A flexible gear transmission device and transmission method for a robotic arm articulated arm

Abstract

This invention discloses a flexible gear transmission device and method for a robotic arm articulated joint, relating to the field of robotic arms articulated joints. The flexible gear transmission device for a robotic arm articulated joint includes a housing, and further includes: an output shaft rotatably connected to the housing; a retaining pin fixedly connected to the output shaft; an internal gear ring engaged with the retaining pin; a retaining seat fixedly connected to the internal gear ring; a gear shaft fixedly connected to the retaining seat; and an external gear ring fixedly connected to the gear shaft, the external gear ring being used to transmit power to the robotic arm articulated joint; a retaining block fixedly connected to the gear shaft; and an arc-shaped spring fixedly connected to the retaining block. In this invention, the arc-shaped spring on the external and internal gear rings is fixedly connected to one end of the retaining block. During the operation of the external gear ring, the arc-shaped spring reduces the vibration between the robotic arm articulated joint and the external gear ring, while also reducing noise.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robot joint arm, in particular to a robot joint arm gear flexible transmission device. BACKGROUND

[0002] In the existing robot joint arm transmission system, rigid gear transmission structure is mostly adopted. Although rigid gear transmission can realize relatively accurate power transmission and motion control, it has many drawbacks. For example, when running at high speed, due to the rigid engagement between the gears, it is easy to produce a large impact and vibration, which not only will cause noise pollution, but also will accelerate the wear of the gears and reduce the service life of the transmission device. At the same time, the rigid gear transmission has very high requirements for installation accuracy, and a small installation deviation may cause poor gear engagement, further aggravating wear and reducing transmission efficiency. In addition, when the robot joint needs to perform complex actions, the rigid transmission is difficult to adapt to the changes in different directions and forces, and the flexibility is poor. SUMMARY

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

[0004] To solve the above technical problems, the basic idea of the technical scheme adopted by the present application is: a robot joint arm gear flexible transmission device, comprising a housing, further comprising: an output shaft rotatably connected to the housing, a cotter fixedly connected to the output shaft, an inner ring gear connected to the cotter, a seat fixedly connected to the inner ring gear, a gear shaft fixedly connected to the seat, an outer ring gear fixedly connected to the gear shaft, the outer ring gear being used to transmit power to the robot joint arm; a clamping block fixedly connected to the gear shaft, and an arc-shaped elastic sheet fixedly connected to the clamping 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 through the tension spring, and the two groups of fixed columns are slidingly connected in the inner wall of the tension spring.

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

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

[0009] Further, the inner shell is provided with air holes, which are distributed below the middle and both ends of the driving gear and the driven gear.

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

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

[0012] Further, the control pipe is fixedly connected with an oil feeding pipe.

[0013] A flexible transmission method of a robot joint arm gear, comprising the following steps:

[0014] S1, reducing impact vibration and noise;

[0015] When the outer ring drives the robot joint arm to output power, the output shaft is correspondingly connected with the inner ring, the clamping block on the gear shaft is correspondingly connected with the clamping seat on the inner ring, one end of the arc-shaped elastic sheet on the outer ring and the inner ring is fixedly connected with the clamping block, and the arc-shaped elastic sheet can reduce the vibration of the small robot joint arm and the outer ring, and the noise is small.

[0016] The driving motor arranged inside provides power to drive the input shaft, the input shaft drives the driving gear to rotate, the driven gear meshed with the driving gear rotates, and the output shaft rotates.

[0017] S2, improving transmission efficiency and service life;

[0018] When the driving gear and the driven gear rotate, a directional air ring is formed in the inner shell, the air holes arranged on the top of the inner shell can bring out the air in the inner shell, the oil inlet hole on the oil baffle above the inner shell can perform air extraction to the outside, the control plate in the control pipe can rotate on the snap ring during air extraction, the snap ring can deform the fixed spring during rotation, the oil feeding pipe can drip oil above the driving gear and the driven gear through the control pipe, and the oil on the driven gear and the driving gear can ensure heat dissipation, improve transmission efficiency and service life.

[0019] S3, enhance flexibility and adaptability;

[0020] The force received by the mechanical hand joint arm varies under different actions. When the cover plate on the fixed seat receives different forces, the power is transmitted downward. The rubber column first starts certain deformation, then the fixed column on the cover plate starts certain deflection, the tension spring is extruded, the shaft sliding seat on the cover plate is deflected, the shaft sliding block is slid, the vertical sliding block is deflected, the connecting seat is deflected, the inner shell is deflected, the gear set in the inner shell always maintains stable meshing effect, the flexibility and motion precision of the mechanical hand joint are improved, and the mechanical hand joint can better complete complex operation tasks.

