CN216067529U

CN216067529U - Joint rotating structure and robot

Info

Publication number: CN216067529U
Application number: CN202122290352.3U
Authority: CN
Inventors: 李晓贞; 李同杰; 陈正隆; 苏阔; 张立勇
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-09-22
Filing date: 2021-09-22
Publication date: 2022-03-18
Anticipated expiration: 2031-09-22

Abstract

The utility model provides a joint rotation structure and a robot, wherein the joint rotation structure comprises: a first articulated arm comprising a first end; the second joint arm comprises a second end part, and the second end part is rotatably connected with the first end part; the joint shaft is fixedly connected with the second end part; the driving mechanism is accommodated in the cavity of the first joint arm and comprises a motor and a first gear, the motor comprises a motor shaft, the first gear is connected with the motor shaft, and the motor shaft is parallel to the central axis of the first joint arm; the second gear is fixedly connected with the joint shaft, and the second gear is meshed with the first gear; when the motor drives the motor shaft to rotate, the motor shaft drives the first gear to rotate, the first gear drives the second gear to rotate and enables the joint shaft to rotate, and the second joint arm rotates along with the joint shaft.

Description

Joint rotating structure and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a joint rotating structure and a robot.

Background

Robot joint rotation is a basic motion requirement for robot joint motion. At present, the robot joint rotates in two modes, one mode is direct drive of a motor, and the other mode is flexible cable drive.

In the existing robot joint rotating structure in the motor direct-drive mode, the direct-drive motor is arranged on the side surface of a rotating joint, so that the radial size of the robot joint is overlarge, and the application of a robot joint arm under the working condition of limited space is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model provides a joint rotating structure and a robot, which can adjust the installation position of a motor and overcome the problem of overlarge radial size of a robot joint.

The present invention provides a joint rotation structure including: a first articulated arm comprising a first end; a second articulated arm comprising a second end, the second end rotationally coupled with the first end; a joint shaft fixedly connected with the second end; a drive mechanism received in the cavity of the first articulated arm, the drive mechanism including a motor and a first gear, the motor including a motor shaft, the first gear being connected to the motor shaft, the motor shaft being parallel to a central axis of the first articulated arm; the second gear is fixedly connected with the joint shaft, and the second gear is meshed with the first gear; when the motor drives the motor shaft to rotate, the motor shaft drives the first gear to rotate, the first gear drives the second gear to rotate and enables the joint shaft to rotate, and the second joint arm rotates along with the joint shaft.

As an optional technical scheme, the first gear is a cylindrical gear; the second gear is a face gear.

As an alternative solution, the face gear and the joint shaft are integrally formed.

As an optional technical solution, the first joint arm includes a plurality of first side walls, and the plurality of side walls are connected in sequence and surround to form the cavity.

As an optional technical solution, a partition plate is disposed at one side of the cavity close to the joint shaft, a through hole is disposed on the partition plate, and the motor shaft is inserted into the through hole, so that the motor and the first gear are located at two opposite sides of the partition plate.

As an optional technical solution, the joint further comprises a pair of bearing bases, and the pair of bearing bases are assembled at two opposite ends of the joint shaft.

As an optional technical solution, the first articulated arm includes two first end portions arranged oppositely; the second articulated arm comprises two of the second ends disposed opposite one another; and the two first end parts are provided with assembling spaces, the two second end parts are assembled in the assembling spaces, and each bearing base and each second end part are positioned on two opposite sides of each corresponding first end part along the axial direction of the joint shaft.

As an optional technical solution, the second gear is sleeved on the joint shaft and located between the two second end portions.

As an optional technical solution, two opposite ends of the joint shaft sequentially pass through the second end portion and the first end portion to be rotatably connected to the bearing base.

The utility model also provides a robot, which comprises the joint rotating structure.

Compared with the prior art, the utility model provides a joint rotating structure and a robot, in the joint rotating structure, a driving mechanism is accommodated in a cavity of a first joint arm, a motor shaft of a motor of the driving mechanism is kept parallel to the central axis of the first joint arm, a joint shaft is driven to rotate and a second joint arm is driven to rotate, the angle change of the second joint arm is realized, the radial size of a robot joint is reduced, the change of the angle of the robot joint can be realized even under the working condition that the space is limited, and the application scenes are increased.

