A gear shaft assembly structure for a mechanical arm

Abstract

The present invention relates to the field of mechanical arm technology, and discloses a gear shaft assembly structure for a mechanical arm, including: a mechanical arm docking ring, which is an annular frame connected to one end of the mechanical arm, a positioning column is provided at the upper end of the mechanical arm docking ring, and a docking shaft is provided at the upper end of the positioning column, the docking shaft is docked with a docking support frame 1, and the docking support frame 1 and the docking support frame 2 are stacked and installed. The gear shaft assembly structure for the mechanical arm, after docking and installing the docking support frame 1 and the docking support frame 2 to form a main structure, further limits the rotation of the internal secondary planetary gear and the installation of the main planetary gear, and the matching clearance between the docking shaft and the limiting shaft is extremely small, which can effectively reduce the motion error caused by the clearance, thereby greatly improving the motion accuracy of the mechanical arm, making it more accurate and reliable when performing fine operations, and cooperating with the annular gear frame installed on the inner wall of the docking support frame 1 to rotate and form a main planetary gear assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a gear shaft assembly structure for a mechanical arm. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing, robotic arms are playing an increasingly critical role in many fields such as automobile manufacturing, electronic product production, logistics warehousing, etc. The precise movement and efficient operation of robotic arms largely depend on the performance of their internal transmission components, among which the gear shaft assembly is one of the key transmission components. However, the traditional robotic arm gear shaft assembly as a whole has some defects, such as:

[0003] In the gear shaft assembly of a traditional robotic arm, the gear shaft body is cast. Due to the limitations of the processing technology, the matching accuracy between the gear and the shaft is limited, which often cannot meet the needs of high-precision operations, easily leading to a decrease in the movement accuracy of the robotic arm. In addition, the existing gear shaft assembly structure is prone to loose parts under such complex working conditions, thereby affecting the stability and reliability of the robotic arm.

[0004] In view of the above problems, it is urgently necessary to carry out innovative design based on the original robotic arm gear shaft assembly. Summary of the invention

[0005] The purpose of the present invention is to provide a gear shaft assembly structure for a robotic arm to solve the problem raised in the above background technology that due to the limitations of the processing technology, the matching accuracy between the gear and the shaft is limited, which often cannot meet the high-precision operation requirements, easily leading to a decrease in the movement accuracy of the robotic arm, and the existing gear shaft assembly structure is prone to loose parts under such complex working conditions, thereby affecting the stability and reliability of the robotic arm.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a gear shaft assembly structure for a mechanical arm, comprising a mechanical arm docking ring, which is a ring frame connected to one end of the mechanical arm, a positioning column is arranged at the upper end of the mechanical arm docking ring, and a docking shaft rod is arranged at the upper end of the positioning column, the docking shaft rod is docked with a docking support frame 1, and the docking support frame 1 and the docking support frame 2 are stacked and installed, and a connecting limit shaft rod and a connecting gear 1 are arranged at the top end of the docking support frame 2 to form the main structure of the gear shaft assembly for the mechanical arm;

[0007] The bottom end of the mechanical arm docking ring is provided with a groove connected to the mechanical arm shaft rod, and a buffer ring is provided inside the mechanical arm docking ring, and the top of the buffer ring is connected by clamping with the positioning column, the top of the positioning column is connected by clamping with the docking shaft rod, and the docking shaft rod is arranged in a vertical direction with the docking support frame 1, and the top of the docking shaft rod is connected with the bottom end of the limiting shaft rod, an annular groove is provided inside the bottom end of the docking support frame 1, and a limited shock-absorbing ring 1 is provided in the annular groove of the docking support frame 1, and auxiliary steering assemblies are provided inside the docking support frame 1 and the docking support frame 2 to provide thrusts in different directions for the rotation of the connecting gear 1, driving the gear shaft assembly to work;

[0008] A second limiting shock-absorbing ring is arranged in an annular groove arranged inside the second docking support frame. The upper end of the second limiting shock-absorbing ring is against the gasket at the bottom end of the connecting gear, and the gasket arranged at the top end of the connecting gear is located at the bottom end of the second connecting gear. A positioning shaft rod is arranged in the middle of the second connecting gear, and the bottom end of the positioning shaft rod is docked with the top end of the limiting shaft rod, and the bottom end of the limiting shaft rod passes through the top end of the second docking support frame.

