CN215370798U

CN215370798U - Manipulator joint speed reduction structure

Info

Publication number: CN215370798U
Application number: CN202120657465.XU
Authority: CN
Inventors: 施乾旭
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2021-12-31
Anticipated expiration: 2031-03-31

Abstract

The utility model discloses a manipulator joint speed reducing structure which comprises a shell, wherein an inner bin is arranged inside the shell, a rotor is arranged at a position, close to the inner surface, of the inner bin, an input shaft is movably arranged in the middle of the inner bin, a shaft sleeve is fixedly connected to the rear end of the shell, the interior of the shaft sleeve is communicated with the interior of the inner bin, an output shaft is movably arranged inside the shaft sleeve, the front end of the output shaft penetrates through the shaft sleeve and extends into the interior of the inner bin, a tray is arranged at the rear end of the input shaft, a first speed reducing mechanism is arranged at the middle position between the tray and the input shaft and comprises a first annular gear disc, a first sun gear is arranged in the middle of the first annular gear disc, the first sun gear is fixedly connected with the surface of the input shaft, and gear blocks are uniformly arranged on the surface of the first sun gear. The utility model has the characteristics of large torque, small size and low manufacturing cost.

Description

Manipulator joint speed reduction structure

Technical Field

The utility model relates to the technical field of manipulator joints, in particular to a manipulator joint speed reduction structure.

Background

The articulated manipulator is a transmission form suitable for being operated close to a machine body, has an elbow joint like a human hand, can realize multiple degrees of freedom, is flexible in action, is suitable for working in narrow space, is applied to the atomic energy industry as early as the twenty-fourth century, is subsequently applied to the development of oceans, and has a certain development prospect.

The traditional manipulator harmonic speed reduction joint has the defects of small torque, large size and overhigh manufacturing cost, so that the application range of the traditional manipulator harmonic speed reduction joint is limited and the traditional manipulator harmonic speed reduction joint is not beneficial to use.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a manipulator joint speed reducing structure, which aims to overcome the defects that in the prior art, a manipulator speed reducing joint has small torque, large size and overhigh manufacturing cost.

In order to achieve the above purpose, the utility model provides the following technical scheme: the utility model provides a manipulator joint speed reduction structure, includes the shell, interior storehouse has been seted up to the inside of shell, interior storehouse is close to the position department of internal surface and installs the rotor, the middle part movable mounting in interior storehouse has the input shaft, the rear end fixedly connected with axle sleeve of shell, the inside of axle sleeve is linked together with the inside in interior storehouse, the inside movable mounting of axle sleeve has the output shaft, the front end of output shaft passes the axle sleeve and extends to the inside in interior storehouse, the rear end of input shaft is provided with the tray, the intermediate position department of tray and input shaft is provided with first reduction gears, first reduction gears includes first ring fluted disc, the middle part of first ring fluted disc is provided with first sun gear, first sun gear is connected with the fixed surface of input shaft, the surface of first sun gear evenly is provided with the tooth piece, the internal surface of first ring fluted disc evenly is provided with the tooth piece, the middle positions of the first sun gear and the first annular fluted disc are meshed with a first planetary gear, the middle position of the first planetary gear is movably connected with the surface of the front end of the tray, a second speed reducing mechanism is arranged at the middle position of the tray and the output shaft, and the rear end of the output shaft is provided with a threaded groove.

Preferably, the second reduction gears include a second annular gear plate, the middle of the second annular gear plate is provided with a second sun gear, the second sun gear is fixedly connected with the surface of the middle of the rear end of the tray, gear blocks are evenly arranged on the surface of the second sun gear, the gear blocks are evenly arranged on the inner surface of the second sun gear, second planetary gears are meshed with the middle positions of the second sun gear and the second annular gear plate, and the middle positions of the second planetary gears are movably connected with the surface of the front end of the output shaft.

Preferably, there are three first planet gears, and the three first planet gears are uniformly distributed at the middle position between the first sun gear and the first ring gear plate.

Preferably, there are three second planetary gears, and the three second planetary gears are uniformly distributed at the middle position between the second annular fluted disc and the second sun gear.

Preferably, one side that the tray was kept away from to the rotor all is the arc setting, the rotor is kept away from tray side surface and all laminates with the inner wall in interior storehouse mutually.

Preferably, the number of the thread grooves is three, and the three thread grooves are uniformly distributed on the inner wall of the rear end of the shaft sleeve.

In the technical scheme, the utility model provides the following technical effects and advantages:

the utility model drives the first sun gear to rotate through the rotation of the input shaft, and through the meshing action of the first sun gear and the first planet gears and the meshing action of the first ring fluted disc and the first planet gears, thereby driving the first planet gear to rotate, driving the tray to rotate through the first planet gear, and further enabling the second sun gear to rotate, then the output shaft is driven to rotate by the second sun gear, so that the revolution number of the first planet gear is reduced to a certain revolution number by utilizing the different sizes of the first sun gear and the first planet gear and the different sizes of the second planet gear and the second sun gear, then the tray is driven by the output shaft, the revolution number given to the second sun gear by the tray is reduced to the required revolution number again, and a larger torque is obtained, therefore, the device has the advantages of large and small torque and low price compared with a harmonic wave speed reducing joint.

