CN219563089U - Mechanical arm transmission assembly, tail end joint mechanical arm and mechanical arm structure - Google Patents
Mechanical arm transmission assembly, tail end joint mechanical arm and mechanical arm structure Download PDFInfo
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- CN219563089U CN219563089U CN202320550238.6U CN202320550238U CN219563089U CN 219563089 U CN219563089 U CN 219563089U CN 202320550238 U CN202320550238 U CN 202320550238U CN 219563089 U CN219563089 U CN 219563089U
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Abstract
The utility model discloses a mechanical arm transmission assembly, a tail end joint mechanical arm and a mechanical arm structure, wherein the mechanical arm transmission assembly comprises a joint transmission wheel, a first transmission shaft, a driving upper belt wheel and a driving lower belt wheel; the first transmission shaft is connected with the joint transmission wheel, and at least part of the upper belt wheel is driven to extend into the joint transmission wheel; the driving lower belt wheel is arranged in the first transmission shaft in a penetrating way, and at least part of the driving lower belt wheel extends into the joint transmission wheel and is fixedly connected with the driving upper belt wheel. Like this, through using joint drive wheel and first transmission shaft transmission to be connected, drive band pulley and drive band pulley transmission connection down to let arm drive assembly be suitable for realizing the one-level transmission, make arm drive assembly in the equipment process assemble simpler, avoid assembly error, thereby let arm drive assembly's work precision higher. Meanwhile, the production cost can be reduced, the assembly efficiency is improved, and the mechanical arm transmission assembly is more reliable to use.
Description
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm transmission assembly, a tail end joint mechanical arm and a mechanical arm structure.
Background
In the related art, a multi-stage structure is generally provided in the distal joint of the robot arm to achieve precise control and use of the distal joint, as in the patents CN111546322a and CN206614545U. In the prior art, the adoption of the multi-stage structure not only can increase the assembly difficulty, but also can increase the weight, and influences the use precision and the use performance.
Disclosure of Invention
The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present utility model is to provide a mechanical arm transmission assembly, which has a simple structure, easy assembly, and relatively high use precision and use performance.
Another object of the present utility model is to provide an end joint manipulator, in which a manipulator transmission assembly as described above is provided.
It is still another object of the present utility model to provide a robot arm structure in which the end joint robot arm as described above is provided.
According to an embodiment of the utility model, a mechanical arm transmission assembly comprises: the device comprises a joint driving wheel, a first transmission shaft, a driving upper belt wheel and a driving lower belt wheel; the first transmission shaft is connected with the joint transmission wheel, and at least part of the upper driving belt wheel extends into the joint transmission wheel; the driving lower belt wheel is arranged in the first transmission shaft in a penetrating mode, and at least part of the driving lower belt wheel extends into the joint transmission wheel and is fixedly connected with the driving upper belt wheel.
According to the mechanical arm transmission assembly provided by the embodiment of the utility model, the joint transmission wheel is in transmission connection with the first transmission shaft, and the upper driving belt wheel and the lower driving belt wheel are in transmission connection, so that the mechanical arm transmission assembly is suitable for realizing primary transmission, the mechanical arm transmission assembly is simpler to assemble in the assembling process, the assembly error is avoided, and the working precision of the mechanical arm transmission assembly is higher. Meanwhile, the joint driving wheel is connected with the first transmission shaft, the upper driving belt wheel is connected with the lower driving belt wheel, so that the structure of the mechanical arm driving assembly is simpler, the production cost is reduced, the assembly efficiency is improved, and the mechanical arm driving assembly is more reliable to use. Furthermore, as the structure of the mechanical arm transmission assembly is simpler, the structural weight of the mechanical arm transmission assembly is reduced, the working operation shake of the mechanical arm transmission assembly is reduced, and the service performance of the mechanical arm transmission assembly is improved.
