Modular robotic arm

Abstract

The application relates to the technical field of robots, improves the inconvenient dismounting of a robot arm, and discloses a modular robot arm which comprises a driving module, a transmission module and an executing module; the driving module comprises a mounting plate, a first driving element and a second driving element which are installed in parallel on the mounting plate; the transmission module comprises an arm shell fixed to the mounting plate and a first transmission assembly and a second transmission assembly which are rotatably connected in the arm shell; the executing module comprises a joint shell rotatably connected to the arm shell, a wrist driving wheel rotatably installed in the joint shell, a first driving wheel fixed to the outside of the joint shell and a second driving wheel in transmission connection with the wrist driving wheel; the rotating shaft of the first driving wheel is perpendicular to the rotating shaft of the wrist driving wheel. The three modules are spliced together after being respectively installed, the internal transmission structure in the three modules is automatically matched, the whole structure is simple and compact, the modular mode is adopted, the installation convenience is improved, and the dismounting is also convenient and fast.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a modular robotic forearm. Background Technology

[0002] With the continuous advancement of industrial robot and humanoid service robot technologies, robots are being widely used across various industries. Among them, in the industrial manufacturing sector, where various operations such as handling, cutting, installation, welding, and painting are required, six-axis industrial robots that can meet operational requirements are playing an increasingly important role. Moreover, in order to further improve operational accuracy and achieve more complex motion trajectories, six-axis industrial robots are still being continuously improved.

[0003] The six axes of a six-axis industrial robot refer to the robot's six joints, which typically include a rotating base, upper arm, forearm, wrist, and end effector. These joints are driven by motors, allowing for flexible movement in three-dimensional space.

[0004] However, with technological advancements, the internal structure of six-axis industrial robots has become increasingly complex, especially the forearm located in the middle. It requires at least two axial transmission structures, and different types of motors, gears, bearings, and other parts must be assembled sequentially. It also requires many screws for fixation, making the installation and maintenance process quite troublesome and prone to installation errors, which leads to extended debugging and calibration time. Summary of the Invention

[0005] To address the inconvenience of assembling and disassembling robotic forearms, this application provides a modular robotic forearm.

[0006] This application provides a modular robotic forearm, employing the following technical solution: A modular robotic forearm, comprising: The drive module includes a mounting plate and a first drive component and a second drive component that are mounted parallel to each other on the mounting plate. The transmission module includes an arm housing fixedly connected to the mounting plate and a first transmission component and a second transmission component rotatably connected to the arm housing. The execution module includes a joint housing, a first drive wheel, and a second drive wheel. The joint housing is rotatably connected to the arm housing, and the first drive wheel is fixedly connected to the joint housing. The joint housing has a mounting cavity that extends through opposite end faces. A wrist drive wheel is rotatably mounted in the mounting cavity, and the second drive wheel is drive-connected to the wrist drive wheel. The joint housing has a sealing cover and a support cover respectively sealed at the two openings of the mounting cavity to restrict the axial movement of the wrist drive wheel. An adjustment component is also connected to the side of the wrist drive wheel facing the sealing cover. The adjustment component and the support cover cooperate to adjust and fix the position of the wrist drive wheel mounted axially in the mounting cavity. The axis of rotation of the first drive wheel is perpendicular to the axis of rotation of the wrist drive wheel. The first transmission assembly is used to drive the first drive member and the first drive wheel. The second transmission assembly is used to drive the second drive member and the second drive wheel.

[0007] By adopting the above technical solution, the entire robot forearm is mainly divided into three modules: a drive module, a transmission module, and an execution module. During installation, the first and second drive components are first fixedly mounted on the mounting plate to form the drive module; the first and second transmission components are rotatably mounted inside the arm housing to form the transmission module; the wrist drive wheel is installed into the mounting cavity of the joint housing, and then the mounting cavity is sealed and fixed by the sealing cover and support cover. The first and second drive wheels are then mounted on the joint housing to form the execution module; when the mounting plate and arm housing are fixed, the first drive component is connected to the first transmission component, and the second drive component is connected to the second transmission component; finally, the joint housing is connected to the arm housing, and simultaneously the first transmission component is connected to the first drive wheel, and the second transmission component is connected to the second drive wheel, thereby realizing the rotation of the robot forearm along two axes. The entire structure is simple and compact, and the modular approach improves the ease of installation and disassembly. Furthermore, when it is necessary to adjust the transmission connection accuracy of the wrist drive wheel and the second drive wheel, only the sealing cover and support cover need to be opened to adjust the adjusting components accordingly for calibration, making the operation simple and convenient.

