Joint driving device for robot

Abstract

The invention discloses a joint driving device for a robot, and belongs to the technical field of robot joint driving, the joint driving device comprises a first joint driving assembly and a second joint driving assembly, the first joint driving assembly comprises a working box, a base is mounted on the outer surface of the working box, and two groups of positioning holes are formed in the outer surface of the base; a box door is hinged to the outer surface of the working box through hinges, symmetrical first bearings are embedded in the inner wall of the working box, and through cooperation of the first bearings, a fixing beam, an inclined plate, a first gear, a first servo motor and a second gear, the working direction of the robot can be adjusted, and the stability of the mounting frame is improved; through arrangement of a mounting frame, a second servo motor, a third gear, a second bearing, a connecting rod, a fourth gear, a fixing rod and a reinforcing rod, the working angle of the robot can be adjusted, so that the working efficiency of the robot is higher, and the strength of the fixing rod is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joint driving, in particular to a robot joint driving device. Background Art

[0002] In order for a robot to be able to move normally and complete its work, the most important factor is that the robot must have an excellent drive mechanism. It can be said that the drive mechanism of the robot is one of its most important components, because the movement and operation of the robot actually rely on its drive mechanism. The joint movement of the robot is mainly generated by the joint drive device. Various joint movements are actually operated by the joint drive device to operate the robot joint. Since there are many joint drive devices in the robot, the performance of these joint drive devices directly determines the performance of the robot. Therefore, in order to ensure that the robot has good dynamic characteristics and motion accuracy, these joint drive devices are required to have high motion accuracy, large torsional stiffness, small backlash, strong impact resistance, compact structure, small size, light weight, high efficiency and other advantages. In order to achieve this goal, various countries have successively developed joint drive devices with their own characteristics.

[0003] However, the current robot drive joints have a simple structure and single function. The robot can only perform some simple movements, which makes it inconvenient for people to adjust it, thereby greatly reducing the practicality of the equipment. Therefore, those skilled in the art provide a robot joint drive device to solve the problems raised in the above background technology. Summary of the Invention

[0004] The object of the present invention is to provide a joint driving device for a robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A joint drive device for a robot includes a first joint drive assembly and a second joint drive assembly. The first joint drive assembly includes a working box, the outer surface of which is mounted with a base, the outer surface of which is provided with two groups of positioning holes, and the outer surface of the working box is hinged with a box door via a hinge.

[0007] As a further solution of the present invention: the inner wall of the working box is inlaid with symmetrical first bearings, the inner rings of the two first bearings are jointly mounted with a fixed beam, and the outer surface of the fixed beam is mounted with an inclined plate.

[0008] As a further solution of the present invention: a first gear is installed on the outer surface of the fixed beam, and a first servo motor is installed on the inner wall of the working box.

[0009] As a further solution of the present invention: a second gear is installed at the output end of the first servo motor, and the first gear is meshed with the second gear.

[0010] As a further solution of the present invention: the second joint drive assembly includes a mounting frame, and the outer surface of the fixed beam and the outer surface of the inclined plate are both connected to the mounting frame.

[0011] As a further solution of the present invention: a second bearing is embedded in the outer surface of the mounting frame, a connecting rod is installed on the inner ring of the second bearing, and a second servo motor is installed on the outer surface of the mounting frame.

[0012] As a further solution of the present invention: a third gear is installed on the outer surface of the second servo motor, a fourth gear is installed on the outer surface of the connecting rod, and the third gear is meshed with the fourth gear.

[0013] As a further solution of the present invention: a fixing rod is installed on the outer surface of the fourth gear, a robot joint mounting plate is installed on the outer surface of the fixing rod, a ring-arranged mounting holes are opened on the outer surface of the robot joint mounting plate, a ring-arranged reinforcing rod is installed on the outer surface of the fixing rod, and the outer surface of each reinforcing rod is connected to the robot joint mounting plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The robot's joint drive device, through the cooperation of the first bearing, the fixed beam, the inclined plate, the first gear, the first servo motor and the second gear, not only makes it convenient for people to adjust the working direction of the robot, but also greatly increases the stability of the mounting frame. The arrangement of the mounting frame, the second servo motor, the third gear, the second bearing, the connecting rod, the fourth gear, the fixed rod and the reinforcing rod not only makes it convenient for people to adjust the working angle of the robot, thereby making the robot more efficient, but also greatly increases the strength of the fixed rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of a joint driving device for a robot;

[0017] Figure 2 A side view of a joint drive device for a robot;

[0018] Figure 3 This is a rear view of a joint drive device for a robot;

[0019] Figure 4 This is a front cross-sectional view of a working box in a joint drive device for a robot;

[0020] Figure 5A joint drive device for a robot Figure 2 Schematic diagram of the structure with a partial enlargement at point A in the middle.

[0021] In the figure: 1. First joint drive assembly; 101. Working box; 102. First bearing; 103. Fixed beam; 104. Inclined plate; 105. First gear; 106. First servo motor; 107. Second gear; 2. Second joint drive assembly; 201. Mounting frame; 202. Second servo motor; 203. Third gear; 204. Second bearing; 205. Connecting rod; 206. Fourth gear; 207. Fixed rod; 208. Reinforcement rod; 209. Robot joint mounting plate; 210. Mounting hole; 3. Base; 4. Positioning hole; 5. Box door. DETAILED DESCRIPTION

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0023] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0024] See also Figures 1 to 5In an embodiment of the present invention, a joint driving device for a robot includes a first joint driving component 1 and a second joint driving component 2. The first joint driving component 1 includes a working box 101. A base 3 is installed on the outer surface of the working box 101. Two groups of positioning holes 4 are opened on the outer surface of the base 3. The outer surface of the working box 101 is hinged with a box door 5 through a hinge, so that people can adjust the working direction and angle of the robot, thereby making the robot more efficient. This solves the problem raised in the background technology that the current robot driving joint has a simple structure and a single function. The robot can only perform some simple movements, which is inconvenient for people to adjust it, thereby greatly reducing the practicality of the equipment.

