CN217620674U

CN217620674U - Joint driving mechanism of robot

Info

Publication number: CN217620674U
Application number: CN202221644606.5U
Authority: CN
Inventors: 于传建
Original assignee: Xi'an Pengyuhua Precision Machinery Co ltd
Current assignee: Xi'an Pengyuhua Precision Machinery Co ltd
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2022-10-21
Anticipated expiration: 2032-06-29

Abstract

The utility model discloses a joint driving mechanism of a robot, wherein a large arm component is rotatably provided with a rotating seat, a small arm component is rotatably arranged on the rotating seat, a driving sleeve is fixedly connected with the axis of the rotating seat, a driving shaft linked with the small arm component is arranged in the driving sleeve in a penetrating way, and a switching mechanism comprises two groups and is respectively linked with the driving sleeve and the driving shaft; the conversion mechanism includes: the first end face gear and the second end face gear are fixedly connected to the driving sleeve or the driving shaft, the sliding frame is installed in the large arm component, the rotating sleeve is rotatably installed on the sliding frame, the third end face gear is fixedly connected to the end part of the rotating sleeve and acts with the first end face gear, and the fourth end face gear is fixedly connected to the sliding frame and acts with the second end face gear; the rotating sleeve is in power connection with the driving motor through a transmission mechanism. The utility model discloses can realize the pipe fitting part complex functions such as rotation, buckling, can guarantee the stability in the joint part motion process.

Description

Joint driving mechanism of robot

Technical Field

The utility model relates to the technical field of robots, specific joint actuating mechanism of robot that says so.

Background

With the development of the technological level, the robot has wide application in production and life, and joint parts of the robot are used as keys for controlling the motion of the robot, and whether the function of the robot is strong or not is directly concerned. A traditional robot joint is arranged between a large arm and a small arm and used for controlling the small arm to bend relative to the large arm, and in the process of driving the small arm to move by the joint, due to the limitation of the number of shafts, the small arm can only be bent along a specific paying-off line, and the small arm cannot rotate around the axis of the large arm. After the joint part controls the small arm part to move, the small arm is subjected to invalid displacement due to the lack of a locking function or part, so that the stability and the movement precision of the small arm are influenced.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned weak point that exists among the prior art, the utility model aims at providing a joint actuating mechanism of robot. The small arm can be bent and rotated relative to the large arm, the movement complexity is improved, and the stability of the joint component in the movement process can be ensured.

The utility model discloses a realize that the technical scheme that above-mentioned purpose adopted is: the utility model provides a joint actuating mechanism of robot, with big arm component, the supporting combination of forearm part, including driving motor, shifter, drive mechanism, big arm component tip rotates installs the rotation seat, the forearm part rotates to be installed on rotating the seat, rotate the seat and can drive the forearm part in step when rotating and accomplish and rotate to realize that the forearm rotates around big arm length direction, the forearm can carry out the bending of specific angle within range on rotating the seat, realize the complicated joint that forearm and big arm constitute from this.

The axle center of the rotating seat is fixedly connected with a driving sleeve arranged in the large arm component, a driving shaft linked with the small arm component penetrates through the driving sleeve, the inner side end of the driving shaft is arranged in the large arm component, and the switching mechanisms comprise two groups of switching mechanisms and two groups of switching mechanisms are respectively linked with the driving sleeve and the driving shaft. The driving sleeve is driven to rotate through the driving motor, the rotating seat and the upper small arm part of the rotating seat can be controlled to rotate, the driving shaft is driven to rotate through the driving motor, and the small arm part can be controlled to bend at a specific angle on the rotating seat.