In some embodiments, the joint transmission wheel comprises a joint gear and a joint transmission shaft, the first transmission shaft comprises a transmission shaft body and a transmission shaft portion, the joint gear is arranged on one side of the joint transmission shaft, which is away from the first transmission shaft, the transmission shaft portion is arranged on one side of the transmission shaft body, which is away from the joint transmission wheel, and the joint transmission shaft is fixedly connected with the transmission shaft body.
In some embodiments, the driving upper pulley comprises: the upper belt pulley comprises an upper belt pulley body and an upper belt pulley shaft body, the lower belt pulley comprises a lower belt pulley body and a lower belt pulley shaft body, the upper belt pulley body is arranged on one side, deviating from the lower belt pulley body, of the lower belt pulley shaft body, deviating from one side, deviating from the upper belt pulley body, of the lower belt pulley body, and the upper belt pulley shaft body is fixedly connected with the lower belt pulley shaft body.
In some embodiments, further comprising: the interval bearing is sleeved on the outer side of the lower belt wheel shaft body, and the interval bearing is arranged on the inner side of the transmission shaft body.
In some embodiments, bearing grooves are formed in two ends of the transmission shaft body, and the interval bearings are arranged in the bearing grooves in a matched mode and are flush with the outer surface of the lower belt wheel body.
In some embodiments, further comprising: the first fastener is used for fixedly connecting the joint transmission wheel and the first transmission shaft, and the second fastener is used for fixedly connecting the driving upper belt wheel and the driving lower belt wheel.
In some embodiments, the first fastener is a plurality of the array arrangement and the second fastener is a plurality of the array arrangement, and the first fastener has a larger shank diameter than the second fastener.
In some embodiments, further comprising: the first transmission shaft bearing is sleeved on the peripheral wall of the transmission shaft body.
An end joint mechanical arm according to an embodiment of the present utility model includes: the flange driving motor is provided with a first output end; the joint driving motor is arranged at the second output end; the transmission assembly is as described above, and comprises; the joint transmission wheel is in transmission connection with the second output end, and the driving upper belt wheel is connected with the first output end.
According to the end joint mechanical arm disclosed by the embodiment of the utility model, the mechanical arm transmission assembly is arranged in the end joint mechanical arm, and the joint transmission wheel is in transmission connection with the first transmission shaft and is in transmission connection with the upper driving belt wheel and the lower driving belt wheel, so that the mechanical arm transmission assembly is suitable for realizing primary transmission, the mechanical arm transmission assembly is simpler to assemble in the assembling process, the assembling error is avoided, and the working precision of the mechanical arm transmission assembly is higher. Meanwhile, the joint driving wheel is connected with the first transmission shaft, the upper driving belt wheel is connected with the lower driving belt wheel, so that the structure of the mechanical arm driving assembly is simpler, the production cost is reduced, the assembly efficiency is improved, and the mechanical arm driving assembly is more reliable to use. Moreover, because the structure of the mechanical arm transmission assembly is simpler, the structural weight of the mechanical arm transmission assembly is reduced, the working operation shake of the mechanical arm transmission assembly is reduced, the service performance of the mechanical arm transmission assembly is improved, and the service performance of the tail end joint mechanical arm is improved.
According to an embodiment of the utility model, a mechanical arm structure comprises: an end effector arm as described above, the end effector arm comprising: the flange driving motor and the joint driving motor are respectively in transmission connection with the transmission assembly; and the flange driving motor and the joint driving motor are arranged in the secondary end joint mechanical arm.
According to the mechanical arm structure provided by the embodiment of the utility model, the flange driving motor and the joint driving motor are assembled and placed on the penultimate mechanical arm, so that the structure in the terminal mechanical arm is simpler, the weight is lighter, the use precision of the mechanical arm structure is higher, and the use performance is improved.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic cross-sectional view of a robotic arm drive assembly according to an embodiment of the utility model;
FIG. 2 is an exploded view of a robotic arm drive assembly according to an embodiment of the utility model;
reference numerals:
the mechanical arm drive assembly 10,
a joint driving wheel 100, a joint gear 110, a joint transmission shaft 120,
the first transmission shaft 200, the transmission shaft body 210, the bearing groove 211, the transmission shaft portion 220,
the driving of the upper pulley 300, the upper pulley body 310, the upper pulley shaft 320,
the lower pulley 400, the lower pulley body 410, the lower pulley shaft 420,
the space-apart bearing 500 is provided with,
the first fastener 610, the second fastener 620,
first propeller shaft bearing 700.
