CN217046418U - Novel robot fifth shaft and sixth shaft transmission structure - Google Patents
Novel robot fifth shaft and sixth shaft transmission structure Download PDFInfo
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- CN217046418U CN217046418U CN202220456053.4U CN202220456053U CN217046418U CN 217046418 U CN217046418 U CN 217046418U CN 202220456053 U CN202220456053 U CN 202220456053U CN 217046418 U CN217046418 U CN 217046418U
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Abstract
The utility model discloses a novel robot fifth and sixth transmission structure, include: the first-stage mechanical arm is internally provided with a first mounting cavity; a second drive motor mounted in the first mounting cavity; the second-stage mechanical arm is hinged to one end of the first-stage mechanical arm, and a second mounting cavity is formed in the second-stage mechanical arm; a third drive motor mounted in the second mounting cavity; and the third-stage mechanical arm is rotatably connected to one end, far away from the first-stage mechanical arm, of the second-stage mechanical arm. The utility model has the advantages of compact arrangement, saved arrangement space, improved transmission rated load, reduced transmission efficiency loss caused by belt transmission in the traditional transmission mechanism, increased transmission strength and improved transmission efficiency; and each part in the whole structure is more convenient to assemble and maintain.
Description
The technical field is as follows:
the utility model relates to a six robotic arm technical field, concretely relates to novel fifth and sixth transmission structure of robot.
The background art comprises the following steps:
along with the popularization and application of industrial robots in industrial production, the miniaturization of robot end equipment is gradually replaced, the characteristics of large size and a multistage transmission structure of the existing robot mechanical arm are waste of resources for miniaturized load equipment, the whole structure of the robot cannot be light, the price is high, and a user is difficult to bear, so that the industrial robot suitable for the light-weight robot end equipment is deeply liked and demanded by the user. Robotic arms are the most widely practiced automated mechanical devices in the field of robotics.
The mechanical arm is provided with a plurality of joints which are connected through transmission, and in the existing transmission structure of the six-axis mechanical arm, driving devices for driving a sixth axis and a fifth axis are arranged in an inner cavity of a fourth axis to form transmission through a synchronous belt or form transmission through a multi-stage gear; the driving motor devices for driving the sixth, fifth and fourth shafts are arranged on the third shaft and form transmission through the transmission rod to enable the corresponding mechanical arms to rotate, the structure has the problems that the transmission efficiency or power is reduced due to the multi-stage transmission phenomenon, the fourth and third mechanical arms are relatively large in size, transmission accessories are complex to machine, difficult to assemble and low in transmission precision, and the like. And for the industrial robot in the prior art is applied to light-weighted robot end equipment, so that a user bears huge purchase cost and maintenance cost.
The utility model has the following contents:
the utility model aims at solving above-mentioned not enough, provide a novel robot fifth and sixth transmission structure.
The utility model provides a novel robot fifth and sixth transmission structure, include:
the first-stage mechanical arm is internally provided with a first mounting cavity;
the second driving motor is arranged at one end of the first-stage mechanical arm and is positioned in the first mounting cavity, and the axis of the second driving motor is arranged in parallel with the axis of the first-stage mechanical arm;
the second-stage mechanical arm is hinged to one end of the first-stage mechanical arm, and a second mounting cavity is formed in the second-stage mechanical arm;
the third driving motor is arranged at one end of the second-stage mechanical arm and is positioned in the second mounting cavity, and the axis of the third driving motor is arranged in parallel with the axis of the second-stage mechanical arm;
the third-stage mechanical arm is rotationally connected to one end, far away from the first-stage mechanical arm, of the second-stage mechanical arm;
the second driving motor is in transmission connection with the second-stage mechanical arm and used for driving the second-stage mechanical arm to move, and the third driving motor is in transmission connection with the third-stage mechanical arm and used for driving the third-stage mechanical arm to move.
