Positioning auxiliary mechanism of industrial robot and using method

Abstract

The invention provides a positioning auxiliary mechanism of an industrial robot and a using method, and belongs to the technical field of robotics.The positioning auxiliary mechanism of the industrial robot comprises a rotating shaft joint arranged on a mechanical arm, and the rotating shaft joint is composed of a left end cover and a right end cover; a gear set is arranged in the left end cover, the gear set is composed of at least two gears and a rotating shaft, the gears are sequentially arranged along the rotating shaft, and the outer diameters of the gears are sequentially reduced in the direction of the right end cover. On the basis of the arrangement of the gear set and the gear ring set, one gear in the gear set is changed to be meshed with the gear ring meshed with the gear in the gear ring set by adjusting the front-back linear motion of the gear set, the driven shaft is adjusted in a multi-stage mode by changing the meshing ratio of the meshed gear ring and gear, and then the driven shaft is adjusted according to requirements. Fine adjustment of the driven arm is achieved, and positioning of the driven arm is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a positioning auxiliary mechanism of an industrial robot and a use method thereof. Background Art

[0002] Robots are machines and equipment that replace manual labor in industrial production. Existing industrial robots are composed of a mechanical arm and an operating claw at its end. The mechanical arm controls the position of the operating claw, thereby completing industrial processing through the operating claw. The rotating shaft joint set in the mechanical arm realizes the node of the mechanical arm angle adjustment. The existing rotating shaft joint adjusts the deflection angle of the driven arm by directly driving the shaft or indirectly braking through the transmission gear. However, the above two adjustment methods have a single function for adjusting the degree of the driven arm angle and can only be adjusted in a single way. Therefore, the single angle adjustment of the driven arm will be limited in some angle adjustments, affecting the fine angle adjustment of the driven arm. Summary of the invention

[0003] In order to remedy the above deficiencies, the present invention provides a positioning auxiliary mechanism for an industrial robot and a method of use, aiming to improve the problem that the single angle adjustment of the slave arm is limited in some angle adjustments, affecting the fine angle adjustment of the slave arm.

[0004] The present invention is achieved in that:

[0005] The present invention provides a positioning auxiliary mechanism for an industrial robot, comprising a rotating shaft joint arranged on a mechanical arm, wherein the rotating shaft joint is composed of a left end cover and a right end cover;

[0006] A gear set is arranged inside the left end cover, the gear set is composed of at least two gears and a rotating shaft, the gears are arranged in sequence along the rotating shaft and the outer diameters decrease in sequence towards the right end cover;

[0007] A driven shaft rotates on the right end cover, and a gear ring group is arranged at the end of the driven shaft. The gear ring group consists of external gear rings, and the number of the external gear rings is the same as that of the gears and they mesh with each other. The external gear rings are arranged from the inside to the outside, and each of the external gear rings can be embedded in the right end cover.

[0008] Preferably, an embedding groove corresponding to the gear ring group is provided on the right end cover, and each of the outer gear rings is connected to the inner wall of the embedding groove via a linear elastic telescopic member.

[0009] Preferably, the left end cover is provided with an embedded slot structure, and the embedded slot structure is provided with:

[0010] A threaded ring, the threaded ring rotates in the embedded slot structure, and the inner wall of the threaded ring is provided with external threads;

[0011] A connecting disk, wherein the connecting disk is threadedly connected to the external thread, and the rotating shaft rotates on the connecting disk;

[0012] A linear limiter constrains the connection disk to move linearly toward the right end cover.

[0013] Preferably, the embedded slot structure is further provided with:

[0014] An inner gear ring rotates in the embedded slot structure and meshes with a driving gear arranged on the rotating shaft.

[0015] Preferably, the length of the inner gear ring is greater than the thickness of the driving gear.

[0016] Preferably, the embedded slot structure is further provided with:

[0017] A driving ring, the driving ring is used to drive any one of the internal gear ring or the threaded ring; both sides of the driving ring are provided with connecting protrusions, and the side walls of the internal gear ring and the threaded ring are provided with reserved connecting holes corresponding to the connecting protrusions;

[0018] A transition plate, both sides of the drive ring close to the threaded ring are provided with inwardly extending abutting annular protrusions, the transition plate abuts against the side walls of the abutting annular protrusions, and the transition plate and the connecting disk are connected by a reset spring.

[0019] Preferably, the embedded slot structure is further provided with:

[0020] A driven shaft positioning part, the driven shaft positioning part moves linearly toward the right end cover, and the driven shaft positioning part is composed of a connecting platform, a positioning protrusion and a connecting rod;

[0021] The positioning protrusions are arranged in an annular manner and equidistantly on the connecting platform, and a reserved positioning hole corresponding to the positioning protrusion is provided at the end of the driven shaft; the connecting rod is fixed to the other side of the connecting platform, and its end passes through the connecting disk and slides on the inner wall of the embedded slot structure.

