Mechanical arm with hypoid gear transmission structure for robots

Abstract

The application relates to the technical field of mechanical arms, in particular to a robot mechanical arm with a quasi-double-curved-surface gear transmission structure, which comprises a mechanical arm shell, a driving motor and encoders; the inside of the mechanical arm shell is provided with a quasi-double-curved-surface gear transmission mechanism, the driving motor is arranged in the mechanical arm shell, and the encoders are provided in plurality; the encoder is provided with a bearing, the bearing comprises a bearing inner ring and a bearing outer ring, a retainer and a plurality of rollers are arranged between the bearing inner ring and the bearing outer ring, the retainer comprises a first retainer ring and a second retainer ring, the first retainer ring and the second retainer ring are both connected by a plurality of arc segments, a plurality of retainer plates are arranged on the arc segments, a metal spring sheet is arranged between every two adjacent retainer plates, when the rollers heat, part of the retainer plates can slide on the arc segments to increase the spacing between every two adjacent retainer plates, thereby increasing the contact area between the metal spring sheet and the rollers, avoiding the shaking of the encoder, and improving the positioning accuracy of the mechanical arm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arms, in particular to a mechanical arm with a quasi-double curved gear transmission structure for robots. BACKGROUND

[0002] A robot hand is an automatic operation device that can imitate the action function of human hands and arms, and can complete expected tasks such as grabbing and carrying through programming, and has ergonomics advantages and mechanical high-precision characteristics. A quasi-double curved gear reducer is a key component thereof. Patent document No. CN119910631B discloses an industrial robot arm, which includes a four-axis shell, a wrist shell, and a small arm shell composed of a small arm rear end shell, a small arm middle shell, and a small arm front end shell. A four-axis first stage reduction mechanism and a four-axis second stage reduction mechanism are arranged in the four-axis shell and are connected by transmission. The four-axis shell is detachably connected to the small arm rear end shell through a four-axis first bearing. The small arm middle shell and the small arm front end shell are connected by bolts to form an electromechanical mounting body, and the electromechanical mounting body is provided with a three-stage five-axis reduction mechanism and a six-axis first stage reduction mechanism and a six-axis second stage reduction mechanism connected by transmission. The wrist shell is provided with a six-axis third stage reduction mechanism connected with the six-axis second stage reduction mechanism by transmission. The four-axis second stage reduction mechanism, the five-axis third stage reduction mechanism, and the six-axis second stage reduction mechanism are quasi-double curved gear reduction mechanisms.

[0003] Each rotary joint of the mechanical arm is equipped with an encoder, which can directly measure the rotation angle of the joint, so as to ensure that each rotary joint can move according to the preset trajectory. However, since the encoder is arranged on the rotary joint by rotating through a common bearing, it is easy to generate heat under high-speed rotation and heavy load, which causes the encoder to vibrate, thereby affecting the positioning accuracy of the mechanical arm. SUMMARY

[0004] Therefore, it is necessary to provide a mechanical arm with a quasi-double curved gear transmission structure for robots to solve the technical problem that the encoder bearing is easy to generate heat and affect the positioning accuracy of the mechanical arm.

[0005] The above-mentioned purpose is achieved by the following technical solutions:

[0006] A mechanical arm of a robot hypoid gear transmission structure, comprising a mechanical arm shell, a drive motor and an encoder; the inside of the mechanical arm shell is provided with a hypoid gear transmission mechanism, the hypoid gear transmission mechanism has an output shaft; the drive motor is arranged in the mechanical arm shell, the drive motor has an input shaft; the encoder is provided with a plurality of bearings, at least one encoder is connected with the input shaft of the drive motor through the bearing, so as to detect the input speed of the drive motor, at least one encoder is connected with the output shaft of the hypoid gear transmission mechanism through the bearing; so as to detect the output speed of the hypoid gear transmission mechanism; the bearing comprises a bearing inner ring and a bearing outer ring which are coaxial and arranged in sequence from inside to outside, a retainer and a plurality of rollers are arranged between the bearing inner ring and the bearing outer ring, the retainer is used to separate the plurality of rollers, the retainer comprises a first retaining ring and a second retaining ring which are butt jointed along the axial direction of the bearing inner ring, the first retaining ring and the second retaining ring are the same structure, the first retaining ring and the second retaining ring are connected by a plurality of arc segments, the axis of the arc segment extends along the radial direction of the bearing inner ring; the arc segment of the first retaining ring and the arc segment of the second retaining ring form a pocket hole for accommodating the roller after butt jointing; a plurality of retaining plates are arranged on the arc segment along the arc length direction, a metal spring is arranged between adjacent two retaining plates, the metal spring is V-shaped; when the roller is heated, part of the retaining plates can slide on the corresponding arc segment to increase the distance between adjacent two retaining plates, thereby increasing the contact area between the metal spring and the roller.

