TWM525259U - Modular actuation assembly and robot arm installed with the same - Google Patents

Description

Modular actuation group and robotic arm equipped with modular actuation group

The present invention relates to a robot, in particular to a modular actuation group with a small number of locking components and a simplified assembly process, and a robotic arm equipped with a modular actuation group.

With the growing growth of industry and technology, the modern manufacturing industry is gradually using robotic arms for production. However, the robotic arm is limited by the precision and volume requirements, so RV reducers or harmonic deceleration are usually used at the active joints. The machine controls the speed of the motor; however, the production cost of the RV reducer and the harmonic reducer is much higher than that of the conventional reducer. In order to reduce the manufacturing cost of the robot arm, the robot manufacturer has developed a joint at the joint. The mechanical arm of the hollow rotating platform is provided with a hollow rotating platform, and the turntable and the bearing are integrated and the gear set can be arranged inside, so that the trivial connection structure between the driving device and the driven device can be omitted, and assembly and correction are provided. It is simpler, and the stability of the combination is better than that of the transmission. However, the arm of each axis of the existing robot arm is equipped with a separate reducer and motor, so the speed reducer and the motor of each axis arm need to be separated. Assembly or disassembly, in order to further save time and labor costs for locking parts, fast The robots are assembled on site, and the manufacturer of the robot arm continues to improve the connection structure of the existing robot arms. It is expected to achieve rapid assembly, reduce assembly costs and enhance market competitiveness.

In order to further save the cost of manufacturing robots and speed up production. The present invention proposes a modular actuation group, which is provided with two or more turntables in combination with a hollow rotating platform, which can reduce the number of locking parts and the assembly process of the robot arm equipped with the modular actuation group. And achieve the purpose of reducing costs and improving market competitiveness.

The modular actuation group proposed by the present invention solves the technical problem, comprising: a joint seat comprising a body and two or more turntables, wherein the two or more turntables are rotatably disposed on the seat body, Each of the turrets has a rotating shaft, the axial directions of the rotating shafts of the two or more turrets are respectively oriented in different directions; and two or more driving devices are coupled to the base body and driven separately The two or more turntables each include a reducer and an electric motor coupled to the reducer.

The modular robot arm, wherein the seat body comprises two joint portions, and a chamber is disposed inside each joint portion, and the number of the two or more turntables is set to two, and the two turntables respectively It is disposed in the two chambers, and the axial directions of the rotating shafts of the two rotating tables are perpendicular to each other.

The modular robot arm, wherein the coupling base includes two gear sets, and the two gear sets respectively accommodate two chambers disposed at the two joint portions, and each gear set includes a drive that meshes with each other. a gear and a transmission gear, the two turrets being respectively coupled to the two transmission gears of the two gear sets.

The present invention solves the technical problem of the robot arm, which comprises the modular actuation group.

The improved efficiency of the technical means of the creation is that the modular actuation group of the creation has two or more turrets in the joint seat, and the axial directions of the rotation axes of the two or more turrets are different directions. The integrated multi-axis design reduces the number of parts that need to be locked and the time it takes to lock, reduces the assembly cost of the robotic arm with the modular actuation group and increases its market competitiveness.

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 , the modular robot arm of the present invention includes: a base 10 and a plurality of actuation groups; wherein the plurality of actuation assemblies are disposed on the base 10 and are rotatably coupled to each other. The actuation group further includes a modular actuation group 20, a second actuation group 30, a third actuation group 40, a fourth actuation group 50, and a fifth actuation group 60.

As shown in FIG. 2, FIG. 3 and FIG. 4, the modular actuation group 20 includes a coupling seat 21 and two driving devices 22; wherein the coupling seat 21 includes a body 211, two gear sets 212, and two turntables. 213 and a shield 214, the base 211 includes two joint portions 2111, one of the joint portions 2111 is disposed laterally, and the other joint portion 2111 is erectly connected to the joint portion 2111 disposed laterally. The inside of the gearbox 212 is disposed in the two chambers 21111. The gear sets 212 include a driving gear 2121 and a transmission gear 2122. The two rotating tables 213 respectively Rotatingly disposed in the two chambers 21111, the two rotating tables 213 respectively have a rotating axis A, A', the two axial axes of the rotating shafts A, A' are perpendicular to each other, and the two rotating tables 213 are respectively coupled to the two a transmission gear 2122, one of the turrets 213 is coupled to the base 10, such that the turret 213 is rotatable relative to the base 10, the shield 214 is coupled to the base 211; Driving the two gear sets 212, each driving device 22 includes a reducer and a coupling disposed at the deceleration An electric motor, two speed reducers of the driving device 22 are respectively coupled to the two driving gears 2121 of the two gear sets 212; in application, the binding seat 21 can be provided with two or more rotating tables 213, and two The above drive unit 22 is driven in different directions.

As shown in FIG. 1 , the second actuation group 30 includes a swing arm 31 and a second driving device 32. The swing arm 31 has opposite ends, and one end of the swing arm 31 is coupled to the other end. The stage 213 is driven by the modular actuation group 20; the second driving device 32 includes a reducer and an electric motor coupled to the reducer, and the reducer of the second drive unit 32 is coupled to the swing arm The other end of 31.