The conversion mechanism includes: the first end face gear and the second end face gear are fixedly connected to the driving sleeve or the driving shaft and are arranged in an opposite mode, the sliding frame is slidably mounted in the large arm component, the rotating sleeve is rotatably mounted on the sliding frame and is arranged on the periphery of the driving sleeve or the driving shaft, the third end face gear is fixedly connected to the end of the rotating sleeve and is in interaction with the first end face gear, and the fourth end face gear is fixedly connected to the sliding frame and is in interaction with the second end face gear; the rotating sleeve is in power connection with the driving motor through a transmission mechanism. And the third end face gear and the fourth end face gear in each group of conversion mechanisms are respectively arranged at two sides of the corresponding first end face gear and the corresponding second end face gear, and the sliding frame, the rotating sleeve, the driving sleeve and the driving shaft do not generate spatial interference with each other.

The position state of the sliding frame is controlled to adjust whether the driving sleeve or the driving shaft is linked with the driving motor, the driving motor can control the small arm part to rotate on the rotating seat in the linked state, and the rotating seat and the small arm part on the rotating seat are controlled to rotate.

The technical scheme is that the driving shaft drives the small arm part to rotate and bend relative to the rotating seat or the large arm part. The rotating seat is fixedly connected with an installation shaft, the installation shaft and the axis of the rotating seat are vertically distributed, the small arm part is rotatably installed on the installation shaft, the installation shaft is also rotatably installed with a first bevel gear fixedly connected with the small arm part, and the outer side end of the driving shaft is fixedly connected with a second bevel gear meshed with the first bevel gear. When the driving shaft rotates, the small arm part can be driven to rotate around the mounting shaft through the second bevel gear and the first bevel gear.

In order to guarantee that each mechanism is stably installed in big arm part, set up the installation cavity in big arm part, conversion mechanism, drive mechanism, driving motor all form a complete set and install in the installation cavity.

In order to realize that the sliding frame stably slides in the big arm component, all form a complete set on the carriage in every group shifter and be connected electric telescopic handle, electric telescopic handle's both ends respectively with big arm component, carriage fixed connection. The position state of the sliding frame is controlled by controlling the telescopic motion of the electric telescopic rod.

In order to ensure that the driving motor can stably transmit power to the rotating sleeve and is not interfered by sliding of the sliding frame, the transmission mechanism is explained as follows. The transmission mechanism includes: the driving mechanism comprises a driving sleeve, a driving shaft, a big arm component, a spline shaft, a transmission gear, a driving gear, a spline groove, a third bevel gear and a fourth bevel gear, wherein the spline shaft is rotatably arranged in the big arm component and is arranged along the axial direction of the driving sleeve and the driving shaft, the transmission gear is fixedly connected on the rotating sleeve, the driving gear is rotatably arranged on the sliding frame and is linked with the transmission gear, the spline groove is formed in the axis of the driving gear and is nested and spliced with the spline shaft, the third bevel gear is fixedly connected on the spline shaft, and the fourth bevel gear is fixedly connected on the rotating shaft of the driving motor and is meshed with the third bevel gear. In the sliding process of the sliding frame, the driving gear arranged on the sliding frame can synchronously slide along the spline shaft and is combined with the spline shaft in a nested mode, and the driving motor drives the spline shaft to rotate so that power can be transmitted to the driving gear.

The utility model has the advantages that: through the adjusting function of the switching mechanism, the rotating sleeve can be locked with the corresponding driving sleeve or driving shaft, so that the power of the driving motor is transmitted to the driving sleeve or driving shaft, and the rotating seat is driven to turn over or the small arm part is driven to bend; the locking of the rotating sleeve, the driving sleeve and the driving shaft is cancelled, the driving sleeve or the driving shaft can be locked, the driving sleeve or the driving shaft is prevented from being locked when the driving motor does not act on the driving sleeve or the driving shaft, and the control accuracy and the control stability of joint parts are prevented from being influenced by invalid rotation. In conclusion, the pipe fitting part can rotate, bend and other complex functions, and stability of the joint part in the motion process can be guaranteed.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged detail view of portion A of FIG. 1;

fig. 3 is an enlarged detail view of the portion B in fig. 1.