[0009] By adopting the above technical solution, the gear shaft assembly as a whole has high flexibility and a wide installation structure for installing the mechanical arm in different orientations and in a ring, thereby improving the overall scope of application.

[0010] Preferably, a circular opening is provided at the bottom end of the buffer ring, and the circular opening of the buffer ring is docked with the groove at the bottom end of the robot arm docking ring, and the buffer ring is arranged in a vertical direction to the positioning column.

[0011] By adopting the above technical solution, a buffer ring is set to provide a buffer between the positioning column and the robot arm docking ring installation to avoid the impact of the work of both parties.

[0012] Preferably, a threaded ring is threadedly connected at the connection between the docking support frame 1 and the docking support frame 2, and a mounting groove is symmetrically arranged at the bottom end of the docking support frame 1, and a rotatably connected gear block ring is arranged on the inner layer of the docking support frame 2.

[0013] By adopting the above technical solution, the main body is formed by docking the first supporting frame and the second supporting frame, and the corresponding limiting installation is provided as the threaded ring is further wrapped.

[0014] Preferably, the mounting groove arranged at the bottom end of the docking support frame is slidably connected to the auxiliary shaft rod frame, and a spring connection is arranged at the top end of the auxiliary shaft rod frame, and the spring of the auxiliary shaft rod frame is connected to the mounting groove of the docking support frame.

[0015] By adopting the above technical solution, the orientation of the installation position of the auxiliary shaft rod frame can be quickly adjusted along with the spring setting of the auxiliary shaft rod frame.

[0016] Preferably, the gear blocks of the connecting gear 1 and the connecting gear 2 are aligned, and the bottom gasket of the connecting gear 1 is located above the limiting shock-absorbing ring 2.

[0017] By adopting the above technical solution, stable installation is provided through the cooperation of the connecting gear 1 and the connecting gear 2 components.

[0018] Preferably, the auxiliary steering assembly comprises:

[0019] A main planetary gear, which is arranged at one end through which the limiting shaft rod passes, and the main planetary gear is arranged inside the second docking support frame;

[0020] The secondary planetary gear is located inside the second docking support frame and is arranged in an annular manner with equal spacing, and the top end of the secondary planetary gear is located on the surface of the second limiting damping ring for rotation connection;

[0021] A positioning frame, which is arranged at the rod body at the bottom end of the secondary planetary gear, and the rod body at the bottom end of the positioning frame penetrates the limiting shock absorbing ring 1;

[0022] The bevel gear is located at the penetration point at the bottom end of the positioning frame, and the bevel gear is arranged below the docking support frame.

[0023] By adopting the above technical solution, as the auxiliary steering assembly is installed, the overall force-bearing structure of the device receiving forces from different directions is effectively increased.

[0024] Preferably, the main planetary gear is meshedly connected with four secondary planetary gears, and the secondary planetary gears are meshedly connected with gear blocks on the second inner wall surface of the docking support frame.

[0025] By adopting the above technical solution, the main planetary gear and the four secondary planetary gears form a planetary gear structure to maintain stable rotation.

[0026] Preferably, the positioning frame is rotatably connected to a connection point of the limiting shock-absorbing ring, and a groove is provided at the top of the positioning frame to be engaged with the bottom end of the secondary planetary gear.

[0027] By adopting the above technical solution, the positioning frame and the limiting shock-absorbing ring are assembled to provide corresponding rotation buffer to maintain stability during the overall operation.

[0028] Preferably, the center axis of the bevel gear is aligned with the center axis of the secondary planetary gear, and the bevel gear is arranged in parallel with the docking shaft.

[0029] By adopting the above technical solution, as the bevel gear and the secondary planetary gear are installed, a stable pushing direction is provided for the overall transmission.