Furthermore, a first bevel gear is rotatably connected in the inner wall of one end, close to the second-stage mechanical arm, of the first-stage mechanical arm, a second bevel gear is fixedly connected to the second-stage mechanical arm, the second-stage mechanical arm is a first axis relative to the rotating axis of the first-stage mechanical arm, the first axis is perpendicular to the second-stage mechanical arm, the central axis of the second bevel gear is overlapped with the first rotating shaft, and the first bevel gear and the second bevel gear are in gear engagement transmission; and the first bevel gear is fixedly connected with an output shaft of a second driving motor arranged on the first-stage mechanical arm. Specifically, a harmonic reducer is integrated at the output end of the second driving motor, and the output shaft of the second driving motor is subjected to reduction transmission by the harmonic reducer.
Further, fixedly connected with first fixed axle on the second grade arm, second bevel gear fixes on first fixed axle, the first articulated seat of tip fixedly connected with of first grade arm, first fixed axle rotates with first articulated seat to be connected.
Further, the first bevel gear and the second bevel gear are located in the inner cavity of the first hinge seat.
Furthermore, the second-stage mechanical arm comprises a first wall plate and a second wall plate, a second installation cavity is formed between the first wall plate and the second wall plate, and two sides of the second installation cavity are of an open structure.
Furthermore, the rotation axis of the third-stage mechanical arm relative to the second-stage mechanical arm is a second axis, and the second axis is parallel to the second-stage mechanical arm.
Furthermore, an output shaft of the third driving motor is in transmission connection with the third-stage mechanical arm through a harmonic reducer.
The utility model discloses a novel robot fifth shaft and sixth shaft transmission structure, which directly drives the mechanical arm transmission through the output shaft of a servo motor, reduces the transmission stage number, improves the transmission efficiency or power through the high-precision gear rotation, and increases the load capacity; the mounting mode of the servo motor is improved, so that the transmission mechanism is simple, the space is saved, the structure is compact, the weight of the transmission mechanism is greatly reduced, the volume of the mechanical arm is greatly reduced, the assembly is simple, the maintenance is easy, and the processing cost of the transmission mechanism part is reduced; the structure is applied to the joints of the industrial mechanical arm, so that the structure volume is reduced, and the load of the mechanical arm is improved. The method has the following specific beneficial effects:
1. a third driving motor for driving the third-stage mechanical arm to rotate is arranged in the second-stage mechanical arm, an output shaft of the third driving motor is directly in transmission connection with the third-stage mechanical arm, and a second driving motor for driving the second-stage mechanical arm to rotate is arranged in the first-stage mechanical arm, so that the arrangement is more compact, the arrangement space is saved, the transmission rated load can be improved, and the transmission efficiency loss caused by belt transmission in the traditional transmission mechanism is reduced; and all parts in the whole structure are more convenient to assemble and maintain.
2. Through first bevel gear and second bevel gear transmission between first order arm and the second grade arm, first bevel gear and first driving motor's output shaft lug connection to conveniently arrange first order arm, and improved transmission efficiency through bevel gear transmission, and increase load capacity.
3. The second-stage mechanical arm is in a second installation cavity structure formed by clamping the first wall plate and the second wall plate, so that the structure is compact, and the structure weight is reduced.
Drawings
Fig. 1 is the utility model discloses a novel robot fifth and sixth transmission structure's spatial structure schematic diagram.
Fig. 2 is the schematic diagram of the local structure of the second-level mechanical arm part of the utility model.
Fig. 3 is a schematic view of another perspective structure of fig. 2 with the first hinge base removed.
The numbering in the figures illustrates: 1. a first-stage mechanical arm; 11. a first mounting cavity; 12. a first bevel gear; 13. a first hinge mount; 2. a second drive motor; 3. a second-stage mechanical arm; 31. a second mounting cavity; 32. a second bevel gear; 33. a first fixed shaft; 34. a first wall panel; 35. a second wall panel; 4. a third drive motor; 5. and a third-stage mechanical arm.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
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, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all directional indicators (such as up-down-left-right-front-back … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components in a specific posture (as shown in the drawings), the motion condition, etc., and if the specific posture is changed, the directional indicator is changed accordingly, and the connection can be a direct connection or an indirect connection.
