Robot joint transmission structure

Abstract

The invention discloses a robot joint transmission structure, and relates to the technical field of robots, the robot joint transmission structure comprises a first joint piece and a second joint piece, the second joint piece is rotatably connected with the first joint piece, a transmission cavity is formed in one end, close to the first joint piece, of the second joint piece, and a transmission structure is arranged in the transmission cavity; a supporting assembly is arranged between the first joint piece and the second joint piece. When the first joint piece needs to take and place goods, the air cylinder synchronously stretches and contracts, then the first joint piece is supported, loads of transmission structures at the joints of the first joint piece and the second joint piece are reduced, and the reliability of goods taking is improved. And the situation that when the heavy object is taken and placed, transmission structures at the joints of the first joint piece and the second joint piece are excessively abraded, gaps are generated, meshing is not tight, and slipping occurs is prevented, and the situation that goods grabbed by the mechanical arm fall off due to slipping, and surrounding mechanical equipment and the mechanical arm are collided and damaged is prevented.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot joint transmission structure. Background Art

[0002] In some cargo transfer work, factories currently use robot arms for transfer work. Robot arms have the advantages of high precision and high load, can pick up and place cargo and can be folded at multiple angles. The multi-angle folding activity of the robot arm is mainly carried out through the joint transmission structure on it. The transmission structure includes various types, such as gear transmission; When the robotic arm is in use, it is inevitable to pick up and place some heavier goods. The transmission structure at the joint of the robotic arm will have a higher load, and mechanical transmission such as gears will experience mechanical wear. After the gears are excessively worn, when the gears mesh with each other, relative sliding and rolling friction will occur between the tooth surfaces. Under the action of continuous friction, the tooth surface will gradually wear and fall off, resulting in a decrease in the thickness of the tooth surface and a gradual increase in the meshing gap between the teeth. This will reduce the accuracy of the transmission structure and generate a return error during movement, which will cause a deviation between the actual placement position and the expected position when the robotic arm picks up and places goods. Gaps between gears and loose meshing will also cause slippage, which will cause the goods grabbed by the robotic arm to fall; In order to optimize the above problems, a robot joint transmission structure is proposed. Summary of the invention

[0003] In order to reduce the problem of excessive wear at the joints of the robot arm causing gaps or slipping when picking up and placing heavy objects in the prior art, the present invention provides a robot joint transmission structure.

[0004] To achieve the above objectives, the present invention is implemented by the following technical means: comprising a first joint component and a second joint component, the second joint component being rotatably connected to the first joint component, a transmission cavity being provided at one end of the second joint component close to the first joint component, a transmission structure being provided inside the transmission cavity, and a support assembly being provided between the first joint component and the second joint component; The support assembly includes two cylinders, each of which is fixedly connected to a circular ring sleeve at both ends of the cylinder, and also includes four fixing seats, the first joint part and the second joint part are symmetrically provided with two fixing seats, the fixing seats are detachably connected to the first joint part and the second joint part by bolts, and a cavity is provided in the middle of the fixing seat, and two fixing tubes are symmetrically fixedly connected to the fixing seat, and a sliding groove is provided on the fixing tube, and a spring 1 is fixedly connected to the inside of the fixing tube, and one end of the spring 1 is fixedly connected to the fixing tube, and the other end of the spring 1 is fixedly connected to a clamping rod, the clamping rod includes a rod body and a dial plate, and the rod body is slidably arranged in the inside of the fixing tube, and the dial plate is slidably arranged in the slide groove, the rod body of the clamping rod passes through the fixing seat and extends into the cavity of the fixing seat, and an inclined surface is provided at one end of the rod body close to the cavity of the fixing seat, and also includes four connecting rods respectively inserted in the four fixing seats, and the connecting rod is symmetrically provided with two connecting grooves, and the four connecting rods are respectively rotatably connected to the four circular ring sleeves.