[0021] After the above technical scheme is adopted, the present application has the following beneficial effects compared with the prior art: the arc-shaped elastic sheet on the outer gear ring and the inner gear ring is fixedly connected with one end of the clamping block. In the working of the outer gear ring, the arc-shaped elastic sheet can reduce the vibration of the small mechanical hand joint arm and the outer gear ring, and the noise is also reduced.

[0022] The clamping ring drives the fixed spring to deform, at this time, the oil pipe drips oil above the driving gear and the driven gear through the control pipe. The oil on the driving gear and the driven gear not only ensures heat dissipation but also improves transmission efficiency and service life.

[0023] The vertical sliding block is deflected, the connecting seat is deflected, the inner shell is deflected, the gear set in the inner shell always maintains stable meshing effect, the flexibility and motion precision of the mechanical hand joint are improved, and the mechanical hand joint can better complete complex operation tasks. BRIEF DESCRIPTION OF DRAWINGS

[0024] In the drawings:

[0025] Figure 1 It is a front view schematic diagram of a mechanical hand joint arm gear flexible transmission device proposed by the present application;

[0026] Figure 2 It is a sectional view schematic diagram of a mechanical hand joint arm gear flexible transmission device proposed by the present application

[0027] Figure 3 It is a shell and fixed seat structure schematic diagram of a mechanical hand joint arm gear flexible transmission device proposed by the present application;

[0028] Figure 4 It is a structure schematic diagram of a fixed seat and a rubber column in a mechanical hand joint arm gear flexible transmission device proposed by the present application;

[0029] Figure 5The structural schematic view of the inner shell and the input shaft in the flexible transmission device of the joint arm gear of the manipulator is shown in the figure.

[0030] Figure 6 The structural schematic view of the inner shell and the input shaft in the flexible transmission device of the joint arm gear of the manipulator is shown in the figure.

[0031] Figure 7 The structural schematic view of the inner shell and the input shaft in the flexible transmission device of the joint arm gear of the manipulator is shown in the figure.

[0032] Figure 8 The structural schematic view of the inner shell and the input shaft in the flexible transmission device of the joint arm gear of the manipulator is shown in the figure.

[0033] Figure 9 The structural schematic view of the inner shell and the input shaft in the flexible transmission device of the joint arm gear of the manipulator is shown in the figure.

[0034] Figure 10 The structural schematic view of the inner shell and the input shaft in the flexible transmission device of the joint arm gear of the manipulator is shown in the figure.

[0035] In the figure: 1, the outer shell; 2, the fixed seat; 21, the rubber column; 22, the cover plate; 23, the fixed column; 24, the tension spring; 3, the shaft sliding seat; 31, the shaft sliding block; 32, the longitudinal sliding seat; 33, the longitudinal sliding block; 34, the connecting seat; 4, the inner shell; 41, the input shaft; 42, the driving gear; 43, the driven gear; 44, the output shaft; 45, the pin; 46, the inner gear ring; 47, the clamping seat; 48, the gear shaft; 49, the outer gear ring; 410, the clamping block; 411, the arc-shaped elastic sheet; 412, the air hole; 5, the oil baffle; 51, the oil inlet hole; 52, the three-in-one pipe; 53, the control pipe; 54, the fixed shaft; 55, the clamping ring; 56, the fixed spring; 57, the control plate; 6, the oil delivery pipe. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but not to limit the scope of the present application.

[0037] Embodiment 1: Refer to Figures 1-10The utility model provides a kind of mechanical hand joint arm gear flexible transmission device, including shell 1, further include: rotationally connected on shell 1 output shaft 44, output shaft 44 is fixedly connected with bayonet 45, bayonet 45 is clamped with inner ring gear 46, inner ring gear 46 is fixedly connected with card holder 47, card holder 47 is fixedly connected gear shaft 48, gear shaft 48 is fixedly connected with outer ring gear 49, outer ring gear 49 is used to power transmission for mechanical hand joint arm;Gear shaft 48 is fixedly connected with clamping block 410, clamping block 410 is fixedly connected with arc spring 411.

[0038] Shell 1 is fixedly connected with fixed seat 2, fixed seat 2 is fixedly connected with rubber column 21, rubber column 21 is fixedly connected with cover plate 22, and rubber column 21 is bent when cover plate 22 is stressed.