[0025] The inner wall of the working box 101 is inlaid with symmetrical first bearings 102, and the inner rings of the two first bearings 102 are jointly installed with a fixed beam 103, and the outer surface of the fixed beam 103 is installed with an inclined plate 104, and the outer surface of the fixed beam 103 is installed with a first gear 105. The inner wall of the working box 101 is installed with a first servo motor 106, and the output end of the first servo motor 106 is installed with a second gear 107. The first gear 105 is meshed with the second gear 107, which not only makes it convenient for people to adjust the working direction of the robot, but also prevents the mounting frame 201 from deformation.

[0026] The second joint drive assembly 2 includes a mounting frame 201, the outer surface of the fixed beam 103 and the outer surface of the inclined plate 104 are both connected to the mounting frame 201, the outer surface of the mounting frame 201 is inlaid with a second bearing 204, the inner ring of the second bearing 204 is installed with a connecting rod 205, the outer surface of the mounting frame 201 is installed with a second servo motor 202, the outer surface of the second servo motor 202 is installed with a third gear 203, the outer surface of the connecting rod 205 is installed with a fourth gear 206, the third gear 203 is meshed with the fourth gear 206, the outer surface of the fourth gear 206 is installed with a fixing rod 207, the outer surface of the fixing rod 207 is installed with a robot joint mounting plate 209, the outer surface of the robot joint mounting plate 209 is provided with an annularly arranged mounting holes 210, the outer surface of the fixing rod 207 is installed with an annularly arranged reinforcement rod 208, the outer surface of each reinforcement rod 208 is connected to the robot joint mounting plate 209, which not only makes it convenient for people to adjust the working angle of the robot, but also greatly increases the strength of the fixing rod 207.

[0027] The working principle of the present invention is: first, people can use the positioning hole 4 to install the equipment to the use position and use screws to connect the robot to the robot joint mounting plate 209, and then they can start the first servo motor 106 and the second servo motor 202 respectively as needed. The first servo motor 106 can drive the first gear 105 and the second gear 107 to rotate, and the first gear 105 can drive the fixed beam 103 and the robot to rotate and complete the adjustment of the robot's working direction. The second servo motor 202 can drive the third gear 203 and the fourth gear 206 to rotate, and the fourth gear 206 can drive the fixed rod 207 and the robot to rotate and complete the adjustment of the robot's working angle.

[0028] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field, within the technical scope disclosed by the present invention, shall make equivalent replacements or changes according to the technical solution and inventive concept of the present invention, which shall be included in the scope of protection of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0029] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A joint drive device for a robot, comprising a first joint drive assembly (1) and a second joint drive assembly (2), characterized in that: The first joint drive assembly (1) comprises a working box (101), the outer surface of the working box (101) is provided with a base (3), the outer surface of the base (3) is provided with two groups of positioning holes (4), and the outer surface of the working box (101) is hinged with a box door (5) via a hinge.

2. A robot joint driving device according to claim 1, characterized in that: The inner wall of the working box (101) is inlaid with symmetrical first bearings (102), the inner rings of the two first bearings (102) are jointly mounted with a fixed beam (103), and the outer surface of the fixed beam (103) is mounted with an inclined plate (104).

3. A robot joint driving device according to claim 2, characterized in that: A first gear (105) is installed on the outer surface of the fixed beam (103), and a first servo motor (106) is installed on the inner wall of the working box (101).

4. A robot joint driving device according to claim 3, characterized in that: A second gear (107) is installed at the output end of the first servo motor (106), and the first gear (105) is meshed with the second gear (107).

5. The robot joint driving device according to claim 2, characterized in that: The second joint drive assembly (2) comprises a mounting frame (201), and the outer surface of the fixed beam (103) and the outer surface of the inclined plate (104) are both connected to the mounting frame (201).

6. The robot joint driving device according to claim 5, characterized in that: The outer surface of the mounting frame (201) is inlaid with a second bearing (204), the inner ring of the second bearing (204) is installed with a connecting rod (205), and the outer surface of the mounting frame (201) is installed with a second servo motor (202).

7. A robot joint driving device according to claim 6, characterized in that: A third gear (203) is mounted on the outer surface of the second servo motor (202), a fourth gear (206) is mounted on the outer surface of the connecting rod (205), and the third gear (203) is meshed with the fourth gear (206).

8. The robot joint driving device according to claim 7, characterized in that: A fixing rod (207) is installed on the outer surface of the fourth gear (206), a robot joint mounting plate (209) is installed on the outer surface of the fixing rod (207), an annularly arranged mounting holes (210) are opened on the outer surface of the robot joint mounting plate (209), and an annularly arranged reinforcing rods (208) are installed on the outer surface of the fixing rod (207), and the outer surface of each reinforcing rod (208) is connected to the robot joint mounting plate (209).

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