[0005] Furthermore, a fixing cylinder is symmetrically inserted on the first joint component, the fixing cylinder is connected to the inside of the transmission chamber, an oil filling pipe is arranged on the side of the fixing cylinder away from the second joint component, and sealing components are arranged inside the fixing cylinder and the oil filling pipe, and the sealing component includes a fixing frame, a stabilizing cylinder is fixedly connected to the fixing frame, a spring 2 is fixedly connected to the fixing frame, and the spring 2 is located on the inner side of the stabilizing cylinder, a sealing plug is fixedly connected to the end of the spring 2 away from the fixing frame, and a side of the sealing plug close to the spring 2 is slidably arranged in the stabilizing cylinder, and a resistance rod is fixedly connected to the side of the sealing plug away from the stabilizing cylinder, and sealing rings are fixedly connected to the inner surfaces of the fixing cylinder and the oil filling pipe, the fixing cylinder is provided with a plurality of card grooves equidistantly distributed around the circumference, and a plurality of card blocks are fixedly connected to the oil filling pipe.

[0006] Furthermore, an oil filling assembly is provided on the oil filling pipe, and the oil filling assembly includes two guide tubes symmetrically fixedly connected to the outer surface of the oil filling pipe, a push-pull rod is movably connected inside the guide tube, the push-pull rod is arranged in a U shape, one end of the push-pull rod is fixedly connected to a piston block, the piston block is slidably arranged inside one of the guide tubes, the end of the push-pull rod away from the piston block passes through the other guide tube and extends to the bottom of the oil filling pipe, the end of the push-pull rod away from the piston block is fixedly connected to the oil filling rod, and the end of the oil filling rod extending to the inside of the oil filling pipe is fixedly connected A connecting pipe is detachably connected to the guide tube on which a piston block is slidably provided, and a fixing plate 1 and a fixing plate 2 are fixedly connected at both ends of the cylinder respectively, a piston rod is fixedly connected to the fixing plate 1, a piston cylinder is fixedly connected to the fixing plate 2, an end of the piston rod away from the fixing plate 1 is slidably provided inside the piston cylinder, a one-way valve 1 is provided on the piston cylinder, a one-way valve 2 is provided inside the piston cylinder, an end of the connecting pipe away from the guide tube is detachably connected to the piston cylinder, and a pressure relief valve is provided on the connecting pipe.

[0007] Furthermore, a collecting assembly is provided on the second joint component, and the collecting assembly includes an oil outlet opened on the second joint component, the oil outlet is connected to the transmission chamber, a pressure valve plate is provided in the oil outlet, and the pressure valve plate is configured as a four-petal plastic sheet, and a collecting box is detachably connected to the second joint component.

[0008] Furthermore, an edge of one end of the connecting rod close to the connecting groove is configured as an arc edge.

[0009] Furthermore, the fixing frame is a hollow bracket, the edge of the sealing plug away from the stabilizing cylinder is made of rubber material, and the edge of the sealing ring close to the sealing plug is made of rubber material.

[0010] The beneficial effects of the present invention are as follows: When the first joint part needs to pick up and place goods, the cylinder will extend and contract synchronously, thereby supporting the first joint part, thereby reducing the load on the transmission structure at the joint of the first joint part and the second joint part, preventing the transmission structure at the joint of the first joint part and the second joint part from excessively wearing out when picking up and placing heavy objects, resulting in gaps and loose meshing and slipping, and preventing the goods grabbed by the robot arm from falling due to slipping, causing collision and damage to surrounding mechanical equipment and the robot arm itself; By moving the connecting groove on the connecting rod to a position corresponding to the clamping rod, the clamping rod moves into the cavity of the fixing seat under the elastic return action of the spring, and the clamping rod is clamped with the connecting groove to achieve rapid fixation of the support assembly; The lubricating oil in the oil filling pipe is pushed upward by the oil filling plug, and the lubricating oil in the oil filling pipe enters the interior of the fixed cylinder, and then enters the interior of the transmission cavity from the interior of the fixed cylinder. At this time, the lubricating oil entering the transmission cavity lubricates the transmission structure in the transmission cavity, reduces the friction of the mechanical parts inside the transmission joint, and can also take away part of the heat of the transmission joint during transmission, preventing excessive wear of the transmission structure in the transmission cavity; The pressure valve plate is stretched open by the squeezing of the lubricating oil, and the lubricating oil is discharged into the collection box through the oil outlet, so that the old lubricating oil can be collected. The squeezed out old lubricating oil will be mixed with wear debris, and timely discharge can avoid excessive wear of the transmission structure by the debris. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a three-dimensional structural schematic diagram of the fixing seat, connecting rod, cylinder and other components of the present invention; Figure 3 It is a three-dimensional structural schematic diagram of the piston rod, piston cylinder and other components of the present invention; Figure 4 For the present invention Figure 3 A schematic diagram of the structure enlargement in the middle; Figure 5 It is a three-dimensional structural schematic diagram of the fixing seat, the clamping rod, the connecting groove and other components of the present invention; Figure 6 It is a three-dimensional structural schematic diagram of the fixing cylinder, transmission chamber, oil injection pipe and other components of the present invention; Figure 7 For the present invention Figure 6 A magnified schematic diagram of the structure at B in the middle; Figure 8 It is a three-dimensional structural schematic diagram of the oil filling pipe and the clamping block and other components of the present invention; Fig. 9 It is a three-dimensional structural schematic diagram of the oil filling pipe, the fixing cylinder, the clamping groove and other components of the present invention; Fig.10 It is a three-dimensional structural schematic diagram of the guide tube, oil injection tube and other components of the present invention; Fig.11 It is a three-dimensional structural schematic diagram of the oil outlet and the collecting box and other components of the present invention; Fig.12 For the present invention Fig.11 Enlarged schematic diagram of the structure at point C in the middle.

