A high-rigidity industrial robot joint transmission structure

Abstract

This invention relates to the field of industrial robots, and more specifically to a high-rigidity industrial robot joint transmission structure. A high-rigidity industrial robot joint transmission structure includes an outer cylinder. The lower end of the outer cylinder is fixed with the inner ring of a bearing, and the outer ring of the bearing is fixed to the inner circumference of a collar. The inner cylinder is fitted onto the outer cylinder with a clearance fit. Multiple connecting posts are fixed to the lower end of each connecting post, and the lower end of a rack is fixed to each of the multiple connecting posts. Multiple sets of opposing baffles are fixed to the collar, with two baffles in each set located on opposite sides of the corresponding rack. Multiple motor frames are fixed to the collar, and each motor frame is fixed with a second motor. A second gear is fixed to the output shaft of the second motor, and the second gear meshes with the inner side of the corresponding rack for transmission. Multiple limiting plates are fixed to the outer cylinder, distributed on both sides of the collar to limit its vertical movement. This allows for simultaneous rotation, extension, and flexible deflection combined movements.

Description

Technical Field

[0001] This invention relates to the field of industrial robots, and more specifically to a high-rigidity industrial robot joint transmission structure. Background Technology

[0002] Industrial robot joints are core components for precise robot operations. Traditional robot joints often use single-motor drives and a single transmission method, which suffers from insufficient rigidity, weak load-bearing capacity, and limited movement patterns. Furthermore, traditional joints struggle to simultaneously achieve combined rotation, extension, and flexible deflection movements, resulting in poor adaptability to complex working conditions. Moreover, gaps, vibrations, and misalignments are prone to occur during transmission, leading to low robot positioning accuracy and insufficient operational stability, failing to meet the demands of high-precision, high-load, and multi-degree-of-freedom industrial operations. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention provides a high-rigidity industrial robot joint transmission structure, which has the beneficial effect of simultaneously realizing a composite motion of rotation, extension and retraction and flexible deflection.

[0004] The technical solution adopted by this invention to solve its technical problem is:

[0005] A high-rigidity industrial robot joint transmission structure includes an outer cylinder, an inner ring of a bearing fixed at the lower end of the outer cylinder, an outer ring of the bearing fixed at the inner circumference of a collar, an inner cylinder with clearance fit inserted into the outer cylinder, a plurality of connecting posts fixed at the lower end of the inner cylinder, a lower end of a rack fixed on each of the plurality of connecting posts, and a plurality of sets of two pairs of opposing baffles fixed on the collar, with two baffles in the same set located on opposite sides of the corresponding rack.

[0006] Multiple motor frames are fixed on the collar, and a motor is fixed on each of the multiple motor frames. A gear is fixed on the output shaft of the motor, and the gear meshes with the inner side of the corresponding rack for transmission.

[0007] Multiple limiting plates are fixed on the outer cylinder, and the multiple limiting plates are distributed on both sides of the collar to limit the collar up and down.

[0008] Each of the aforementioned motor frames is fixed with a connecting piece, and a toothed ring is fixed to the upper part of the multiple connecting pieces.

[0009] Multiple protrusions are fixed on the outer cylinder, and a gear is rotatably connected to each protrusion. The gear meshes with the inner ring of the gear ring for transmission.

[0010] Multiple motors are fixed on the outer cylinder, and the output shafts of the multiple motors are respectively fixed on multiple gears.

[0011] A flange is fixed to the upper end of the outer cylinder.

[0012] The lower end of the inner cylinder is fixed to the upper end of a rubber column, and the lower end of the rubber column is fixed to a flange.

[0013] Two of the connecting columns are fixed with support frames. Each support frame is rotatably connected to a fixed shaft at its lower end. The two fixed shafts are fixed in the middle of the two rotating frames. A rotating wheel is rotatably connected between the two rotating frames. The two rotating wheels are located on both sides of the rubber column. A second motor frame is fixed on the support frame. A third motor is fixed on the second motor frame. The output shaft of the third motor is fixed to the end of the fixed shaft.

[0014] The wheel is thinner in the middle and thicker at both ends.