Drawings

In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

Fig. 1 is a perspective view of the overall structure of the present invention.

Fig. 2 is a structural diagram in a front view direction of the present invention.

Fig. 3 is a structural diagram of the rear view direction of the present invention.

Fig. 4 is a sectional view in a front view according to the present invention.

Fig. 5 is a schematic cross-sectional view in the rear view direction according to the present invention.

FIG. 6 is a schematic cross-sectional view of the present invention in a side view

Description of reference numerals:

1. a housing; 2. an inner bin; 3. a rotor; 4. an input shaft; 5. a shaft sleeve; 6. an output shaft; 7. a tray; 8. a first speed reduction mechanism; 81. a first ring fluted disc; 82. a first sun gear; 83. a first planetary gear; 9. a second reduction mechanism; 91. a second ring fluted disc; 92. a second planetary gear; 93. a second sun gear; 10. a thread groove.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of example embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, steps, and so forth. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.

The utility model provides a manipulator joint speed reducing structure shown in fig. 1-6, which comprises a housing 1, wherein an inner bin 2 is arranged inside the housing 1, a rotor 3 is arranged at a position, close to the inner surface, of the inner bin 2, an input shaft 4 is movably arranged in the middle of the inner bin 2, a shaft sleeve 5 is fixedly connected to the rear end of the housing 1, the inside of the shaft sleeve 5 is communicated with the inside of the inner bin 2, an output shaft 6 is movably arranged inside the shaft sleeve 5, the front end of the output shaft 6 penetrates through the shaft sleeve 5 and extends into the inside of the inner bin 2, a tray 7 is arranged at the rear end of the input shaft 4, a first speed reducing mechanism 8 is arranged at the middle position between the tray 7 and the input shaft 4, the first speed reducing mechanism 8 comprises a first annular gear plate 81, a first sun gear 82 is arranged in the middle of the first annular gear plate 81, and the first sun gear 82 is fixedly connected with the surface of the input shaft 4, the surface of first sun gear 82 evenly is provided with the tooth piece, the internal surface of first ring fluted disc 81 evenly is provided with the tooth piece, the intermediate position department meshing of first sun gear 82 and first ring fluted disc 81 has first planetary gear 83, the intermediate position department of first planetary gear 83 and the surperficial swing joint of tray 7 front end, tray 7 and the intermediate position department of output shaft 6 are provided with second reduction gears 9, thread groove 10 has been seted up to the rear end of output shaft 6.

Further, in the above technical solution, the second speed reducing mechanism 9 includes a second ring gear 91, a second sun gear 93 is disposed in the middle of the second ring gear 91, the second sun gear 93 is fixedly connected to the surface of the middle of the rear end of the tray 7, gear blocks are uniformly disposed on the surface of the second sun gear 93, gear blocks are uniformly disposed on the inner surface of the first sun gear 82, the first planet gears 83 are engaged with the middle positions of the first sun gear 82 and the first ring gear 81, the middle positions of the first planet gears 83 are movably connected to the surface of the front end of the tray 7, when the tray 7 rotates, the second sun gear 93 is driven to do circular motion, and further, through the engagement between the second sun gear 93 and the gear blocks of the second planet gears 92, the second planet gears 92 can act in the circular motion direction, under the limiting action of the second ring gear disc 91 on the second planetary gears 92, the second planetary gears 92 revolve along the central position of the second sun gear 93, and further the output shaft 6 is driven to do circular motion.

Further, in the above technical solution, there are three first planetary gears 83, the three first planetary gears 83 are uniformly distributed at the middle position between the first sun gear 82 and the first ring gear plate 81, and by providing the three first planetary gears 83, when the first planetary gears 83 revolve along the central position of the first sun gear 82 to drive the tray 7 to move, the stress on the tray 7 is more sufficient, so that the moving process of the tray 7 is more stable.

Further, in the above technical solution, there are three second planetary gears 92, three second planetary gears 92 are uniformly distributed at the middle positions of the second ring gear disc 91 and the second sun gear 93, and when the second planetary gears 92 revolve along the central position of the second sun gear 93 to drive the output shaft 6 to move, the stress on the output shaft 6 is more sufficient, so that the moving process of the output shaft 6 is more stable.

Further, in above-mentioned technical scheme, one side that tray 7 was kept away from to rotor 3 all is the arc setting, 7 side surfaces of tray all laminate mutually with the inner wall in interior storehouse 2 are kept away from to rotor 3, and the rotor 3 of being convenient for rotates the time with more abundant of tray 7's contact.

Furthermore, in the above technical solution, there are three thread grooves 10, and the three thread grooves 10 are uniformly distributed on the inner wall of the rear end of the shaft sleeve 5, so that a person can connect the device with other devices more stably through the three thread grooves 10.