[0007] Further, a shape memory alloy is arranged between adjacent two retaining plates, the shape memory alloy is arranged away from the roller relative to the metal spring; when the roller is heated, the shape memory alloy can be elongated by heat, thereby pushing part of the retaining plates to slide on the corresponding arc segment.

[0008] Further, the retaining plate comprises a fixed retaining plate and a plurality of sliding retaining plates, the fixed retaining plate is fixedly arranged at the middle position of the arc segment, the sliding retaining plates are distributed on both sides of the fixed retaining plate and are slidingly arranged on the arc segment; the shape memory alloy is arranged between the fixed retaining plate and the adjacent sliding retaining plate and between adjacent two sliding retaining plates; when the roller is heated, the shape memory alloy can be elongated by heat, thereby pushing the sliding retaining plate to slide on the arc segment.

[0009] Further, the metal spring arranged between adjacent two retaining plates is provided with a plurality of metal springs, the plurality of metal springs are spaced apart along the axial direction of the arc segment.

[0010] Further, the shape memory alloy is in a spiral shape.

[0011] Further, the shape memory alloy is made of nickel-titanium alloy material.

[0012] Further, two shape memory alloys are arranged between the two adjacent retaining plates, and the two shape memory alloys are respectively arranged at the axial two sides of the arc-shaped section.

[0013] Further, the first retaining ring and the second retaining ring are both provided with a connecting section, the connecting section is arranged at the two ends of the arc-shaped section and is perpendicular to the axis of the bearing inner ring, and the connecting section of the first retaining ring is fixedly connected with the connecting section of the second retaining ring through a bolt, so that the arc-shaped section of the first retaining ring and the arc-shaped section of the second retaining ring are butted to form a pocket.

[0014] Further, two sealing rings are further arranged between the bearing inner ring and the bearing outer ring, and the two sealing rings seal the first retaining ring and the second retaining ring between the bearing inner ring and the bearing outer ring.

[0015] Further, a rectangular hole is arranged on each retaining plate, the arc-shaped section is in a rectangular shape in the radial direction, and the retaining plate is sleeved on the arc-shaped section through the rectangular hole.

[0016] The beneficial effects of the present application are:

[0017] The mechanical arm of the robot hypoid gear transmission structure provided by the present application has the following advantages: first, when the rollers in the encoder bearing are heated due to the movement of the mechanical arm, part of the retaining plates can slide on the corresponding arc-shaped section to increase the spacing between the two adjacent retaining plates, so that the contact area between the metal spring and the roller is increased, and the heat dissipation effect of the metal spring on the roller is improved, which can avoid the temperature of the rollers in the encoder bearing being too high, and further avoid the jitter of the encoder, and improve the positioning accuracy of the mechanical arm. And the multiple interval distributed metal springs can increase the contact area between the metal spring and the roller, and can form a heat dissipation channel, and further enhance the heat dissipation effect on the roller.

[0018] Second, the shape memory alloy is directly used to convert the heat on the roller into the sliding of the retaining plate, without external control, and the reaction is rapid and accurate.

[0019] Third, by fixing the fixed retaining plate at the middle position of the arc-shaped section, the multiple sliding retaining plates can slide in two opposite directions on the arc-shaped section, so that the sliding of the sliding retaining plate on one side of the arc-shaped section is avoided, and uniform heat dissipation of the roller is realized. Since the roller rotates and revolves between the bearing inner ring and the bearing outer ring, the linear speed of the roller at the two end positions of the arc-shaped section is the largest, which limits the sliding range of the sliding retaining plate on the arc-shaped section, avoids the sliding retaining plate being close to the two end positions of the arc-shaped section, and further avoids the sliding retaining plate from causing large wear to the roller, and ensures the normal use of the encoder. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1A perspective view of a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided;

