CN221872002U - Micro-motion structure of robot - Google Patents

Abstract

The utility model discloses a micro-motion structure of a robot, which comprises a connecting sleeve, wherein one end of the connecting sleeve is fixedly connected with a rear arm for driving, a transmission assembly comprises a transmission disc, the middle part of the inner cavity of the transmission disc is rotationally connected with a driving shaft, one end of the driving shaft is sleeved with a worm wheel, the inner cavity of a U-shaped frame is rotationally connected with a hollow transmission shaft, two ends of the hollow transmission shaft are respectively sleeved with a worm and a driven wheel, the side of the inner cavity of the transmission disc is fixedly connected with an oil storage tank, one side of the oil storage tank is fixedly provided with a micro oil pump, the output end of the micro oil pump is fixedly communicated with an oil pipe, and one end of the oil pipe is fixedly communicated with the inner cavity of the hollow transmission shaft.

Description

A robot micro-motion structure

Technical Field

The utility model relates to the technical field of micro-motion structures, in particular to a robot micro-motion structure.

Background Art

An industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that relies on its own power and control capabilities to achieve various functions. It can accept human commands or run according to pre-programmed programs.

In industrial robots, micro-motion mechanisms are usually used to control the movement of the robotic arm. The robotic arm is the core component of the industrial robot. It can complete various complex movements and is the core component of the industrial robot.

Most of the transmission between robotic arms is carried out through gears. In order to reduce the friction between the gears, lubricating oil needs to be applied between the gears regularly. However, the existing robotic arm transmission lacks a timed oiling mechanism and requires manual oiling, which is very inconvenient.

Utility Model Content

The purpose of the utility model is to provide a robot micro-motion structure to solve the problem that most of the mechanical arms proposed in the above background technology are transmitted through gears. In order to reduce the friction between the gears, it is necessary to apply lubricating oil between the gears regularly, while the existing mechanical arm transmission lacks a timed oiling mechanism and needs manual oiling, which is very inconvenient.

To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot micro-motion structure, including a connecting sleeve, one end of the connecting sleeve is fixedly connected to a rear arm for driving, the other end of the connecting sleeve is fixedly connected to a transmission assembly, the transmission assembly includes a transmission disk, the middle part of the inner cavity of the transmission disk is rotatably connected to a drive shaft, one end of the drive shaft is sleeved with a worm gear, one side of the worm gear is fixedly connected to a U-shaped frame, the inner cavity of the U-shaped frame is rotatably connected to a hollow transmission shaft, the two ends of the hollow transmission shaft are respectively sleeved with a worm and a driven wheel, an oil storage tank is fixedly connected to the side of the inner cavity of the transmission disk, a micro oil pump is fixedly installed on one side of the oil storage tank, the output end of the micro oil pump is fixedly connected to an oil pipe, and one end of the oil pipe is fixedly connected to the inner cavity of the hollow transmission shaft.

Preferably, the rear arm includes a connecting column, a top of the connecting column is provided with an equipment slot, an inner cavity of the equipment slot is fixedly connected to a driving motor, an output end of the driving motor is fixedly connected to a reducer, an output end of the reducer is fixedly connected to a driving shaft, one end of the driving shaft is fixedly connected to a driving gear, and the driving motor provides power for the rotation of the driving gear.

Preferably, the surface of the driving gear is meshed with the surface of the driven wheel, and the surface of the worm is meshed with the surface of the worm wheel. The rotation of the driving gear drives the rotation of the driven gear, and the rotation of the worm wheel is driven by the worm.

Preferably, a plurality of oil seepage holes are equidistantly provided on the surface of the hollow transmission shaft, a refueling port is fixedly connected to one side of the oil storage tank, an input end of the micro oil pump is fixedly connected to the inner cavity of the oil storage tank, and the lubricating oil is transported to the seepage holes for oil filling through the micro oil pump.

Preferably, an inspection plate is clamped on the surface of the connecting sleeve, and a side of the oil pipe close to the driving shaft is fixedly connected to a limiting block to facilitate the later maintenance of the transmission assembly.

Preferably, one end of the drive shaft away from the worm gear is fixedly connected to a forearm, and the side of the forearm is rotationally connected to the side of the transmission assembly via a rotating shaft to realize the rotation of the forearm.