[0008] Optionally, the execution module includes a wrist connection assembly, which includes the wrist drive wheel and the adjusting member. The wrist connection assembly also includes a wrist pivot, a first bearing, and a second bearing. The first bearing, the wrist drive wheel, the second bearing, and the adjusting member are sequentially sleeved on the wrist pivot along its axial direction. The support cover and the adjusting member are respectively connected to the opposite end faces of the first bearing and the second bearing. The adjusting member is movable along the axial direction of the wrist pivot.

[0009] By adopting the above technical solution, the execution module specifically includes two main components: a joint housing and a wrist connection assembly. During installation, the first bearing, wrist drive wheel, second bushing, and adjusting component are sequentially fitted onto the wrist shaft to form a complete wrist connection assembly. Then, the wrist connection assembly is inserted into the mounting cavity. Finally, the two openings of the mounting cavity are sealed with a sealing cap and a support cap to fix the wrist connection assembly. Because the wrist drive wheel is located between the first and second bearings, the position of the adjusting component and the support cap can be adjusted and calibrated by simply moving them axially along the mounting cavity.

[0010] Optionally, a plurality of axial adjustment shims are detachably connected between the support cover and the first bearing.

[0011] By adopting the above technical solution, the support cover and the joint shell are positioned and connected together. An axial adjustment shim is connected between the support cover and the first bearing. By adjusting the number of axial adjustment shims to squeeze the first bearing, the position of the wrist connection component is adjusted, thereby adjusting the position of the wrist drive wheel. The adjustment is more precise and there is no need to disassemble the outer shell of the robot forearm, making the operation more convenient. It can also further improve the sealing performance and ensure the stability of the internal transmission structure.

[0012] Optionally, the inner and outer walls of the support cover are respectively provided with an annular positioning groove and a limiting groove on the side facing the joint housing, and a plug-in ring is formed between the positioning groove and the limiting groove of the support cover; the bottom of the positioning groove abuts against the end face of the joint housing, the axial adjustment shim is placed on the limiting groove, and the plug-in ring enters the mounting cavity and abuts against the inner wall of the mounting cavity and the outer ring of the first bearing.

[0013] By adopting the above technical solution, since gears and other transmission structures require lubricating oil to ensure transmission stability, the support cover is specifically designed in a stepped shape. It cooperates with the joint housing and wrist connection assembly in both radial and axial directions to seal the mounting cavity, ensuring the sealing effect of the transmission module and thus guaranteeing the lubrication effect of the lubricating oil. The axial adjustment shim only needs to be placed on the support cover to adjust the position of the wrist drive wheel, making operation simple and convenient.

[0014] Optionally, the sealing cover includes an adjusting screw, a connected fixing part, and an adjusting part. The adjusting screw passes through the fixing part and abuts against the adjusting part. The adjusting part can deform in a direction closer to or farther from the adjusting part until it abuts against the second bearing.

[0015] By adopting the above technical solution, the wrist connection assembly can be positioned and installed inside the joint housing by abutting the outer rings of the first and second bearings against the inner wall of the mounting cavity. After the adjustment component and axial adjustment shim are used to adjust the positions of the first bearing, wrist drive wheel and second bearing, the adjustment part can be pressed against the second bearing by tightening the adjustment screw when the sealing cover is closed. This restricts the axial direction of the first and second bearings and the wrist drive wheel connected in the first and second bearings, further improving the structural stability of the execution module, and thus making the transmission structure inside the entire forearm more stable.

[0016] Optionally, the first driving member has a rotatable first output end, and the first transmission assembly includes a first input gear meshing with the first output end and a first output gear coaxially connected to the first input gear; the first driving wheel is a first curved surface gear, and the first curved surface gear meshes with the first output gear.

[0017] By adopting the above technical solution, the transmission direction of the output end of the first drive component is vertically steered by the curved gear, thereby making the internal structure of the forearm more compact. The first transmission assembly can achieve eccentric meshing of the curved gear to ensure transmission accuracy. While improving the transmission stability between the first drive component and the first drive wheel, the first transmission assembly can also appropriately extend the distance between the first drive component and the execution module, allowing the vertical projection of the larger first drive component and the wrist connection unit to overlap. That is, it can make the installation structure more compact and reduce the overall volume of the forearm. The first transmission assembly is also inserted into the arm housing as a whole. After the mounting plate and joint housing are connected to both ends of the arm housing, the two ends of the first transmission assembly are also meshed with the first output end and the first drive wheel, respectively, making installation and disassembly convenient and quick.