[0039] Cover plate 22 is fixedly connected with fixed column 23, fixed seat 2 is fixedly connected with fixed column 23, fixed seat 2 is fixedly connected with tension spring 24, fixed seat 2 is fixedly connected with cover plate 22 by tension spring 24, and two groups of fixed column 23 are slidably connected in the inner wall of tension spring 24.

[0040] Cover plate 22 is fixedly connected with shaft sliding seat 3, shaft sliding seat 3 is slidably connected with shaft sliding block 31, shaft sliding block 31 is fixedly connected with vertical sliding seat 32, vertical sliding seat 32 is slidably connected with vertical sliding block 33, and vertical sliding block 33 is fixedly connected with connecting seat 34.

[0041] Connecting seat 34 is fixedly connected with inner shell 4, input shaft 41 is rotatably connected to inner shell 4, driving gear 42 is fixedly connected to input shaft 41, driven gear 43 is engaged with driving gear 42, and output shaft 44 is fixedly connected to driven gear 43.

[0042] Vent hole 412 is formed in inner shell 4, and vent hole 412 is distributed below, in the middle and at both ends of driving gear 42 and driven gear 43.

[0043] Inner shell 4 is fixedly connected with oil baffle 5, oil inlet hole 51 is formed in oil baffle 5, three-in-one pipe 52 is fixedly connected to inner shell 4, and oil inlet hole 51 penetrates oil baffle 5 and inner shell 4 and corresponds to three-in-one pipe 52.

[0044] Three-in-one pipe 52 is fixedly connected with control pipe 53, control pipe 53 is fixedly connected with fixed shaft 54, control pipe 53 is rotatably connected with snap ring 55, fixed shaft 54 is fixedly connected with fixed spring 56, fixed spring 56 is fixedly connected with control pipe 53 by penetrating snap ring 55, control plate 57 is fixedly connected to snap ring 55, and control plate 57 is slidably connected with control pipe 53.

[0045] Oil inlet pipe 6 is fixedly connected to control pipe 53.

[0046] When the outer ring gear 49 drives the mechanical hand joint arm to output power, the pin 45 on the output shaft 44 corresponds to the inner ring gear 46, the clamping seat 47 on the inner ring gear 46 corresponds to the clamping block 410 on the gear shaft 48, the arc-shaped elastic piece 411 on the outer ring gear 49 and the inner ring gear 46 is fixedly connected to one end of the clamping block 410, and when the outer ring gear 49 works, the arc-shaped elastic piece 411 can reduce the vibration of the small mechanical hand joint arm and the outer ring gear 49, and the noise is small.

[0047] The driving motor arranged inside provides power to drive the input shaft 41, the input shaft 41 drives the driving gear 42 to rotate, the driven gear 43 meshing with the driving gear 42 rotates to drive the output shaft 44 to rotate.

[0048] S2, improve transmission efficiency and service life;

[0049] When the driving gear 42 and the driven gear 43 rotate, a directional air ring is formed in the inside of the inner shell 4, the air hole 412 opened at the top of the inner shell 4 can bring out the air inside the inner shell 4, the oil inlet hole 51 on the oil baffle 5 above the inner shell 4 can suck air outside, and at the same time, the control plate 57 in the control pipe 53 drives the snap ring 55 to rotate, and the snap ring 55 drives the fixed spring 56 to deform at this time. At this time, the oil inlet pipe 6 drips oil above the driving gear 42 and the driven gear 43 through the control pipe 53, and the oil on the driven gear 43 and the driving gear 42 not only ensures heat dissipation but also improves transmission efficiency and service life.

[0050] S3, enhance flexibility and adaptability;

[0051] The force received by the mechanical hand joint arm changes under different actions, when the cover plate 22 on the fixed seat 2 receives different forces, it drives power downward, the rubber column 21 first begins to deform, then the fixed column 23 on the cover plate 22 begins to deflect, the stretching spring 24 is pressed, the shaft sliding seat 3 on the cover plate 22 deflects, the shaft sliding block 31 slides, the vertical sliding seat 32 drives the vertical sliding block 33 to deflect, the vertical sliding block 33 drives the connecting seat 34 to deflect, and the connecting seat 34 drives the inner shell 4 to deflect, so that the gear set inside the inner shell 4 always maintains stable meshing effect, improves the flexibility and motion accuracy of the mechanical hand joint, and makes it better to complete complex operation tasks.