[0030] Preferably, the auxiliary shaft rod frame is composed of a cylindrical rod body and an L-shaped frame body, and two sections of snap-connected plates are provided on one side of the L-shaped frame body of the auxiliary shaft rod frame, and a circular opening is provided inside the L-shaped frame body of the auxiliary shaft rod frame.

[0031] By adopting the above technical solution and setting the auxiliary shaft rod frame, it is convenient to coordinate with the external structure to limit the overall installation.

[0032] Compared with the prior art, the invention has the following beneficial effects: the gear shaft assembly structure for a mechanical arm:

[0033] 1. The main structure is formed by docking the first docking support frame and the second docking support frame, further limiting the rotation of the internal secondary planetary gear and the installation of the main planetary gear, and the matching clearance between the docking shaft and the limit shaft is extremely small, which can effectively reduce the motion error caused by the clearance, thereby greatly improving the motion accuracy of the robot arm, making it more accurate and reliable when performing fine operations, and cooperating with the rotation of the annular gear frame installed on the inner wall of the docking support frame to form the main planetary gear assembly, constructing a gear assembly structure with stable rotation operation, making the installation position of the gear on the shaft more stable, without axial movement and circumferential rotation, further ensuring that the robot arm can maintain a high-precision motion trajectory in different working postures;

[0034] 2. The threaded ring installed on the outer wall of the docking support frame 1 and the docking support frame 2 provides a positioning structure for the outer ring limit installation. At the same time, the limit shock-absorbing ring 1 and the limit shock-absorbing ring 2 arranged inside the docking support frame 1 and the docking support frame 2 increase the flexibility of the internal working space of the device. During use, the corresponding lubrication part is added. Through a good lubrication and sealing system, dust and impurities can be prevented from entering the interior of the gear shaft assembly, wear and corrosion can be reduced, and the stability and reliability of the assembly are further enhanced. At the same time, the docking shaft rod and the limit shaft rod are docked and installed to form the main body, so that the overall device can be quickly adjusted according to the working conditions and installation needs of the robotic arm. At the same time, when the assembly needs to be maintained, the internal easy-to-disassemble design structure allows maintenance personnel to easily inspect and repair the internal parts of the gear shaft assembly. At the same time, the clear structural layout also helps to quickly locate the fault point, shorten the maintenance time, and reduce maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall external three-dimensional structure of the present invention;

[0036] Figure 2 This is a schematic diagram of the overall split three-dimensional structure of the present invention;

[0037] Figure 3 It is a schematic diagram of the overall internal side-section stereoscopic structure of the present invention;

[0038] Figure 4 It is a schematic diagram of the overall internal three-dimensional structure of the present invention;

[0039] Figure 5 This is a schematic diagram of the three-dimensional structure of the docking support frame 1 and the positioning column installation of the present invention;

[0040] Figure 6 It is a schematic diagram of the three-dimensional structure of the position limiting shock absorbing ring and the positioning column separated according to the present invention;

[0041] Figure 7 This is a schematic diagram of the three-dimensional structure of the docking support frame 1 and the secondary planetary gear installation of the present invention;

[0042] Figure 8 This is a schematic diagram of the three-dimensional structure of the secondary planetary gear and the bevel gear installed in the present invention;

[0043] Fig. 9 It is a schematic diagram of the three-dimensional structure of the installation of the limiting shock absorbing ring 1, the limiting shock absorbing ring 2 and the secondary planetary gear of the present invention;

[0044] Fig.10 It is a schematic diagram of the three-dimensional structure of the connection gear 1 and the connection gear 2 of the present invention.

[0045] In the figure: 1. Robot arm docking ring; 2. Buffer ring; 3. Positioning column; 4. Docking shaft; 5. Limit shock-absorbing ring 1; 6. Docking support frame 1; 7. Threaded ring; 8. Docking support frame 2; 9. Limit shock-absorbing ring 2; 10. Limit shaft; 11. Connecting gear 1; 12. Connecting gear 2; 13. Positioning shaft; 14. Main planetary gear; 15. Secondary planetary gear; 16. Positioning frame; 17. Bevel gear; 18. Auxiliary shaft frame. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] See also Figure 1-Figure 10 ,The present invention provides a technical solution: a gear shaft assembly structure for a mechanical arm;