[0018] Optionally, an intermediate transmission wheel meshes between the first output end and the first input gear.

[0019] By adopting the above technical solution, the intermediate transmission wheel can further adjust the transmission ratio and the position of the first output gear, thereby adjusting the meshing relationship between the first output gear and the first curved surface gear, and improving applicability.

[0020] Optionally, the execution module further includes a third bearing installed between the joint housing and the arm housing, the two radially opposite ends of the third bearing being connected to the joint housing and the first curved gear, respectively; a plurality of first radial adjusting shims are connected between the first curved gear and the third bearing.

[0021] By adopting the above technical solution, the adjustment and calibration of the first drive wheel is adjusted by the number of first radial adjustment shims set between the first curved gear and the third bearing. During adjustment, it is only necessary to remove the first drive wheel located on the outermost side, which is convenient and quick.

[0022] Optionally, the second drive member has a rotatable second output end, the second transmission assembly includes a second input gear meshing with the second output end and a second output gear coaxially connected to the second input gear; the second drive wheel includes a second curved surface gear and a bevel gear coaxially connected, the second curved surface gear meshes with the first output gear, the bevel gear meshes with the wrist drive wheel, and the joint housing has a radial clearance hole for the bevel gear to pass through and enter the mounting cavity.

[0023] By adopting the above technical solution, the output transmission direction of the second drive component is vertically turned by the cooperation of the second curved surface gear and the bevel gear, and connected to the wrist drive wheel in the mounting cavity. This enables the parallel installation of the first drive component and the second drive component, thereby realizing the modular structure of the drive module. During installation, the second curved surface gear and the bevel gear are first installed as a whole and then inserted into the mounting cavity through the clearance hole, and the bevel gear meshes with the wrist drive wheel. The second transmission component is also inserted into the arm housing as a whole. After the mounting plate and the joint housing are connected to the two ends of the arm housing respectively, the two ends of the second transmission component also mesh with the second output end and the second curved surface gear respectively. There is no need to insert and install each component separately inside, making installation and disassembly convenient and quick.

[0024] Optionally, the execution module further includes a fourth bearing installed between the joint housing and the arm housing, the fourth bearing being sleeved on the bevel gear, and the two radially opposite ends of the fourth bearing being respectively connected to the joint housing and the second curved gear; a plurality of second radial adjusting shims are connected between the second curved gear and the fourth bearing.

[0025] By adopting the above technical solution, the adjustment and calibration of the second drive wheel is adjusted by the number of second radial adjustment shims set between the second curved gear and the third bearing. During adjustment, it is only necessary to remove the second curved gear located on the outermost side, which is convenient and quick.

[0026] In summary, this application includes at least one of the following beneficial effects: 1. The entire robot forearm is mainly divided into three modules: drive module, execution module and transmission module. During installation, the three modules are installed separately and then connected together. The internal transmission structure automatically cooperates. The whole structure is simple and compact. The modular approach improves the convenience of installation and makes disassembly and assembly convenient and quick. 2. During the adjustment and calibration process, it is only necessary to disassemble the support cover and sealing cover located on the outside, the first curved surface gear and the second curved surface gear respectively, and replace the number of different adjustment shims. The adjustment operation is simple and convenient. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the modular robot forearm structure in an embodiment of this application; Figure 2 This is a cross-sectional view of the modular robot forearm in an embodiment of this application; Figure 3 This is a schematic diagram of the input module in an embodiment of this application; Figure 4 This is a schematic diagram of the transmission module in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of the execution module in an embodiment of this application; Figure 6 This is a schematic diagram of the connection between the first driving component, the first transmission assembly, and the first driving wheel in an embodiment of this application; Figure 7 This is a cross-sectional view of the first transmission component in an embodiment of this application; Figure 8 This is a cross-sectional view of the execution module in an embodiment of this application; Figure 9 This is a schematic diagram of the connection between the second driving member, the second transmission assembly, and the second driving wheel in an embodiment of this application; Figure 10 yes Figure 8 Enlarged view of point A in the middle.