[0052] Embodiment 2: refer to Figures 1-10 A flexible transmission method of a mechanical hand joint arm gear, comprising the following steps:

[0053] S1, reduce impact vibration and noise;

[0054] When the outer gear ring 49 drives the mechanical hand joint arm to output power, 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, the arc-shaped elastic sheet 411 on the outer gear ring 49 and the inner gear ring 46 is fixedly connected to one end of the clamping block 410, and when the outer gear ring 49 works, the arc-shaped elastic sheet 411 can reduce the vibration of the small mechanical hand joint arm and the outer gear ring 49, and the noise is small.

[0055] The driving motor arranged inside provides power to drive the input shaft 41, the input shaft 41 drives the driving gear 42 to rotate, the driven gear 43 meshing with the driving gear 42 rotates to drive the output shaft 44 to rotate.

[0056] S2, improve transmission efficiency and service life;

[0057] When the driving gear 42 and the driven gear 43 rotate, a directional air ring is formed in the inside of the inner shell 4, the air hole 412 opened at the top of the inner shell 4 can bring out the air in the inside of the inner shell 4, the oil inlet hole 51 on the oil baffle 5 above the inner shell 4 can perform air extraction to the outside, and at the same time, the control plate 57 in the control pipe 53 is driven to rotate on the clamping ring 55, when rotating, the clamping ring 55 drives the fixed spring 56 to deform, at this time, the oil inlet pipe 6 drops oil above the driving gear 42 and the driven gear 43 through the control pipe 53, and the oil dropped on the driven gear 43 and the driving gear 42 can not only guarantee heat dissipation but also improve transmission efficiency and service life.

[0058] S3, enhance flexibility and adaptability;

[0059] The force received by the mechanical hand joint arm is different under different actions, when the cover plate 22 on the fixed seat 2 receives different forces, power is transmitted downward, the rubber column 21 firstly starts certain deformation, secondly the fixed column 23 on the cover plate 22 starts certain deflection, the stretching spring 24 is extruded, the shaft sliding seat 3 on the cover plate 22 is deflected, the shaft sliding block 31 is driven to slide, the vertical sliding seat 32 drives the vertical sliding block 33 to deflect, the vertical sliding block 33 drives the connecting seat 34 to deflect, the connecting seat 34 drives the inner shell 4 to deflect, so that the gear set in the inside of the inner shell 4 always maintains stable meshing effect, the flexibility and motion precision of the mechanical hand joint are improved, and the mechanical hand joint can better complete a complex operation task.

[0060] The arc-shaped elastic sheet 411 on the outer gear ring 49 and the inner gear ring 46 is fixedly connected to one end of the clamping block 410, and when the outer gear ring 49 works, the arc-shaped elastic sheet 411 can reduce the vibration of the small mechanical hand joint arm and the outer gear ring 49, and the noise is small.

[0061] The snap ring 55 drives the fixed spring 56 to deform, and at this time, the oil pipe 6 drips oil on the driving gear 42 and the driven gear 43 through the control pipe 53, and the oil on the driving gear 42 and the driven gear 43 can ensure heat dissipation, improve transmission efficiency and service life.

[0062] The longitudinal sliding seat 32 drives the longitudinal sliding block 33 to deflect, the longitudinal sliding block 33 drives the connecting seat 34 to deflect, and the connecting seat 34 drives the inner shell 4 to deflect, so that the gear set in the inner shell 4 always maintains stable meshing effect, improves the flexibility and motion accuracy of the mechanical hand joint, and makes it better to complete complex operation tasks.

[0063] The above only is the preferred embodiment of the present application, and does not limit the present application in any form, although the present application has been disclosed as above, however, it is not intended to limit the present application, any skilled person in the art within the scope of the technical scheme of the present application can make some changes or modifications by using the above-mentioned technical content as the equivalent embodiment of equivalent changes, but as long as it does not deviate from the technical scheme of the present application, any simple modification, equivalent change and modification of the above-mentioned embodiment according to the technical essence of the present application are still within the scope of the present application.