In the figure: the device comprises a large arm component 1, a small arm component 2, a driving motor 3, a rotating seat 4, a driving sleeve 5, a driving shaft 6, a first face gear 7, a second face gear 8, a sliding frame 9, a rotating sleeve 10, a third face gear 11, a fourth face gear 12, a mounting shaft 13, a first bevel gear 14, a second bevel gear 15, a mounting cavity 16, an electric telescopic rod 17, a spline shaft 18, a transmission gear 19, a driving gear 20, a third bevel gear 21 and a fourth bevel gear 22.

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 a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, a joint driving mechanism of a robot, which is combined with a large arm component 1 and a small arm component 2 in a matching manner, includes a driving motor 3, a conversion mechanism, and a transmission mechanism, wherein a rotation base 4 is rotatably mounted at an end of the large arm component 1, the small arm component 2 is rotatably mounted on the rotation base 4, and the rotation base 4 can synchronously drive the small arm component 2 to complete rotation when rotating, so that the small arm can rotate around the length direction of the large arm, and the small arm can bend within a specific angle range on the rotation base 4, thereby realizing a complex joint formed by the small arm and the large arm.

The axle center of the rotating seat 4 is fixedly connected with a driving sleeve 5 arranged in the large arm component 1, a driving shaft 6 linked with the small arm component 2 is arranged in the driving sleeve 5 in a penetrating mode, the inner side end of the driving shaft 6 is arranged in the large arm component 1, and the switching mechanisms comprise two groups of switching mechanisms and two groups of switching mechanisms which are respectively linked with the driving sleeve 5 and the driving shaft 6. Drive sleeve 5 through driving motor 3 and rotate, can control and rotate seat 4 and forearm part 2 on it and rotate, drive shaft 6 through driving motor 3 and rotate, can control forearm part 2 and realize specific angle on rotating seat 4 and buckle.

The conversion mechanism includes: a first face gear 7 and a second face gear 8 which are fixedly connected to the driving sleeve 5 or the driving shaft 6 and are arranged oppositely, a sliding frame 9 which is slidably arranged in the large arm component 1, a rotating sleeve 10 which is rotatably arranged on the sliding frame 9 and is arranged at the periphery of the driving sleeve 5 or the driving shaft 6, a third face gear 11 which is fixedly connected to the end part of the rotating sleeve 10 and is acted with the first face gear 7, and a fourth face gear 12 which is fixedly connected to the sliding frame 9 and is acted with the second face gear 8; the rotating sleeve 10 is in power connection with the driving motor 3 through a transmission mechanism. The third end face gear 11 and the fourth end face gear 12 in each group of conversion mechanisms are respectively arranged at two sides of the corresponding first end face gear 7 and the corresponding second end face gear 8, and the sliding frame 9, the rotating sleeve 10, the driving sleeve 5 and the driving shaft 6 do not spatially interfere with each other.

Whether the driving sleeve 5 or the driving shaft 6 is linked with the driving motor 3 or not is adjusted by controlling the position state of the sliding frame 9, the driving motor 3 can control the small arm part 2 to rotate on the rotating seat 4 in a linkage state, and the rotating seat 4 and the small arm part 2 on the rotating seat are controlled to rotate, so that the driving sleeve 5 or the driving shaft 6 can be locked when the driving motor 3 cancels linkage, invalid movement of the driving sleeve is avoided, and the stability of joint parts is improved.

When the sliding frame 9 is controlled to slide so that the third end face gear 11 is engaged and locked with the first end face gear 7 and the fourth end face gear 12 is separated from the second end face gear 8, the rotating sleeve 10 is locked with the corresponding driving sleeve 5 or the driving shaft 6, and the driving motor 3 works to drive the rotating sleeve 10 to further drive the driving sleeve 5 or the driving shaft 6 to rotate so as to further drive the rotating seat 4 or the small arm part 2 to rotate or bend.