[0028] Explanation of reference numerals in the attached drawings: 1. Drive module; 11. Mounting plate; 111. Mounting boss; 12. First drive component; 121. First output end; 13. Second drive component; 131. Second output end; 14. Intermediate transmission assembly; 141. First intermediate wheel; 142. Second intermediate wheel; 2. Transmission module; 21. Arm housing; 211. Movable groove; 212. Connecting ring; 22. First transmission assembly; 221. First input gear; 222. First output gear; 223. Fifth bearing; 224. Bushing; 225. Bearing lock nut; 23. Second transmission assembly; 231. Second input gear; 232. Second output gear; 3. Actuation module; 31. Joint housing; 311. 32. Mounting cavity; 32. Wrist connection assembly; 321. Wrist pivot; 322. Wrist drive wheel; 323. First bearing; 324. Second bearing; 325. Support sleeve; 33. Sealing cover; 331. Fixing part; 332. Adjusting part; 333. Adjusting screw; 34. Support cover; 341. Positioning groove; 342. Limiting groove; 343. Insertion ring; 35. Axial adjustment shim; 36. First drive wheel; 361. First curved surface gear; 37. Third bearing; 38. Second drive wheel; 381. Second curved surface gear; 382. Bevel gear; 39. Fourth bearing; 4. End actuation flange; 5. Housing assembly; 41. Connecting sleeve; 42. First side plate; 43. Second side plate. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-10 This application will be described in further detail.

[0030] Reference Figure 1 and Figure 2 This application discloses a modular robot forearm, including a drive module 1, a transmission module 2, and an execution module 3, enabling the robot forearm to rotate in two vertical directions. During installation, the three modules are first installed separately and then connected together. The internal transmission structure automatically engages, resulting in a simple and compact structure. The modular approach improves the ease of installation and makes disassembly and assembly convenient and quick.

[0031] Specifically, refer to Figure 2 and Figure 3The drive module 1 includes a mounting plate 11 and a first drive member 12 and a second drive member 13 mounted parallel to each other on the mounting plate 11. The distance between the first drive member 12 and the second drive member 13 is preferably between 1-3 mm to reduce the size of the drive module 1. The mounting plate 11 may be provided with two mounting bosses 111 for mounting the first drive member 12 and the second drive member 13 respectively. The first drive member 12 and the second drive member 13 may be the same servo motor. The first drive member 12 has a rotating first output end 121, and the second drive member 13 has a rotating second output end 131. Both the first output end 121 and the second output end 131 pass through the mounting plate 11, and the outer surfaces of both the first output end 121 and the second output end 131 are provided with teeth.

[0032] Reference Figure 4 The transmission module 2 includes an arm housing 21 fixedly connected to the mounting plate 11, and a first transmission component 22 and a second transmission component 23 rotatably connected within the arm housing 21. The arm housing 21 has two movable slots 211 for insertion of the first transmission component 22 and the second transmission component 23. The arm housing 21 has a hollow interior structure and is reinforced with multiple interlaced reinforcing ribs. Two connecting rings 212 are spaced apart at one end of the arm housing 21 away from the mounting plate 11.

[0033] Reference Figure 2 and Figure 5 The execution module 3 includes a joint housing 31, a wrist connection assembly 32, a first drive wheel 36, and a second drive wheel 38. The joint housing 31 is located between two connecting rings 212 and its plane abuts against the connecting rings 212. The joint housing 31 is rotatably connected to the arm housing 21. The wrist connection assembly 32 includes a wrist drive wheel 322 rotatably connected to the joint housing 31. The first drive wheel 36 is fixed to the joint housing 31. The second drive wheel 38 is throttle connected to the wrist drive wheel 322. The rotation axis of the first drive wheel 36 is perpendicular to the rotation axis of the wrist drive wheel 322. The first transmission assembly 22 is used to throttle the first drive member 12 and the first drive wheel 36. The second transmission assembly 23 is used to throttle the second drive member 13 and the second drive wheel 38.

[0034] Reference Figure 6An intermediate transmission assembly 14 is also connected between the first output end 121 and the first transmission assembly 22. The intermediate transmission assembly 14 can be pre-installed on the mounting plate 11. The intermediate transmission assembly 14 includes a first intermediate wheel 141 and a second intermediate wheel 142 connected coaxially in sequence. Both ends of the first intermediate wheel 141 and the second intermediate wheel 142 that are opposite to each other are connected to deep groove ball bearings. The mounting plate 11 has a countersunk hole on the surface opposite to the driving body of the first driving member 12. The intermediate transmission assembly 14 is installed on the mounting plate 11 through one of the deep groove ball bearings, and the other deep groove ball bearing is connected to the arm housing 21. The diameter of the first intermediate wheel 141 is larger than the diameter of the second intermediate wheel 142. The first intermediate wheel 141 meshes with the teeth of the first output end 121.

