CN215789964U

CN215789964U - Intelligent robot joint

Info

Publication number: CN215789964U
Application number: CN202120818167.4U
Authority: CN
Inventors: 宋佳馨; 佟岩; 王金涛; 朱维金
Original assignee: Tianjin Xinsong Robot Automation Co ltd
Current assignee: Tianjin Xinsong Robot Automation Co ltd
Priority date: 2021-04-20
Filing date: 2021-04-20
Publication date: 2022-02-11
Anticipated expiration: 2031-04-20

Abstract

The utility model relates to the technical field of robots, in particular to an intelligent robot joint. One end of the big arm shell is rotatably connected with one end of the small arm shell; the pulley shaft is arranged on an axis of relative rotation of the large arm shell and the small arm shell, one end of the pulley shaft is fixedly connected with the large arm shell, and the other end of the pulley shaft is rotatably connected with the small arm shell; the large belt wheel transmission mechanism is arranged in the large arm shell and is rotationally connected with the belt wheel shaft; the large belt wheel transmission mechanism is fixedly connected with the small arm shell and is used for driving the small arm shell to rotate; the small belt wheel transmission mechanism is arranged in the small arm shell, two ends of the small belt wheel transmission mechanism are respectively connected with the belt wheel shaft and the output shaft, and the output shaft is arranged at the other end of the small arm shell. The utility model has the characteristics of large deformation, large deflection and low speed and heavy load, and achieves the purposes of adjusting the natural frequency of a mechanical transmission and structure system and inhibiting vibration by adjusting the damping and the rigidity of the elbow joint transmission structure.

Description

Intelligent robot joint

Technical Field

The utility model relates to the technical field of robots, in particular to an intelligent robot joint.

Background

Articulated robot arms, also called articulated robots, are one of the most common forms of industrial robots in today's industrial field. The automatic welding machine is suitable for mechanical automatic operation in various industrial fields, such as automatic assembly, painting, carrying, welding and the like. The mode damping of the flexible structure is small, and once the flexible structure is subjected to certain excitation force, the large-amplitude vibration of the flexible structure lasts for a long time. This can not only affect the operation of the structure, but can also cause premature fatigue failure of the structure, affect the useful life of the structure, or cause damage to the instrumentation in the structure. Therefore, there is a need to measure and dampen the vibration of such flexible structures.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, an object of the present invention is to provide an intelligent robot joint.

In order to achieve the purpose, the utility model adopts the following technical scheme:

an intelligent robot joint comprises a large arm shell, a small arm shell, a belt wheel shaft, a large belt wheel transmission mechanism, a small belt wheel transmission mechanism and an output shaft;

one end of the large arm shell is rotatably connected with one end of the small arm shell;

the belt wheel shaft is arranged on an axis of relative rotation of the large arm shell and the small arm shell, one end of the belt wheel shaft is fixedly connected with the large arm shell, and the other end of the belt wheel shaft is rotatably connected with the small arm shell;

the large belt wheel transmission mechanism is arranged in the large arm shell and is rotationally connected with a belt wheel shaft; the large belt wheel transmission mechanism is fixedly connected with the small arm shell and is used for driving the small arm shell to rotate;

the small belt wheel transmission mechanism is arranged in the small arm shell, two ends of the small belt wheel transmission mechanism are respectively connected with the belt wheel shaft and the output shaft, and the output shaft is arranged at the other end of the small arm shell.

The large belt wheel transmission mechanism comprises a large synchronous belt wheel I, a large synchronous belt wheel II, a large arm synchronous toothed belt and a large arm tensioning device, wherein the large synchronous belt wheel I is rotatably arranged at the other end of the large arm shell, and the large synchronous belt wheel II is mounted on the belt wheel shaft through a large bearing and is connected with the large synchronous belt wheel I through the large arm synchronous toothed belt; the big arm tensioning device is arranged in the big arm shell and is abutted against the big arm synchronous toothed belt.