[0048] Among them, the robot arm docking ring 1 is a ring frame connected to one end of the robot arm, and a positioning column 3 is provided at the upper end of the robot arm docking ring 1, and a docking shaft rod 4 is provided at the upper end of the positioning column 3, and the docking shaft rod 4 is docked with a docking support frame 1 6, and the docking support frame 1 6 is stacked and installed with the docking support frame 2 8, and the top of the docking support frame 2 8 is provided with a connecting limit shaft rod 10 and a connecting gear 1 11 to form the main structure of the gear shaft assembly for the robot arm;

[0049] A groove connected to the mechanical arm shaft is provided at the bottom end of the robot arm docking ring 1, and a buffer ring 2 is provided inside the robot arm docking ring 1, and the top of the buffer ring 2 is engaged with the positioning column 3, a circular opening is provided at the bottom end of the buffer ring 2, and the circular opening of the buffer ring 2 is docked with the groove at the bottom end of the robot arm docking ring 1, the buffer ring 2 and the positioning column 3 are arranged in a vertical direction, the top of the positioning column 3 is engaged with the docking shaft 4, and the docking shaft 4 is arranged in a vertical direction with the docking support frame 16, and the top of the docking shaft 4 is connected to the bottom end of the limiting shaft 10, an annular groove is provided inside the bottom end of the docking support frame 16, and a limiting shock-absorbing ring 15 is provided in the annular groove of the docking support frame 16, and an auxiliary steering component is provided inside the docking support frame 16 and the docking support frame 28 , in order to provide thrusts in different directions for the rotation of the connecting gear 11, the gear shaft assembly is driven to work, the connection between the docking support frame 1 6 and the docking support frame 2 8 is threadedly connected with a threaded ring 7, and the bottom end of the docking support frame 1 6 is symmetrically provided with a mounting groove, and the inner layer of the docking support frame 2 8 is provided with a rotatably connected tooth block ring, the mounting groove provided at the bottom end of the docking support frame 1 6 is slidably connected with the auxiliary shaft rod frame 18, and the top end of the auxiliary shaft rod frame 18 is provided with a spring connection, and the spring of the auxiliary shaft rod frame 18 is connected with the mounting groove of the docking support frame 1 6, the auxiliary shaft rod frame 18 is composed of a cylindrical rod body and an L-shaped frame body, and one side of the L-shaped frame body of the auxiliary shaft rod frame 18 is provided with two sections of plate bodies that are engaged and connected, and a circular opening is provided inside the L-shaped frame body of the auxiliary shaft rod frame 18;

[0050] The limiting shock absorbing ring 2 9 is arranged in the annular groove arranged inside the docking support frame 2 8, the upper end of the limiting shock absorbing ring 2 9 is against the gasket at the bottom end of the connecting gear 1 11, and the gasket arranged at the top end of the connecting gear 1 11 is located at the bottom end of the connecting gear 2 12, a positioning shaft rod 13 is arranged in the middle of the connecting gear 2 12, and the bottom end of the positioning shaft rod 13 is connected to the top end of the limiting shaft rod 10, and the bottom end of the limiting shaft rod 10 passes through the top end of the docking support frame 2 8, the connecting gear 11 is aligned with the gear block of the connecting gear 2 12, and the gasket at the bottom end of the connecting gear 11 is located above the limiting shock absorbing ring 2 9;