In addition, the joint rotating structure is meshed with the face gear through the cylindrical gear, and the face gear drives the joint rotating structure, so that the joint rotating structure has the advantages of small vibration, low noise and stable and reliable transmission in the rotating process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view of a joint rotation structure according to an embodiment of the present invention.

Fig. 2 is a schematic top view of the joint rotation structure of fig. 1.

Fig. 3 is a schematic cross-sectional view taken along the dotted line in fig. 2.

Detailed Description

In order to further understand the objects, structures, features and functions of the present invention, the following embodiments are described in detail.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 to 3, the present invention provides a joint rotation structure 100, which includes a first joint arm 110, a second joint arm 120, a joint shaft 130, a driving mechanism, and a second gear 150, wherein the first joint arm 110 includes a first end 111; the second articulated arm 120 comprises a second end 121, the second end 121 being rotatably connected to the first end 111; the joint shaft 130 is fixedly connected with the second end 121; the driving mechanism is accommodated in the cavity 112 of the first articulated arm 110, the driving mechanism comprises a motor 160 and a first gear 170, the motor 160 comprises a motor shaft 161, the first gear 170 is connected to the motor shaft 161, and the central axes C of the motor shaft 161 and the first articulated arm are parallel; the second gear 150 is fixedly connected with the joint shaft 130, and the second gear 150 and the first gear 170 are engaged with each other; when the motor 160 drives the joint shaft of the motor shaft 161, the motor shaft 161 drives the first gear 170 to rotate, the first gear 170 drives the second gear 150 to rotate and rotate the joint shaft 130, and the second joint arm 120 rotates along with the joint shaft 130.

In this embodiment, the motor 160 of the driving mechanism is accommodated in the cavity of the first joint arm 110, and the motor shaft 161 of the motor 160 and the central axis C of the first joint arm 110 are kept parallel, which contributes to reducing the radial dimension of the robot joint. In addition, the motor shaft 61 rotates to drive the first gear 170 to rotate, the first gear 170 rotates to drive the second gear 150 to rotate, and the second gear 150 rotates to drive the joint shaft 130 to rotate, so as to change the angle of the second joint arm 120.

In a preferred embodiment, the first gear 170 is a cylindrical gear 170; the second gear 150 is a face gear 150; the cylindrical gear is meshed with the face gear, the face gear is used for transmission, and the joint rotating mechanism has the advantages of small vibration, low noise and stable and reliable transmission in the process of driving the second joint arm 120 to rotate.

In a preferred embodiment, the face gear 150 is integrally formed with the joint shaft 130, and the face gear 150 is disposed in a middle region of the joint shaft 130.

Referring to fig. 1 to 3, the first end portion 111 is tapered along a direction in which the first end portion 111 extends toward the second articulated arm 120; the second end 121 tapers in a direction in which the second end 121 extends toward the first articulated arm 110; due to the fact that the first end portion 111 and the second end portion 121 are gradually reduced, the avoiding space S is formed between the first end portion 111 and the second end portion 121, and the second joint arm 120 can rotate more smoothly due to a larger rotation angle.

Referring to fig. 3, the first articulated arm 110 includes a plurality of first sidewalls 113, and the plurality of first sidewalls 113 are sequentially connected and surround to form the cavity 112. The plurality of first side walls 113 are made of, for example, a metal plate material, and are connected in sequence by a fixing means such as welding.

A partition plate 114 is disposed at a side of the cavity 112 close to the joint shaft 130, a through hole (not shown) is disposed on the partition plate 114, and the motor shaft 161 is disposed through the through hole, such that the motor 160 and the first gear 170 are respectively disposed at two opposite sides of the partition plate 114.

In a preferred embodiment, motor 160 is secured to a side of bulkhead 114 facing cavity 112. Wherein, when the through hole is located at the center of the partition 114, the central axis C of the first articulated arm 110 coincides with the central axis of the motor shaft 161, for example.