Detailed Description
Embodiments of the present utility model will be described in detail below, by way of example with reference to the accompanying drawings.
A robotic arm drive assembly 10 according to an embodiment of the utility model is described below with reference to fig. 1-2, comprising: the joint transmission wheel 100, the first transmission shaft 200, the driving upper pulley 300 and the driving lower pulley 400.
Specifically, the first transmission shaft 200 is connected with the joint transmission wheel 100, and at least part of the upper belt pulley 300 is driven to extend into the joint transmission wheel 100; the driving lower belt pulley 400 is inserted into the first transmission shaft 200, and at least part of the driving lower belt pulley 400 extends into the joint transmission wheel 100 and is fixedly connected with the driving upper belt pulley 300.
It will be appreciated that when power is transferred to the mechanical arm transmission assembly 10, power is transferred through the joint transmission wheel 100 and the driving upper belt wheel 300, respectively, and through the connection between the joint transmission wheel 100 and the first transmission shaft 200 and the connection between the driving upper belt wheel 300 and the driving lower belt wheel 400, respectively, so that power transfer of the transmission assembly is achieved.
It should be noted that in the present utility model, the joint transmission structure and the flange transmission structure are designed and constructed in a composite manner, so that the mechanical arm transmission assembly 10 can comprehensively consider the structural design in the construction process, the fixing structures corresponding to the joint transmission structure and the flange transmission structure are saved, the types of parts are reduced, and the modular degree of the mechanical arm transmission assembly 10 is improved, so that the construction process of the mechanical arm transmission assembly 10 is simpler, and the structural stability is higher.
According to the mechanical arm transmission assembly 10 of the embodiment of the utility model, the joint transmission wheel 100 is in transmission connection with the first transmission shaft 200, and the upper driving belt wheel 300 and the lower driving belt wheel 400 are in transmission connection, so that the mechanical arm transmission assembly 10 is suitable for realizing primary transmission, the assembly of the mechanical arm transmission assembly 10 in the assembly process is simpler, the assembly error is avoided, and the working precision of the mechanical arm transmission assembly 10 is higher. Meanwhile, the joint driving wheel 100 is connected with the first transmission shaft 200, and the upper driving belt wheel 300 and the lower driving belt wheel 400 are connected, so that the mechanical arm driving assembly 10 is simpler in structure, production cost is reduced, assembly efficiency is improved, and the mechanical arm driving assembly 10 is more reliable to use. Furthermore, since the structure of the mechanical arm transmission assembly 10 is simpler, the structural weight of the mechanical arm transmission assembly 10 is reduced, so that the working operation shake of the mechanical arm transmission assembly 10 is reduced, and the service performance of the mechanical arm transmission assembly 10 is improved.
In some embodiments, the joint transmission wheel 100 includes a joint gear 110 and a joint transmission shaft 120, the first transmission shaft 200 includes a transmission shaft body 210 and a transmission shaft portion 220, the joint gear 110 is disposed on a side of the joint transmission shaft 120 facing away from the first transmission shaft 200, the transmission shaft portion 220 is disposed on a side of the transmission shaft body 210 facing away from the joint transmission wheel 100, and the joint transmission shaft 120 is fixedly connected with the transmission shaft body 210.
It should be noted that, the joint gear 110 is adapted to receive power and drive the joint transmission shaft 120 to rotate, and since the joint transmission shaft 120 is connected to the transmission shaft body 210, the power can be transmitted to the transmission shaft portion 220 for output. In this way, a primary transmission can be realized between the joint transmission wheel 100 and the first transmission shaft 200, so that the mechanical arm transmission assembly 10 can be used more reliably.