[0022] Preferably, an adjustment part is provided in the embedded slot structure, and the adjustment part can be adjusted in two levels; in the first level adjustment, the driven shaft positioning part is driven to move linearly toward the right end cover to position the driven shaft; in the second level adjustment, the transition plate is further driven to move linearly toward the threaded ring;

[0023] The adjusting part includes a rotating motor, a connecting seat and an actuating boss; the actuating boss is arranged on both sides of the connecting seat, and the actuating boss is arranged in an arc shape, including an oblique abutment surface and an upper abutment surface, and the oblique abutment surfaces on both sides of the connecting seat are staggered; abutment protrusions are arranged on the connecting platform and the transition plate.

[0024] Preferably, the gear set has three gears, and the gear ratio from left to right of the gear set is 4:2:1;

[0025] The gear ring group includes three outer gear rings, and the gear number ratio on the outer gear rings of the gear ring group from the inside to the outside is 1:2:4.

[0026] The beneficial effects of the present invention are:

[0027] The present invention is based on the setting of a gear set and a gear ring set. By adjusting the front-rear linear movement of the gear set, the meshing of a gear in the gear set with a gear ring in the gear ring set that meshes with the gear is changed. Then, the present invention realizes a multi-stage adjustment method for the driven shaft by changing the meshing ratio of the meshing gear ring and the gear, and then realizes fine adjustment of the driven arm according to needs, which helps to position the driven arm.

[0028] Secondly, when the switching gear group and the gear ring group are meshed, the present invention also positions the driven shaft through the driven shaft positioning part to avoid deflection of the driven shaft. Therefore, when the switching gear group and the gear ring group are meshed, the position of the driven shaft that controls the rotation of the driven arm is stable, thereby ensuring the positioning of the operating claw at the end of the mechanical arm; further, based on the setting of the driven shaft positioning part, after the angle of the driven arm is adjusted, the adjustment part is in the first-level adjustment, thereby ensuring that the driven shaft positioning part positions the driven shaft, thereby strengthening the support and positioning of the driven shaft, further stabilizing and positioning the driven arm, and ensuring the overall stability of the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is the structural diagram of the robotic arm;

[0031] Figure 2 It is an exploded view of the inner wall structure of the left end cover and the right end cover;

[0032] Figure 3 It is the meshing state diagram of gear C and outer gear ring C;

[0033] Figure 4 It is the meshing state diagram of gear B and outer gear ring B;

[0034] Figure 5 It is the meshing state diagram of gear A and outer gear ring A;

[0035] Figure 6It is the front side view of the internal structure of the left end cover;

[0036] Figure 7 This is the rear side view of the internal structure of the left end cover;

[0037] Figure 8 This is the structural diagram of the regulation department when it is in the first-level regulation state;

[0038] Fig. 9 It is a connection diagram of the drive ring, threaded ring and internal gear ring in the first-level adjustment state of the adjustment part;

[0039] Fig.10 This is the structural diagram of the regulating unit in the secondary regulating state of the regulating unit;

[0040] Fig.11 It is a connection diagram of the drive ring, threaded ring and internal gear ring in the secondary adjustment state of the adjustment part;

[0041] Fig.12 This is the structural diagram of the driven shaft and the reserved positioning hole;

[0042] Fig.13 It is a structural diagram of the limit ring.

[0043] In the figure:

[0044] 1. Robotic arm;

[0045] 2. Left end cover; 20. Embedded slot structure; 21. Threaded ring; 22. Connecting plate; 23. Linear stopper; 24. Internal gear ring; 25. Driving ring; 250. Connecting protrusion; 251. Reserved connecting hole; 252. Abutting annular protrusion; 253. Reset spring; 26. Positioning part of driven shaft; 260. Connecting platform; 261. Positioning protrusion; 262. Connecting rod; 27. Transition plate; 28. Adjusting part; 280. Rotating motor; 281. Connecting seat; 282. Actuating boss; 2820. Oblique abutting surface; 2821. Upper abutting surface; 2822. Abutting protrusion;

[0046] 3. Right end cover; 30. Embedded slot;

[0047] 4. Gear set; 40. Gear; 41. Rotating shaft; 410. Driving gear;

[0048] 5. Driven shaft; 50. Reserved positioning hole;

[0049] 6. Gear ring set; 60. External gear ring;

[0050] 7. Limiting ring; 70. Connecting shaft; 71. Limiting protrusion. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0052] Example

[0053] Reference Figure 1-13 A positioning auxiliary mechanism for an industrial robot includes a pivot joint arranged on a robot arm 1, and the pivot joint is a node for realizing the angle rotation of the robot arm 1.