When the sliding frame 9 is controlled to slide so as to separate the third end face gear 11 from the first end face gear 7 and to engage and lock the fourth end face gear 12 with the second end face gear 8, the driving sleeve 5 or the driving shaft 6 is locked with the sliding frame 9 and simultaneously is not linked with the rotating sleeve 10, the sliding frame 9 can lock the corresponding driving sleeve 5 or the corresponding driving shaft 6, the rotating seat 4 and the small arm part 2 are ensured to be kept stable in a specific position state, and the driving motor 3 cannot transmit power to the driving sleeve 5 or the driving shaft 6 when rotating.

The following technical scheme is provided to realize that the driving shaft 6 drives the small arm part 2 to rotate and bend relative to the rotating seat 4 or the large arm part 1. The rotating seat 4 is fixedly connected with a mounting shaft 13, the mounting shaft 13 is vertically distributed with the axis of the rotating seat 4, the small arm part 2 is rotatably mounted on the mounting shaft 13, the mounting shaft 13 is also rotatably mounted with a first bevel gear 14 fixedly connected with the small arm part 2, and the outer side end of the driving shaft 6 is fixedly connected with a second bevel gear 15 meshed with the first bevel gear 14. When the driving shaft 6 rotates, the small arm part 2 can be driven to rotate around the mounting shaft 13 through the second bevel gear 15 and the first bevel gear 14.

When the driving motor 3 drives the driving shaft 6 to rotate, the driving shaft drives the second bevel gear 15 fixedly connected with the driving shaft to synchronously rotate, and further drives the first bevel gear 14 and the small arm part 2 fixedly connected with the first bevel gear 14 to rotate around the mounting shaft 13, so that the function of bending the small arm part 2 relative to the rotating seat 4 and the large arm part 1 is realized.

In order to ensure that each mechanism is stably installed in the large arm component 1, an installation cavity 16 is arranged in the large arm component 1, and the conversion mechanism, the transmission mechanism and the driving motor 3 are installed in the installation cavity 16 in a matched mode.

In order to realize that the sliding frame 9 stably slides in the large arm component 1, the sliding frame 9 in each group of conversion mechanisms is connected with an electric telescopic rod 17 in a matched manner, and two ends of the electric telescopic rod 17 are fixedly connected with the large arm component 1 and the sliding frame 9 respectively. The position state of the sliding frame 9 is controlled by controlling the telescopic motion of the electric telescopic rod 17.

In order to ensure that the driving motor 3 can stably transmit power to the rotating sleeve 10 without interference from sliding of the sliding rack 9, the transmission mechanism concerned is explained as follows. The transmission mechanism includes: a spline shaft 18 which is rotatably arranged in the big arm component 1 and is arranged along the axial direction of the driving sleeve 5 and the driving shaft 6, a transmission gear 19 which is fixedly connected on the rotating sleeve 10, a driving gear 20 which is rotatably arranged on the sliding frame 9 and is linked with the transmission gear 19, a spline groove which is arranged at the axle center of the driving gear 20 and is nested and inserted with the spline shaft, a third bevel gear 21 which is fixedly connected on the spline shaft 18, and a fourth bevel gear 22 which is fixedly connected on the rotating shaft of the driving motor 3 and is meshed with the third bevel gear 21. During the sliding process of the sliding frame 9, the driving gear 20 mounted on the sliding frame can synchronously slide along the spline shaft 18 and is in nested combination with the spline shaft 18, and power can be transmitted to the driving gear 20 by driving the spline shaft 18 to rotate by the driving motor 3.

When the driving motor 3 works, the fourth bevel gear 22 is driven to rotate, so that the third bevel gear 21 and the spline shaft 18 fixedly connected with the third bevel gear 21 are driven to rotate, power is transmitted to the driving gear 20, and the driving gear 20 can drive the transmission gear 19 and the rotating sleeve 10 fixedly connected with the transmission gear 19 to stably rotate when rotating under the action of the spline shaft 18. When the third face gear 11 on the rotating sleeve 10 is engaged and locked with the first face gear 7 on the driving sleeve 5 or the driving shaft 6, the driving sleeve 5 or the driving shaft 6 can be driven to rotate stably.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.