[0021] Figure 2 An exploded view of a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided;

[0022] Figure 3 A cross-sectional view of a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided;

[0023] Figure 4 A structure view of an encoder in a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided;

[0024] Figure 5 A structure view of a bearing in a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided; Figure 4 A cross-sectional view of the bearing in the mechanical arm with the quasi-hyperboloid gear transmission structure for the robot according to the embodiment of the present application is provided;

[0025] Figure 6 An exploded view of a bearing in a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided;

[0026] Figure 7 A structure view of a retainer and a roller of a bearing in a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided;

[0027] Figure 8 A structure view of a retainer in a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided;

[0028] Figure 9 A side view of a bearing in a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided;

[0029] Figure 10 A structure view of a bearing in a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided; Figure 9 A cross-sectional view of the bearing in the mechanical arm with the quasi-hyperboloid gear transmission structure for the robot according to the embodiment of the present application is provided;

[0030] Figure 11 A structure view of a bearing in a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided;

[0031] Figure 12 A structure view of a bearing in a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided.

[0032] A structure view of a bearing in a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot according to an embodiment of the present application is provided;

[0033] 101, four-axis main housing; 102, four-axis secondary housing; 103, small arm rear end housing; 104, small arm middle housing; 105, small arm front end housing; 106, wrist housing; 107, end cover; 108, first motor; 109, second motor; 110, quasi-double curved gear set; 111, second transmission shaft; 112, first gear; 113, second gear; 114, first transmission shaft; 200, encoder; 201, cover plate; 202, magnetic sensitive element; 203, circuit board; 204, magnetic element; 205, connecting terminal; 206, base; 207, mounting shaft; 300, bearing; 301, bearing inner ring; 302, bearing outer ring; 303, sealing ring; 304, first retaining ring; 305, second retaining ring; 306, bolt; 307, connecting section; 308, roller; 309, sliding retaining plate; 310, metal elastic sheet; 311, shape memory alloy; 312, locking pin; 313, fixed retaining plate. DETAILED DESCRIPTION

[0034] In order to make the objects, technical solutions and advantages of the present application clearer, the following further describes the present application with reference to the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0035] The numbers of components in the present application, such as "first", "second", etc., are only used to distinguish the described objects, and do not have any sequence or technical meaning. In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as limiting the present application.

[0036] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0037] AsFigures 1 to 12 As shown, an embodiment of the application provides a mechanical arm with a quasi-hyperboloid gear transmission structure for a robot, comprising a mechanical arm shell, a driving motor and an encoder 200; the inside of the mechanical arm shell is provided with a quasi-hyperboloid gear transmission mechanism, the quasi-hyperboloid gear transmission mechanism has an output shaft (not shown in the figure); the driving motor is arranged in the mechanical arm shell, and the driving motor has an input shaft.

[0038] The encoder 200 is provided with a plurality of encoders 200, and the encoder 200 has a bearing 300, at least one encoder 200 is drivingly connected with the input shaft of the driving motor through the bearing 300, so as to detect the input speed of the driving motor, and at least one encoder 200 is drivingly connected with the output shaft of the quasi-hyperboloid gear transmission mechanism through the bearing 300; so as to detect the output speed of the quasi-hyperboloid gear transmission mechanism.

[0039] The bearing 300 comprises a bearing inner ring 301 and a bearing outer ring 302 coaxially and sequentially arranged inside and outside, a retainer and a plurality of rollers 308 are arranged between the bearing inner ring 301 and the bearing outer ring 302, the retainer is used to separate the plurality of rollers 308, the retainer comprises a first retaining ring 304 and a second retaining ring 305 which are axially butted along the bearing inner ring 301, the first retaining ring 304 and the second retaining ring 305 are the same structure, the first retaining ring 304 and the second retaining ring 305 are both connected by a plurality of arc segments, the axis of the arc segment extends along the radial direction of the bearing inner ring 301; the arc segments of the first retaining ring 304 and the second retaining ring 305 are butted to form a pocket hole for accommodating the rollers 308; a plurality of retaining plates are arranged on the arc segment along the arc length direction, a metal spring 310 is arranged between adjacent two retaining plates, the metal spring 310 is V-shaped; when the roller 308 is heated, part of the retaining plates can slide on the corresponding arc segment to increase the spacing between adjacent two retaining plates, thereby increasing the contact area between the metal spring 310 and the roller 308.