[0054] Reference Figure 2 The shaft joint is composed of a left end cover 2 and a right end cover 3, which are connected together by multiple bolts to form a mechanical arm body structure, wherein the node structure formed by the left end cover 2 and the right end cover 3 is hollow inside, which is convenient for the placement of the drive and transmission structure.

[0055] Reference Figure 2-Figure 7 A gear set 4 is arranged in the left end cover 2. The gear set 4 consists of at least two gears 40 and a rotating shaft 41. The gear 40 is fixedly sleeved on the outside of the rotating shaft 41, and two adjacent gears 40 are in contact with each other. The rotation of the rotating shaft 41 synchronously drives the gear 40 connected thereto to rotate.

[0056] It should be added that the gears 40 are arranged in sequence along the rotating shaft 41 and the outer diameters are reduced in sequence toward the right end cover 3. In this embodiment, the gear set 4 has three gears 40, and the gear number ratio on the gears 40 from left to right in the gear set 4 is 4:2:1, which is helpful for setting the number of teeth on the gears 40 and ensuring that the largest gear 40 is effectively placed in the left end cover 2 and the right end cover 3, thereby reducing the space occupied.

[0057] Exhibition Figure 2 , a driven shaft 5 is rotatable on the right end cover 3. In some embodiments, the driven shaft 5 is composed of an external shaft 50 and a toothed disc 51, which penetrates the right end cover 3 and extends outward to be connected to the driven arm connected to the shaft joint on the mechanical arm, so that the driven shaft 5 rotates to actuate the driven arm to rotate. In this embodiment, in order to facilitate the rotation between the external shaft 50 and the right end cover 3, preferably, a rotating port corresponding to the external shaft 50 is provided on the right end cover 3, wherein the outer diameter of the toothed disc 51 is larger than the inner diameter of the rotating port, and the toothed disc 51 is located between the left end cover 2 and the right end cover 3, so as to prevent the driven shaft 5 from being separated from the right end cover 3 and maintain the stability of the position of the driven shaft 5.

[0058] Based on the arrangement of the driven shaft 5 , a gear ring set 6 is arranged at the end of the driven shaft 5 . Furthermore, the gear ring set 6 is arranged outside the gear disc 51 .

[0059] Reference Figure 2-Figure 5 The gear ring set 6 is composed of external gear rings 60 , and the number of external gear rings 60 and the gears 40 are the same and mesh with each other, wherein the meshing means that the gears 40 mesh with the corresponding external gear rings 60 .

[0060] It should be noted that: 1. The rotating shaft 41 is arranged outside the gear ring set 6, wherein the thickness difference between adjacent gears 40 is the same as the thickness difference between adjacent outer gear rings 60, so that the corresponding outer gear ring 60 can be disengaged from the remaining outer gear rings 60 with the linear forward movement of the gear set 4, thereby adjusting the meshing state of different gears 40 and the outer gear ring 60, thereby adjusting the rotation accuracy of the driven shaft 5. The transmission assembly is adjusted. 2. Based on the fact that there are three gears 40, there are three outer gear rings 60 in the gear ring set 6, and the ratio of the number of teeth on the outer gear ring 60 from the inside to the outside of the gear ring set 6 is 1:2:4, and the number of teeth increases in a proportional manner, so that when the rotating shaft 41 does not rotate, the gears 40 in the gear set 4 can all mesh with the outer gear ring 60 at the corresponding position, wherein the tooth shapes and sizes on the gears 40 and the outer gear ring 60 are the same, which ensures that when the gears 40 and the outer gear ring 60 adjust the meshing position, the accuracy of the meshing state of the gears 40 to be meshed and the outer gear ring 60 is avoided, and the meshing is affected.

[0061] The outer gear ring 60 is arranged from inside to outside, wherein the inner ring of the outer gear ring 60 located outside is meshed with the convex teeth of the outer gear ring 60 inside it, so that the outer gear ring 60 outside can drive the inner gear ring 60 to drill after rotating, thereby driving the driven shaft 5 to rotate.

[0062] In addition, each outer toothed ring 60 can be embedded in the right end cover 3. Specifically, the right end cover 3 is provided with an embedding groove 30 corresponding to the toothed ring set 6, and each outer toothed ring 60 is connected to the inner wall of the embedding groove 30 through a linear elastic expansion member.

[0063] It should be noted that the linear elastic telescopic member is preferably a telescopic sleeve structure with a spring, wherein the telescopic sleeve is composed of a left sleeve and a right sleeve, and both the left sleeve and the right sleeve are hollow, and the spring is arranged in the telescopic sleeve; in addition, a swivel is rotated in the embedded groove 30, and the swivel is concentrically arranged with the annular embedded groove 30, wherein the two ends of the telescopic sleeve are respectively connected to the swivel and the outer toothed ring 60, wherein the number of the outer toothed ring 60 is the same as that of the swivel, and the swivel is also arranged sequentially from the inside to the outside, so that each swivel and the outer toothed ring 60 connected thereto through the telescopic sleeve move independently, and will not affect other swivels. In addition, the linear elastic telescopic member is driven by the spring, so that the outer toothed ring 60 has a tendency to move toward the left end cover 2, which helps the outer toothed ring 60 on the outside to mesh with the outer toothed ring 60 on the inside.