[0012] Among them, the accompanying drawings in the present invention are: 1, first joint part; 2, second joint part; 21, transmission chamber; 6, connecting pipe; 61, pressure relief valve; 7, fixing cylinder; 9, oil filling pipe; 31, fixed seat; 32, fixed tube; 33, slide groove; 34, spring 1; 35, clamping rod; 41, connecting rod; 42, connecting groove; 51, cylinder; 511, annular sleeve; 52, fixing plate 1; 53, piston rod; 54, fixing plate 2; 55, piston cylinder; 56, one-way valve 1; 57, one-way valve 2; 81, fixing frame; 82, stabilizing cylinder; 83, spring 2; 84, sealing plug; 85, resisting rod; 86, sealing ring; 101, card slot; 102, card block; 111, guide tube; 112, push-pull rod; 113, piston block; 114, oil filling rod; 115, oil filling plug; 121, oil outlet; 122, pressure valve plate; 123, collection box. DETAILED DESCRIPTION

[0013] 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 only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0014] The embodiments provided by the present invention will be described in detail below: A robot joint transmission structure, such as Figures 1 to 6 As shown, it includes a first joint component 1 and a second joint component 2, the second joint component 2 is rotatably connected to the first joint component 1, and a transmission cavity 21 is provided at one end of the second joint component 2 close to the first joint component 1, and a transmission structure is arranged inside the transmission cavity 21, and the transmission structure is a gear transmission structure in the prior art, and the motor drives the gear set and the bevel gear set to drive the first joint component 1 to rotate relative to the second joint component 2, and its working principle is not repeated here, and a support assembly is arranged between the first joint component 1 and the second joint component 2; The supporting assembly includes two cylinders 51, each of which is fixedly connected to a circular ring sleeve 511 at both ends of the cylinder 51. The supporting assembly also includes four fixing seats 31. Two fixing seats 31 are symmetrically arranged on the first joint member 1 and the second joint member 2. The fixing seats 31 are detachably connected to the outer surfaces of the first joint member 1 and the second joint member 2 by bolts. A cavity is arranged in the middle of the fixing seat 31. Two fixing pipes 32 are symmetrically fixedly connected to the fixing seat 31. The interior of the fixing pipe 32 is communicated with the cavity of the fixing seat 31. A slide groove 33 is arranged on the fixing pipe 32. A spring 34 is fixedly connected to the interior of the fixing pipe 32. One end of the spring 34 is fixedly connected to the fixing pipe 32. The other end of the spring 34 is fixedly connected to a clamping rod 35. The clamping rod 35 includes a rod body and a shift plate. The rod body is slidably arranged in the interior of the fixing pipe 32, and the shift plate is slidably arranged in the slide groove 33. 3, the paddle is used to pull the card rod 35 to move to both sides, the rod body of the card rod 35 passes through the fixed seat 31 and extends into the cavity of the fixed seat 31, and an inclined surface is arranged on one end of the rod body close to the cavity of the fixed seat 31, the support assembly also includes four connecting rods 41 respectively inserted into the cavities of the four fixed seats 31, a cylinder 51 is arranged on both sides of the first joint member 1 and the second joint member 2, two connecting grooves 42 are symmetrically arranged on the outer surface of one end of the connecting rod 41 close to the fixed seat 31, and the connecting groove 42 is arranged corresponding to the card rod 35, and the end of the connecting rod 41 away from the fixed seat 31 is rotatably connected to the adjacent circular ring sleeve 511, and the edge of one end of the connecting rod 41 close to the connecting groove 42 is arranged as an arc edge, and this arc edge is arranged corresponding to the inclined surface on the rod body of the card rod 35, so as to facilitate pushing the inclined surface of the rod body by the connecting rod 41 to push the card rod 35.