In some embodiments, driving the upper pulley 300 includes: the upper belt pulley body 310 and the upper belt pulley body 320, the lower driving belt pulley 400 comprises a lower belt pulley body 410 and a lower belt pulley body 420, the upper belt pulley body 310 is arranged on one side of the upper belt pulley body 320, which is away from the lower driving belt pulley 400, the lower belt pulley body 410 is arranged on one side of the lower belt pulley body 420, which is away from the upper driving belt pulley 300, and the upper belt pulley body 320 and the lower belt pulley body 420 are fixedly connected.
It will be appreciated that the upper pulley body 310 is adapted to receive power and drive the upper pulley body 320 for power transmission, and that the upper pulley body 320 is connected to the lower pulley body 420 for power transmission to the lower pulley body 410 for output. In this way, the power transmission between the driving upper pulley 300 and the driving lower pulley 400 is more reliable.
In some embodiments, the robotic arm transmission assembly 10 further comprises: the spacer bearing 500 is sleeved outside the lower pulley shaft 420, and the spacer bearing 500 is arranged inside the transmission shaft 210. In this way, by providing the spacer bearing 500 between the lower pulley shaft 420 and the transmission shaft 210, the spacer bearing 500 is adapted to separate the first transmission shaft 200 from the driving lower pulley 400, so as to avoid interference phenomenon of power during the transmission process, and thus make the power transmission of the mechanical arm transmission assembly 10 more reliable.
In some embodiments, the bearing grooves 211 are provided at both ends of the transmission shaft body 210, and the spacer bearings 500 are disposed in the bearing grooves 211 in a fitting manner such that the spacer bearings 500 are disposed flush with the outer surface of the lower pulley body 410. Therefore, the bearing groove 211 is formed on the transmission shaft body 210, so that the interval bearing 500 is suitable for being assembled in the bearing groove 211, the interval bearing 500 is more reliably arranged, the power transmission is more reliable, and the service performance of the mechanical arm assembly is improved.
In some embodiments, the robotic arm transmission assembly 10 further comprises: a first fastener 610 and a second fastener 620, the first fastener 610 is used for fixedly connecting the joint transmission wheel 100 and the first transmission shaft 200, and the second fastener 620 is used for fixedly connecting the driving upper belt pulley 300 and the driving lower belt pulley 400. It will be appreciated that by using the first fastener 610 to secure the joint transmission wheel 100 and the first transmission shaft 200, not only can the assembly process be simplified, but also the assembly between the joint transmission wheel 100 and the first transmission shaft 200 can be made more reliable and the power transmission more stable. Similarly, by using the second fastener 620 to fix the driving upper pulley 300 and the driving lower pulley 400, the assembly process can be simplified, and the connection between the driving upper pulley 300 and the driving lower pulley 400 can be made more stable and reliable.
In some embodiments, the first fastener 610 is a plurality of the array arrangement and the second fastener 620 is a plurality of the array arrangement, the shank diameter of the first fastener 610 being greater than the shank diameter of the second fastener 620. In this way, the first fastening member 610 and the second fastening member 620 are arranged in a plurality of spaced arrangement, so that the stability of the assembly connection between the joint transmission wheel 100 and the first transmission shaft 200 and between the driving upper belt pulley 300 and the driving lower belt pulley 400 is higher, and the usability of the mechanical arm transmission assembly 10 is improved. The screw diameter of the first fastener 610 is larger than the screw diameter of the second fastener 620 to allow the first fastener 610 to more securely connect the first drive shaft 200 and the articulation transmission wheel 100.
In some embodiments, the robotic arm transmission assembly 10 further comprises: the first transmission shaft bearing 700, the first transmission shaft bearing 700 is sleeved on the peripheral wall of the transmission shaft body 210. In this way, by providing the first transmission shaft bearing 700 on the outer side of the first transmission shaft 200, not only can the assembly thereof be more reliable, but also the external interference of the driving upper belt pulley 300 and the driving lower belt pulley 400 can be avoided, so that the use of the mechanical arm transmission assembly 10 is more reliable.