[0035] The first transmission assembly 22 includes a first input gear 221 and a first output gear 222 coaxially connected. The first input gear 221 and the first output gear 222 are respectively meshed with the second intermediate gear 142 and the first drive gear 36. The first drive gear 36 is a first curved surface gear 361, that is, the first drive gear 36 is a quasi-hyperboloid gear.

[0036] Specifically, refer to Figure 7 The first output gear 222 is also a quasi-hypoid gear with curved teeth, and serves as the driving gear to drive the first drive gear 36 to rotate. The first output gear 222 has a long shaft, the end of which away from the curved teeth is set as a stepped shaft with a smaller diameter, and the end of which near the curved teeth is provided with a convex ring. The first input gear 221 is sleeved on the stepped shaft. Two fifth bearings 223 and a bushing 224 abutting between the two fifth bearings 223 are sleeved on the long shaft between the convex ring and the first input gear 221. The first input gear 221 abuts against the inner ring of one of the fifth bearings 223. A bearing locking nut 225 is also sleeved on the first input gear 221. The bearing locking nut abuts against the outer ring of the fifth bearing 223. The bearing locking nut and the convex ring further restrict the axial movement of the two fifth bearings 223 along the long shaft. An adjustment slot is also provided on the bearing locking nut 225. The adjustment slot divides the bearing locking nut 225 into two parts with a certain deformation displacement, so as to adapt to the precise installation of the first transmission component 22.

[0037] Reference Figure 6 and Figure 8The first drive wheel 36 is fixed to a connecting ring 212 on the side of the arm housing 21 facing away from the joint housing 31. The execution module 3 also includes a third bearing 37 installed between the joint housing 31 and the arm housing 21. The third bearing 37 is preferably a crossed roller bearing. The third bearing 37 is installed inside the connecting ring 212 and its two radially opposite ends are respectively connected to the joint housing 31 and the first curved gear 361. The first curved gear 361 is circumferentially provided with a long bolt. The long bolt passes through the inner ring of the third bearing 37 and is threaded and fixed to the joint housing 31. The outer ring of the third bearing 37 is fixed to the connecting ring 212 by bolts. The joint housing 31 has a mounting cavity 311 for accommodating the wrist connection assembly 32. The inner wall of the mounting cavity 311 also has a channel communicating with the inside of the connecting ring 212. The connecting ring 212 and the joint housing 31 are provided with sealing gaskets and skeleton oil seals on the periphery of the channel and at the end of the third bearing 37 to ensure sealing.

[0038] The first output gear 222 passes through the arm housing 21 and enters the connecting ring 212, where it meshes with the first curved gear 361. This causes the output transmission direction of the first drive member 12 to be vertically reversed, making the internal structure of the forearm more compact and reducing the overall volume of the forearm. When the first drive member 12 is running, it can drive the joint housing 31 to rotate relative to the arm housing 21. The joint housing 31 can be connected to the robot's wrist mechanism.

[0039] Furthermore, refer to Figure 8 To facilitate adjustment and calibration, several first radial adjustment shims are connected between the first curved surface gear 361 and the third bearing 37. During adjustment, the first curved surface gear 361 located on the outermost side can be removed, and calibration can be performed by increasing or decreasing the number of first radial adjustment shims, which is convenient and quick.

[0040] On the other hand, the robot forearm as a whole can rotate about the center of its length.

[0041] Specifically, refer to Figure 9 The second transmission assembly 23 includes a second input gear 231 and a second output gear 232 coaxially connected. The second drive wheel 38 includes a second curved surface gear 381 and a bevel gear 382 coaxially connected. The second input gear 231 directly meshes with the teeth of the second output end 131, and the second output gear 232 eccentrically meshes with the second curved surface gear 381. That is, the second curved surface gear 381 and the second output gear 232 are also quasi-hyperboloid gears. The structure of the second transmission assembly 23 can be the same as that of the first transmission assembly 22, but the major axis of the second output gear 232 can be adjusted to ensure that the curved surface teeth can mesh with the second curved surface gear 381. A relief hole is provided radially on the joint housing 31 for the bevel gear 382 to pass through and enter the mounting cavity 311. The bevel gear 382 enters the mounting cavity 311 and meshes with the wrist drive wheel 322.