[0064] In this embodiment, based on the gear set 4 and the gear ring set 6 on the driven shaft 5, the process of finely adjusting the rotation angle of the driven shaft 5 is as follows, taking the three gears 40 as an example:

[0065] The gears 40 on the rotating shaft 41 are gear A, gear B and gear C from left to right; correspondingly, the outer gear ring 60 is outer gear ring A, outer gear ring B and outer gear ring C from inside to outside;

[0066] Under the first level adjustment, refer to Figure 5 , gear A meshes with the outer gear ring A, and the other two groups do not mesh, then gear A brakes the outer gear ring A to rotate, thereby braking the driven shaft 5 to rotate;

[0067] Under secondary regulation, refer to Figure 4 , gear B meshes with the outer gear ring B, and the other two groups do not mesh, then gear B brakes the outer gear ring B to rotate, thereby braking the driven shaft 5 to rotate through the outer gear ring A;

[0068] Under three-level adjustment, refer to Figure 3 , gear C meshes with the outer gear ring C, and the other two groups do not mesh, then gear C brakes the outer gear ring C to rotate, thereby braking the driven shaft 5 to rotate through the outer gear ring B and the outer gear ring A in turn;

[0069] During the upper adjustment process, from the first level to the third level, the rotation angle of the driven shaft 5 is adjusted more finely, because at the same rotation angle of the rotating shaft 41, the larger the circumference ratio of the outer gear ring 60 and the gear 50, the smaller the rotation amplitude of the driven shaft 5 and the finer the angle adjustment.

[0070] It should be noted that the switch from the first-stage adjustment to the third-stage adjustment is achieved through the linear movement of the rotating shaft 41. Specifically, when switching from the third-stage adjustment state to the second-stage adjustment state, the rotating shaft 41 moves linearly toward the right end cover 3, causing the gear B to first push the outer gear ring C to be embedded in the embedding groove 30, causing the gear B to mesh with the outer gear ring B. At this time, the gear C and the outer gear ring C are located in the embedding groove 30, and the spring in the linear elastic expansion member is in a compressed state; when switching from the second-stage adjustment state to the first-stage adjustment state, the rotating shaft 41 continues to move linearly toward the right end cover 3, causing the gear A to first push the outer gear ring B to be embedded in the embedding groove 30, causing the gear A to mesh with the outer gear ring A. At this time, the gear B, the gear C, the outer gear ring B and the outer gear ring C are located in the embedding groove 30, and the spring in the linear elastic expansion member is in a compressed state. Conversely, when adjusting from the first-stage adjustment state to the third-stage adjustment state in sequence, the rotating shaft 41 moves linearly toward the left end cover 2 in sequence, and in this process, the spring in the linear elastic expansion member serves as a driving force. Furthermore, in this process, based on the "tooth ratio of the gear 40 from left to right of the gear set 4 is 4:2:1" and the "tooth ratio of the outer gear ring 60 from inside to outside of the gear ring set 6 is 1:2:4", it is ensured that in the switching adjustment state, when the rotating shaft 41 is inconvenient, the switching between the gear 40 and the outer gear ring 60 is stable.

[0071] In this embodiment, switching from the first-stage adjustment to the third-stage adjustment of the rotation angle of the driven shaft 5 is achieved based on the linear movement of the rotating shaft 41. In some embodiments, a structure for the linear movement of the rotating shaft 41 is disclosed, which is configured as follows: first, an embedded groove structure 20 is provided on the left end cover 2 to provide space for the installation of the linear drive structure; secondly, a threaded ring 21, a connecting plate 22 and a linear limiter 23 are provided in the embedded groove structure 20.

[0072] Reference Figure 2 , Figure 6 and Figure 7 The threaded ring 21 rotates in the embedded groove structure 20. Furthermore, a positioning ring is fixed on the outer wall of the threaded ring 21. The positioning ring rotates on the inner wall of the embedded groove structure 20 to facilitate the rotation of the threaded ring 21 and prevent the threaded ring 21 from moving left and right. It should be noted that the inner wall of the threaded ring 21 is provided with an external thread for threaded connection with the connecting plate 22;

[0073] Reference Figure 2 , Figure 6 and Figure 7 The connecting disk 22 is threadedly connected to the external thread. Furthermore, the outer wall of the connecting disk 22 is provided with an internal thread, and the internal thread is threadedly connected to the external thread. The rotating shaft 41 rotates on the connecting disk 22, wherein the rotating shaft 41 is eccentrically arranged on the connecting disk 22. When there are multiple rotating shafts 41, the multiple rotating shafts 41 have the same distance from the center of the connecting disk 22, so as to ensure that the gear set 4 on the multiple rotating shafts 41 is accurately meshed with the gear ring set 6.