Claims

1. The utility model provides a joint actuating mechanism of robot, with big arm part (1), forearm part (2) supporting combination which characterized in that: the device comprises a driving motor (3), conversion mechanisms and a transmission mechanism, wherein the end part of a large arm component (1) is rotatably provided with a rotating seat (4), a small arm component (2) is rotatably arranged on the rotating seat (4), the axis of the rotating seat (4) is fixedly connected with a driving sleeve (5) arranged in the large arm component (1), a driving shaft (6) linked with the small arm component (2) is arranged in the driving sleeve (5) in a penetrating manner, the inner side end of the driving shaft (6) is arranged in the large arm component (1), and the conversion mechanisms comprise two groups of conversion mechanisms which are respectively linked with the driving sleeve (5) and the driving shaft (6); the conversion mechanism includes: a first end face gear (7) and a second end face gear (8) which are fixedly connected to the driving sleeve (5) or the driving shaft (6) and are arranged in an opposite mode, a sliding frame (9) which is installed in the large arm component (1) in a sliding mode, a rotating sleeve (10) which is installed on the sliding frame (9) in a rotating mode and is arranged on the periphery of the driving sleeve (5) or the driving shaft (6), a third end face gear (11) which is fixedly connected to the end portion of the rotating sleeve (10) and is in interaction with the first end face gear (7), and a fourth end face gear (12) which is fixedly connected to the sliding frame (9) and is in interaction with the second end face gear (8); the rotating sleeve (10) is in power connection with the driving motor (3) through a transmission mechanism.

2. The joint drive mechanism of a robot according to claim 1, wherein: the rotating seat (4) is fixedly connected with a mounting shaft (13), the mounting shaft (13) and the axis of the rotating seat (4) are vertically distributed, the small arm part (2) is rotatably mounted on the mounting shaft (13), the mounting shaft (13) is also rotatably mounted with a first bevel gear (14) fixedly connected with the small arm part (2), and the outer side end of the driving shaft (6) is fixedly connected with a second bevel gear (15) meshed with the first bevel gear (14).

3. The joint drive mechanism of a robot according to claim 1, wherein: a mounting cavity (16) is formed in the large arm component (1), and the conversion mechanism, the transmission mechanism and the driving motor (3) are mounted in the mounting cavity (16) in a matched mode.

4. The joint drive mechanism of a robot according to claim 1, wherein: and the third end face gear (11) and the fourth end face gear (12) in each group of conversion mechanisms are respectively arranged at two sides of the corresponding first end face gear (7) and second end face gear (8), and the sliding frame (9), the rotating sleeve (10), the driving sleeve (5) and the driving shaft (6) do not spatially interfere with each other.

5. The joint drive mechanism of a robot according to claim 1, wherein: every group all the supporting connection has electric telescopic handle (17) on carriage (9) in the shifter, the both ends of electric telescopic handle (17) respectively with big arm component (1), carriage (9) fixed connection.

6. The joint drive mechanism of a robot according to claim 1, wherein: the transmission mechanism includes: the device comprises a spline shaft (18) which is rotatably arranged in a large arm component (1) and is arranged along the axial direction of a driving sleeve (5) and a driving shaft (6), a transmission gear (19) fixedly connected to a rotating sleeve (10), a driving gear (20) which is rotatably arranged on a sliding frame (9) and is linked with the transmission gear (19), a spline groove which is arranged at the axle center of the driving gear (20) and is nested and spliced with an inter-spline shaft, a third bevel gear (21) fixedly connected to the spline shaft (18), and a fourth bevel gear (22) which is fixedly connected to the rotating shaft of a driving motor (3) and is meshed with the third bevel gear (21).