The implementation mode is specifically as follows: in practical use, when the input shaft 4 drives the first sun gear 82 to make circular motion, under the meshing action of the first sun gear 82 and the tooth blocks on the surface of the first planetary gear 83, the first planetary gear 83 is acted by a force in a corresponding direction, and under the limiting action of the tooth blocks on the inner surface of the first annular gear plate 81 on the first planetary gear 83, the first planetary gear 83 revolves along the track of the inner surface of the first annular gear plate 81 with the center position of the first sun gear 82 as the middle point, so as to drive the tray 7 to make circular motion along the center position thereof, so as to drive the second sun gear 93 to make circular motion, under the meshing action of the tooth blocks on the surfaces of the second sun gear 93 and the second planetary gear 92, so that the second planetary gear 92 is acted by a force in a corresponding direction, and under the limiting action of the second annular gear 91 on the second planetary gear 92, the second planetary gear 92 revolves around the central position of the second sun gear 93 along the inner surface of the second ring gear 91, so as to drive the output shaft 6 to make a circular motion, in the process, the first planetary gear 83 reduces the revolution number of the first sun gear 82 to a certain revolution number, and then the second planetary gear 92 reduces the revolution number of the second sun gear 93 to a required revolution number, so that the revolution number of the output shaft 6 is reduced to a certain degree compared with the input shaft 4.

This practical theory of operation: when the input shaft 4 rotates, the first sun gear 82 is driven to make circular motion, under the limiting action of the first annular gear plate 81, the first planetary gears 83 revolve around the central position of the first sun gear 82 as a middle point, the tray 7 is driven to rotate and the number of revolutions of the tray 7 is reduced, the tray 7 rotates and drives the second sun gear 93 to make circular motion, under the limiting action of the second annular gear plate 91, the second planetary gears 92 revolve around the middle position of the second sun gear 93 as a middle point, the output shaft 6 is driven to rotate and the number of revolutions of the output shaft 6 is further reduced.

While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the utility model. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the utility model.

Claims

1. The utility model provides a manipulator joint structure of slowing down, includes shell (1), its characterized in that: the inner bin (2) is arranged in the shell (1), a rotor (3) is arranged at a position, close to the inner surface, of the inner bin (2), an input shaft (4) is movably arranged in the middle of the inner bin (2), a shaft sleeve (5) is fixedly connected to the rear end of the shell (1), the inside of the shaft sleeve (5) is communicated with the inside of the inner bin (2), an output shaft (6) is movably arranged in the shaft sleeve (5), the front end of the output shaft (6) penetrates through the shaft sleeve (5) and extends to the inside of the inner bin (2), a tray (7) is arranged at the rear end of the input shaft (4), a first speed reducing mechanism (8) is arranged at the middle position of the tray (7) and the input shaft (4), the first speed reducing mechanism (8) comprises a first annular fluted disc (81), and a first sun gear (82) is arranged in the middle of the first annular fluted disc (81), the surface fixed connection of first sun gear (82) and input shaft (4), the surface of first sun gear (82) evenly is provided with the tooth piece, the internal surface of first ring fluted disc (81) evenly is provided with the tooth piece, the intermediate position department meshing of first sun gear (82) and first ring fluted disc (81) has first planetary gear (83), the intermediate position department of first planetary gear (83) and the surface swing joint of tray (7) front end, the intermediate position department of tray (7) and output shaft (6) is provided with second reduction gears (9), thread groove (10) have been seted up to the rear end of output shaft (6).

2. The manipulator joint deceleration structure according to claim 1, characterized in that: second reduction gears (9) include second ring fluted disc (91), the middle part of second ring fluted disc (91) is provided with second sun gear (93), the fixed surface of second sun gear (93) and tray (7) rear end middle part is connected, the surface of second sun gear (93) evenly is provided with the tooth piece, the internal surface of second sun gear (93) evenly is provided with the tooth piece, the intermediate position department meshing of second sun gear (93) and second ring fluted disc (91) has second planetary gear (92), the intermediate position department of second planetary gear (92) all with the surface swing joint of output shaft (6) front end.

3. The manipulator joint deceleration structure according to claim 1, characterized in that: the number of the first planetary gears (83) is three, and the three first planetary gears (83) are uniformly distributed at the middle positions of the first sun gear (82) and the first annular fluted disc (81).

4. The manipulator joint deceleration structure according to claim 2, characterized in that: the number of the second planetary gears (92) is three, and the three second planetary gears (92) are uniformly distributed at the middle positions of the second annular gear disc (91) and the second sun gear (93).

5. The manipulator joint deceleration structure according to claim 1, characterized in that: one side that tray (7) were kept away from in rotor (3) all is the arc setting, tray (7) one side surface is all laminated with the inner wall in interior storehouse (2) mutually in keeping away from in rotor (3).

6. The manipulator joint deceleration structure according to claim 1, characterized in that: the number of the thread grooves (10) is three, and the three thread grooves (10) are uniformly distributed on the inner wall of the rear end of the shaft sleeve (5).