As shown in fig. 1 to 3, a novel robot fifth and sixth shaft transmission structure comprises:
the mechanical arm comprises a first-stage mechanical arm 1, a second driving motor 2, a second-stage mechanical arm 3, a third driving motor 4 and a third-stage mechanical arm 5, wherein a first mounting cavity 11 is formed in the first-stage mechanical arm 1; the second driving motor 2 is arranged at one end of the first-stage mechanical arm 1 and is positioned in the first mounting cavity 11, and the axis of the second driving motor 2 is parallel to the axis of the first-stage mechanical arm 1; the second-stage mechanical arm 3 is hinged to one end of the first-stage mechanical arm 1, and a second mounting cavity 31 is formed in the second-stage mechanical arm 3; the third driving motor 4 is installed at one end of the second-stage mechanical arm 3 and is located in the second installation cavity 31, and the axis of the third driving motor 4 is arranged in parallel with the axis of the second-stage mechanical arm 3; the third-stage mechanical arm 5 is rotatably connected to one end, far away from the first-stage mechanical arm 1, of the second-stage mechanical arm 3;
the second driving motor 2 is in transmission connection with the second-stage mechanical arm 3 and is used for driving the second-stage mechanical arm 3 to move, and the third driving motor 4 is in transmission connection with the third-stage mechanical arm 5 and is used for driving the third mechanical arm to move; the second-stage mechanical arm 3 swings relative to the first-stage mechanical arm 1; the tertiary robot 5 rotates relative to the secondary robot 3.
When the technical scheme is applied to the embodiment of the six-axis mechanical arm, the first-stage mechanical arm 1 is used as a fourth axis of the six-axis mechanical arm, the second-stage mechanical arm 3 is used as a fifth axis, and the third-stage mechanical arm 5 is used as a sixth axis; the third driving motor 4 is arranged in the second-stage mechanical arm 3 (fifth shaft) as a power source for driving the third-stage mechanical arm 5 (sixth shaft) to rotate, and an output shaft of the third driving motor 4 is directly in transmission connection with the third-stage mechanical arm 5 (sixth shaft), so that the transmission stage number that the original driving motor is fixedly arranged on the fourth shaft and then drives the synchronizing wheel transmission gear to drive the sixth shaft to rotate through the synchronous belt is shortened, the problems of large power loss, large transmission efficiency loss and poor transmission control precision caused by long transmission process are solved, and the transmission efficiency and the transmission strength are improved; the second driving motor 2 for driving the second-stage mechanical arm 3 (fifth shaft) to rotate is arranged inside the first-stage mechanical arm 1 (fourth shaft), so that the arrangement is more compact, the arrangement space is saved, the transmission rated load can be improved, and the transmission efficiency loss caused by belt transmission in the traditional structure is reduced.
In a specific arrangement, a first bevel gear 12 is rotatably connected to an inner wall of one end of the first-stage mechanical arm 1 close to the second-stage mechanical arm 3, a second bevel gear 32 is fixedly connected to the second-stage mechanical arm 3, a rotation axis of the second-stage mechanical arm 3 relative to the first-stage mechanical arm 1 is a first axis Z1, the first axis Z1 is perpendicular to the second-stage mechanical arm 3, a central axis of the second bevel gear 32 is coincident with the first axis, and the first bevel gear 12 and the second bevel gear 32 are in gear engagement transmission; the first bevel gear 12 is fixedly connected with an output shaft of a second driving motor 2 arranged on the first-stage mechanical arm 1. Specifically, a harmonic reducer is integrated at the output end of the second driving motor 2, and the output shaft of the second driving motor 2 is subjected to reduction transmission by the harmonic reducer. Through the transmission of the first bevel gear 12 and the second bevel gear 32 between the first-stage mechanical arm 1 and the second-stage mechanical arm 3, the first bevel gear 12 is directly connected with the output shaft of the second driving motor 2, so that the second driving motor is conveniently arranged, the phenomena of large power loss, large transmission efficiency loss and poor transmission control precision of the original structure are solved through the bevel gear direct transmission, the load capacity is increased, and the transmission efficiency and the strength are improved.