[0015] The beneficial effects of the high-rigidity industrial robot joint transmission structure of the present invention are:

[0016] Multi-motor drive enhances structural rigidity and load-bearing capacity; triple combined motion of rotation, extension, and flexible deflection expands operational dimensions; limiting and meshing structures eliminate transmission gaps, rubber columns provide cushioning and shock absorption, and wheel limiting prevents detachment, ensuring motion accuracy and operational stability; standardized flange interfaces offer strong adaptability, meeting the complex operational needs of industrial robots for high precision, high load, and multiple degrees of freedom. Attached Figure Description

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0018] Figure 1 A schematic diagram of a high-rigidity industrial robot joint transmission structure. Figure 1 ;

[0019] Figure 2 A schematic diagram of a high-rigidity industrial robot joint transmission structure. Figure 2 ;

[0020] Figure 3 A schematic diagram of a high-rigidity industrial robot joint transmission structure. Figure 3 ;

[0021] Figure 4 Schematic diagram of the outer cylinder Figure 1 ;

[0022] Figure 5 Schematic diagram of the outer cylinder Figure 2 ;

[0023] Figure 6 Schematic diagram of the inner cylinder Figure 1 ;

[0024] Figure 7 Schematic diagram of the inner cylinder Figure 2 ;

[0025] Figure 8 Schematic diagram of the collar structure Figure 1 ;

[0026] Figure 9 Schematic diagram of the collar structure Figure 2 ;

[0027] Figure 10 Schematic diagram of a rubber column Figure 1 ;

[0028] Figure 11 Schematic diagram of a rubber column Figure 2 ;

[0029] In the diagram: outer cylinder 101; motor 102; boss 103; gear 104; bearing 105; limit plate 106; flange 107;

[0030] Inner cylinder 201; rack 202; connecting column 203;

[0031] 301 collar; 302 connecting piece; 303 motor frame one; 304 motor two; 305 baffle; 306 gear two; 307 gear ring;

[0032] 401 Rubber column; 402 Support frame; 403 Motor frame 2; 404 Motor 3; 405 Fixed shaft; 406 Rotating frame; 407 Flange 2; 408 Rotating wheel. Detailed Implementation

[0033] A high-rigidity industrial robot joint transmission structure includes an outer cylinder 101. The lower end of the outer cylinder 101 is fixed with the inner ring of a bearing 105. The outer ring of the bearing 105 is fixed to the inner circumference of a collar 301. An inner cylinder 201 is inserted into the outer cylinder 101 with a clearance fit. The lower end of the inner cylinder 201 is fixed with multiple connecting posts 203. The lower end of a rack 202 is fixed on each of the multiple connecting posts 203. Multiple sets of two pairs of opposing baffles 305 are fixed on the collar 301. The two baffles 305 in the same set are located on both sides of the corresponding rack 202.

[0034] like Figure 1-11 As shown;

[0035] The outer cylinder 101 serves as the main support structure for the joint. Its lower end is fixed to the inner ring of the bearing 105, while the outer ring of the bearing 105 is fixedly connected to the collar 301, allowing the collar 301 to rotate flexibly relative to the outer cylinder 101. The inner cylinder 201 is fitted onto the outer cylinder 101 with a clearance fit, allowing it to slide axially and rotate circumferentially along the outer cylinder 101. Multiple sets of opposing baffles 305 are provided on the collar 301, each set located on either side of the corresponding rack 202, limiting and constraining the rack 202. When the collar 301 rotates, the baffles 305 push against the rack 202 from the side, causing the rack 202, connecting column 203, and inner cylinder 201 to rotate as a whole around the axis of the outer cylinder 101, achieving joint rotation transmission. Simultaneously, the baffles 305 do not obstruct the axial extension and retraction of the rack 202, providing a basis for the combined extension and rotation motion.

[0036] Multiple motor brackets 303 are fixed on the collar 301, and motors 304 are fixed on each of the multiple motor brackets 303. Gears 306 are fixed on the output shaft of motors 304, and gears 306 mesh with the inner side of the corresponding rack 202 for transmission.

[0037] like Figure 1-11 As shown;

[0038] The motor bracket 303 on the collar 301 provides a stable mounting base for the second motor 304, which drives the second gear 306 to rotate. The second gear 306 meshes with the inner side of the rack 202, converting rotational power into linear power, driving the rack 202 to move axially, and then driving the inner cylinder 201 to perform axial extension and retraction relative to the outer cylinder 101 through the connecting column 203. When the collar 301 rotates, the second motor 304 and the second gear 306 rotate synchronously with the collar 301. The second gear 306 always maintains meshing with the rack 202, and works with the baffle 305 to drive the rack 202 to rotate, realizing the simultaneous extension and retraction and rotation of the joint.

[0039] Multiple limiting pieces 106 are fixed on the outer cylinder 101. The multiple limiting pieces 106 are distributed on both sides of the collar 301 to limit the collar 301 vertically.

[0040] like Figure 1-11 As shown;

[0041] Multiple limiting plates 106 on the outer cylinder 101 are located on the upper and lower sides of the collar 301, respectively, to axially clamp and limit the collar 301, preventing the collar 301 from axially moving when rotating or under force, ensuring that the bearing 105 is stably under force and that the baffle 305 always accurately clamps the rack 202, avoiding failure of rotation and telescopic transmission due to the displacement of the collar 301, and improving structural rigidity and motion accuracy.