[0074] Reference Figure 6 The linear limit member 23 constrains the connecting disk 22 to move linearly in the direction of the right end cover 3. The linear limit member 23 is preferably a prismatic structure or a sleeve with linear constraints. When the linear limit member 23 is a prismatic structure, a prismatic structure slide corresponding to the prismatic structure is provided on the connecting disk 22, so that the connecting disk 22 is slidably sleeved on the outer wall of the prismatic structure. When the threaded ring 21 rotates, the connecting disk 22 can be driven to move linearly along the outer wall of the prismatic structure, further realizing the switching of the rotation angle of the driven shaft 5 from the first-level adjustment to the third-level adjustment.

[0075] Based on the setting of the rotating shaft 41, this embodiment also discloses a driving structure for driving the rotating shaft 41 to rotate, which is specifically set as follows: Figure 2 , Figure 6 , Figure 7 , Fig. 9 and Fig.11 The internal slot structure 20 is also provided with an internal gear ring 24, which rotates in the internal slot structure 20, wherein the internal gear ring 24 is provided between the connecting plate 22 and the driven shaft 5, and meshes with the driving gear 410 provided on the rotating shaft 41. The rotation of the internal gear ring 24 drives the driving gear 410 to rotate, and further drives the rotating shaft 41 to rotate, thereby actuating the driven shaft 5 to rotate through the meshing gear set 4 and the gear ring set 6, and completing the angle adjustment of the driven arm in the mechanical arm.

[0076] It should be noted that the length of the inner gear ring 24 is greater than the thickness of the driving gear 410, which ensures that the driving gear 410 is always engaged with the inner gear ring 24 during the linear movement of the rotating shaft 41, thereby ensuring that the rotating shaft 41 does not rotate. This helps to stabilize the engagement state of the gear 40 and the outer gear ring 60 when the rotating shaft 41 switches the driven shaft 5 from the first level adjustment to the third level adjustment.

[0077] Based on the arrangement of the inner gear ring 24 and the threaded ring 21, the present embodiment further discloses a driving structure that can drive either the inner gear ring 24 or the threaded ring 21, that is, a driving ring 25 and a transition plate 27 are further arranged in the embedded slot structure 20. Further, the structures of the driving ring 25 and the transition plate 27 are preferably as follows:

[0078] Reference Figure 2 , Figure 6 , Figure 7 , Fig. 9 and Fig.11The driving ring 25 is used to drive either the inner gear ring 24 or the threaded ring 21; both sides of the driving ring 25 are provided with connecting protrusions 250, and the side walls of the inner gear ring 24 and the threaded ring 21 are provided with reserved connecting holes 251 corresponding to the connecting protrusions 250. When the connecting protrusion 250 on the left side of the driving ring 25 is connected with the reserved connecting hole 251 on the threaded ring 21, the driving ring 25 rotates to drive the threaded ring 21 to rotate, and further adjusts the fine adjustment state of the driven shaft 5; when the connecting protrusion 250 on the right side of the driving ring 25 is connected with the reserved connecting hole 251 on the inner gear ring 24, the driving ring 25 rotates to drive the inner gear ring 24 to rotate, and further drives the rotating shaft 41, thereby braking the driven shaft 5 to rotate, and finally adjusting the rotation of the driven arm on the mechanical arm.

[0079] It should be added that the rotation of the driving ring 25 can be achieved by an external drive. In some embodiments, the outer wall of the driving ring 25 is provided with meshing teeth, a motor is fixed on the outer wall of the left end cover 2, and an output gear is fixed on the output end of the motor. The output gear passes through the outer wall of the left end cover 2 and meshes with the meshing teeth on the outer wall of the driving ring 25, so that the motor drives the driving ring 25 to rotate. Among them, the thickness of the output gear is smaller than the length of the driving ring 25, which helps the output gear to always mesh with the meshing teeth on the outer wall of the driving ring 25 after the horizontal movement of the driving ring 25, without affecting the rotation of the driving ring 25 driven by the motor.

[0080] Reference Figure 8-Figure 11 , both sides of the drive ring 25 close to the threaded ring 21 are provided with inwardly extending abutting annular protrusions 252, and the transition plate 27 abuts against the side walls of the abutting annular protrusions 252. Furthermore, when the transition plate 27 moves to the left, the drive ring 25 moves to the left by abutting against the abutting annular protrusion 252 on the left, thereby connecting the drive ring 25 to the threaded ring 21; in addition, the transition plate 27 and the connecting plate 22 are connected by a reset spring 253. Under the action of the reset spring 253, the transition plate 27 abuts against the abutting annular protrusion 252 on the right, thereby moving the drive ring 25 to the right, and connecting the drive ring 25 to the inner gear ring 24 of the threaded ring 21.