In the specific arrangement, a first fixing shaft 33 is fixedly connected to the second-stage mechanical arm 3, the second bevel gear 32 is fixed to the first fixing shaft 33, the first hinged seat 13 is fixedly connected to the end of the first-stage mechanical arm 1, and the first fixing shaft 33 is rotatably connected with the first hinged seat 13. The bearing is installed on the concrete first articulated seat 13, and the first fixed shaft 33 passes through the bearing and is connected with the rotation of the first articulated seat 13, and is articulated with the first fixed shaft 33 through the first articulated seat 13, so that the structure is more compact.
In a specific arrangement, the first bevel gear 12 and the second bevel gear 32 are located in the inner cavity of the first hinge seat 13. The first bevel gear 12 and the second bevel gear 32 are wrapped by the first hinging seat 13, the transmission mechanism is protected, foreign matters, dust and the like outside the transmission mechanism are prevented from entering between the gears to damage the transmission mechanism in daily use, lubricating oil injection holes can be formed in the first hinging seat 13, lubricating oil is injected between the internal gears through the lubricating oil injection holes, and noise generated in the gear meshing transmission process is further reduced.
In a specific arrangement, the second-stage mechanical arm 3 includes a first wall plate 34 and a second wall plate 35, a second installation cavity 31 is formed between the first wall plate 34 and the second wall plate 35, and two sides of the second installation cavity 31 are open structures. The first mounting cavity 11 structure is formed by clamping the first wall plate 34 and the second wall plate 35, the structure volume is reduced, the structure weight is reduced, and the two sides are opened, so that wiring and heat dissipation are facilitated.
In a specific arrangement, the rotation axis of the third-stage mechanical arm 5 relative to the second-stage mechanical arm 3 is a second axis Z2, and the second axis Z2 is parallel to the second-stage mechanical arm 3.
In the specific arrangement, an output shaft of the third driving motor 4 is in transmission connection with the third-stage mechanical arm 5 through a harmonic reducer. The harmonic reducer is used for transmission, so that a large reduction ratio can be obtained, and the third-stage mechanical arm 5 can be conveniently controlled to rotate.
Specifically, in the above embodiments of the present invention, the second driving motor 2 and the third driving motor 4 may be any conventional servo motor as required, and are well known. The driving motor can be an independent motor part, and can also be that the motor is integrative with the speed reducer, can select according to the user oneself, all belong to the utility model discloses a within the scope of protection.
The utility model provides a novel robot fifth shaft and sixth shaft transmission structure, through the transmission of servo motor output shaft direct drive robotic arm, reduced the transmission progression, improved transmission efficiency or power through the gear rotation of high accuracy, can increase load capacity again; the mounting mode through servo motor improves and makes its drive mechanism simple, save space, compact structure, greatly alleviates drive mechanism's weight and also makes robotic arm's volume reduce greatly for the assembly is simple, easy to maintain, reduce the processing cost of drive mechanism part, makes industrial robot overall structure miniaturized, lightweight simultaneously, can improve robotic arm's load, makes industrial robot volume reduction again, and it is suitable for the scene more extensive.
The technical personnel in the field know, the utility model provides a novel robot fifth axle and sixth axle transmission structure is not only applicable to six robotic arm's transmission structure, and it can also be used to in other joint class structures.
The foregoing shows and describes the basic principles and principal features of the invention, as well as the features of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only illustrative of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of the invention is to be protected by the following claims and their equivalents.