With continued reference to fig. 1 to 3, the joint further includes a bearing base 140, and the bearing base 140 is rotatably connected to the joint shaft 130 to reduce the frictional resistance of the joint shaft 130 in rotation. Preferably, in the joint rotation shaft structure 100, a pair of bearing bases 140 are mounted at opposite ends of the joint shaft 130.

Specifically, the first articulated arm 110 includes two first end portions 111 disposed oppositely; the second articulated arm 120 comprises two second ends 121 arranged opposite; wherein the two first end portions 111 have an assembly space therebetween, the two second end portions 121 are assembled in the assembly space, and each bearing seat 140 and each second end portion 121 are located at opposite sides of each corresponding first end portion 111 along the axial direction of the joint shaft 130.

Preferably, the face gear 150 is sleeved on the joint shaft 130 and located between the two second ends 121.

In this embodiment, two opposite ends of the joint shaft 130 sequentially pass through the second end portion 121 and the first end portion 111 respectively and are rotatably connected to the bearing base 140.

The present invention also provides a robot comprising the joint rotation structure 100 as described above.

In summary, the present invention provides a joint rotation structure and a robot, in the joint rotation structure, a driving mechanism is accommodated in a cavity of a first joint arm, a motor shaft of a motor of the driving mechanism is kept parallel to a central axis of the first joint arm, the joint shaft is driven to rotate and drive a second joint arm to rotate, so as to change an angle of the second joint arm, reduce a radial dimension of a robot joint, change an angle of the robot joint even under a working condition that a space is limited, and increase application scenarios.

The present invention has been described in relation to the above embodiments, which are only exemplary of the implementation of the present invention. Furthermore, the technical features mentioned in the different embodiments of the present invention described above may be combined with each other as long as they do not conflict with each other. It should be noted that the disclosed embodiments do not limit the scope of the utility model. Rather, it is intended that all such modifications and variations be included within the spirit and scope of this invention.

Claims

1. An articulating structure, comprising:

a first articulated arm comprising a first end;

a second articulated arm comprising a second end, the second end rotationally coupled with the first end;

a joint shaft fixedly connected with the second end;

a drive mechanism received in the cavity of the first articulated arm, the drive mechanism including a motor and a first gear, the motor including a motor shaft, the first gear being connected to the motor shaft, the motor shaft being parallel to a central axis of the first articulated arm; the second gear is fixedly connected with the joint shaft, and the second gear is meshed with the first gear;

when the motor drives the motor shaft to rotate, the motor shaft drives the first gear to rotate, the first gear drives the second gear to rotate and enables the joint shaft to rotate, and the second joint arm rotates along with the joint shaft.

2. The joint rotation structure according to claim 1, wherein the first gear is a cylindrical gear; the second gear is a face gear.

3. The joint rotation structure according to claim 2, wherein the face gear and the joint shaft are integrally formed.

4. The articulating structure of claim 1, wherein said first articulating arm comprises a plurality of first side walls that are connected in series and that surround said cavity.

5. The joint rotation structure of claim 4, wherein a partition is disposed at a side of the cavity close to the joint shaft, a through hole is disposed on the partition, and the motor shaft is inserted into the through hole, so that the motor and the first gear are disposed at two opposite sides of the partition.

6. The joint rotation structure of claim 1, further comprising a pair of bearing mounts mounted at opposite ends of the joint shaft.

7. The joint rotation structure according to claim 6, wherein the first joint arm includes two of the first end portions that are oppositely disposed; the second articulated arm comprises two of the second ends disposed opposite one another; and the two first end parts are provided with assembling spaces, the two second end parts are assembled in the assembling spaces, and each bearing base and each second end part are positioned on two opposite sides of each corresponding first end part along the axial direction of the joint shaft.

8. The joint rotation structure according to claim 7, wherein the second gear is fitted around the joint shaft between the two second end portions.

9. The joint rotation structure of claim 7, wherein opposite ends of the joint shaft are rotatably coupled to the bearing base through the second end portion and the first end portion in this order.

10. A robot, characterized in that the robot comprises a joint rotation structure according to any one of claims 1-9.