An end joint mechanical arm according to an embodiment of the present utility model includes: the flange driving motor, the joint driving motor and the transmission assembly are provided with a first output end; the joint driving motor is arranged at the second output end; a drive assembly such as the one above, the drive assembly comprising; the joint driving wheel 100 is in driving connection with the second output end, and the joint driving wheel 100 is in driving connection with the first output end, and the upper driving wheel 300 is in driving connection with the first output end. It should be noted that, the flange driving motor and the joint driving motor respectively provide power and are connected with the mechanical arm transmission assembly 10 to realize power transmission. In this way, the mechanical arm transmission assembly 10 is arranged in the end joint mechanical arm, and the joint transmission wheel 100 is in transmission connection with the first transmission shaft 200, and the upper driving belt wheel 300 and the lower driving belt wheel 400 are in transmission connection, so that the mechanical arm transmission assembly 10 is suitable for realizing primary transmission, the mechanical arm transmission assembly 10 is simpler to assemble in the assembling process, assembly errors are avoided, and the working precision of the mechanical arm transmission assembly 10 is higher. Meanwhile, the joint driving wheel 100 is connected with the first transmission shaft 200, and the upper driving belt wheel 300 and the lower driving belt wheel 400 are connected, so that the mechanical arm driving assembly 10 is simpler in structure, production cost is reduced, assembly efficiency is improved, and the mechanical arm driving assembly 10 is more reliable to use. Furthermore, since the mechanical arm transmission assembly 10 has a simpler structure, the structural weight of the mechanical arm transmission assembly 10 is reduced, so that the working operation shake of the mechanical arm transmission assembly 10 is reduced, the service performance of the mechanical arm transmission assembly 10 is improved, and the service performance of the end joint mechanical arm is improved.
According to an embodiment of the utility model, a mechanical arm structure comprises: the end joint robot arm as above, the end joint robot arm comprising: the flange driving motor, the joint driving motor and the transmission assembly are respectively in transmission connection with the transmission assembly; the secondary end joint mechanical arm is provided with a flange driving motor and a joint driving motor. It can be understood that the flange driving motor and the joint driving motor are suitable for being assembled and placed on the penultimate mechanical arm, so that the structure in the terminal mechanical arm is simpler, the weight is lighter, the use precision of the mechanical arm structure is higher, and the use performance is improved.
Specifically, in the assembly process of the end joint mechanical arm, the first transmission shaft bearing and the minor joint are fixedly connected in a bearing cover compacting manner, the shell of the end joint mechanical arm and the first transmission shaft are fixedly limited, the end driving motor operates and drives the joint transmission wheel to rotate, and the two-stage transmission shaft bearing and the first transmission shaft bearing exist, so that the fixed structure of the first transmission shaft 200 and the joint transmission wheel 100 can realize relative rotation, and further the motor function of driving the end joint is realized. When the fixed structure of the first transmission shaft 200 and the joint transmission wheel 100 is relatively fixed. The motor for driving the end flange drives the upper belt pulley 300 to rotate, and the upper belt pulley 300 and the lower belt pulley 400 are fixed, so that the lower belt pulley 400 can rotate, and the lower belt pulley 400 passes through the belt pulley on the transmission belt and the end flange, so that the rotating function of the end flange is achieved.
In this way, in the use process of the mechanical arm transmission assembly 10, including the movement process of the end joint and the rotation process of the end flange, the transmission structure of the end joint is arranged in the transmission structure of the end flange, so that the driving effect can be output through one transmission process in the use process of the mechanical arm transmission assembly 10, and the primary transmission is realized.