The large arm shell and the small arm shell are connected through a crossed roller shaft collar;

the cross roller collar comprises a cross roller collar inner ring and a cross roller collar outer ring, wherein the cross roller collar inner ring is connected with the small arm shell through an inner ring connecting screw, and the cross roller collar outer ring is connected with the large arm shell through an outer ring connecting screw;

and the large synchronous pulley II is connected with the inner ring of the crossed roller shaft collar.

The inner ring of the crossed roller shaft collar is connected with the large synchronous belt wheel II through an elbow belt wheel adaptor.

And a large bearing rigidity adjusting pad is arranged between the lower end part of the pulley shaft and the large arm shell.

The small belt wheel transmission mechanism comprises a small arm synchronous toothed belt, a small synchronous belt wheel I, a small synchronous belt wheel II and a small arm tensioning device, wherein the small synchronous belt wheel I is sleeved on the belt wheel shaft and is fixedly connected with the belt wheel shaft; the small synchronous belt pulley II is sleeved on the output shaft and is fixedly connected with the output shaft;

the small synchronous belt wheel I and the small synchronous belt wheel II are connected through a small arm synchronous toothed belt; the small arm tensioning device is connected with the small arm shell and is abutted to the small arm synchronous toothed belt.

The top of the small arm shell is provided with a small arm upper cover; and a small arm bearing gland corresponding to the belt wheel shaft is arranged on the small arm upper cover and is connected with the small synchronous belt wheel I through a small bearing.

And a small bearing rigidity adjusting pad is arranged between the small arm bearing gland and the small arm upper cover.

And an observation protection plate is arranged on the small arm bearing gland.

An elbow wiring hole is arranged in the belt wheel shaft.

The utility model has the advantages and beneficial effects that: the large belt wheel transmission mechanism and the small belt wheel transmission mechanism in the utility model realize motion output by adopting a planetary transmission gear train mode, and have compact structure and convenient operation.

The utility model adjusts the gaskets at the two ends of the elbow joint, adjusts the contact stress and strain of the bearings at the two ends of the elbow joint, and further changes the rigidity and the damping of the main transmission bearing (the crossed roller collar), thereby more easily changing the low-frequency vibration of the flexible mechanical arm, changing the damping and the natural frequency of the vibration characteristic rigidity, and achieving the purposes of adjusting the natural frequency of a mechanical transmission and structure system and inhibiting the vibration.

The utility model has the characteristics of large deformation, large deflection, low speed and heavy load, is suitable for the characteristics of high sealing and high cleaning requirements, and is particularly suitable for an internal wiring structure.

Drawings

FIG. 1 is an isometric view of an intelligent robotic joint of the present invention;

FIG. 2 is an exploded view of a smart robot joint according to the present invention;

fig. 3 is a cross-sectional view of an intelligent robot joint according to the present invention.

In the figure: the device comprises a large arm shell 1, a small arm upper cover 2, a small arm shell 3, a large arm sealing ring 4, a large arm upper routing cover 5, a large arm synchronous toothed belt 6, a large arm tensioning device 7, a small arm synchronous toothed belt 8, a large arm lower routing cover 9, a small arm tensioning device 10, a small arm bearing gland 11, an observation protection plate 12, a small bearing 13, a small synchronous pulley I14, an elbow routing hole 15, a crossed roller collar inner ring 16, a crossed roller collar outer ring 17, an outer ring connecting screw 18, an inner ring connecting upper screw 19, an inner ring connecting lower screw 20, an elbow pulley part 21, a large synchronous pulley screw 22, a large synchronous pulley II 23, a large bearing 24, a belt pulley shaft 25, a large bearing rigidity adjusting pad 26, a small bearing rigidity adjusting pad 27, a large synchronous pulley I, a large synchronous pulley 29 and an output shaft 30.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-2, the intelligent robot joint provided by the present invention comprises a large arm shell 1, a small arm shell 3, a pulley shaft 25, a large pulley transmission mechanism, a small pulley transmission mechanism and an output shaft 29, wherein one end of the large arm shell 1 is rotatably connected with one end of the small arm shell 3; the belt wheel shaft 25 is arranged on the axis of relative rotation of the large arm shell 1 and the small arm shell 3, one end of the belt wheel shaft is fixedly connected with the large arm shell 1, and the other end of the belt wheel shaft is rotatably connected with the small arm shell 3; the large belt wheel transmission mechanism is arranged in the large arm shell 1 and is rotationally connected with a belt wheel shaft 25; the large belt wheel transmission mechanism is fixedly connected with the small arm shell 3 and is used for driving the small arm shell 3 to rotate; the small belt wheel transmission mechanism is arranged in the small arm shell 3, two ends of the small belt wheel transmission mechanism are respectively connected with the belt wheel shaft 25 and the output shaft 29, and the output shaft 29 is arranged at the other end of the small arm shell 3.

