TWM513102U - Joint plane mobile device of mechanical arm - Google Patents

Description

Mechanical arm joint plane moving device

The present invention relates to a robot, and more particularly to a mechanical arm joint plane moving device equipped with a planetary reducer.

Due to the rapid development of science and technology, the use of mechanical arms to help humans engage in various tasks is a dream that is no longer out of reach. Robots can not only replace humans for more dangerous operations, but also have great precision and speed. The advantages, especially the recent rise in labor awareness and rising wages, more and more manufacturers are willing to use the robotic arm to carry out the assembly work, to achieve the purpose of improving production efficiency and reducing labor costs.

The existing SCARA robot arm (Selective Compliance Assembly Robot Arm) has a multi-joint joint design, which can perform two-dimensional and three-dimensional space operations. Because the robot arm usually performs high-precision and high-load work, it has volume. Restriction, so RV reducer or harmonic reducer is usually used to control the speed of the motor; among them, RV reducer has better precision, rigidity and larger volume, so it is usually used for the part with large load on the robot arm. The harmonic reducer is simple in operation and small in size, so it is usually used in a part with a small load on the robot arm.

However, RV reducer and harmonic reducer have many advantages such as stable operation, high precision and transmission efficiency, small volume and weight, but the production cost is much higher than the commonly used gear reducer, worm gear reducer and planetary deceleration. For the manufacturer of the robot arm, the purchase cost of the reducer accounts for the vast majority of the production cost. Moreover, for the mechanical arm used in some operations with low precision requirements, the high specification deceleration The machine not only causes waste of resources, but also the high production cost greatly reduces the competitiveness and cost performance of the robot arm, resulting in restrictions on application and promotion.

In order to solve the problem of excessive production cost and low market competitiveness caused by the existing mechanical arm assembly RV reducer and harmonic reducer, the author uses a lower cost planetary reducer to control the motor speed and match one-way. Thrust ball bearings are used to carry the axial load caused by the weight of the planetary reducer and the swing arm. In addition to reducing the manufacturing cost of the robot arm and enhancing the market competitiveness, it also helps to promote the application range of the robot arm.

The mechanical arm joint plane moving device proposed by the present invention solves the technical problem, comprising: a transmission group including a casing, a first planetary reducer and a one-way thrust ball bearing, the first planetary reducer is consolidated The housing includes a positioning flange having an annular shape and a rotating shaft disposed inside the positioning flange, the positioning flange is coaxially disposed with the rotating shaft, and the one-way thrust ball bearing is sleeved and abuts against The locating flange, the one-way thrust ball bearing is opposite to the casing; a first swing arm set slidably coupled to the transmission set, the first swing arm set including a first swing arm and a one-way a thrust ball bearing and a shaft seat, the first swing arm has two ends and is fixed at one end to a rotating shaft of the first planetary reducer, the first swing arm abuts against the one-way thrust ball bearing of the transmission group and is another One end is provided with a shaft seat, the one-way thrust ball bearing of the first swing arm group is sleeved and abuts against the shaft seat, and the one-way thrust ball bearing of the first swing arm group is opposite to the first swing arm; a second swing arm group swingably coupled to the first swing arm The second swing arm set includes a second swing arm and a third planetary reducer, the second swing arm has two ends, the third planetary reducer includes a rotating shaft, and the third planetary reducer is fixed on the One end of the second swing arm is fixed to the shaft seat by a rotating shaft, and the second swing arm abuts against the one-way thrust ball bearing of the first swing arm group.

The mechanical arm joint plane moving device, wherein the shaft seat is concavely provided with a pocket from the axial center, the diameter of the pocket is matched with the diameter of the shaft of the third planetary reducer, and the third The shaft of the planetary reducer is placed in the pocket.

The mechanical arm joint plane moving device, wherein the first swing arm is concavely disposed with a mounting groove at an end away from the transmission group; the one-way thrust ball bearing of the shaft seat and the first swing arm group It is placed in the installation slot.

The mechanical arm joint plane moving device, wherein the first swing arm is provided with a plurality of shaft seat locking holes at one end away from the transmission group, and a plurality of the shaft seat locking holes are formed by the mounting slot The shaft center is annularly distributed and extends around the bottom of the mounting groove; the shaft seat is provided with a plurality of perforations corresponding to a plurality of positions of the shaft seat locking holes, and the pocket has a bottom surface, most of The through hole axially penetrates to the bottom surface of the receiving groove; the rotating shaft of the third planetary reducer is provided with a plurality of shaft seat screw holes at the end portion, and the plurality of the shaft seat screw holes correspond to a plurality of the shaft seat locking holes In the position of the third planetary reducer, a plurality of bolts are threaded through a plurality of the shaft lock holes, and a plurality of the through holes are screwed to a plurality of the screw holes of the shaft.