[0040] The mechanical arm housing comprises a four-axis main housing 101, a four-axis secondary housing 102, a small arm rear end housing 103, a small arm middle housing 104, a small arm front end housing 105, and a wrist housing 106 connected in turn. The small arm front end housing 105 is provided with an end cover 107. The driving motor comprises a first motor 108 and a second motor 109, both of which have an input shaft. The quasi-toroidal gear transmission mechanism comprises two coaxially arranged curved gears, each of which is connected with an output shaft, one of which is in driving connection with the wrist housing 106 for realizing the rotation of the wrist housing 106. A manipulator (not shown in the figure) is rotatably arranged on the wrist housing 106, and the other output shaft is in driving connection with the manipulator. The input shaft of the first motor 108 is in driving connection with a first transmission shaft 114 through a first gear 112, and the first transmission shaft 114 is in driving connection with one of the curved gears of the quasi-toroidal gear set 110. The input shaft of the second motor 109 is in driving connection with a second transmission shaft 111 through a second gear 113, and the second transmission shaft 111 is in driving connection with the other curved gear of the quasi-toroidal gear set 110.

[0041] The encoder 200 is arranged on the input shafts of the first motor 108 and the second motor 109 and the two output shafts of the quasi-toroidal gear transmission mechanism.

[0042] The encoder 200 comprises a base 206, on which a mounting shaft 207 is mounted through a bearing 300, which is used for coaxial fixed connection of the input shafts of the first motor 108 and the second motor 109 and the two output shafts. The mounting shaft 207 is provided with a magnetic element 204, the base 206 is internally provided with a circuit board 203, the circuit board 203 is provided with a magnetic sensitive element 202, the base 206 is further provided with a cover plate 201, the circuit board 203 is connected with a connecting terminal 205, and the connecting terminal 205 is connected with a control system. The structure of the encoder 200 belongs to the prior art, and can refer to the patent document CN222837593U. When the first motor 108 and the second motor 109 rotate, the input shafts thereof will drive the mounting shaft 207 of the encoder 200 and the magnetic element 204 fixed thereon to rotate synchronously. After the magnetic sensitive element 202 inside the encoder 200 detects the change of the magnetic field, it processes and outputs an electric signal representing the motor speed and position through the circuit board 203, and this electric signal is fed back to the control system. Similarly, the rotation of the output shaft of the quasi-toroidal gear transmission mechanism will also feed back the signal to the control system, so as to realize the precise motion control of the mechanical arm.

[0043] When the mechanical arm causes the rollers 308 inside the bearing 300 of the encoder 200 to heat due to action, part of the retaining plate can slide on the corresponding arc segment to increase the spacing between the two adjacent retaining plates, thereby increasing the contact area of the metal spring 310 with the roller 308, improving the heat dissipation effect of the metal spring 310 on the roller 308, which can avoid the temperature of the roller 308 of the bearing 300 of the encoder 200 being too high, thereby avoiding the encoder 200 from shaking and improving the positioning accuracy of the mechanical arm.

[0044] Further, a shape memory alloy 311 is arranged between the two adjacent retaining plates, and the shape memory alloy 311 is arranged away from the roller 308 relative to the metal spring 310; when the roller 308 heats, the shape memory alloy 311 can be heated and elongated to push part of the retaining plate to slide on the corresponding arc segment.

[0045] In this way, the shape memory alloy 311 directly converts the heat on the roller 308 into the sliding of the retaining plate, without external control, and the reaction is rapid and accurate.

[0046] Further, the retaining plate includes a fixed retaining plate 313 and a plurality of sliding retaining plates 309, the fixed retaining plate 313 is fixedly arranged at the middle position of the arc segment, and the sliding retaining plates 309 are distributed on both sides of the fixed retaining plate 313 and are slidingly arranged on the arc segment; the shape memory alloy 311 is arranged between the fixed retaining plate 313 and the adjacent sliding retaining plate 309 and between the two adjacent sliding retaining plates 309; when the roller 308 heats, the shape memory alloy 311 can be heated and elongated to push the sliding retaining plate 309 to slide on the arc segment. The fixed retaining plate 313 is fixedly arranged at the middle position of the arc segment by the locking pin 312.