As shown in fig. 2-3, in the embodiment of the present invention, the large pulley transmission mechanism includes a large synchronous pulley i 28, a large synchronous pulley ii 23, a large arm synchronous cog belt 6 and a large arm tensioning device 7, wherein the large synchronous pulley i 28 is rotatably disposed at the other end of the large arm shell 1, the large synchronous pulley ii 23 is mounted on a pulley shaft 25 through a large bearing 24, and is connected with the large synchronous pulley i 28 through the large arm synchronous cog belt 6; the big arm tensioning device 7 is arranged in the big arm shell 1 and is abutted to the big arm synchronous toothed belt 6, and the big arm synchronous toothed belt 6 is tensioned through the big arm tensioning device 7.

In the embodiment of the utility model, the large arm shell 1 and the small arm shell 3 are connected through a crossed roller shaft collar to form a high-rigidity and damped rotary kinematic pair; the cross roller collar comprises a cross roller collar inner ring 16 and a cross roller collar outer ring 17, wherein the cross roller collar inner ring 16 is connected with the small arm case 3 by an inner ring connection screw 19, and the cross roller collar outer ring 17 is connected with the large arm case 1 by an outer ring connection screw 18. The large synchronous pulley II 23 is connected with the crossed roller collar inner ring 16.

On the basis of the above embodiment, the cross roller collar inner ring 16 and the large synchronous pulley ii 23 are connected by the elbow pulley adaptor 21. Specifically, the elbow pulley adaptor 21 is connected to the cross roller collar inner race 16 by an inner race connection lower screw 20, and is connected to the large synchronous pulley ii 23 by a large synchronous pulley screw 22.

Further, a large bearing rigidity adjusting pad 26 is provided between the lower end portion of the pulley shaft 25 and the large arm case 1, and the rigidity of the large bearing 24 is adjusted by increasing or decreasing the large bearing rigidity adjusting pad 26.

In the embodiment of the utility model, the small belt wheel transmission mechanism comprises a small arm synchronous toothed belt 8, a small synchronous belt wheel I14, a small synchronous belt wheel II 30 and a small arm tensioning device 10, wherein the small synchronous belt wheel I14 is sleeved on a belt wheel shaft 25 and is fixedly connected with the belt wheel shaft 25; the small synchronous pulley II 30 is sleeved on the output shaft 29 and is fixedly connected with the output shaft 29. The small synchronous belt wheel I14 and the small synchronous belt wheel II 30 are in transmission connection through a small arm synchronous toothed belt 8; the forearm tensioning device 10 is connected with the forearm shell 3 and is abutted against the forearm synchronous toothed belt 8, and the forearm synchronous toothed belt 8 is tensioned through the forearm tensioning device 10.

