Mechanical arm articulated arm gear flexible transmission device and transmission method

Abstract

The invention discloses a manipulator articulated arm gear flexible transmission device and a transmission method, and relates to the field of manipulator articulated arms. A manipulator articulated arm gear flexible transmission device comprises a shell and further comprises an output shaft rotationally connected to the shell, a clamping pin is fixedly connected to the output shaft, an inner gear ring is clamped to the clamping pin, a clamping base is fixedly connected to the inner gear ring, a gear shaft is fixedly connected to the clamping base, and an outer gear ring is fixedly connected to the gear shaft. The outer gear ring is used for conveying power to the manipulator articulated arm; a clamping block is fixedly connected to the gear shaft, and an arc-shaped elastic piece is fixedly connected to the clamping block. The arc-shaped elastic pieces on the outer gear ring and the inner gear ring are fixedly connected with one ends of the clamping blocks, in the working process of the outer gear ring, the arc-shaped elastic pieces can reduce vibration of the manipulator joint arm and the outer gear ring, and meanwhile noise is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic arm joint arms, and more specifically, relates to a flexible gear transmission device for a robotic arm joint arm. Background Art

[0002] In the existing transmission systems of robotic arm joint arms, a rigid gear transmission structure is mostly adopted. Although rigid gear transmission can achieve relatively precise power transmission and motion control, there are many drawbacks. For example, during high-speed operation, due to the rigid meshing between gears, it is easy to generate large impacts and vibrations, which not only cause noise pollution, but also accelerate the wear of the gears and reduce the service life of the transmission device. At the same time, rigid gear transmission has extremely high requirements for installation accuracy. A tiny installation deviation may lead to poor gear meshing, further exacerbating wear and reducing transmission efficiency. In addition, when the robotic arm joint needs to perform complex movements, rigid transmission is difficult to adapt to changes in different directions and forces, and has poor flexibility. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a flexible gear transmission device for a robotic arm joint arm that can overcome the above problems or at least partially solve the above problems.

[0004] To solve the above technical problem, the basic concept of the technical solution adopted by the present invention is: a flexible gear transmission device for a robotic arm joint arm, including a housing, and further including: an output shaft rotatably connected to the housing, a retaining pin fixedly connected to the output shaft, an internal gear ring snap-fitted on the retaining pin, a retaining seat fixedly connected to the internal gear ring, a gear shaft fixedly connected to the retaining seat, an external gear ring fixedly connected to the gear shaft, and the external gear ring is used to transmit power to the robotic arm joint arm; a locking block is fixedly connected to the gear shaft, and an arc-shaped elastic piece is fixedly connected to the locking block.

[0005] Further, a fixed seat is fixedly connected to the housing, a rubber column is fixedly connected to the fixed seat, a cover plate is fixedly connected to the rubber column, and the rubber column bends when the cover plate is stressed.

[0006] Further, a fixed column is fixedly connected to the cover plate, a fixed column is fixedly connected to the fixed seat, a tension spring is fixedly connected to the fixed seat, the fixed seat and the cover plate are fixedly connected by the tension spring, and the two groups of fixed columns are slidably connected inside the tension spring.

[0007] Further, a shaft sliding seat is fixedly connected to the cover plate, a shaft sliding block is slidably connected to the shaft sliding seat, a longitudinal sliding seat is fixedly connected to the shaft sliding block, a longitudinal sliding block is slidably connected to the longitudinal sliding seat, and a connecting seat is fixedly connected to the longitudinal sliding block.

[0008] Furthermore, an inner shell is fixedly connected to the connecting seat, an input shaft is rotatably connected to the inner shell, a driving gear is fixedly connected to the input shaft, a driven gear is meshed with the driving gear, and an output shaft is fixedly connected to the driven gear.

[0009] Furthermore, ventilation holes are formed in the inner shell, and the ventilation holes are distributed in the middle and both ends below the driving gear and the driven gear.

[0010] Furthermore, an oil baffle is fixedly connected to the inner shell, an oil inlet hole is formed in the oil baffle, a three-in-one pipe is fixedly connected to the inner shell, and the oil inlet hole penetrates through the oil baffle and the inner shell and corresponds to the three-in-one pipe.