[0051] In conjunction with the accompanying drawings Figure 1-Figure 10As shown, according to work needs, the bevel gear 17 at the bottom end of the positioning frame 16 is removed to prevent the flexible sheath of the robot arm from being scratched by the bevel gear 17 during the installation process, and the robot arm docking ring 1, buffer ring 2 and positioning column 3 at the bottom end of the required docking shaft rod 4 and the rod body connected to the top end of the docking shaft rod 4 and the limiting shaft rod 10 are quickly assembled, as shown in FIG. Figure 3 As shown, after the robot arm docking ring 1, buffer ring 2 and positioning column 3 are docked and installed in sequence, the mechanical structure installed by the robot arm docking ring 1 drives the limit shaft rod 10, the connecting gear 11, the connecting gear 2 12 and the positioning shaft rod 13 to rotate and assist the robot arm installation. The buffer ring 2 located inside the installation position of the robot arm docking ring 1 and the positioning column 3 and the gasket set on the surface of the connecting gear 11 are used to effectively disperse and withstand forces from different directions. After being transferred and maintained between the mechanical structures, the vibration of the gear shaft assembly during operation is reduced. During the trial period, the structure of the robot arm is inserted into the hole formed by the robot arm docking ring 1 and the buffer ring 2 to contact the main body. At the same time, the limit shock-absorbing ring 1 5 and the limit shock-absorbing ring 2 9 are respectively installed inside the docking support frame 1 6 and the docking support frame 2 8 to form a stable main structure to avoid the vibration generated during the rotation of the secondary planetary gear 15. The threaded ring 7 located outside the docking support frame 1 6 and the docking support frame 2 8 further stabilizes the installation between them, and can prevent dust and impurities from entering the gear shaft assembly, reduce wear and corrosion, and further enhance the stability and reliability of the assembly.

[0052] The rod body installed at the top of the docking shaft rod 4 is connected with the limit shaft rod 10 to form a stable main body connection structure, which is used to assist the internal space of the docking support frame 16 and the docking support frame 28 to provide support, so that the limit shaft rod 10 drives the connecting gear 11 and the connecting gear 2 12 to be stably limited and installed. After the limit shaft rod 10 is installed at the top of the docking shaft rod 4, the secondary planetary gear 15 is meshed and pushed by the main planetary gear 14 to rotate, while driving the annular gear frame and the limit damping ring 15 inside the docking support frame 6 to rotate to form a secondary planetary gear state, and at the same time affects the work of the external structure, located at the connecting gear The gasket set at the bottom of the first gear 11 further buffers, and as the positioning shaft rod 13 is installed, the connecting gear 2 12 and the connecting gear 1 11 rotate synchronously. The mechanical parts in the device are made of high-strength and wear-resistant metal materials. At the same time, the standardized component design in the device makes it more convenient to replace damaged parts without customizing special accessories, thereby improving the efficiency and economy of maintenance. At the same time, the connecting gear 1 11, the connecting gear 2 12 and the positioning shaft rod 13 provide corresponding connection structures for mechanical arms in different directions, thereby improving the overall use direction and the flexibility of installation;

[0053] The auxiliary steering assembly includes:

[0054] A main planetary gear 14 is arranged at one end through which the limiting shaft 10 passes, and the main planetary gear 14 is arranged inside the docking support frame 2 8, the main planetary gear 14 is meshed and connected with four secondary planetary gears 15, and the secondary planetary gear 15 is meshed and connected with the gear block on the inner wall of the docking support frame 2 8;

[0055] The secondary planetary gear 15 is located inside the docking support frame 8 and is arranged in an annular manner with equal spacing, and the top of the secondary planetary gear 15 is located on the surface of the limiting shock-absorbing ring 9 and is rotatably connected;

[0056] The positioning frame 16 is arranged at the rod body at the bottom end of the secondary planetary gear 15, and the rod body at the bottom end of the positioning frame 16 penetrates the limit damping ring 15, the positioning frame 16 is rotatably connected to the limit damping ring 15 at the connection, and the top end of the positioning frame 16 is provided with a groove that is engaged with the bottom end of the secondary planetary gear 15;

[0057] The bevel gear 17 is located at the bottom of the positioning frame 16, and the bevel gear 17 is arranged below the docking support frame 16, the central axis of the bevel gear 17 is aligned with the central axis of the secondary planetary gear 15, and the bevel gear 17 is arranged parallel to the docking shaft 4;