Further, the top of the small arm shell 3 is provided with a small arm upper cover 2; the small arm upper cover 2 is provided with a small arm bearing gland 11 corresponding to the belt wheel shaft 25, and the small arm bearing gland 11 is connected with a small synchronous belt wheel I14 through a small bearing 13. A small bearing rigidity adjusting pad 27 is arranged between the small arm bearing gland 11 and the small arm upper cover 2, and the rigidity of the small bearing 13 is adjusted by increasing or decreasing the bearing rigidity adjusting pad 27. An observation protection plate 12 is arranged on the forearm bearing gland 11 so as to be convenient for observing the internal condition of the elbow joint. The forearm tensioning device 10, the forearm synchronous toothed belt 8, the small synchronous belt wheel I14, the small synchronous belt wheel II 30 and the wrist transmission part form a synchronous belt planetary transmission wheel train which has a planetary transmission wheel train relationship with certain rigidity and damping.

Further, an elbow wiring hole 15 is formed in the belt wheel shaft 25, and cables inside the elbow wiring hole 15 can sequentially penetrate through related structural components and transmission components and penetrate through the large arm shell 1 and the small arm shell 3. The large arm shell 1 is provided with a large arm sealing ring 4, a large arm upper wiring cover 5 and a large arm lower wiring cover 9, and the large arm upper wiring cover 5 and the large arm lower wiring cover 9 are respectively arranged at two ends of the large arm shell 1 to seal cables inside the shell.

The working principle of the utility model is as follows: the large synchronous belt wheel I28 is driven to rotate by a driving transmission mechanism (not shown), the large synchronous belt wheel I28 drives the large synchronous belt wheel II 23 to rotate by the large arm synchronous toothed belt 6, and then the small arm shell 3 is driven to rotate around the axis of the belt wheel shaft 25 by the elbow belt wheel adaptor 21 and the crossed roller shaft collar inner ring 16; when the small arm shell 3 rotates, the small synchronous belt wheel II 30 positioned at the other end of the small arm shell 3 also rotates around the axis of the belt wheel shaft 25, and the small synchronous belt wheel I14 is fixedly connected with the belt wheel shaft 25 and is immovable, so that the small synchronous belt wheel II 30 rotates around the axis of the belt wheel shaft 25 and simultaneously rotates around the axis of the small synchronous belt wheel II 30 through the driving of the small arm synchronous toothed belt 8, and the output shaft 29 is driven to rotate. The small belt wheel transmission mechanism adopts a planetary transmission gear train mode to realize torque output, wherein the small arm shell 3 serves as a planet carrier, the small synchronous belt wheel II 30 serves as a planet wheel, the small synchronous belt wheel I14 serves as a sun wheel, and a gear pair is formed between the small arm synchronous toothed belt 8 and the small synchronous belt wheel II 30 and the small synchronous belt wheel I14. Therefore, the large belt wheel transmission mechanism and the small belt wheel transmission mechanism realize motion output in a mode of a planetary transmission gear train with a synchronous belt, and have the advantages of compact structure and convenience in operation.

In this embodiment, the large bearing 24 and the small bearing 13 are both deep groove ball bearings, and the contact stiffness and damping of the large bearing 24 and the small bearing 13 are adjusted by adding or subtracting the large bearing stiffness adjusting pad 26 and the small bearing stiffness adjusting pad 27, so as to adjust the stiffness and damping of the main transmission bearing (cross roller collar) between the large arm casing 1 and the small arm casing 3, thereby realizing the damping of the system vibration characteristic stiffness and the change of the natural frequency.

The intelligent robot joint provided by the utility model adjusts the rigidity and the damping of the large bearing and the small bearing through the adjustment of the gaskets at the two ends of the elbow joint, and further indirectly adjusts the rigidity of a system consisting of the crossed roller shaft collar, the large bearing and the small bearing. Namely, the aims of adjusting the natural frequency of a mechanical transmission and structural system and inhibiting vibration are achieved by adjusting the damping and the rigidity of the elbow joint transmission structure.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An intelligent robot joint is characterized by comprising a large arm shell (1), a small arm shell (3), a belt wheel shaft (25), a large belt wheel transmission mechanism, a small belt wheel transmission mechanism and an output shaft (29);