The mechanical arm joint plane moving device, wherein the shaft seat comprises a through hole extending axially from an axial center of the shaft seat to a bottom surface of the receiving groove.

The enhancement of the technical means available in this creation is that the mechanical arm joint plane moving device of the present invention replaces the RV reducer and the harmonic reducer used in the existing robot arm with a relatively mature and low cost planetary reducer. And with one-way thrust ball bearings to support the weight of the planetary reducer and swing arm, so it is more competitive in price and contribute to the promotion of the robotic arm.

In order to understand the technical features and practical functions of the present work in detail, and in accordance with the creative content, the following further describes the preferred embodiment as shown in the following figure:

As shown in FIG. 1 and FIG. 2, the mechanical arm joint plane moving device of the present invention comprises: a transmission group 10, a first swing arm group 20, a second swing arm group 30 and an upright lifting mechanism 40; The first swing arm set 20 is swingably assembled to the transmission set 10, the second swing arm set 30 is swingably assembled to the first swing arm set 20, and the upright lifting mechanism 40 is assembled to the second swing arm set. 30.

As shown in FIG. 3, FIG. 4 and FIG. 5, the transmission set 10 includes a casing 11, a first planetary reducer 12, a one-way thrust ball bearing 13, a second planetary reducer 14 and a motor 15; The casing 11 includes a casing 111 and an upper cover 112. The upper cover 112 is fixed to the casing 111 and is provided with a positioning hole 1121. The positioning hole 1121 is surrounded by a plurality of flange screw holes. The inner peripheral surface of each flange screw hole is provided with a screw thread; the first planetary reducer 12 has two ends and includes a positioning flange 121, a coupling flange 122 and a rotating shaft 123. The positioning flange 121 The locating flange 121 has a diameter that matches the aperture of the locating hole 1121 , and the coupling flange 122 is laterally disposed on the locating flange 121 . The outer peripheral surface is provided with a plurality of locking holes, and the locking holes are disposed corresponding to the flange screw holes around the hole 1121. The rotating shaft 123 is disposed coaxially with the positioning flange 121 and located inside the positioning flange 121. The rotating shaft 123 protrudes from the positioning flange 121 and is provided with a plurality of inner peripheral mask screws at the end portion. a threaded screw hole, the first planetary reducer 12 is received in the casing 11 , and the first planetary reducer 12 is disposed in the positioning hole 1121 of the upper cover 112 with the positioning flange 121 disposed thereon. The positioning flange 121 protrudes from the upper cover 112. The first planetary reducer 12 is locked to the upper cover 112 by a coupling flange 122. The one-way thrust ball bearing 13 is located outside the casing 11 and is sleeved. The locating flange 121 is opposite to the locating flange 121; the second planetary reducer 14 is received inside the casing 11 and assembled at the other end of the first planetary reducer 12 The motor 15 is housed inside the casing 11 and assembled to the second planetary reducer 14.

As shown in FIG. 3, FIG. 4 and FIG. 5, the first swing arm assembly 20 includes a first swing arm 21, a one-way thrust ball bearing 22 and a shaft seat 23; wherein the first swing arm 21 has two ends. And a plurality of rotating shaft locking holes, a mounting slot 211 and a plurality of axle seat locking holes 212. A plurality of the rotating shaft locking holes are located at one end of the first swing arm 21 and are spaced apart corresponding to the screw holes provided by the rotating shaft 123. The mounting groove 211 has a circular shape and has an axial center. The mounting groove 211 is recessed at the other end of the first swing arm 21 and has a bottom. The plurality of the shaft locking holes 212 are mounted by the mounting groove 211. The shaft center is annularly distributed and disposed at the bottom of the mounting groove 211; the one-way thrust ball bearing 22 is mounted on the mounting groove 211 and located outside the plurality of the shaft lock holes 212; the shaft seat 23 The shaft frame 23 has a circular shape and has a shaft center. The shaft base 23 includes a receiving groove 231, a through hole 232 and a plurality of through holes 233. The receiving groove 231 has a circular shape, and the receiving groove 231 is from the shaft seat 23. The shaft is axially recessed and has a bottom surface. The through hole 232 extends axially from the axial center of the shaft seat 23 to the bottom surface of the pocket 231, and a plurality of The through hole 233 is spaced apart from the plurality of the seat lock holes 212 and spaced apart around the through hole 232. A plurality of the through holes 233 are axially penetrated to the bottom surface of the receiving groove 231. The shaft seat 23 is inserted through the first hole. The one-way thrust ball bearing 22 of the swing arm assembly 20 is opposite to the one-way thrust ball bearing 22, and the plurality of the through holes 233 are aligned with the plurality of the shaft lock holes 212;

As shown in FIG. 3 , FIG. 4 and FIG. 5 , the first swing arm 21 is locked to the screw hole of the rotating shaft 123 of the first planetary reducer 12 by the rotating shaft locking hole and abuts against the transmission group 10 . The one-way thrust ball bearing 13 allows the first swing arm set 20 to be swingably coupled to the transmission set 10.