[0058] In conjunction with the accompanying drawings Figure 1-Figure 10 As shown, the secondary planetary gear 15 is installed in a vertical direction in conjunction with the positioning frame 16. After installation and use, the mechanical arm docking ring 1, the buffer ring 2 and the positioning column 3 at the bottom end of the docking shaft rod 4 and the rod body connected to the limit shaft rod 10 at the top of the docking shaft rod 4 need to be disassembled. At this time, the auxiliary shaft rod frame 18 symmetrically arranged at the bottom end of the docking support frame 6 is installed with the shaft rod of the external mechanical arm structure. The spring at the top of the auxiliary shaft rod frame 18 is used to pull the overall height adjustment. The gear of the mechanical arm connection structure is docked with the bevel gear 17, and the bevel gear 17 drives the positioning frame 16 to rotate and push to maintain stability. The The secondary planetary gear 15 rotates synchronously, and the primary planetary gear 14 that pushes the limiting shaft 10 rotates after the secondary planetary gear 15 rotates, so that the connecting gear 11 rotates synchronously with the primary planetary gear 14, thereby realizing the structural steering adjustment of the meshing connection between the side walls of the connecting gear 11 and the connecting gear 2 12, and the mechanical arm structure connected at the top end of the positioning shaft 13 synchronously provides a connected component structure, and by adding an auxiliary steering component, the gear shaft component of the mechanical arm structure in different directions can be further quickly installed, which reduces the installation time and labor costs, so that the operator can quickly and accurately install the components in place, thereby improving production efficiency.

[0059] Working principle: When using the gear shaft assembly structure for the robot arm, firstly, the robot arm docking ring 1 is engaged with the positioning column 3, and the vibration from the robot arm docking ring 1 or the positioning column 3 is received through the buffer ring 2, and the top rod body and the limit shaft 10 are driven to rotate through the docking shaft 4, so that the other side structure of the robot arm connected to the positioning shaft 13 at the top of the limit shaft 10 rotates, and the structure located on the outside of the connecting gear 11 and the connecting gear 2 12 is used to coordinate the steering of the robot arm structure in different directions. During use, the docking support frame 2 8, the secondary planetary gear 15, the positioning frame 16 and the bevel gear 17 are added to form a planetary gear structure. When in use, the L-shaped auxiliary shaft frame 18 is used. The circular opening in the frame body assists the gear rotation of the external docking rod body to push the bevel gear 17 to drive the corresponding secondary planetary gear 15 to rotate and push the main planetary gear 14, thereby driving the limit shaft 10, connecting gear 1 11 and connecting gear 2 12 to form a rotating gear structure, thereby driving the part connected to the robotic arm to rotate, making the installation position of the gear on the shaft more stable, and preventing axial movement and circumferential rotation, further ensuring that the robotic arm can maintain a stable motion trajectory in different working postures. At the same time, the closed state of the docking support frame 1 6 and the docking support frame 2 8 effectively closes the internal structure to prevent dust and impurities from entering the gear shaft assembly, further enhancing the stability and reliability of the assembly.

[0060] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gear shaft assembly structure for a mechanical arm, comprising: A robot arm docking ring (1) is a ring frame connected to one end of the robot arm, a positioning column (3) is arranged at the upper end of the robot arm docking ring (1), and a docking shaft rod (4) is arranged at the upper end of the positioning column (3), the docking shaft rod (4) is docked with a docking support frame 1 (6), and the docking support frame 1 (6) and the docking support frame 2 (8) are stacked and installed, and a connecting limit shaft rod (10) and a connecting gear 1 (11) are arranged at the top end of the docking support frame 2 (8) to form the main structure of the gear shaft assembly for the robot arm; The invention is characterized in that: a groove connected to the mechanical arm shaft is provided at the bottom end of the mechanical arm docking ring (1), and a buffer ring (2) is provided inside the mechanical arm docking ring (1), and the top end of the buffer ring (2) is snap-connected with the positioning column (3), the top end of the positioning column (3) is snap-connected with the docking shaft (4), and the docking shaft (4) is arranged in a vertical direction with the docking support frame 1 (6), and the top end of the docking shaft (4) is connected with the bottom end of the limiting shaft (10), an annular groove is provided inside the bottom end of the docking support frame 1 (6), and a limiting shock-absorbing ring 1 (5) is provided in the annular groove of the docking support frame 1 (6), and auxiliary steering components are provided inside the docking support frame 1 (6) and the docking support frame 2 (8) to provide thrusts in different directions for the rotation of the connecting gear 1 (11) to drive the gear shaft component to work; A limit shock absorbing ring 2 (9) is arranged in an annular groove arranged inside the docking support frame 2 (8), the upper end of the limit shock absorbing ring 2 (9) abuts against the gasket at the bottom end of the connecting gear 1 (11), and the gasket arranged at the top end of the connecting gear 1 (11) is located at the bottom end of the connecting gear 2 (12), a positioning shaft rod (13) is arranged in the middle of the connecting gear 2 (12), and the bottom end of the positioning shaft rod (13) is docked with the top end of the limit shaft rod (10), and the bottom end of the limit shaft rod (10) passes through the top end of the docking support frame 2 (8).