[0011] Furthermore, a control pipe is fixedly connected to the three-in-one pipe, a fixed shaft is fixedly connected to the control pipe, a snap ring is rotatably connected to the control pipe, a fixed spring is fixedly connected to the fixed shaft, the fixed spring passes through the snap ring and is fixedly connected to the control pipe, a control plate is fixedly connected to the snap ring, and the control plate is slidably connected to the control pipe.

[0012] Furthermore, an oil delivery pipe is fixedly connected to the control pipe.

[0013] A flexible transmission method for a manipulator joint arm gear includes the following steps: S1. Reduce impact vibration and noise; While the outer gear ring drives the manipulator joint arm to output power, when the manipulator joint arm works, the pin on the output shaft corresponds to the inner gear ring, the clamping seat on the inner gear ring corresponds to the clamping block on the gear shaft, and the arc-shaped elastic pieces on the outer gear ring and the inner gear ring are fixedly connected to one end of the clamping block. During the operation of the outer gear ring, the arc-shaped elastic pieces will reduce the vibration between the manipulator joint arm and the outer gear ring, and at the same time reduce the noise.

[0014] Power is provided by a driving motor arranged inside to drive the input shaft. The input shaft drives the driving gear to rotate, and the driven gear meshed with the driving gear rotates accordingly, driving the output shaft to rotate.

[0015] S2. Improve transmission efficiency and service life; While the driving gear and the driven gear are rotating, a directional air ring will be formed inside the inner shell. The ventilation holes formed at the top of the inner shell will discharge the air inside the inner shell. The oil inlet holes on the oil baffle above the inner shell will extract air from the outside. While extracting air, it will drive the control plate inside the control pipe to rotate on the snap ring. When rotating, the snap ring will drive the fixed spring to undergo a certain deformation. At this time, the oil delivery pipe drips oil above the driving gear and the driven gear through the control pipe. The oil dripping on the driven gear and the driving gear can ensure heat dissipation while also improving transmission efficiency and service life.

[0016] S3. Enhance flexibility and adaptability; The forces received by the manipulator joint arm vary under different movements. When the cover plate on the fixed seat receives different forces, it transmits power downward. The rubber column first starts to deform to a certain extent, and then the fixed column on the cover plate starts to deflect to a certain extent, squeezing the tension spring. The shaft sliding seat on the cover plate deflects to a certain extent, driving the shaft slider to slide. The longitudinal sliding seat drives the longitudinal slider to deflect, the longitudinal slider drives the connecting seat to deflect, and the connecting seat drives the inner shell to deflect, so that the gear set inside always maintains a stable meshing effect, improving the flexibility and motion accuracy of the manipulator joint, enabling it to better complete complex operation tasks.

[0017] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: The arc-shaped elastic pieces on the external gear ring and the internal gear ring of the present invention are fixedly connected to one end of the block. During the operation of the external gear ring, the arc-shaped elastic pieces will reduce the vibration of the manipulator joint arm and the external gear ring, and at the same time reduce the noise.

[0018] The snap ring will drive the fixed spring to deform to a certain extent. At this time, the oil pipeline drips oil above the driving gear and the driven gear through the control pipe. The oil dripping on the driven gear and the driving gear not only ensures heat dissipation but also improves the transmission efficiency and service life.

[0019] The longitudinal sliding seat drives the longitudinal slider to deflect, the longitudinal slider drives the connecting seat to deflect, and the connecting seat drives the inner shell to deflect, so that the gear set inside always maintains a stable meshing effect, improving the flexibility and motion accuracy of the manipulator joint, enabling it to better complete complex operation tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In the drawings: Figure 1 is the front view schematic diagram of a flexible gear transmission device for a manipulator joint arm proposed by the present invention; Figure 2 is the sectional view schematic diagram of a flexible gear transmission device for a manipulator joint arm proposed by the present invention Figure 3 is the schematic diagram of the housing and fixed seat structure of a flexible gear transmission device for a manipulator joint arm proposed by the present invention; Figure 4 is the schematic diagram of the structure of the fixed seat and rubber column in a flexible gear transmission device for a manipulator joint arm proposed by the present invention; Figure 5 is the schematic diagram of the structure of the shaft sliding seat and longitudinal sliding seat in a flexible gear transmission device for a manipulator joint arm proposed by the present invention; Figure 6 is the schematic diagram of the structure of the inner shell and input shaft in a flexible gear transmission device for a manipulator joint arm proposed by the present invention; Figure 7Schematic diagram of the structure of the inner shell and the ventilation holes in a flexible gear transmission device for a robotic arm joint arm proposed by the present invention; Figure 8 Schematic diagram of the structure of the input shaft and the output shaft in a flexible gear transmission device for a robotic arm joint arm proposed by the present invention; Figure 9 Schematic diagram of the structure of the output shaft and the external gear ring in a flexible gear transmission device for a robotic arm joint arm proposed by the present invention; Figure 10 Schematic diagram of the structure of the control pipe and the fixed shaft in a flexible gear transmission device for a robotic arm joint arm proposed by the present invention.