[0047] In this way, by fixing the fixed retaining plate 313 at the middle position of the arc segment, the plurality of sliding retaining plates 309 can slide in two opposite directions on the arc segment, thereby avoiding the unilateral sliding of the sliding retaining plate 309 on the arc segment and achieving uniform heat dissipation of the roller 308. Since the linear speed of the roller 308 at the two end positions of the arc segment is the largest when the roller 308 revolves and revolves between the bearing inner ring 301 and the bearing outer ring 302, the sliding range of the sliding retaining plate 309 on the arc segment is limited, avoiding the sliding retaining plate 309 being close to the two end positions of the arc segment, thereby avoiding the sliding retaining plate 309 from generating large wear on the roller 308 and ensuring the normal use of the encoder 200.

[0048] Further, the metal spring 310 between the two adjacent retaining plates is provided with a plurality of metal springs 310, and the plurality of metal springs 310 are distributed in the axial direction of the arc segment.

[0049] The plurality of spaced-apart metal springs 310 can increase the contact area of the metal springs 310 with the roller 308, and can form a heat dissipation channel, thereby further enhancing the heat dissipation effect on the roller 308.

[0050] Further, the shape memory alloy 311 is in a spiral shape. The spiral structure can provide a greater extendable length in the limited space between the adjacent two retaining plates, thereby being able to push the sliding retaining plate 309 to generate a greater sliding displacement.

[0051] Further, the shape memory alloy 311 is made of a nickel-titanium alloy material. The nickel-titanium alloy has excellent fatigue life, corrosion resistance, and controllable phase change temperature, thereby ensuring the reliability and durability of the extension and contraction.

[0052] Further, two shape memory alloys 311 are arranged between the adjacent two retaining plates, and the two shape memory alloys 311 are respectively located on the axial two sides of the arc-shaped section. In this way, the sliding retaining plate 309 can be simultaneously pushed from the axial two sides of the arc-shaped section, thereby avoiding the torque that the sliding retaining plate 309 can generate due to unilateral force, and making the sliding of the sliding retaining plate 309 more smooth and stable.

[0053] Further, the first retaining ring 304 and the second retaining ring 305 each have a connecting section 307, the connecting section 307 is located at two ends of the arc-shaped section, and the connecting section 307 is perpendicular to the axis of the bearing inner ring 301. The connecting section 307 of the first retaining ring 304 and the connecting section 307 of the second retaining ring 305 are fixedly connected through the bolt 306, so that the arc-shaped section of the first retaining ring 304 and the arc-shaped section of the second retaining ring 305 are butted to form a pocket hole. The bolt 306 is reliable and stable, so that the first retaining ring 304 and the second retaining ring 305 are not easy to separate during high-speed operation.

[0054] Further, two sealing rings 303 are arranged between the bearing inner ring 301 and the bearing outer ring 302, and the two sealing rings 303 seal the first retaining ring 304 and the second retaining ring 305 between the bearing inner ring 301 and the bearing outer ring 302. In this way, the dust and impurities outside can be prevented from entering the inside of the bearing 300, thereby ensuring the sealing property of the bearing 300.

[0055] Further, a rectangular hole is arranged on each retaining plate, the arc-shaped section has a rectangular cross section in the radial direction, and the retaining plate is sleeved on the arc-shaped section through the rectangular hole. In this way, the retaining plate can be limited to rotate on the arc-shaped section, so that the retaining plate can only slide along the arc length direction of the arc-shaped section.

[0056] In combination with the above embodiment, the use principle and working process of the embodiment of the application are as follows:

[0057] In the initial state, the bearing 300 in the encoder 200 is in the first state, as shown inFigure 6 and Figure 11 As shown in FIG. 6, at this time, the shape memory alloy 311 and the metal spring 310 on the first retaining ring 304 and the second retaining ring 305 are in the contracted state. When the first motor 108 and the second motor 109 are running, the rollers 308 in the bearing 300 of the encoder 200 heat up, causing the shape memory alloy 311 to elongate, thereby pushing the sliding retaining plate 309 to slide along the arc-shaped section, increasing the spacing between two adjacent retaining plates, and making the bearing 300 in the encoder 200 in the second state, as shown in FIG. 7. Figure 6 and Figure 12 As shown in FIG. 7, at this time, the shape memory alloy 311 and the metal spring 310 on the first retaining ring 304 and the second retaining ring 305 are in the elongated state, the contact area of the metal spring 310 with the roller 308 is increased, and the heat dissipation of the roller 308 is realized. In this way, the temperature of the roller 308 in the bearing 300 of the encoder 200 can be prevented from being too high, and the encoder 200 can be prevented from shaking, thereby improving the positioning accuracy of the mechanical arm.