Compared with the prior art, the beneficial effects of the utility model are:

1. The lubricating oil in the inner cavity of the oil storage tank is pumped to the inner cavity of the oil pipe through a micro oil pump, and then transported to the inner cavity of the hollow transmission shaft. Then, the oil overflows from the oil seepage holes on the surface of the hollow transmission shaft, and gradually smears on the surface of the driving gear and the worm wheel through the rotation of the worm and the driven wheel, thereby automatically adding lubricating oil to the transmission structure without manual work, which is simple and convenient;

2. The driving motor drives the driving gear and the driven wheel to rotate. The rotation of the driven wheel drives the rotation of the hollow transmission shaft and the worm, the rotation of the worm wheel and the driving shaft. The rotation of the driving shaft drives the forearm to rotate along the transmission disk, thereby realizing the drive control of the forearm. The driving motor is arranged inside the connecting column and does not occupy the external space. The worm drives the worm wheel, so that the forearm can be self-locked when the rotation is adjusted, making the rotation adjustment more precise.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is a schematic diagram of the structure of the utility model;

Fig. 2 is a partial cross-sectional view of the rear arm of the utility model;

Fig. 3 is a partial cross-sectional view of the forearm of the utility model;

FIG. 4 is an enlarged view of part A of the present invention.

In the figure: 1. connecting sleeve; 2. rear arm; 3. transmission assembly; 4. connecting column; 5. equipment slot; 6. driving motor; 7. reducer; 8. driving shaft; 9. driving gear; 10. transmission plate; 11. driving shaft; 12. worm gear; 13. U-shaped frame; 14. hollow transmission shaft; 15. worm; 16. driven wheel; 17. oil storage tank; 18. micro oil pump; 19. oil pipe; 20. limit block; 21. front arm; 22. oil seepage hole; 23. inspection plate; 24. refueling port.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

Please refer to Figures 1-4. The utility model provides a robot micro-motion structure, including a connecting sleeve 1, one end of the connecting sleeve 1 is fixedly connected to a rear arm 2 for driving, the other end of the connecting sleeve 1 is fixedly connected to a transmission assembly 3, the transmission assembly 3 includes a transmission disc 10, the middle of the inner cavity of the transmission disc 10 is rotatably connected to a driving shaft 11, one end of the driving shaft 11 is sleeved with a worm gear 12, one side of the worm gear 12 is fixedly connected to a U-shaped frame 13, the inner cavity of the U-shaped frame 13 is rotatably connected to a hollow transmission shaft 14, the two ends of the hollow transmission shaft 14 are respectively sleeved with a worm 15 and a driven wheel 16, and the side of the inner cavity of the transmission disc 10 is fixedly connected to an oil storage The oil storage tank 17 has a micro oil pump 18 fixedly installed on one side thereof, and an output end of the micro oil pump 18 is fixedly connected with an oil pipe 19, and one end of the oil pipe 19 is fixedly connected with the inner cavity of the hollow transmission shaft 14; the micro oil pump 18 is turned on, and the lubricating oil in the inner cavity of the oil storage tank 17 is pumped to the inner cavity of the oil pipe 19 through the micro oil pump 18, and then transported to the inner cavity of the hollow transmission shaft 14, and then overflows from the oil seepage holes 22 on the surface of the hollow transmission shaft 14, and is gradually smeared on the surfaces of the driving gear 9 and the worm wheel 12 through the rotation of the worm 15 and the driven wheel 16, so that the lubricating oil is automatically added to the transmission structure, without manual labor, which is simple and convenient.

Referring to Figures 1-4, further, the rear arm 2 includes a connecting column 4, a device slot 5 is opened on the top of the connecting column 4, and a driving motor 6 is fixedly connected to the inner cavity of the device slot 5. The output end of the driving motor 6 is fixedly connected to the reducer 7, and the output end of the reducer 7 is fixedly connected to the driving shaft 8. One end of the driving shaft 8 is fixedly connected to a driving gear 9. The surface of the driving gear 9 is meshed and connected with the surface of the driven wheel 16, and the surface of the worm 15 is meshed and connected with the surface of the worm wheel 12. The output end of the driving motor 6 is connected to the input end of the reducer 7, and drives the driving shaft 8 to rotate after being decelerated by the reducer 7. The rotation of the driving shaft 8 drives the rotation of the driving gear 9. The driving gear 9 is meshed and connected with the driven wheel 16, thereby driving the rotation of the hollow transmission shaft 14 and the worm 15. The worm 15 is meshed and connected with the surface of the worm wheel 12, thereby driving the rotation of the worm wheel 12 and the driving shaft 11. The rotation of the driving shaft 11 drives the forearm 21 to rotate along the transmission disk 10, thereby realizing the drive control of the forearm 21.

1-4, further, a plurality of oil seepage holes 22 are equidistantly provided on the surface of the hollow transmission shaft 14, a refueling port 24 is fixedly connected to one side of the oil storage tank 17, an input end of the micro oil pump 18 is fixedly connected to the inner cavity of the oil storage tank 17, the refueling port 24 is used to inject lubricating oil into the oil storage tank 17, and the oil seepage holes 22 facilitate the overflow of the lubricating oil.