[0015] like Figure 1 , Figure 6 and Figure 7 As shown, two fixed cylinders 7 are symmetrically inserted on the first joint part 1, and the fixed cylinder 7 is connected with the transmission chamber 21. A corresponding oil filling pipe 9 is arranged on the side of the fixed cylinder 7 away from the second joint part 2. The oil filling pipe 9 is arranged in an L shape. The interiors of the fixed cylinder 7 and the oil filling pipe 9 are both provided with sealing components for one-way sealing. The sealing component includes a fixed frame 81. The inner surfaces of the fixed cylinder 7 and the oil filling pipe 9 are fixedly connected with the fixed frame 81. The fixed frame 81 is a hollow bracket. The hollow fixed frame 81 can allow lubricating oil to flow. A stabilizing cylinder 82 is fixedly connected to the fixed frame 81. The fixed frame 81 is fixedly connected with a spring. 83, the second spring 83 is located inside the stabilizing cylinder 82, and one end of the second spring 83 away from the fixing frame 81 is fixedly connected with a sealing plug 84, and the side of the sealing plug 84 close to the second spring 83 slides in the stabilizing cylinder 82, and the edge of the sealing plug 84 away from the stabilizing cylinder 82 is made of rubber, and the side of the sealing plug 84 away from the stabilizing cylinder 82 is fixedly connected with a resisting rod 85, and the inner surfaces of the fixing cylinder 7 and the oil filling pipe 9 are fixedly connected with a sealing ring 86, and the edge of the sealing ring 86 close to the sealing plug 84 is made of rubber, and the second spring 83 can push the sealing plug 84 to fit tightly with the sealing ring 86, so as to achieve a sealing effect; like Figure 6 , Figure 8 and Fig. 9 As shown, a plurality of circumferentially equidistantly distributed grooves 101 are provided on the surface of one side of the fixing cylinder 7 away from the second joint part 2, and a notch is provided on the groove 101. A plurality of blocks 102 corresponding to the positions of the grooves 101 are fixedly connected on the outer surface of the oil filling pipe 9, and the size of the block 102 is matched with the size of the notch of the groove 101, so that the block 102 can enter the groove 101 easily. The shape of the block 102 is L-shaped, so that the block 102 can be connected with the groove 101.