[0042] Reference Figure 8 The execution module 3 also includes a fourth bearing 39 installed between the joint housing 31 and the arm housing 21. The fourth bearing 39 is preferably a tapered roller bearing. It is installed within another connecting ring 212 relative to the third bearing 37, and its radially inclined end faces are respectively connected to the joint housing 31 and the second curved gear 381. The inner ring of the fourth bearing 39 is fitted onto the bevel gear 382. Sealing gaskets and skeleton oil seals are provided on the periphery of the clearance hole of the connecting ring 212 and the joint housing 31, and at the end of the fourth bearing 39. Furthermore, several second radial adjusting shims are also connected between the second curved gear 381 and the fourth bearing 39. Calibration can be performed by increasing or decreasing the number of second radial adjusting shims simply by removing the outermost second curved gear 381.

[0043] Specifically, the wrist connection assembly 32 also includes a wrist pivot 321, a first bearing 323, a second bearing 324, a support sleeve 325, and an adjusting component. The first bearing 323, the wrist drive wheel 322, the support sleeve 325, the second bearing 324, and the adjusting component are sequentially abutted against each other on the wrist pivot 321 along the axial direction to form a shaft-shaped integral. The mounting cavity 311 extends through the opposite end faces of the joint housing 31. After the wrist connection assembly 32 is assembled, it is directly inserted into the mounting cavity 311. The joint housing 31 is sealed with a sealing cover 33 and a support cover 34 at the two openings of the mounting cavity 311 to restrict the axial movement of the wrist drive wheel 322. The support sleeve 325 can extend the distance between the wrist drive wheel 322 and the second bearing 324 so that the bevel gear 382 can engage with the wrist drive wheel 322. Correspondingly, the wrist drive wheel 322 also has bevel teeth. Finally, an end-effector flange 4 is bolted to one end of the wrist pivot 321 that is close to the first bearing 323 and extends out of the mounting cavity 311. The end-effector flange 4 is used to connect to devices such as the robot wrist mechanism.

[0044] Furthermore, refer to Figure 10The inner and outer walls of the support cover 34, facing the joint housing 31, are respectively provided with annular positioning grooves 341 and limiting grooves 342. A plug-in ring 343 is formed between the positioning grooves 341 and limiting grooves 342. The bottom of the positioning groove 341 abuts against the end face of the joint housing 31 and is connected to a sealing ring. The outer ring of the first bearing 323 is connected to the bottom of the limiting groove 342. The plug-in ring 343 enters the mounting cavity 311 and abuts against the inner wall of the mounting cavity 311 and the outer ring of the first bearing 323. A skeleton oil seal is connected between one end of the wrist pivot 321, where it passes through the mounting cavity 311, and the support cover 34. Because gears and other transmission structures require lubricating oil to ensure transmission stability, the support cover 34 is specifically designed in a stepped shape, cooperating with the joint housing 31 and the wrist connection assembly 32 in both radial and axial directions to seal the mounting cavity 311, ensuring the sealing effect of the transmission module 2, and thus ensuring the lubrication effect of the lubricating oil.

[0045] To facilitate calibration of the transmission accuracy between the second drive wheel 38 and the wrist drive wheel 322, several axial adjustment shims 35 are detachably connected between the support cover 34 and the first bearing 323. The axial adjustment shims 35 are placed on the bottom of the limiting groove 342. By adjusting the number of axial adjustment shims 35 to press the first bearing 323, the position of the wrist connecting assembly 32 is adjusted, thereby adjusting the position of the wrist drive wheel 322. The adjustment is more precise, and there is no need to disassemble the outer shell of the robot forearm, making operation more convenient. It can also further improve the sealing performance and ensure the stability of the internal transmission structure.

[0046] Because the components fitted onto the wrist pivot 321 move according to the increase or decrease in the number of axial adjustment shims 35, the end of the wrist pivot 321 away from the axial adjustment shims 35 can be adjusted by an adjusting member to ensure the structural stability of the wrist drive wheel 322. The adjusting member is set as an adjusting nut threadedly connected to the end of the wrist pivot 321, and the adjusting member abuts against the end of the inner ring of the second bearing 324 away from the support sleeve 325. The adjusting member can move axially along the wrist pivot 321. Furthermore, the sealing cover 33 includes an adjusting screw 333, a connected fixing part 331 and an adjusting part 332. An adjustment slot can be provided on the sealing cover 33 to form the fixing part 331 and the adjusting part 332. After the adjusting screw 333 passes through the fixing part 331, it abuts against the adjusting part 332, so that the adjusting part 332 can deform in the direction closer to or away from the adjusting part 332 until it abuts against the outer ring of the second bearing 324, further improving the structural stability of the wrist connection assembly 32 after calibration, thereby making the transmission structure inside the entire forearm more stable.