Referring to Figures 1-4, further, an inspection plate 23 is clamped on the surface of the connecting sleeve 1, and a limiting block 20 is fixedly connected to the side of the oil pipe 19 close to the drive shaft 11. The inspection plate 23 is detachable to facilitate maintenance of the equipment in the inner cavity of the connecting sleeve 1 and to facilitate oil filling. The limiting block 20 is used to prevent the oil pipe 19 from moving in the direction of the drive shaft 11.

1-4 , further, one end of the driving shaft 11 away from the worm gear 12 is fixedly connected to a forearm 21 , and the side of the forearm 21 is rotationally connected to the side of the transmission assembly 3 via a rotating shaft to drive and control the forearm 21 .

When in use, first control the rotation of the drive motor 6. The output end of the drive motor 6 is connected to the input end of the reducer 7. After being decelerated by the reducer 7, the drive shaft 8 is driven to rotate. The rotation of the drive shaft 8 drives the rotation of the driving gear 9. The driving gear 9 is meshed and connected with the driven wheel 16, thereby driving the rotation of the hollow transmission shaft 14 and the worm 15. The worm 15 is meshed and connected with the surface of the worm wheel 12, thereby driving the rotation of the worm wheel 12 and the drive shaft 11. The rotation of the drive shaft 11 drives the forearm 21 to rotate along the transmission disk 10, thereby realizing the drive control of the forearm 21. The drive motor 6 is arranged inside the connecting column 4 and does not occupy external space. The worm 15 transmits the worm gear 12, so that the forearm 21 can be self-locked when rotating and adjusting, making the rotation adjustment more accurate. When lubricating oil needs to be added, first turn on the micro oil pump 18, and pump the lubricating oil in the inner cavity of the oil storage tank 17 to the inner cavity of the oil pipe 19 through the micro oil pump 18, and then transport it to the inner cavity of the hollow transmission shaft 14, and then overflow from the oil seepage hole 22 on the surface of the hollow transmission shaft 14, and gradually smear on the surface of the driving gear 9 and the worm gear 12 through the rotation of the worm 15 and the driven wheel 16, so as to automatically add lubricating oil to the transmission structure, without manual work, simple and convenient, and the drive motor 6 and the micro oil pump 18 are both electrically connected to the external controller.

Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (6)

1. A robot micro-motion structure, comprising a connection sleeve (1), characterized in that: one end of the connection sleeve (1) is fixedly connected to a rear arm (2) for driving, the other end of the connection sleeve (1) is fixedly connected to a transmission assembly (3), the transmission assembly (3) comprises a transmission disc (10), the middle part of the inner cavity of the transmission disc (10) is rotatably connected to a drive shaft (11), one end of the drive shaft (11) is sleeved with a worm gear (12), and one side of the worm gear (12) is fixedly connected to a U-shaped frame (13) The inner cavity of the U-shaped frame (13) is rotatably connected to a hollow transmission shaft (14), and two ends of the hollow transmission shaft (14) are respectively sleeved with a worm (15) and a driven wheel (16). The side of the inner cavity of the transmission plate (10) is fixedly connected to an oil storage tank (17), and a micro oil pump (18) is fixedly installed on one side of the oil storage tank (17). The output end of the micro oil pump (18) is fixedly connected to an oil pipe (19), and one end of the oil pipe (19) is fixedly connected to the inner cavity of the hollow transmission shaft (14). 2. A robot micro-motion structure according to claim 1, characterized in that: the rear arm (2) includes a connecting column (4), a device slot (5) is provided on the top of the connecting column (4), a driving motor (6) is fixedly connected to the inner cavity of the device slot (5), the output end of the driving motor (6) is fixedly connected to a reducer (7), the output end of the reducer (7) is fixedly connected to a driving shaft (8), and one end of the driving shaft (8) is fixedly connected to a driving gear (9). 3. A robot micro-motion structure according to claim 2, characterized in that: the surface of the driving gear (9) is meshingly connected with the surface of the driven gear (16), and the surface of the worm (15) is meshingly connected with the surface of the worm wheel (12). 4. A robot micro-motion structure according to claim 1, characterized in that: a plurality of oil seepage holes (22) are equidistantly provided on the surface of the hollow transmission shaft (14), a refueling port (24) is fixedly connected to one side of the oil storage tank (17), and an input end of the micro oil pump (18) is fixedly connected to the inner cavity of the oil storage tank (17). 5. A robot micro-motion structure according to claim 1, characterized in that: an inspection plate (23) is clamped on the surface of the connecting sleeve (1), and a limiting block (20) is fixedly connected to the side of the oil pipe (19) close to the drive shaft (11). 6. A robot micro-motion structure according to claim 1, characterized in that: one end of the drive shaft (11) away from the worm gear (12) is fixedly connected to a forearm (21), and the side of the forearm (21) is rotatably connected to the side of the transmission assembly (3) via a rotating shaft.