[0021] In the figure: 1. Outer shell; 2. Fixed seat; 21. Rubber column; 22. Cover plate; 23. Fixed column; 24. Tensile spring; 3. Shaft sliding seat; 31. Shaft slider; 32. Longitudinal sliding seat; 33. Longitudinal slider; 34. Connecting seat; 4. Inner shell; 41. Input shaft; 42. Driving gear; 43. Driven gear; 44. Output shaft; 45. Pin; 46. Internal gear ring; 47. Clamping seat; 48. Gear shaft; 49. External gear ring; 410. Block; 411. Arc-shaped elastic piece; 412. Ventilation hole; 5. Oil baffle; 51. Oil inlet hole; 52. Three-in-one pipe; 53. Control pipe; 54. Fixed shaft; 55. Snap ring; 56. Fixed spring; 57. Control plate; 6. Oil delivery pipe. Detailed implementation manners

[0022] To make the objectives, 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 with reference to the accompanying drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0023] Embodiment 1: Refer to Figure 1-10 , a flexible gear transmission device for a robotic arm joint arm, including an outer shell 1, and further including: an output shaft 44 rotatably connected to the outer shell 1, a pin 45 fixedly connected to the output shaft 44, an internal gear ring 46 clamped on the pin 45, a clamping seat 47 fixedly connected to the internal gear ring 46, a gear shaft 48 fixedly connected to the clamping seat 47, an external gear ring 49 fixedly connected to the gear shaft 48, and the external gear ring 49 is used to transmit power to the robotic arm joint arm; a block 410 is fixedly connected to the gear shaft 48, and an arc-shaped elastic piece 411 is fixedly connected to the block 410.

[0024] A fixed seat 2 is fixedly connected to the outer shell 1, a rubber column 21 is fixedly connected to the fixed seat 2, a cover plate 22 is fixedly connected to the rubber column 21, and the rubber column 21 bends when the cover plate 22 is stressed.

[0025] A fixing post 23 is fixedly connected to the cover plate 22, a fixing post 23 is fixedly connected to the fixing base 2, a tension spring 24 is fixedly connected to the fixing base 2, the fixing base 2 and the cover plate 22 are fixedly connected by the tension spring 24, and the two groups of fixing posts 23 are slidably connected to the inner wall of the tension spring 24.

[0026] A shaft sliding seat 3 is fixedly connected to the cover plate 22, a shaft slider 31 is slidably connected to the shaft sliding seat 3, a longitudinal sliding seat 32 is fixedly connected to the shaft slider 31, a longitudinal slider 33 is slidably connected to the longitudinal sliding seat 32, and a connecting seat 34 is fixedly connected to the longitudinal slider 33.

[0027] An inner shell 4 is fixedly connected to the connecting seat 34, an input shaft 41 is rotatably connected to the inner shell 4, a driving gear 42 is fixedly connected to the input shaft 41, a driven gear 43 is engaged with the driving gear 42, and an output shaft 44 is fixedly connected to the driven gear 43.

[0028] Vent holes 412 are formed in the inner shell 4, and the vent holes 412 are distributed in the middle and both ends below the driving gear 42 and the driven gear 43.

[0029] An oil baffle 5 is fixedly connected to the inner shell 4, an oil inlet hole 51 is formed in the oil baffle 5, a three-in-one pipe 52 is fixedly connected to the inner shell 4, and the oil inlet hole 51 penetrates through the oil baffle 5 and the inner shell 4 and corresponds to the three-in-one pipe 52.

[0030] A control pipe 53 is fixedly connected to the three-in-one pipe 52, a fixing shaft 54 is fixedly connected to the control pipe 53, a snap ring 55 is rotatably connected to the control pipe 53, a fixing spring 56 is fixedly connected to the fixing shaft 54, the fixing spring 56 passes through the snap ring 55 and is fixedly connected to the control pipe 53, and a control plate 57 is fixedly connected to the snap ring 55, and the control plate 57 is slidably connected to the control pipe 53.