Claims (7)
1. The utility model provides a novel fifth and sixth transmission of robot structure which characterized in that: the method comprises the following steps:
the mechanical arm comprises a first-stage mechanical arm (1), wherein a first installation cavity (11) is formed in the first-stage mechanical arm (1);
the second driving motor (2) is mounted at one end of the first-stage mechanical arm (1) and is positioned in the first mounting cavity (11), and the axis of the second driving motor (2) is parallel to the axis of the first-stage mechanical arm (1);
the second-stage mechanical arm (3) is hinged to one end of the first-stage mechanical arm (1), and a second mounting cavity (31) is formed in the second-stage mechanical arm (3);
the third driving motor (4), the third driving motor (4) is installed in the second installation cavity (31), and the axis of the third driving motor (4) is arranged in parallel with the axis of the second-stage mechanical arm (3);
the third-stage mechanical arm (5) is rotatably connected to one end, far away from the first-stage mechanical arm (1), of the second-stage mechanical arm (3);
the second driving motor (2) is in transmission connection with the second-stage mechanical arm (3) and is used for driving the second-stage mechanical arm (3) to move, and the third driving motor (4) is in transmission connection with the third-stage mechanical arm (5) and is used for driving the third-stage mechanical arm (5) to move.
2. The novel robot fifth shaft and sixth shaft transmission structure of claim 1, characterized in that: a first bevel gear (12) is rotatably connected to the inner wall of one end, close to the second-stage mechanical arm (3), of the first-stage mechanical arm (1), a second bevel gear (32) is fixedly connected to the second-stage mechanical arm (3), the second-stage mechanical arm (3) is a first axis (Z1) relative to the rotation axis of the first-stage mechanical arm (1), the first axis (Z1) is perpendicular to the second-stage mechanical arm (3), the central axis of the second bevel gear (32) is coincident with the first axis, and the first bevel gear (12) and the second bevel gear (32) are in gear engagement transmission; the first bevel gear (12) is fixedly connected with an output shaft of a second driving motor (2) arranged on the first-stage mechanical arm (1).
3. The novel robot fifth shaft and sixth shaft transmission structure of claim 2, characterized in that: the utility model discloses a two-stage mechanical arm, including first fixed axle (33) of fixedly connected with on second level arm (3), second bevel gear (32) are fixed on first fixed axle (33), the first articulated seat of tip fixedly connected with (13) of first level arm (1), first fixed axle (33) and first articulated seat (13) are rotated and are connected.
4. The novel robot fifth shaft and sixth shaft transmission structure as claimed in claim 3, wherein: the first bevel gear (12) and the second bevel gear (32) are positioned in an inner cavity of the first hinge seat (13).
5. The novel robot fifth shaft and sixth shaft transmission structure of claim 1, characterized in that: the second-stage mechanical arm (3) comprises a first wall plate (34) and a second wall plate (35), a second installation cavity (31) is formed between the first wall plate (34) and the second wall plate (35), and two sides of the second installation cavity (31) are of an open structure.
6. The novel robot fifth and sixth axis transmission structure of claim 1, wherein: the third-stage mechanical arm (5) is a second axis (Z2) relative to the rotation axis of the second-stage mechanical arm (3), and the second axis (Z2) is parallel to the second-stage mechanical arm (3).
7. The novel robot fifth and sixth axis transmission structure of claim 2, wherein: and an output shaft of the third driving motor (4) is in transmission connection with the third-stage mechanical arm (5) through a harmonic reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220456053.4U CN217046418U (en) | 2022-03-01 | 2022-03-01 | Novel robot fifth shaft and sixth shaft transmission structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220456053.4U CN217046418U (en) | 2022-03-01 | 2022-03-01 | Novel robot fifth shaft and sixth shaft transmission structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217046418U true CN217046418U (en) | 2022-07-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220456053.4U Active CN217046418U (en) | 2022-03-01 | 2022-03-01 | Novel robot fifth shaft and sixth shaft transmission structure |
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| Country | Link |
|---|---|
| CN (1) | CN217046418U (en) |
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- 2022-03-01 CN CN202220456053.4U patent/CN217046418U/en active Active
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