As shown in FIG. 3, FIG. 4 and FIG. 5, the second swing arm assembly 30 includes a second swing arm 31, a third planetary reducer 32 and a motor 33. The second swing arm 31 has two ends. The positioning hole 311 is disposed at one end of the second swing arm 31. The positioning hole 311 is surrounded by a plurality of flange screw holes and the inner circumference of each flange screw hole. The surface of the third planetary reducer 32 has two ends and includes a positioning flange 321, a coupling flange 322 and a rotating shaft 323. The positioning flange 321 is annular and erected on the One end of the third planetary reducer 32 has a diameter corresponding to the diameter of the positioning hole 311 of the second swing arm 31. The coupling flange 322 is laterally disposed on the outer circumferential surface of the positioning flange 321 . And a plurality of locking holes are disposed, and the locking holes are disposed corresponding to the flange screw holes around the positioning holes 311. The rotating shaft 323 is disposed coaxially with the positioning flange 321 and located inside the positioning flange 321, and the rotating shaft The diameter of the 323 is matched with the diameter of the pocket 331. The shaft 323 protrudes from the positioning flange 321 and is at the end. A plurality of shaft seat screw holes 3231 are provided, and a plurality of the shaft seat screw holes 3231 are disposed corresponding to the shaft seat lock holes 212 of the first swing arm 21, and the inner circumference of each shaft seat screw hole 3231 is threaded with a thread for screwing The third planetary reducer 32 is disposed in the positioning hole 311 of the second swing arm 31 with the positioning flange 321 provided, and the rotating shaft 323 protrudes from the second swing arm 31. The third planetary reducer 32 The second swing arm 31 is locked to the second swing arm 31 by the coupling flange 322, and the sleeve 231 of the shaft seat 23 is inserted by the rotating shaft 323, and a plurality of bolts are passed through the plurality of first swing arms 21 The shaft lock hole 212 and the plurality of through holes 233 of the shaft seat 23 are screwed to the plurality of shaft screw holes 3231 of the rotating shaft 323 of the third planetary reducer 32, and the second swing arm group 30 is swingably coupled. The first swing arm set 20; the motor 33 is assembled to the other end of the third planetary reducer 32.

As shown in FIG. 1 , FIG. 2 and FIG. 4 , the upright lifting mechanism 40 is assembled to the other end of the second swing arm set 31 and away from the first swing arm set 20 .

As shown in FIG. 4, FIG. 5 and FIG. 6, the first swing arm 21 of the first swing arm set 20 is coupled to the rotating shaft 123 of the first planetary reducer 12, so that the first swing arm set 20 can be opposite to the first swing arm set 20 The transmission group 10 is oscillating, and the one-way thrust ball bearing 13 can bear the axial load and is disposed between the upper cover 112 of the casing 11 and the first swing arm 21, so that the first swing arm group 20 can be supported. The second swing arm 31 of the second swing arm assembly 30 is coupled to the coupling flange 322 of the third reducer 32, and the rotating shaft 323 of the third reducer 32 is coupled to the shaft of the first swing arm assembly 20. The second swing arm set 30 can be swung relative to the first swing arm set 20, and the first swing arm 21 and the second swing arm 31 are provided with a one-way thrust ball bearing 22 The weight of the second swing arm assembly 30 and the upright lifting mechanism 40.

The robot arm of this creation uses a lower cost planetary reducer at the joint to reduce the input speed of the motor and control the swing of the robot arm, which can greatly reduce the speed of the existing robot arm assembly RV reducer and harmonic reducer. The cost of the machine is too high, and the one-way thrust ball bearing installed in this creation with the planetary reducer can withstand the load from the axial direction, so it can effectively support the weight of the planetary reducer and the swing arm; Compared with the existing robot arm, the robot arm joint plane moving device of the present invention has lower cost, is more competitive in price and is more acceptable, and thus contributes to the promotion of the robot arm.