[0058] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0059] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A robot mechanical arm of a hypoid gear transmission structure, characterized by, The utility model relates to a mechanical arm shell, the inside of mechanical arm shell is equipped with hypoid gear drive mechanism, and the hypoid gear drive mechanism has output shaft, drive motor is arranged in the mechanical arm shell, and drive motor has input shaft, encoder is equipped with a plurality, and encoder has bearing, at least one encoder is connected with the input shaft of drive motor through bearing and transmission, at least one encoder is connected with the output shaft of hypoid gear drive mechanism through bearing and transmission, the bearing includes coaxially arranged bearing inner race and bearing outer race, and the bearing inner race is equipped with retainer and a plurality of rollers between bearing outer race, the retainer is used for separating a plurality of rollers, the retainer includes the first retaining ring and the second retaining ring of axially butting along the bearing inner race, and the first retaining ring and the second retaining ring are same in structure, and the first retaining ring and the second retaining ring are connected by a plurality of arc segments, and the axis of arc segment extends along the radial direction of bearing inner race, the arc segment of first retaining ring and the arc segment of second retaining ring butt joint and form the pocket for accommodating the roller, a plurality of retaining plates are arranged on the arc segment and are distributed along the arc length direction, metal spring is arranged between adjacent two retaining plates, and the metal spring is V-shaped, when the roller is heated, part retaining plate can slide on the corresponding arc segment to increase the spacing between adjacent two retaining plates, and then increase the contact area of metal spring and roller, shape memory alloy is further arranged between adjacent two retaining plates, and the shape memory alloy is arranged away from the roller relative to metal spring, when the roller is heated, the shape memory alloy can be heated and elongated to push part retaining plate to slide on the corresponding arc segment, the retaining plate includes a fixed retaining plate and a plurality of sliding retaining plates, the fixed retaining plate is fixedly arranged on the middle position of arc segment, and the sliding retaining plate is distributed on the two sides of fixed retaining plate and is slidably arranged on the arc segment, the shape memory alloy is arranged between the fixed retaining plate and adjacent sliding retaining plate and between adjacent two sliding retaining plates, and when the roller is heated, the shape memory alloy can be heated and elongated to push the sliding retaining plate to slide on the arc segment. The metal spring between adjacent two retaining plates is provided with a plurality of metal springs, and the plurality of metal springs are spaced apart along the axial direction of the arc segment. The shape memory alloy is in a spiral shape. The shape memory alloy is made of a nickel-titanium alloy material.

2. The robot hypoid gear transmission structure mechanical arm according to claim 1, characterized by, The shape memory alloy between adjacent two retaining plates is provided with two shape memory alloys, and the two shape memory alloys are located on the axial sides of the arc segment.

3. The robot hypoid gear transmission structure mechanical arm according to claim 1, characterized in that, The first retaining ring and the second retaining ring each have a connecting segment, the connecting segment is located at the two ends of the arc segment, and the connecting segment is perpendicular to the axis of the bearing inner race, the connecting segment of the first retaining ring is fixedly connected with the connecting segment of the second retaining ring by a bolt, so that the arc segment of the first retaining ring and the arc segment of the second retaining ring butt joint to form the pocket.

4. The robot hypoid gear transmission structure mechanical arm according to claim 3, characterized by, Two sealing rings are further arranged between the bearing inner race and the bearing outer race, and the two sealing rings seal the first retaining ring and the second retaining ring between the bearing inner race and the bearing outer race.

5. The robot hypoid gear transmission structure mechanical arm according to claim 4, characterized in that, ​ 6. The robot hypoid gear transmission structure mechanical arm according to claim 1, characterized by, ​ 7. The robot hypoid gear transmission structure mechanical arm according to claim 1, characterized by, ​ 8. The robot hypoid gear transmission structure mechanical arm according to claim 1, characterized by, Each of the retaining plates is provided with a rectangular hole, and the arc-shaped section has a rectangular radial cross section, and the retaining plate is sleeved on the arc-shaped section through the rectangular hole.

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