[0081] It should be noted that the number of the connecting protrusions 250 and the reserved connecting holes 251 is the same as the number of teeth on the gear C, so that when the rotating shaft 41 is not rotating, the position of the outer gear ring 60 is stable, and further, it helps the connecting protrusion 250 to quickly locate the reserved connecting hole 251.

[0082] Based on the setting of the driving ring 25, the present embodiment further discloses an auxiliary positioning structure of the driven shaft 5 to enhance the connection strength after the position of the driven shaft 5 is stabilized, and at the same time, the driven shaft 5 can be stabilized during the switching of the internal gear ring 24 or the threaded ring 21 by the driving ring 25, thereby ensuring that the position of the driven arm of the robot arm will not change. Furthermore, a driven shaft positioning portion 26 is further provided in the embedded slot structure 20. In some embodiments, the structure of the driven shaft positioning portion 26 is set as follows:

[0083] Reference Figure 2 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 and Fig.12 , the driven shaft positioning part 26 moves linearly toward the right end cover 3, and the driven shaft positioning part 26 is composed of a connecting platform 260, a positioning protrusion 261 and a connecting rod 262. The positioning protrusion 261 is arranged on the connecting platform 260 in an annular manner and at equal intervals, and a reserved positioning hole 50 corresponding to the positioning protrusion 261 is provided at the end of the driven shaft 5; the connecting rod 262 is fixed to the other side of the connecting platform 260, and its end passes through the connecting plate 22 and slides on the inner wall of the embedded slot structure 20. Among them, a sliding structure for the connecting rod 262 to pass through can be provided on the transition plate 27.

[0084] It should be noted that: 1. The number of the reserved positioning holes 50 is the same as the number of teeth on the gear C, so that when the rotating shaft 41 is not rotating, after the position of the outer gear ring 60 is stable, the positioning protrusion 261 and the reserved positioning hole 50 can be quickly positioned, so that after the connecting platform 260 moves forward, the positioning protrusion 261 is quickly embedded in the reserved positioning hole 50, so that the connecting platform 260 positions the driven shaft 5, so that the driven shaft 5 does not rotate. 2. The connecting platform 260 can be connected to the connecting disk 22 through the connecting platform spring to ensure that in the initial state, the auxiliary positioning structure is not connected to the driven shaft 5, so that the angle of the driven shaft 5 can be adjusted, and it is also helpful to reset the connecting platform 260.

[0085] Based on the auxiliary positioning structure of the driven shaft 5 and the drive structure including the transition plate 27, the present embodiment further discloses a selectively adjustable adjustment part to drive the auxiliary positioning structure and the transition plate 27. The specific structure is as follows:

[0086] Reference Figure 6 , Figure 7 , Figure 8 and Fig.10The adjusting portion is arranged in the embedded slot structure 20. Furthermore, the adjusting portion is fixed to the end of the prismatic structure. The adjusting portion 28 includes a rotating motor 280, a connecting seat 281 and an actuating boss 282; the actuating boss 282 is arranged on both sides of the connecting seat 281, and the actuating boss 282 is arranged in an arc shape, which includes an oblique abutment surface 2820 and an upper abutment surface 2821, and the oblique abutment surfaces 2820 on both sides of the connecting seat 281 are staggered; both the connecting platform 260 and the transition plate 27 are provided with abutment protrusions 2822.

[0087] Furthermore, the adjustment part can be adjusted in two levels, as follows:

[0088] Under the first level adjustment, refer to Figure 8 and Fig. 9 , driving the driven shaft positioning part 26 to move linearly toward the right end cover 3 to position the driven shaft 5. The process is implemented as follows: when the rotating motor 280 drives the connecting seat 281 to rotate, the connecting seat 281 rotates, causing the abutment protrusion 2822 on the connecting platform 260 to slide along the oblique abutment surface 2820 of the actuating protrusion 282 on the right side, and then the connecting platform 260 is pushed to move to the right until the positioning protrusion 261 is inserted into the reserved positioning hole 50 to prevent the driven shaft 5 from rotating; when the positioning protrusion 261 is completely inserted into the reserved positioning hole 50, the abutment protrusion 2822 on the connecting platform 260 abuts against the surface of the upper abutment surface 2821. In this process, the abutment protrusion 2822 on the transition plate 27 is always located on the surface of the connecting seat 281.