As shown in FIG. 1 , the third actuation group 40 includes a coupling seat 41 and a third driving device 42 . The coupling seat 41 is coupled to the swing arm 31 and driven by the second actuation group 30 . The three-drive device 42 includes a reducer and an electric motor coupled to the reducer. The reducer of the third drive unit 42 is coupled to the joint 41.

As shown in FIG. 1 , the fourth actuation group 50 includes a spiral arm 52 , a steering gear 53 and a fourth driving device 56 . The rotating arm 52 has opposite ends, and one end of the rotating arm 52 is fixed. The steering base 41 is coupled to and driven by the third actuation group 40; the steering gear 53 is coupled to the other end of the spiral arm 52; the fourth driving device 56 is coupled to the coupling base 41 and drives the steering gear 53.

As shown in FIG. 1, the fifth actuation group 60 includes a swing frame 61, a hollow rotating platform 62 and a fifth driving device 63. The swing frame 61 is pivoted to the steering gear 53. The hollow rotating platform 62 The fifth driving device 63 includes a reducer and an electric motor coupled to the reducer, and the reducer of the fifth driving device 63 is coupled to the hollow rotating platform. 62.

The combination seat 21 of the modular actuation group 20 of the present invention is provided with two gear sets 212 and two rotary tables 213; compared with the existing mechanical arms, the combination seat 21 of the present invention integrates the existing robot arm. The hollow rotary platform can reduce the number of locked parts and the locking time when the site is assembled, which can reduce the labor and time cost of assembly, reduce the assembly cost, and improve the market competitiveness. In addition, the integration The binding seat 21 of the hollow rotating platform enables the robot arm to have a relatively stable bonding relationship and has better structural strength.

10‧‧‧ Pedestal
20‧‧‧Modular Action Group
21‧‧‧ joint
211‧‧‧ body
2111‧‧‧Combination
21111‧‧ ‧ room
212‧‧‧ Gear Set
2121‧‧‧ drive gear
2122‧‧‧Transmission gear
213‧‧ Turntable
214‧‧‧Shield
22‧‧‧ drive
30‧‧‧Second Action Group
31‧‧‧ swing arm
32‧‧‧Second drive
40‧‧‧ Third Action Group
41‧‧‧ joint
42‧‧‧ Third drive
50‧‧‧Fourth Action Group
52‧‧‧Swing arm
53‧‧‧Steering gear
56‧‧‧Fourth drive
60‧‧‧Financial Action Group
61‧‧‧ swinging frame
62‧‧‧ hollow rotating platform
63‧‧‧ fifth drive
A, A'‧‧‧ rotating shaft

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view showing the appearance of a preferred embodiment of the present invention. 2 is a perspective enlarged view of the modular actuation group of the preferred embodiment of the present invention. 3 is a side elevational view of the modular actuation set of the preferred embodiment of the present invention. 4 is a rear elevational view of the modular actuation set of the preferred embodiment of the present invention.

10‧‧‧ Pedestal

20‧‧‧Modular Action Group

21‧‧‧ joint

211‧‧‧ body

2111‧‧‧Combination

212‧‧‧ Gear Set

2121‧‧‧ drive gear

2122‧‧‧Transmission gear

213‧‧ Turntable

22‧‧‧ drive

30‧‧‧Second Action Group

31‧‧‧ swing arm

Claims (6)

A modular actuation group includes: a coupling base comprising a body and two or more turrets, the two or more turrets being rotatably disposed on the pedestal, each turret having a rotation axis The axial directions of the rotating shafts of the two or more turrets are respectively oriented in different directions; and two or more driving devices are coupled to the base body and respectively driving the two or more rotating tables Each driving device includes a reducer and an electric motor coupled to the reducer. The modular actuation group according to claim 1, wherein the seat body comprises two joint portions, and each of the joint portions is provided with a chamber, and the number of the two or more turntables is set to two, two The turrets are respectively disposed in the two chambers, and the axial directions of the rotating shafts of the two turrets are perpendicular to each other. The modular actuation group of claim 2, wherein the coupling base comprises two gear sets, and the two gear sets respectively accommodate two chambers disposed at the two joint portions, and each gear set includes mutual A driving gear and a transmission gear are engaged, and the two rotating tables are respectively coupled to the two transmission gears of the two gear sets. A robotic arm comprising the modular actuation set of claim 1. The robot arm of claim 4, wherein the seat body comprises two joint portions, and a chamber is disposed inside each joint portion, and the number of the two or more turntables is set to two, and the turntable They are respectively disposed in the two chambers, and the axial directions of the rotating shafts of the two rotating tables are perpendicular to each other. The robot arm of claim 5, wherein the coupling base comprises two gear sets, and the two gear sets respectively accommodate two chambers disposed at the two joint portions, and each gear set includes a meshing one. The driving gear and a transmission gear are respectively coupled to the two transmission gears of the two gear sets.