[0016] like Figures 1 to 4 , Figures 8 to 10As shown, an oil filling assembly is provided on the oil filling pipe 9, and the oil filling assembly includes two guide tubes 111 symmetrically fixedly connected to the outer surface of the oil filling pipe 9, and a push-pull rod 112 is movably connected inside the guide tube 111, and the push-pull rod 112 is set in a U shape. One end of the push-pull rod 112 is fixedly connected to a piston block 113, and the piston block 113 is slidably set inside one of the guide tubes 111. The end of the push-pull rod 112 away from the piston block 113 passes through the other guide tube 111 and extends to the bottom of the oil filling pipe 9. The end of the push-pull rod 112 away from the piston block 113 is fixedly connected to an oil filling rod 114, and the end of the oil filling rod 114 extending to the inside of the oil filling pipe 9 is fixedly connected to an oil filling plug 115, and the oil filling plug 115 is slidably connected to the inside of the oil filling pipe 9. A connecting pipe 6 is detachably connected to one of the guide tubes 111 with the piston block 113 slidingly, and the two ends of the cylinder 51 are respectively fixedly connected to a fixed plate. 52 and a fixing plate two 54, one end of the cylinder 51 close to the second joint 2 is fixedly connected to the fixing plate one 52, and one end of the cylinder 51 close to the first joint 1 is fixedly connected to the fixing plate two 54, the fixing plate one 52 is fixedly connected to the piston rod 53, and the fixing plate two 54 is fixedly connected to the piston cylinder 55, and the end of the piston rod 53 away from the fixing plate one 52 is slidably arranged in the piston cylinder 55, a one-way valve one 56 is arranged on the piston cylinder 55, and a one-way valve two 57 is arranged in the piston cylinder 55, the one-way valve two 57 is set to only allow air to go out of the piston cylinder 55, the one-way valve one 56 is set to only allow air to go into the piston cylinder 55, and the one-way valve one 56 and the one-way valve two 57 are located at one end of the piston cylinder 55 close to the fixing plate two 54, the end of the connecting pipe 6 away from the guide pipe 111 is detachably connected to the piston cylinder 55 through a pipe joint, and a pressure relief valve 61 is arranged at one end of the connecting pipe 6 close to the piston cylinder 55.

[0017] like Figure 1 , Figure 6 , Fig.11 and Fig.12 As shown, a collecting component is provided on the second joint part 2, and the collecting component includes an oil outlet 121 opened on the second joint part 2, and the oil outlet 121 is connected to the transmission chamber 21, and a pressure valve plate 122 is fixedly connected to the inner surface of the oil outlet 121, and the pressure valve plate 122 is configured as a four-petal plastic sheet, which can produce a slight deformation after being squeezed, and the pressure valve plate 122 can block the oil outlet 121 when not squeezed, and a collecting box 123 is detachably plugged on the second joint part 2, and a pressure relief hole for pressure relief is provided on the collecting box 123, and an exhaust valve is provided at the pressure relief hole to avoid the problem of excessive pressure when injecting lubricating oil into the transmission chamber 21, and the exhaust valve can prevent the lubricating oil from leaking and only discharge the gas in the rotating chamber 21.

[0018] The following is the entire working process and working principle of the above embodiment: The initial state is: The connecting rod 41 is not inserted into the cavity of the fixed seat 31, the spring 1 34 is not compressed, the spring 2 83 in the fixed cylinder 7 and the oil filling pipe 9 is not compressed, the sealing plug 84 in the fixed cylinder 7 and the oil filling pipe 9 is tightly fitted with the sealing ring 86, and the oil filling pipe 9 is not installed on the first joint component 1 at this time, and the connecting tube 6 is not connected to the piston cylinder 55.

[0019] The working status is: Quick installation support assembly: The staff inserts the connecting rod 41 into the cavity of the fixing seat 31. When the connecting rod 41 moves into the cavity of the fixing seat 31, the arc edge of the connecting rod 41 will contact the inclined surfaces on the rod body of the two clamping rods 35. When the connecting rod 41 continues to move into the cavity of the fixing seat 31, the arc edge of the connecting rod 41 will squeeze the inclined surfaces of the two clamping rods 35, so that the two clamping rods 35 move to both sides inside the fixing tube 32 and compress the spring 1 34. When the connecting groove 42 on the connecting rod 41 moves to the position corresponding to the clamping rod 35, the clamping rod 35 moves into the cavity of the fixing seat 31 under the elastic reset action of the spring 1 34. At this time, the clamping rod 35 will be clamped with the connecting groove 42 to achieve rapid fixation of the support assembly.

[0020] The support assembly supports the first joint component 1 and the second joint component 2: When the first joint 1 needs to pick up and place goods, the cylinder 51 is turned on, and the cylinder 51 is extended and contracted synchronously to support the first joint 1. In addition, when the first joint 1 swings, the annular sleeves 511 at both ends of the cylinder 51 can rotate on the connecting rod 41. At this time, the cylinder 51 can change the support angle, so that the cylinder 51 can support at any angle according to the angle change of the first joint 1 and the second joint 2 of the robot arm. The support of the cylinder 51 shares the load force on the transmission structure, reducing the load on the transmission structure at the joint of the first joint 1 and the second joint 2. When picking up and placing heavy objects, it prevents the transmission structure at the joint of the first joint 1 and the second joint 2 from excessive wear and causing gaps, resulting in loose meshing and slipping, and prevents the slipping from causing the goods grabbed by the robot arm to fall, causing collision and damage to the surrounding mechanical equipment and the robot arm itself.