[0047] The sealing cover 33 has an oil inlet hole in the middle that connects to the inside of the mounting cavity 311, and an oil plug screw is detachably connected to the oil inlet hole.

[0048] With the end effector flange 4 as the output end, the second output gear 232 passes through the arm housing 21 and enters the connecting ring 212, then meshes with the wrist drive wheel 322, thereby turning the transmission direction of the output end of the second drive member 13 vertically. The wrist drive wheel 322 is driven to rotate, thereby causing the end effector flange 4 to rotate, that is, to rotate relative to the entire robot forearm.

[0049] It should be noted that when the first driving member 12 drives the joint housing 31 to rotate, the wrist driving wheel 322 rotates with the radial direction of the bevel gear 382 as the axis. Therefore, the wrist driving wheel 322 will not drive the bevel gear 382 to rotate, and thus no interference will occur.

[0050] In addition, the modular robot forearm also includes a shell assembly 5. The shell assembly 5 includes a connecting sleeve 41 installed around the mounting plate 11, and a first side plate 42 and a second side plate 43 respectively covering the first drive wheel 36 and the second drive wheel 38. The connecting sleeve 41 surrounds the first drive component 12 and the second drive component 13. The connecting sleeve 41 is mated with the arm shell 21 and fixed with bolts. The first side plate 42 and the second side plate 43 are connected to the opposite side of the two connecting rings 212, and both of them are connected to the connecting rings 212 with sealing rings to ensure sealing.

[0051] The implementation principle of a modular robotic forearm in this application embodiment is as follows: The entire robot forearm is mainly divided into three modules: drive module 1, transmission module 2, and execution module 3. During installation, the first drive component 12 and the second drive component 13 are first fixedly installed on the mounting plate 11 to form drive module 1. The intermediate transmission component 14 is also installed on the mounting plate 11, and then the connecting sleeve 41 is fixed. The first transmission component 22 and the second transmission component 23 are installed in the arm shell 21 to form transmission module 2. The wrist drive wheel 322 is installed into the mounting cavity 311 of the joint shell 31. Then, the mounting cavity 311 is sealed by the sealing cover 33 and the support cover 34, and the wrist drive wheel 322 is fixed. Then, the first drive wheel 36 and the second drive wheel 38 are respectively installed on the joint shell 31 to form execution module 3. The bevel gear 382 meshes with the wrist drive wheel 322. Then, when the mounting plate 11 and the arm housing 21 are fixed, the output end of the first drive member 12 meshes with the first input gear 221, and the output end of the second drive member 13 meshes with the second input gear 231. Finally, the joint housing 31 is connected to the arm housing 21, and at the same time, the first output gear 222 meshes eccentrically with the first curved surface gear 361, and the second output gear 232 meshes eccentrically with the second curved surface gear 381. Then, the first side plate 42 and the second side plate 43 are fixed, and the installation is completed.

[0052] During calibration, it is only necessary to disassemble the support cover 34 and sealing cover 33 located on the outside, the first curved surface gear 361 and the second curved surface gear 381 respectively to replace the number of different adjusting shims. For the calibration of the wrist drive wheel 322, the adjusting parts and sealing cover 33 can also be operated for axial positioning. The adjustment operation is also simple and convenient.

[0053] The robot forearm has two mutually perpendicular axial transmissions. On the one hand, when the first drive member 12 is running, the first drive wheel 36 is rotated through the first transmission assembly 22, thereby realizing the rotation of the joint housing 31 and the internal components, and thus driving the end effector flange 4 to rotate around the axis of the first drive wheel 36. On the other hand, when the second drive member 13 is running, the second drive wheel 38 is rotated through the second transmission assembly 23, thereby making the wrist drive wheel 322 rotate, and thus realizing the rotation of the end effector flange 4 around the axis of the wrist drive wheel 322.