2. The gear shaft assembly structure for a robot arm according to claim 1, characterized in that: The bottom end of the buffer ring (2) is provided with a circular opening, and the circular opening of the buffer ring (2) is docked with the groove at the bottom end of the robot arm docking ring (1), and the buffer ring (2) and the positioning column (3) are arranged in a vertical direction.

3. The gear shaft assembly structure for a robot arm according to claim 1, characterized in that: The connection between the docking support frame 1 (6) and the docking support frame 2 (8) is threadedly connected with a threaded ring (7), and the bottom end of the docking support frame 1 (6) is symmetrically provided with a mounting groove, and the inner layer of the docking support frame 2 (8) is provided with a rotatably connected gear block ring.

4. The gear shaft assembly structure for a robot arm according to claim 1, characterized in that: The mounting groove arranged at the bottom end of the docking support frame (6) is slidably connected to the auxiliary shaft frame (18), and a spring connection is arranged at the top end of the auxiliary shaft frame (18), and the spring of the auxiliary shaft frame (18) is connected to the mounting groove of the docking support frame (6).

5. The gear shaft assembly structure for a robot arm according to claim 1, characterized in that: The gear blocks of the connecting gear 1 (11) and the connecting gear 2 (12) are aligned, and the bottom gasket of the connecting gear 1 (11) is located above the limiting shock absorbing ring 2 (9).

6. The gear shaft assembly structure for a robot arm according to claim 1, characterized in that: The auxiliary steering assembly comprises: A main planetary gear (14), which is arranged at one end through which the limiting shaft (10) passes, and the main planetary gear (14) is arranged inside the second docking support frame (8); The secondary planetary gear (15) is located inside the second docking support frame (8) and is arranged in an annular shape with equal spacing, and the top end of the secondary planetary gear (15) is located on the surface of the second limiting shock-absorbing ring (9) and is rotatably connected; A positioning frame (16), which is arranged at the bottom rod body of the secondary planetary gear (15), and the rod body at the bottom end of the positioning frame (16) penetrates the limiting shock-absorbing ring 1 (5); The bevel gear (17) is located at the bottom through-hole of the positioning frame (16), and the bevel gear (17) is arranged below the docking support frame (6).

7. The gear shaft assembly structure for a robot arm according to claim 6, characterized in that: The main planetary gear (14) is meshedly connected with four secondary planetary gears (15), and the secondary planetary gears (15) are meshedly connected with gear blocks on the inner wall surface of the second docking support frame (8).

8. The gear shaft assembly structure for a robot arm according to claim 6, characterized in that: The positioning frame (16) is rotatably connected to the connection point of the limiting shock-absorbing ring (5), and the top end of the positioning frame (16) is provided with a groove that is engaged with the bottom end of the secondary planetary gear (15).

9. The gear shaft assembly structure for a mechanical arm according to claim 6, characterized in that: The central axis of the bevel gear (17) is aligned with the central axis of the secondary planetary gear (15), and the bevel gear (17) is arranged in parallel with the docking shaft (4).

10. The gear shaft assembly structure for a mechanical arm according to claim 4, characterized in that: The auxiliary shaft rod frame (18) is composed of a cylindrical rod body and an L-shaped frame body, and one side of the L-shaped frame body of the auxiliary shaft rod frame (18) is provided with two sections of plate bodies that are snap-connected, and a circular opening is provided inside the L-shaped frame body of the auxiliary shaft rod frame (18).

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