[0021] The oil filling pipe 9 sucks lubricating oil through the oil filling assembly: The staff first inserts the end of the oil filling pipe 9 fixed with the clamping block 102 into the external lubricating oil, and then manually pulls the oil filling rod 114, so that the oil filling rod 114 drives the oil filling plug 115 to slide inside the oil filling pipe 9 in the direction away from the fixing frame 81. When the oil filling plug 115 slides downward, negative pressure is formed in the oil filling pipe 9, which will generate suction to absorb the sealing plug 84 in the oil filling pipe 9 to move, so that the sealing plug 84 is away from the sealing ring 86 and compresses the spring 2 83, so that the sealing plug 84 no longer blocks one end of the oil filling pipe 9. At this time, the lubricating oil can flow smoothly from the sealing ring 86 to the inside of the oil filling pipe 9, and the lubricating oil can be sucked into the oil filling pipe 9. When the oil filling plug 115 moves to the lowest position of the oil filling pipe 9 (i.e. Fig.10 As shown), at this time, the oil filling pipe 9 is full of lubricating oil, and the staff can stop pulling the oil filling rod 114. At this time, under the elastic reset action of the spring 2 83, the sealing plug 84 is tightly fitted with the sealing ring 86 again, thereby being able to seal the lubricating oil inside the oil filling pipe 9 to prevent leakage after the lubricating oil is sucked in.

[0022] Connect the fixing cylinder 7 to the oil filling pipe 9: The staff brings the end of the oil filling pipe 9 fixed with the block 102 close to the fixed cylinder 7. When the oil filling pipe 9 approaches the fixed cylinder 7, the block 102 on the oil filling pipe 9 approaches the slot 101. The block 102 first passes through the notch on the slot 101 and enters the inside of the slot 101. At this time, the staff rotates the oil filling pipe 9 again. The rotation of the oil filling pipe 9 drives the block 102 to rotate inside the slot 101. The L-shaped shape of the block 102 can be stuck in the inside of the slot 101, so that the oil filling pipe 9 can be fixed on the fixed cylinder 7. On the outside of the fixed cylinder 7, during this process, the oil filling pipe 9 and the resistance rod 85 in the fixed cylinder 7 squeeze each other, which will drive the two sealing plugs 84 in the oil filling pipe 9 and the fixed cylinder 7 away from the adjacent sealing rings 86, so that the two sealing plugs 84 are no longer tightly fitted with the corresponding sealing rings 86. At the same time, the two sealing plugs 84 squeeze the corresponding spring 2 83 respectively. At this time, the fixed cylinder 7 is connected to the inside of the oil filling pipe 9, and then the connecting pipe 6 is connected to the piston cylinder 55. At this time, the piston cylinder 55 is connected to the guide pipe 111 through the connecting pipe 6.