[0089] Under secondary regulation, refer to Fig.10 and Fig.11 On the basis of the first-level adjustment, the transition plate 27 is driven to move linearly toward the threaded ring 21, so that the drive ring 25 is disconnected from the inner gear ring 24 and connected to the threaded ring 21, that is, the rotating motor 280 continuously drives the connecting seat 281 to rotate, so that the abutting protrusion 2822 on the transition plate 27 slides along the oblique abutting surface 2820 of the actuating boss 282 on the left, and then the transition plate 27 is pushed to move to the left, thereby pushing the drive ring 25 to move toward the threaded ring 21, until the connecting protrusion 250 on the left side of the drive ring 25 is embedded in the reserved connecting hole 251 on the threaded ring 21, and at this time, the abutting protrusion 2822 on the transition plate 27 abuts against the surface of the upper abutting surface 2821. In this process, the abutting protrusion 2822 on the connecting platform 260 is always located on the upper abutting surface 2821 on the actuating boss 282 on the right.

[0090] Finally, refer to Fig.13In order to further position the threaded ring 21, a limit ring 7 that can move linearly left and right can be set on the left side of the threaded ring 21, wherein the limit ring 7 can be connected to the transition plate 27 through a connecting shaft 70, wherein the connecting shaft 70 is set through the connecting disk 22; a limit protrusion 71 corresponding to the reserved connecting hole 251 is set on the right side of the limit ring 7, wherein the length of the limit protrusion 71 is less than the connecting protrusion 250, then after the limit protrusion 71 is disengaged from the reserved connecting hole 251, the connecting protrusion 250 is inserted into the reserved connecting hole 251, thereby driving the threaded ring 21 to rotate with the rotation of the driving ring 25; conversely, when the driving ring 25 drives the internal gear ring 24 to rotate, the limit protrusion 71 is inserted into the reserved connecting hole 251, positioning the threaded ring 21, preventing the threaded ring 21 from rotating, and further ensuring the stable position of the connecting disk 22.

[0091] The method for using the positioning auxiliary mechanism of an industrial robot is as follows:

[0092] S1. Angle adjustment of the driven shaft 5: the drive ring 25 is connected to the inner gear ring 24, and the drive ring 25 is disconnected from the threaded ring 21. The drive ring 25 drives the inner gear ring 24 to rotate, and then drives the gear ring group 6 to rotate through the gear group 4, so that the driven shaft 5 rotates, thereby adjusting the angle of the driven arm of the robot arm. After the angle adjustment is completed, the driven shaft positioning part 26 is linearly moved toward the right end cover 3 through the first-level adjustment of the adjustment part 28, and the driven shaft 5 is positioned, so as to realize auxiliary support for the driven shaft 5, avoid the traditional tooth bite support, and enhance the positioning stability;

[0093] S2. Fine adjustment of the angle of the driven shaft 5: the secondary adjustment of the actuating adjustment part 28 is realized to connect the driving ring 25 with the threaded ring 21, disconnect the driving ring 25 from the inner gear ring 24, the driving ring 25 drives the threaded ring 21 to rotate, and the connecting plate 22 is adjusted to move linearly left and right, thereby adjusting a certain gear 40 on the gear set 4 to mesh with the outer gear ring 60 corresponding to the gear ring set 6, so as to realize different angle adjustment of the driven shaft 5 when the rotating shaft 41 rotates at the same angle.

[0094] It should be noted that the specific model and specifications of the motor need to be selected and determined based on the actual specifications of the device, and the specific selection calculation method adopts the existing technology in this field, so it will not be repeated in detail.

[0095] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A positioning auxiliary mechanism for an industrial robot, comprising a rotating shaft joint arranged on a robot arm (1), characterized in that: The rotating shaft joint is composed of a left end cover (2) and a right end cover (3); A gear set (4) is arranged inside the left end cover (2), the gear set (4) consisting of at least two gears (40) and a rotating shaft (41), the gears (40) are arranged in sequence along the rotating shaft (41) and the outer diameters decrease in sequence towards the right end cover (3); A driven shaft (5) is rotatably mounted on the right end cover (3). A gear ring group (6) is disposed at the end of the driven shaft (5). The gear ring group (6) is composed of external gear rings (60). The number of the external gear rings (60) is the same as that of the gears (40) and they mesh with each other. The external gear rings (60) are arranged from the inside to the outside, and each external gear ring (60) can be embedded in the right end cover (3).

2. The positioning auxiliary mechanism of an industrial robot according to claim 1, characterized in that: The right end cover (3) is provided with an embedding groove (30) corresponding to the gear ring group (6), and each of the outer gear rings (60) is connected to the inner wall of the embedding groove (30) via a linear elastic expansion member.

3. The positioning auxiliary mechanism of an industrial robot according to claim 2, characterized in that: The left end cover (2) is provided with an embedded slot structure (20), and the embedded slot structure (20) is provided with: A threaded ring (21), the threaded ring (21) rotates in the embedded slot structure (20), and the inner wall of the threaded ring (21) is provided with external threads; A connecting disk (22), wherein the connecting disk (22) is threadedly connected to the external thread, and the rotating shaft (41) rotates on the connecting disk (22); A linear limiter (23), wherein the linear limiter (23) constrains the connection disk (22) to move linearly in the direction of the right end cover (3).