10‧‧‧Drive Group
11‧‧‧Shell
111‧‧‧ cabinet
112‧‧‧上盖
1121‧‧‧Positioning holes
12‧‧‧First planetary reducer
121‧‧‧Positioning flange
122‧‧‧Combined flange
123‧‧‧ shaft
13‧‧‧One-way thrust ball bearings
14‧‧‧Second planetary reducer
15‧‧‧Motor
20‧‧‧First swing arm set
21‧‧‧First swing arm
211‧‧‧Installation slot
212‧‧‧Shaft seat lock hole
22‧‧‧One-way thrust ball bearings
23‧‧‧ shaft seat
231‧‧‧ 容容
232‧‧‧through hole
233‧‧‧Perforation
30‧‧‧Second swing arm set
31‧‧‧Second swing arm
311‧‧‧Positioning holes
32‧‧‧ Third planetary reducer
321‧‧‧ positioning flange
322‧‧‧Bound flange
323‧‧‧ shaft
3231‧‧‧Shaft seat lock hole
33‧‧‧Motor
40‧‧‧Upright lifting mechanism

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view showing the appearance of a preferred embodiment of the present invention. Figure 2 is an exploded view of a portion of the preferred embodiment of the present invention. Figure 3 is an exploded view of the detail of the preferred embodiment of the present invention. Figure 4 is a partial cross-sectional view of a preferred embodiment of the present invention. Figure 5 is an enlarged partial cross-sectional view of the preferred embodiment of the present invention. Figure 6 is a schematic diagram of the operation of the preferred embodiment of the present invention.

10‧‧‧Drive Group

11‧‧‧Shell

111‧‧‧ cabinet

112‧‧‧上盖

1121‧‧‧Positioning holes

12‧‧‧First planetary reducer

121‧‧‧Positioning flange

122‧‧‧Combined flange

123‧‧‧ shaft

13‧‧‧One-way thrust ball bearings

14‧‧‧Second planetary reducer

15‧‧‧Motor

20‧‧‧First swing arm set

21‧‧‧First swing arm

22‧‧‧One-way thrust ball bearings

23‧‧‧ shaft seat

30‧‧‧Second swing arm set

31‧‧‧Second swing arm

32‧‧‧ Third planetary reducer

33‧‧‧Motor

40‧‧‧Upright lifting mechanism

Claims (5)

A mechanical arm joint plane moving device includes: a transmission set including a casing, a first planetary reducer and a one-way thrust ball bearing, the first planetary reducer being fixed to the casing and including a positioning flange having an annular shape and a rotating shaft disposed on the inner side of the positioning flange, the positioning flange is coaxially disposed with the rotating shaft, and the one-way thrust ball bearing is sleeved and abuts against the positioning flange, the single a thrust ball bearing is abutted against the casing; a first swing arm set slidably coupled to the transmission set, the first swing arm set including a first swing arm, a one-way thrust ball bearing and a shaft seat, The first swing arm has two ends and is fixed at one end to a rotating shaft of the first planetary reducer. The first swing arm abuts against the one-way thrust ball bearing of the transmission group and has a shaft seat at the other end. The one-way thrust ball bearing of the first swing arm set is sleeved and abuts against the axle seat, the one-way thrust ball bearing of the first swing arm set is opposite to the first swing arm; and the second swing arm set is Swingingly coupled to the first swing arm set, the second swing arm set includes a second swing arm and a third planetary reducer, the second swing arm has two ends, the third planetary reducer includes a rotating shaft, and the third planetary reducer is fixed to one end of the second swing arm and The rotating shaft is fixed to the shaft seat, and the second swing arm abuts against the one-way thrust ball bearing of the first swing arm group. The mechanical arm joint plane moving device according to claim 1, wherein the shaft seat is recessed from the axial center with a pocket, and the diameter of the pocket is matched with the diameter of the shaft of the third planetary reducer. The shaft of the third planetary reducer is placed in the pocket. The mechanical arm joint plane moving device of claim 2, wherein the first swing arm is recessed with a mounting groove at an end away from the transmission group; the shaft seat and the first swing arm group are single The thrust ball bearing is placed in the mounting groove. The mechanical arm joint plane moving device according to claim 3, wherein the first swing arm is provided with a plurality of shaft seat lock holes at one end away from the transmission group, and a plurality of the shaft seat lock holes are installed as described. The axial center of the groove is annularly distributed and extends through the bottom of the mounting groove; the shaft seat is provided with a plurality of perforations corresponding to a plurality of positions of the locking holes of the shaft seat, and the receiving groove has a bottom surface. a plurality of the through holes are axially penetrated to the bottom surface of the receiving groove; the rotating shaft of the third planetary reducer is provided with a plurality of shaft seat screw holes at the end portions, and the plurality of the shaft seat screw holes correspond to a plurality of the shaft seat locks The position of the hole is set. The third planetary reducer has a plurality of bolts passing through a plurality of the shaft lock holes, and a plurality of the holes are screwed to a plurality of the screw holes of the shaft. The mechanical arm joint plane moving device of claim 4, wherein the shaft seat comprises a through hole extending axially from the axis of the shaft seat to a bottom surface of the pocket.