[0023] The oil injection assembly injects lubricating oil into the transmission chamber 21 through the support assembly: When the cylinder 51 is extended or contracted, the distance between the fixing plate 1 52 and the fixing plate 2 54 will change. When the cylinder 51 is extended, the fixing plate 1 52 will move away from the fixing plate 2 54. The fixing plate 1 52 drives the piston rod 53 to move inside the piston cylinder 55 toward the end away from the fixing plate 2 54, so that the inside of the piston cylinder 55 is in a negative pressure state. Under the action of atmospheric pressure, the one-way valve 1 56 will open. At this time, the external air will flow into the piston cylinder 55. At this time, the one-way valve 2 57 is closed to prevent the air in the connecting pipe 6 from being drawn into the piston cylinder 55. When the cylinder 51 is contracted, the fixing plate 1 52 will move closer to the fixing plate 2 54, the fixing plate 1 52 drives the piston rod 53 to move inside the piston cylinder 55 toward one end close to the fixing plate 2 54, and the piston rod 53 will squeeze the air in the piston cylinder 55. At this time, the one-way valve 1 56 is in a closed state, and the one-way valve 2 57 is in an open state, and then the air in the piston cylinder 55 will enter the inside of the connecting tube 6 after being squeezed. At this time, the gas is injected into the connecting tube 6 little by little when the support assembly changes with the angle of the first joint 1 and the second joint 2, so as to enter the guide tube 111. When the air entering the guide tube 111 gradually increases, it will push the piston block 113 to move upward in the guide tube 111 (that is, Fig.10 As shown), the piston block 113 moves upward, driving the push-pull rod 112 to move upward. The upward movement of the push-pull rod 112 will drive the oil filling plug 115 to move upward inside the oil filling tube 9 through the oil filling rod 114. The upward movement of the oil filling plug 115 will push the lubricating oil in the oil filling tube 9. Since the two sealing plugs 84 are away from each other at this time, the fixed cylinder 7 is connected with the interior of the oil filling tube 9. Therefore, the lubricating oil in the oil filling tube 9 will enter the interior of the fixed cylinder 7, and then enter the interior of the transmission chamber 21 from the interior of the fixed cylinder 7. Since the gas is added little by little during the above process, the lubricating oil in the oil filling tube 9 is also injected into the transmission chamber 21 little by little. At this time, the lubricating oil entering the transmission chamber 21 gradually lubricates the transmission structure in the transmission chamber 21, and can form an oil film on the mechanical parts of the transmission joint, reduce the friction of the mechanical parts inside the transmission joint, and can also take away part of the heat during transmission of the transmission joint, further avoiding excessive wear of the transmission structure.

[0024] When the oil filling plug 115 moves to the highest position in the oil filling pipe 9, the oil filling rod 114 can no longer move upward, and the oil filling rod 114 prevents the push-pull rod 112 from moving upward. If the support assembly continues to inject air into the connecting tube 6 at this time, the gas in the connecting tube 6 cannot push the oil filling plug 115 to move, so the pressure in the connecting tube 6 gradually increases. At this time, the pressure relief valve 61 on the connecting tube 6 will open and discharge the gas in the connecting tube 6, avoiding the situation where the support assembly continues to inject air into the connecting tube 6 after the lubricating oil in the oil filling pipe 9 is injected, causing the connecting tube 6 to expand too much and leak.

[0025] The collection assembly collects the lubricating oil: When the lubricating oil is continuously injected, the new lubricating oil can squeeze the old lubricating oil, so that the old lubricating oil will be discharged outward through the oil outlet 121. During the discharge process, the pressure valve plate 122 is stretched open by the squeezing of the lubricating oil. At this time, the old lubricating oil will be discharged to the inside of the collection box 123 through the oil outlet 121, and the old lubricating oil can be collected. The squeezed out old lubricating oil will be mixed with wear debris. Timely discharge can avoid excessive wear of the transmission structure caused by the debris.

[0026] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot joint transmission structure, comprising a first joint component (1) and a second joint component (2), wherein the second joint component (2) is rotatably connected to the first joint component (1), a transmission cavity (21) is provided at one end of the second joint component (2) close to the first joint component (1), and a transmission structure is provided inside the transmission cavity (21), characterized in that: A support component is provided between the first joint component (1) and the second joint component (2); The support assembly comprises two cylinders (51), each of the two ends of the cylinders (51) being fixedly connected to a circular ring (511), and also comprises four fixing seats (31), the first joint component (1) and the second joint component (2) being symmetrically provided with two fixing seats (31), the fixing seats (31) being detachably connected to the first joint component (1) and the second joint component (2) by bolts, a cavity being provided in the middle of the fixing seat (31), two fixing pipes (32) being symmetrically fixedly connected to the fixing seat (31), a sliding groove (33) being provided on the fixing pipe (32), a spring 1 (34) being fixedly connected inside the fixing pipe (32), one end of the spring 1 (34) The spring (34) is fixedly connected to the fixed tube (32). The other end of the spring (34) is fixedly connected to a clamping rod (35). The clamping rod (35) includes a rod body and a shifting plate. The rod body is slidably arranged inside the fixed tube (32). The shifting plate is slidably arranged in the sliding groove (33). The rod body of the clamping rod (35) passes through the fixed seat (31) and extends into the cavity of the fixed seat (31). An inclined surface is arranged at one end of the rod body close to the cavity of the fixed seat (31). The clamping rod (35) also includes four connecting rods (41) respectively inserted into the four fixed seats (31). The connecting rod (41) is symmetrically provided with two connecting grooves (42). The four connecting rods (41) are respectively rotatably connected to the four annular sleeves (511).