[0031] An oil delivery pipe 6 is fixedly connected to the control pipe 53.

[0032] While the outer gear ring 49 drives the manipulator joint arm to output power, when the manipulator joint arm works, the pin 45 on the output shaft 44 corresponds to the inner gear ring 46, the clamping seat 47 on the inner gear ring 46 corresponds to the clamping block 410 on the gear shaft 48, and the arc-shaped elastic piece 411 on the outer gear ring 49 and the inner gear ring 46 is fixedly connected to one end of the clamping block 410. During the operation of the outer gear ring 49, the arc-shaped elastic piece 411 will reduce the vibration between the manipulator joint arm and the outer gear ring 49, and at the same time reduce the noise.

[0033] The driving motor provided inside provides power to drive the input shaft 41, the input shaft 41 drives the driving gear 42 to rotate, the driven gear 43 engaged with the driving gear 42 rotates accordingly, and drives the output shaft 44 to rotate.

[0034] S2. Improve the transmission efficiency and service life; While the driving gear 42 and the driven gear 43 are rotating, an oriented air ring will be formed inside the inner shell 4. The air vent hole 412 opened at the top of the inner shell 4 will take out the air inside the inner shell 4. The oil inlet hole 51 on the oil baffle 5 above the inner shell 4 will extract air from the outside. While extracting air, it will drive the control plate 57 inside the control pipe 53 to rotate on the snap ring 55. When rotating, the snap ring 55 will drive the fixed spring 56 to deform to a certain extent. At this time, the oil pipe 6 will drip engine oil above the driving gear 42 and the driven gear 43 through the control pipe 53. The engine oil dripping on the driven gear 43 and the driving gear 42 can ensure heat dissipation while improving the transmission efficiency and service life.

[0035] S3. Enhance flexibility and adaptability; The forces received by the manipulator joint arm under different actions vary. When the cover plate 22 on the fixed seat 2 receives different forces, it will transmit power downward. The rubber column 21 will first start to deform to a certain extent. Secondly, the fixed column 23 on the cover plate 22 will start to deflect to a certain extent, squeezing the tension spring 24. The shaft sliding seat 3 on the cover plate 22 will deflect to a certain extent, driving the shaft slider 31 to slide. The longitudinal sliding seat 32 will drive the longitudinal slider 33 to deflect. The longitudinal slider 33 will drive the connecting seat 34 to deflect. The connecting seat 34 will drive the inner shell 4 to deflect, so that the gear set inside it always maintains a stable meshing effect, improving the flexibility and motion accuracy of the manipulator joint, enabling it to better complete complex operation tasks.

[0036] Example 2: Refer to Figure 1 - Figure 10 , a flexible transmission method for the gears of a manipulator joint arm, including the following steps: S1. Reduce shock vibration and noise; While the outer gear ring 49 drives the manipulator joint arm to output power, when the manipulator joint arm is working, the pin 45 on the output shaft 44 corresponds to the inner gear ring 46, the clamping seat 47 on the inner gear ring 46 corresponds to the clamping block 410 on the gear shaft 48, and the arc-shaped elastic piece 411 on the outer gear ring 49 and the inner gear ring 46 is fixedly connected to one end of the clamping block 410. During the operation of the outer gear ring 49, the arc-shaped elastic piece 411 will reduce the vibration of the manipulator joint arm and the outer gear ring 49, and at the same time reduce the noise.

[0037] The driving motor provided inside provides power to drive the input shaft 41. The input shaft 41 drives the driving gear 42 to rotate. The driven gear 43 meshed with the driving gear 42 rotates accordingly, driving the output shaft 44 to rotate.

[0038] S2. Improve transmission efficiency and service life; While the driving gear 42 and the driven gear 43 are rotating, an oriented air ring will be formed inside the inner shell 4. The air vent hole 412 opened at the top of the inner shell 4 will carry out the air inside the inner shell 4. The oil inlet hole 51 on the oil baffle 5 above the inner shell 4 will extract air from the outside. While extracting air, it will drive the control plate 57 inside the control pipe 53 to rotate on the snap ring 55. When rotating, the snap ring 55 will drive the fixed spring 56 to deform to a certain extent. At this time, the oil pipe 6 will drip engine oil above the driving gear 42 and the driven gear 43 through the control pipe 53. The engine oil dripping on the driven gear 43 and the driving gear 42 can ensure heat dissipation while also improving the transmission efficiency and service life.