[0054] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A modular robotic forearm, characterized in that, include: The drive module (1) includes a mounting plate (11) and a first drive member (12) and a second drive member (13) mounted parallel to each other on the mounting plate (11). The transmission module (2) includes an arm housing (21) fixedly connected to the mounting plate (11) and a first transmission component (22) and a second transmission component (23) rotatably connected to the arm housing (21). The execution module (3) includes a joint housing (31), a first drive wheel (36), and a second drive wheel (38). The joint housing (31) is rotatably connected to the arm housing (21). The first drive wheel (36) is fixedly connected to the joint housing (31). The joint housing (31) has an installation cavity (311) that passes through the opposite two end faces. A wrist drive wheel (322) is rotatably installed in the installation cavity (311). The second drive wheel (38) is drivenly connected to the wrist drive wheel (322). The joint housing (31) has a sealing cover (33) and a support cover (34) respectively sealingly connected at the two openings of the installation cavity (311) to restrict the axial movement of the wrist drive wheel (322). An adjustment component is also connected to the side of the wrist drive wheel (322) facing the sealing cover (33). The adjustment component and the support cover (34) cooperate to adjust and fix the position of the wrist drive wheel (322) installed axially in the installation cavity (311). The axis of rotation of the first drive wheel (36) is perpendicular to the axis of rotation of the wrist drive wheel (322). The first transmission assembly (22) is used to drive the first drive member (12) and the first drive wheel (36). The second transmission assembly (23) is used to drive the second drive member (13) and the second drive wheel (38). The execution module (3) includes a wrist connection assembly (32), which includes a wrist drive wheel (322) and an adjusting member. The wrist connection assembly (32) also includes a wrist pivot (321), a first bearing (323), and a second bearing (324). The first bearing (323), the wrist drive wheel (322), the second bearing (324), and the adjusting member are sequentially sleeved on the wrist pivot (321) along the axial direction of the wrist pivot (321). The support cover (34) and the adjusting member are respectively connected to the opposite end faces of the first bearing (323) and the second bearing (324). The adjusting member can move along the axial direction of the wrist pivot (321). The first driving member (12) has a rotating first output end (121), and the first transmission assembly (22) includes a first input gear (221) meshing with the first output end (121) and a first output gear (222) coaxially connected to the first input gear (221); the first driving wheel (36) is a first curved surface gear (361), and the first curved surface gear (361) meshes with the first output gear (222); The second drive member (13) has a rotating second output end (131), and the second transmission assembly (23) includes a second input gear (231) meshing with the second output end (131) and a second output gear (232) coaxially connected to the second input gear (231); the second drive wheel (38) includes a second curved gear (381) and a bevel gear (382) coaxially connected, the second curved gear (381) meshing with the first output gear (222), the bevel gear (382) meshing with the wrist drive wheel (322), and the joint housing (31) having a relief hole radially provided for the bevel gear (382) to pass through and enter the mounting cavity (311).

2. The modular robotic forearm according to claim 1, characterized in that, A plurality of axial adjustment shims (35) are detachably connected between the support cover (34) and the first bearing (323).

3. A modular robotic forearm according to claim 2, characterized in that, The inner and outer walls of the support cover (34) are respectively provided with annular positioning grooves (341) and limiting grooves (342) on the side facing the joint housing (31). A plug ring (343) is formed between the positioning groove (341) and the limiting groove (342) of the support cover (34). The bottom of the positioning groove (341) abuts against the end face of the joint housing (31). The axial adjustment shim (35) is placed on the limiting groove (342). The plug ring (343) enters the mounting cavity (311) and abuts against the inner wall of the mounting cavity (311) and the outer ring of the first bearing (323).

4. A modular robotic forearm according to claim 1, characterized in that, The sealing cover (33) includes an adjusting screw (333), a connected fixing part (331) and an adjusting part (332). The adjusting screw (333) passes through the fixing part (331) and abuts against the adjusting part (332). The adjusting part (332) can be deformed in a direction closer to or away from the adjusting part (332) to abut against the second bearing (324).

5. A modular robotic forearm according to claim 1, characterized in that, An intermediate transmission wheel meshes between the first output end (121) and the first input gear (221).

6. A modular robotic forearm according to claim 1, characterized in that, The execution module (3) further includes a third bearing (37) installed between the joint housing (31) and the arm housing (21). The two ends of the third bearing (37) are respectively connected to the joint housing (31) and the first curved gear (361) along the radial direction. A plurality of first radial adjustment shims are connected between the first curved gear (361) and the third bearing (37).

7. A modular robotic forearm according to claim 1, characterized in that, The execution module (3) further includes a fourth bearing (39) installed between the joint housing (31) and the arm housing (21). The fourth bearing (39) is sleeved on the bevel gear (382). The two ends of the fourth bearing (39) along the radial direction are respectively connected to the joint housing (31) and the second curved gear (381). A plurality of second radial adjustment shims are connected between the second curved gear (381) and the fourth bearing (39).

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