2. The robot joint transmission structure according to claim 1, characterized in that: A fixing cylinder (7) is symmetrically inserted into the first joint component (1), the fixing cylinder (7) being in communication with the interior of the transmission chamber (21), an oil injection pipe (9) being provided on a side of the fixing cylinder (7) away from the second joint component (2), a sealing assembly being provided inside the fixing cylinder (7) and the oil injection pipe (9), the sealing assembly comprising a fixing frame (81), a stabilizing cylinder (82) being fixedly connected to the fixing frame (81), a second spring (83) being fixedly connected to the fixing frame (81), the second spring (83) being located inside the stabilizing cylinder (82), the A sealing plug (84) is fixedly connected to one end of the second spring (83) away from the fixing frame (81); a side of the sealing plug (84) close to the second spring (83) is slidably arranged in the stabilizing cylinder (82); a side of the sealing plug (84) away from the stabilizing cylinder (82) is fixedly connected to a resisting rod (85); inner surfaces of the fixing cylinder (7) and the oil filling pipe (9) are fixedly connected to a sealing ring (86); the fixing cylinder (7) is provided with a plurality of circumferentially equidistantly distributed retaining grooves (101); and the oil filling pipe (9) is fixedly connected to a plurality of retaining blocks (102).

3. The robot joint transmission structure according to claim 2, characterized in that: The oil injection pipe (9) is provided with an oil injection assembly, which includes two guide pipes (111) symmetrically fixedly connected to the outer surface of the oil injection pipe (9), the guide pipes (111) are internally movably connected with a push-pull rod (112), the push-pull rod (112) is arranged in a U shape, one end of the push-pull rod (112) is fixedly connected to a piston block (113), the piston block (113) is slidably arranged inside one of the guide pipes (111), the end of the push-pull rod (112) away from the piston block (113) passes through the other guide pipe (111) and extends to the bottom of the oil injection pipe (9), the end of the push-pull rod (112) away from the piston block (113) is fixedly connected to an oil injection rod (114), and the end of the oil injection rod (114) extending to the inside of the oil injection pipe (9) is fixedly connected to an oil injection plug (114). 15), the oil filling plug (115) is slidably connected to the oil filling pipe (9), the guide pipe (111) on which the piston block (113) is slidably provided is provided with a connecting pipe (6) which is detachably connected, the two ends of the cylinder (51) are respectively fixedly connected to a fixing plate 1 (52) and a fixing plate 2 (54), the fixing plate 1 (52) is fixedly connected to a piston rod (53), the fixing plate 2 (54) is fixedly connected to a piston cylinder (55), the end of the piston rod (53) away from the fixing plate 1 (52) is slidably provided inside the piston cylinder (55), the piston cylinder (55) is provided with a one-way valve 1 (56), the piston cylinder (55) is provided with a one-way valve 2 (57), the end of the connecting pipe (6) away from the guide pipe (111) is detachably connected to the piston cylinder (55), and the connecting pipe (6) is provided with a pressure relief valve (61).

4. The robot joint transmission structure according to claim 3, characterized in that: The second joint component (2) is provided with a collecting assembly, the collecting assembly comprising an oil outlet (121) opened on the second joint component (2), the oil outlet (121) being in communication with the transmission chamber (21), a pressure valve plate (122) being provided in the oil outlet (121), the pressure valve plate (122) being configured as a four-petal plastic sheet, and a collecting box (123) being detachably connected to the second joint component (2).

5. The robot joint transmission structure according to claim 1, characterized in that: An edge of one end of the connecting rod (41) close to the connecting groove (42) is configured as an arc edge.

6. The robot joint transmission structure according to claim 2, characterized in that: The fixing frame (81) is a hollow bracket, the edge of the sealing plug (84) away from the stabilizing cylinder (82) is made of rubber material, and the edge of the sealing ring (86) close to the sealing plug (84) is made of rubber material.

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