[0039] S3. Enhance flexibility and adaptability; The forces received by the manipulator joint arm under different actions are different. When the cover plate 22 on the fixed seat 2 receives different forces, it will transmit power downward. The rubber column 21 will first start to deform to a certain extent. Secondly, the fixed column 23 on the cover plate 22 will start to deflect to a certain extent, squeezing the tension spring 24. The shaft sliding seat 3 on the cover plate 22 will deflect to a certain extent, driving the shaft slider 31 to slide. The longitudinal sliding seat 32 drives the longitudinal slider 33 to deflect. The longitudinal slider 33 drives the connecting seat 34 to deflect. The connecting seat 34 drives the inner shell 4 to deflect, so that the gear set inside it always maintains a stable meshing effect, improving the flexibility and motion accuracy of the manipulator joint, enabling it to better complete complex operation tasks.

[0040] In the present invention, the arc-shaped elastic pieces 411 on the external gear ring 49 and the internal gear ring 46 are fixedly connected to one end of the clamping block 410. During the operation of the external gear ring 49, the arc-shaped elastic pieces 411 will reduce the vibration of the manipulator joint arm and the external gear ring 49, and at the same time reduce the noise.

[0041] The snap ring 55 will drive the fixed spring 56 to deform to a certain extent. At this time, the oil pipe 6 will drip engine oil above the driving gear 42 and the driven gear 43 through the control pipe 53. The engine oil dripping on the driven gear 43 and the driving gear 42 can ensure heat dissipation while also improving the transmission efficiency and service life.

[0042] The longitudinal sliding seat 32 drives the longitudinal slider 33 to deflect. The longitudinal slider 33 drives the connecting seat 34 to deflect. The connecting seat 34 drives the inner shell 4 to deflect, so that the gear set inside it always maintains a stable meshing effect, improving the flexibility and motion accuracy of the manipulator joint, enabling it to better complete complex operation tasks.

[0043] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art of the present invention, without departing from the scope of the technical solution of the present invention, can make some changes or modifications using the technical content prompted above into equivalent embodiments of equivalent changes. However, as long as it does not depart from the content of the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention still fall within the scope of the present invention's solution.

Claims

1. A robot joint arm gear flexible transmission device, comprising a housing (1), characterized in that: Also includes: An output shaft (44) rotatably connected to the housing (1), the output shaft (44) being fixedly connected to a bayonet pin (45), the bayonet pin (45) being clamped to an inner gear ring (46), the inner gear ring (46) being fixedly connected to a holder (47), the holder (47) being fixedly connected to a gear shaft (48), the gear shaft (48) being fixedly connected to an outer gear ring (49), the outer gear ring (49) being used to transmit power to the joint arm of the robot; A clamping block (410) is fixedly connected to the gear shaft (48), and an arc-shaped spring sheet (411) is fixedly connected to the clamping block (410).

2. A robot joint arm gear flexible transmission device according to claim 1, characterized in that: The housing (1) is fixedly connected to a fixing seat (2), the fixing seat (2) is fixedly connected to a rubber column (21), the rubber column (21) is fixedly connected to a cover plate (22), and the rubber column (21) bends when the cover plate (22) is subjected to force.

3. A robot joint arm gear flexible transmission device according to claim 2, characterized in that: The cover plate (22) is fixedly connected with a fixing column (23), the fixing seat (2) is fixedly connected with a fixing column (23), the fixing seat (2) is fixedly connected with a tension spring (24), the fixing seat (2) and the cover plate (22) are fixedly connected via the tension spring (24), and the two groups of fixing columns (23) are slidably connected on the inner wall of the tension spring (24).

4. A robot joint arm gear flexible transmission device according to claim 2, characterized in that: The cover plate (22) is fixedly connected to an axial sliding seat (3), the axial sliding seat (3) is slidably connected to an axial sliding block (31), the axial sliding block (31) is fixedly connected to a longitudinal sliding seat (32), the longitudinal sliding seat (32) is slidably connected to a longitudinal sliding block (33), and the longitudinal sliding block (33) is fixedly connected to a connecting seat (34).

