transmission output.
2. The mechanical arm joint module set of claim 1, further comprising a potentiometer and a connecting shaft, wherein the main shaft is a through hollow shaft;
the potentiometer is arranged at one end, close to the threaded through cover, of the main shaft, the connecting shaft is located in the main shaft, and the two ends of the connecting shaft are connected with the rotating shaft of the potentiometer and the end cover respectively.
3. The mechanical arm joint module as recited in claim 1, wherein a first seal ring is disposed between the end cap and the housing, a second seal ring is disposed between the threaded through cap and the housing, and a third seal ring is disposed between the threaded through cap and the spindle.
4. The mechanical arm joint module group according to claim 1, further comprising a joint base, wherein one end of the joint base is connected to the outer side of the threaded through cover, and the other end of the joint base is a connecting end for connecting with a corresponding rod body;
a fourth sealing ring is arranged between the joint base and the main shaft;
and two layers of fifth sealing rings are arranged between the joint base and the threaded transparent cover.
5. The robot joint module of claim 4, further comprising a tensioning nut and a planar bearing;
the main shaft is connected with the joint base through a screw, and the extension direction of the screw is consistent with the axial direction of the main shaft;
a flange is arranged at one end, far away from the joint base, in the shell, the tensioning nut is in threaded connection with one end, far away from the joint base, of the spindle, and the plane bearing is located between the tensioning nut and the outer side face of the flange, so that the position of the spindle, far away from the shell, can be adjusted by adjusting the tensioning nut and the screw.
6. The mechanical arm joint module as claimed in claim 4, wherein a motor driving plate is fixedly connected to the connecting end.
7. The robot arm joint module of claim 4, wherein a locking ring is provided at each of the connection end of the joint base and the first open end of the housing.
8. The mechanical arm joint module as claimed in claim 1, wherein a shoulder is provided at the periphery of the main shaft, the hypoid bevel ring gear is sleeved at the periphery of the main shaft and is fixedly connected with the shoulder, and the main shaft is rotatably connected with the housing and the threaded through cover through bearings.
9. The robot arm joint module of claim 8, wherein a resilient washer is disposed between the hypoid bevel ring gear and the shoulder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120300485.1U CN215037616U (en) | 2021-02-02 | 2021-02-02 | Mechanical arm joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120300485.1U CN215037616U (en) | 2021-02-02 | 2021-02-02 | Mechanical arm joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215037616U true CN215037616U (en) | 2021-12-07 |
Family
ID=79259194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120300485.1U Active CN215037616U (en) | 2021-02-02 | 2021-02-02 | Mechanical arm joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215037616U (en) |
-
2021
- 2021-02-02 CN CN202120300485.1U patent/CN215037616U/en active Active
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