Other constructions and operations of the robotic arm structure according to embodiments of the utility model are known to those of ordinary skill in the art and will not be described in detail herein.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
While embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the utility model, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A robotic arm transmission assembly, comprising:
a joint transmission wheel (100);
the first transmission shaft (200) is connected with the joint transmission wheel (100);
a driving upper belt wheel (300), wherein at least part of the driving upper belt wheel (300) extends into the joint driving wheel (100);
the driving lower belt wheel (400) is arranged in the first transmission shaft (200) in a penetrating mode, and at least part of the driving lower belt wheel (400) stretches into the joint transmission wheel (100) and is fixedly connected with the driving upper belt wheel (300).
2. The transmission assembly according to claim 1, wherein the joint transmission wheel (100) comprises a joint gear (110) and a joint transmission shaft (120), the first transmission shaft (200) comprises a transmission shaft body (210) and a transmission shaft portion (220), the joint gear (110) is arranged on one side of the joint transmission shaft (120) away from the first transmission shaft (200), the transmission shaft portion (220) is arranged on one side of the transmission shaft body (210) away from the joint transmission wheel (100), and the joint transmission shaft (120) is fixedly connected with the transmission shaft body (210).
3. The transmission assembly of claim 2, wherein the drive upper pulley (300) comprises: go up band pulley body (310) and last band pulley axis body (320), band pulley (400) under the drive include band pulley body (410) and band pulley axis body (420) down, go up band pulley body (310) are located go up band pulley axis body (320) and deviate from one side of band pulley (400) under the drive, band pulley body (410) are located down band pulley axis body (420) deviate from one side of band pulley (300) on the drive, just go up band pulley axis body (320) with band pulley axis body (420) fixed connection down.
4. A transmission assembly according to claim 3, further comprising: and the interval bearing (500) is sleeved on the outer side of the lower belt wheel shaft body (420), and the interval bearing (500) is arranged on the inner side of the transmission shaft body (210).
5. The transmission assembly according to claim 4, wherein bearing grooves (211) are formed in two ends of the transmission shaft body (210), and the spacer bearing (500) is disposed in the bearing grooves (211) in a matching manner, and the spacer bearing (500) is disposed flush with the outer surface of the lower pulley body (410).
6. The transmission assembly of claim 1, further comprising: a first fastener (610) and a second fastener (620), the first fastener (610) being for fixedly connecting the joint transmission wheel (100) and the first transmission shaft (200), the second fastener (620) being for fixedly connecting the drive upper pulley (300) and the drive lower pulley (400).
7. The drive assembly of claim 6, wherein the first fastener (610) is a plurality of the array and the second fastener (620) is a plurality of the array, and wherein a screw diameter of the first fastener (610) is greater than a screw diameter of the second fastener (620).
8. The transmission assembly of claim 2, further comprising: and the first transmission shaft bearing (700) is sleeved on the peripheral wall of the transmission shaft body (210).
9. An end joint manipulator, comprising:
the flange driving motor is provided with a first output end;
the joint driving motor is arranged at the second output end;
a transmission assembly according to any one of claims 1 to 8, comprising; the joint driving wheel (100) is in driving connection with the second output end, and the driving upper belt wheel (300) is connected with the first output end.
10. A robotic arm structure, comprising: the end effector arm of claim 9, the end effector arm comprising: the flange driving motor and the joint driving motor are respectively in transmission connection with the transmission assembly;
and the flange driving motor and the joint driving motor are arranged in the secondary end joint mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320550238.6U CN219563089U (en) | 2023-03-15 | 2023-03-15 | Mechanical arm transmission assembly, tail end joint mechanical arm and mechanical arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320550238.6U CN219563089U (en) | 2023-03-15 | 2023-03-15 | Mechanical arm transmission assembly, tail end joint mechanical arm and mechanical arm structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219563089U true CN219563089U (en) | 2023-08-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320550238.6U Active CN219563089U (en) | 2023-03-15 | 2023-03-15 | Mechanical arm transmission assembly, tail end joint mechanical arm and mechanical arm structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219563089U (en) |
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2023
- 2023-03-15 CN CN202320550238.6U patent/CN219563089U/en active Active
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