5. A robot joint arm gear flexible transmission device according to claim 4, characterized in that: The connecting seat (34) is fixedly connected to an inner shell (4), the inner shell (4) is rotatably connected to an input shaft (41), the input shaft (41) is fixedly connected to a driving gear (42), the driving gear (42) is meshed with a driven gear (43), and the driven gear (43) is fixedly connected to an output shaft (44).

6. A robot joint arm gear flexible transmission device according to claim 5, characterized in that: The inner shell (4) is provided with ventilation holes (412), and the ventilation holes (412) are distributed in the middle below and at both ends of the driving gear (42) and the driven gear (43).

7. A robot joint arm gear flexible transmission device according to claim 6, characterized in that: An oil baffle plate (5) is fixedly connected to the inner shell (4), an oil inlet hole (51) is formed on the oil baffle plate (5), and a three-in-one pipe (52) is fixedly connected to the inner shell (4), the oil inlet hole (51) penetrates the oil baffle plate (5) and the inner shell (4) and corresponds to the three-in-one pipe (52).

8. The robot joint arm gear flexible transmission device according to claim 7, characterized in that: The three-in-one tube (52) is fixedly connected to a control tube (53), the control tube (53) is fixedly connected to a fixed shaft (54), the control tube (53) is rotatably connected to a clamping ring (55), the fixed shaft (54) is fixedly connected to a fixing spring (56), the fixing spring (56) passes through the clamping ring (55) and is fixedly connected to the control tube (53), the clamping ring (55) is fixedly connected to a control plate (57), and the control tube (53) is slidably connected to the control plate (57).

9. The robot joint arm gear flexible transmission device according to claim 8, characterized in that: The control pipe (53) is fixedly connected to the oil delivery pipe (6).

10. A flexible transmission method for gears of a robot joint arm, characterized in that: A robot joint arm gear flexible transmission device as claimed in any one of claims 1 to 9 is used, comprising the following steps: S1. Reduce impact vibration and noise; While the outer gear ring (49) drives the robot joint arm to output power, when the robot joint arm is working, the latch pin (45) on the output shaft (44) corresponds to the inner gear ring (46), the holder (47) on the inner gear ring (46) corresponds to the block (410) on the gear shaft (48), and the arc-shaped spring piece (411) on the outer gear ring (49) and the inner gear ring (46) is fixedly connected to one end of the block (410). When the outer gear ring (49) is working, the arc-shaped spring piece (411) can reduce the vibration of the robot joint arm and the outer gear ring (49), and reduce the noise; A driving motor disposed inside provides power to drive the input shaft (41), the input shaft (41) drives the driving gear (42) to rotate, and the driven gear (43) meshed with the driving gear (42) rotates accordingly, driving the output shaft (44) to rotate; S2. Improve transmission efficiency and service life; When the driving gear (42) and the driven gear (43) rotate, a directional wind circle is formed inside the inner shell (4), and the air vent (412) opened at the top of the inner shell (4) brings out the air inside the inner shell (4). The oil inlet hole (51) on the oil baffle plate (5) above the inner shell (4) draws air from the outside, and while drawing air, drives the control plate (57) inside the control tube (53) to rotate on the snap ring (55). When rotating, the snap ring (55) drives the fixing spring (56) to deform to a certain extent. At this time, the oil delivery pipe (6) drips oil onto the driving gear (42) and the driven gear (43) through the control tube (53). The oil dripping onto the driven gear (43) and the driving gear (42) ensures heat dissipation while improving transmission efficiency and service life. S3, enhance flexibility and adaptability; The force applied to the joint arm of the manipulator varies under different actions. When the cover plate (22) on the fixed seat (2) receives different forces, it transmits power downward, and the rubber column (21) first begins to deform to a certain extent. Then, the fixed column (23) on the cover plate (22) begins to deflect to a certain extent, thereby squeezing the tension spring (24). The shaft slide seat (3) on the cover plate (22) deflects to a certain extent, thereby driving the shaft slide block (31) to slide. The longitudinal slide seat (32) drives the longitudinal slide block (33) to deflect. The longitudinal slide block (33) drives the connecting seat (34) to deflect. The connecting seat (34) drives the inner shell (4) to deflect, thereby maintaining a stable meshing effect of the gear set inside the manipulator. This improves the flexibility and movement accuracy of the joint of the manipulator, thereby enabling the manipulator to better complete complex operation tasks.

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