one end of the large arm shell (1) is rotatably connected with one end of the small arm shell (3);

the belt wheel shaft (25) is arranged on the axis of the relative rotation of the large arm shell (1) and the small arm shell (3), one end of the belt wheel shaft is fixedly connected with the large arm shell (1), and the other end of the belt wheel shaft is rotatably connected with the small arm shell (3);

the large belt wheel transmission mechanism is arranged in the large arm shell (1) and is rotationally connected with a belt wheel shaft (25); the large belt wheel transmission mechanism is fixedly connected with the small arm shell (3) and is used for driving the small arm shell (3) to rotate;

the small belt wheel transmission mechanism is arranged in the small arm shell (3), two ends of the small belt wheel transmission mechanism are respectively connected with a belt wheel shaft (25) and an output shaft (29), and the output shaft (29) is arranged at the other end of the small arm shell (3).

2. The intelligent robot joint as claimed in claim 1, wherein the large belt wheel transmission mechanism comprises a large synchronous belt wheel I (28), a large synchronous belt wheel II (23), a large arm synchronous toothed belt (6) and a large arm tensioning device (7), wherein the large synchronous belt wheel I (28) is rotatably arranged at the other end of the large arm shell (1), the large synchronous belt wheel II (23) is mounted on the belt wheel shaft (25) through a large bearing (24) and is connected with the large synchronous belt wheel I (28) through the large arm synchronous toothed belt (6); the big arm tensioning device (7) is arranged in the big arm shell (1) and is abutted against the big arm synchronous toothed belt (6).

3. The intelligent robotic joint according to claim 2, wherein the large arm shell (1) and the small arm shell (3) are connected by a cross roller collar;

the crossed roller collar comprises a crossed roller collar inner ring (16) and a crossed roller collar outer ring (17), wherein the crossed roller collar inner ring (16) is connected with the small arm shell (3) through an inner ring connecting screw (19), and the crossed roller collar outer ring (17) is connected with the large arm shell (1) through an outer ring connecting screw (18);

and the large synchronous pulley II (23) is connected with the crossed roller collar inner ring (16).

4. The intelligent robotic joint of claim 3, wherein the cross roller collar inner race (16) is connected to the large synchronous pulley II (23) by an elbow pulley adaptor (21).

5. The intelligent robotic joint according to claim 2, wherein a large bearing stiffness adjustment pad (26) is provided between the lower end of the pulley shaft (25) and the large arm housing (1).

6. The intelligent robot joint as claimed in claim 2, wherein the small pulley transmission mechanism comprises a small arm synchronous toothed belt (8), a small synchronous pulley I (14), a small synchronous pulley II (30) and a small arm tensioning device (10), wherein the small synchronous pulley I (14) is sleeved on the pulley shaft (25) and is fixedly connected with the pulley shaft (25); the small synchronous belt wheel II (30) is sleeved on the output shaft (29) and is fixedly connected with the output shaft (29);

the small synchronous belt wheel I (14) is connected with the small synchronous belt wheel II (30) through a small arm synchronous toothed belt (8); the small arm tensioning device (10) is connected with the small arm shell (3) and is abutted against the small arm synchronous toothed belt (8).

7. The intelligent robot joint according to claim 6, wherein the top of the small arm shell (3) is provided with a small arm upper cover (2); and a small arm bearing gland (11) corresponding to the belt wheel shaft (25) is arranged on the small arm upper cover (2), and the small arm bearing gland (11) is connected with the small synchronous belt wheel I (14) through a small bearing (13).

8. The intelligent robot joint according to claim 7, wherein a small bearing stiffness adjusting pad (27) is arranged between the small arm bearing gland (11) and the small arm upper cover (2).

9. The intelligent robot joint according to claim 7, wherein an observation protection plate (12) is provided on the forearm bearing gland (11).

10. An intelligent robotic joint according to claim 1, wherein an elbow walking hole (15) is provided in the pulley shaft (25).