Claims

1. A flexible transmission for a robot joint arm gear, comprising a housing (1), characterized in that, Also include: The output shaft (44) is rotatably connected to the shell (1), the output shaft (44) is fixedly connected with the bayonet (45), the bayonet (45) is clamped with the inner gear ring (46), the inner gear ring (46) is fixedly connected with the card seat (47), the card seat (47) is fixedly connected with the gear shaft (48), the gear shaft (48) is fixedly connected with the outer gear ring (49), the outer gear ring (49) is used to transmit power to the mechanical hand joint arm; The gear shaft (48) is fixedly connected with the clamping block (410), and the clamping block (410) is fixedly connected with the arc spring (411); The shell (1) is fixedly connected with the fixed seat (2), the fixed seat (2) is fixedly connected with the rubber column (21), the rubber column (21) is fixedly connected with the cover plate (22), the rubber column (21) is bent when the cover plate (22) is stressed; The cover plate (22) is fixedly connected with the fixed column (23), the fixed seat (2) is fixedly connected with the fixed column (23), the fixed seat (2) is fixedly connected with the tension spring (24), the fixed seat (2) and the cover plate (22) are fixedly connected through the tension spring (24), and the two groups of fixed columns (23) are slidingly connected in the inner wall of the tension spring (24); The cover plate (22) is fixedly connected with the shaft sliding seat (3), the shaft sliding seat (3) is slidingly connected with the shaft sliding block (31), the shaft sliding block (31) is fixedly connected with the vertical sliding seat (32), the vertical sliding seat (32) is slidingly connected with the vertical sliding block (33), and the vertical sliding block (33) is fixedly connected with the connecting seat (34); The connecting seat (34) is fixedly connected with the inner shell (4), the inner shell (4) is rotatably connected with the input shaft (41), the input shaft (41) is fixedly connected with the driving gear (42), the driving gear (42) is engaged with the driven gear (43), and the driven gear (43) is fixedly connected with the output shaft (44); The inner shell (4) is provided with a ventilation hole (412), and the ventilation hole (412) is distributed below the middle and both ends of the driving gear (42) and the driven gear (43); The inner shell (4) is fixedly connected with the oil baffle (5), the oil baffle (5) is provided with an oil inlet hole (51), the inner shell (4) is fixedly connected with a three-in-one pipe (52), and the oil inlet hole (51) penetrates the oil baffle (5) and the inner shell (4) and corresponds to the three-in-one pipe (52).

2. A gear flexible transmission for a robot joint arm according to claim 1, characterized in that The three-in-one pipe (52) is fixedly connected with the control pipe (53), the control pipe (53) is fixedly connected with the fixed shaft (54), the control pipe (53) is rotatably connected with the clamping ring (55), the fixed shaft (54) is fixedly connected with the fixed spring (56), the fixed spring (56) penetrates the clamping ring (55) and is fixedly connected with the control pipe (53), the clamping ring (55) is fixedly connected with the control plate (57), and the control plate (57) is slidingly connected with the control pipe (53).

3. A gear flexible transmission for a robot joint arm according to claim 2, characterized in that The control pipe (53) is fixedly connected with the oil feeding pipe (6).

4. A method of flexible transmission of a gear of a joint arm of a robot characterized by, The mechanical hand joint arm gear flexible transmission device comprises the following steps: S1, reducing impact vibration and noise; When the outer gear ring (49) drives the mechanical hand joint arm to output power, the pin (45) on the output shaft (44) corresponds to the inner gear ring (46), the clamping block (410) on the gear shaft (48) corresponds to the clamping seat (47) on the inner gear ring (46), one end of the arc-shaped elastic sheet (411) on the outer gear ring (49) and the inner gear ring (46) is fixedly connected with the clamping block (410), and the arc-shaped elastic sheet (411) reduces the vibration of the mechanical hand joint arm and the outer gear ring (49) during the operation of the outer gear ring (49), and reduces the noise; the driving motor arranged inside provides power to drive the input shaft (41), the input shaft (41) drives the driving gear (42) to rotate, the driven gear (43) meshing with the driving gear (42) rotates to drive the output shaft (44) to rotate; S2, improving transmission efficiency and service life; When the driving gear (42) and the driven gear (43) rotate, a directional air ring is formed in the inner shell (4), the air hole (412) opened at the top of the inner shell (4) can bring out the air in the inner shell (4), the oil inlet hole (51) on the oil baffle (5) above the inner shell (4) can suck air outside, and the control plate (57) in the control pipe (53) is rotated on the clamping ring (55) while sucking air, and the clamping ring (55) drives the fixed spring (56) to deform at this time, and the oil inlet pipe (6) drips oil above the driving gear (42) and the driven gear (43) through the control pipe (53); S3, enhancing flexibility and adaptability; The force received by the mechanical hand joint arm changes under different actions, and when the cover plate (22) on the fixed seat (2) receives different forces, the power is transmitted downward, the rubber column (21) first begins to deform, and then the fixed column (23) on the cover plate (22) begins to deflect, the stretching spring (24) is extruded, the shaft sliding seat (3) on the cover plate (22) deflects, the shaft sliding block (31) slides, the vertical sliding seat (32) deflects the vertical sliding block (33), the vertical sliding block (33) deflects the connecting seat (34), and the connecting seat (34) deflects the inner shell (4).

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