4. The positioning auxiliary mechanism of an industrial robot according to claim 3, characterized in that: The embedded slot structure (20) is also provided with: An internal gear ring (24), the internal gear ring (24) rotates in the embedded slot structure (20) and meshes with a driving gear (410) provided on the rotating shaft (41).

5. The positioning auxiliary mechanism of an industrial robot according to claim 4, characterized in that: The length of the inner gear ring (24) is greater than the thickness of the driving gear (410).

6. The positioning auxiliary mechanism of an industrial robot according to claim 5, characterized in that: The embedded slot structure (20) is also provided with: A driving ring (25), the driving ring (25) being used to drive any one of the internal gear ring (24) or the threaded ring (21); both sides of the driving ring (25) are provided with connecting protrusions (250), and the side walls of the internal gear ring (24) and the threaded ring (21) are provided with reserved connecting holes (251) corresponding to the connecting protrusions (250); A transition plate (27), both sides of the drive ring (25) close to the threaded ring (21) are provided with an inwardly extending abutment annular protrusions (252), the transition plate (27) abuts against the side wall of the abutment annular protrusion (252), and the transition plate (27) and the connecting plate (22) are connected via a reset spring (253).

7. The positioning auxiliary mechanism of an industrial robot according to claim 6, characterized in that: The embedded slot structure (20) is also provided with: A driven shaft positioning portion (26), the driven shaft positioning portion (26) moves linearly toward the right end cover (3), and the driven shaft positioning portion (26) is composed of a connecting platform (260), a positioning protrusion (261) and a connecting rod (262); The positioning protrusions (261) are arranged on the connecting platform (260) in an annular manner and at equal intervals, and a reserved positioning hole (50) corresponding to the positioning protrusion (261) is provided at the end of the driven shaft (5); the connecting rod (262) is fixed to the other side of the connecting platform (260), and its end passes through the connecting disk (22) and slides on the inner wall of the embedded slot structure (20).

8. The positioning auxiliary mechanism of an industrial robot according to claim 7, characterized in that: An adjusting portion (28) is provided in the embedded slot structure (20), and the adjusting portion can be adjusted in two stages; in the first stage of adjustment, the driven shaft positioning portion (26) is driven to move linearly in the direction of the right end cover (3) to position the driven shaft (5); in the second stage of adjustment, the transition plate (27) is further driven to move linearly in the direction of the threaded ring (21); The adjusting portion (28) comprises a rotating motor (280), a connecting seat (281) and an actuating boss (282); the actuating boss (282) is arranged on both sides of the connecting seat (281), and the actuating boss (282) is arranged in an arc shape, comprising an oblique abutting surface (2820) and an upper abutting surface (2821), and the oblique abutting surfaces (2820) on both sides of the connecting seat (281) are staggered; the connecting platform (260) and the transition plate (27) are both provided with abutting protrusions (2822).

9. The positioning auxiliary mechanism of an industrial robot according to claim 8, characterized in that: The gear set (4) has three gears (40), and the gear ratio of the gears (40) from left to right in the gear set (4) is 4:2:1; The number of the outer toothed rings (60) of the toothed ring group (6) is three, and the ratio of the number of teeth on the outer toothed rings (60) of the toothed ring group (6) from the inside to the outside is 1:2:

4.

10. A method for using the positioning auxiliary mechanism of an industrial robot according to claim 9, characterized in that: The following steps are involved: S1. Angle adjustment of the driven shaft (5): the drive ring (25) is connected to the inner gear ring (24), and the drive ring (25) is disconnected from the threaded ring (21). The drive ring (25) drives the inner gear ring (24) to rotate, and then drives the gear ring group (6) to rotate through the gear group (4), so that the driven shaft (5) rotates, thereby adjusting the angle of the driven arm of the robot arm. After the angle adjustment is completed, the driven shaft positioning part (26) is linearly moved toward the right end cover (3) through the first-level adjustment of the adjustment part (28), so as to position the driven shaft (5), realize auxiliary support for the driven shaft (5), avoid traditional tooth meshing support, and enhance positioning stability; S2. Fine adjustment of the angle of the driven shaft (5): The secondary adjustment of the actuating adjustment part (28) is performed to realize the connection between the driving ring (25) and the threaded ring (21), and the connection between the driving ring (25) and the inner gear ring (24) is disconnected. The driving ring (25) drives the threaded ring (21) to rotate, and the connecting plate (22) is adjusted to move linearly left and right, thereby adjusting the meshing of a certain gear (40) on the gear set (4) with the outer gear ring (60) corresponding to the gear ring set (6), so as to realize different angle adjustment of the driven shaft (5) when the rotating shaft (41) rotates at the same angle.

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