[0042] Each of the motor frames 303 is fixed with a connecting piece 302, and a toothed ring 307 is fixed on the upper part of the multiple connecting pieces 302.

[0043] like Figure 1-11 As shown;

[0044] Each motor frame 303 is fixedly connected to the gear ring 307 via a connecting piece 302, so that the gear ring 307 and the collar 301 form a rigid whole and rotate synchronously. The connecting piece 302 distributes the force on the collar 301 and the gear ring 307, improves the connection strength, ensures the smooth rotation of the gear ring 307, and provides a stable transmission foundation for the active rotation of the collar 301.

[0045] Multiple bosses 103 are fixed on the outer cylinder 101, and a gear 104 is rotatably connected to each boss 103. The gear 104 meshes with the inner ring of the gear ring 307 for transmission.

[0046] like Figure 1-11 As shown;

[0047] The boss 103 on the outer cylinder 101 provides rotational support for the gear 104, which meshes with the inner ring of the gear ring 307. When the gear 104 rotates, it drives the gear ring 307 to rotate, which in turn drives the collar 301 to rotate around the axis of the outer cylinder 101 through the connecting piece 302 and the motor frame 303, providing active rotational power to the collar 301. The collar 301 then drives the rack 202 and the inner cylinder 201 to rotate through the baffle 305, realizing the transmission of joint rotational power.

[0048] Multiple motors 102 are fixed on the outer cylinder 101, and the output shafts of the multiple motors 102 are respectively fixed on multiple gears 104.

[0049] like Figure 1-11 As shown;

[0050] Multiple motors 102 drive corresponding gears 104 to rotate synchronously. Multiple sets of gears 104 work together on the gear ring 307 to improve the rotation driving force and transmission rigidity, ensuring that the collar 301 rotates smoothly and responds quickly, avoiding the jamming and deviation that occurs when driven by a single motor, and ensuring that the inner cylinder 201 rotates accurately and reliably.

[0051] The upper end of the outer cylinder 101 is fixed with a flange 107.

[0052] like Figure 1-11 As shown;

[0053] The flange 107 at the upper end of the outer cylinder 101 serves as the upper mounting interface for the joint, which is used to rigidly connect with components such as the robot arm and base, ensuring the overall joint is installed stably and providing stable support for rotation and telescopic movements, thus meeting the standardized assembly requirements of industrial robots.

[0054] The lower end of the inner cylinder 201 is fixed with the upper end of the rubber column 401, and the lower end of the rubber column 401 is fixed with the flange 407.

[0055] like Figure 1-11 As shown;

[0056] The inner cylinder 201 drives the rubber column 401 to simultaneously complete axial extension and circumferential rotation. The rubber column 401 has elastic buffering characteristics, which can absorb vibration and impact during movement and improve the smoothness of joint movement. The flange 407 at the lower end of the rubber column 401 serves as an output interface for connecting end components such as clamps and actuators, so as to stably output the extension and rotation of the joint.

[0057] Support frames 402 are fixed on two connecting columns 203. Each support frame 402 is rotatably connected to a fixed shaft 405 at its lower end. The two fixed shafts 405 are respectively fixed to the middle of two rotating frames 406. A rotating wheel 408 is rotatably connected between the two rotating frames 406. The two rotating wheels 408 are located on both sides of the rubber column 401. A second motor frame 403 is fixed on the support frame 402. A third motor 404 is fixed on the second motor frame 403. The output shaft of the third motor 404 is fixed to the end of the fixed shaft 405.

[0058] like Figure 1-11 As shown;

[0059] The connecting column 203 drives the support frame 402 to move synchronously with the inner cylinder 201. The motor 304 drives the fixed shaft 405 to rotate, causing the rotating frame 406 and the rotating wheel 408 to swing synchronously; the two rotating wheels 408 apply opposing extrusion forces from both sides of the rubber column 401, driving the rubber column 401 to bend to one side, realizing flexible deflection and posture adjustment at the joint end, and completing multi-dimensional precise positioning.

[0060] The rotating wheel 408 is thin in the middle and thick at both ends.

[0061] like Figure 1-11 As shown;

[0062] The roller 408 adopts a structure that is thin in the middle and thick at both ends. The thin middle section fits into the outer wall of the rubber column 401, which can stably apply force and efficiently drive the rubber column 401 to bend during swinging and squeezing. The thick sections at both ends form lateral limits to prevent the roller 408 from slipping off the rubber column 401, thereby improving the reliability of bending drive and the accuracy of attitude control.

Claims

1. A high-rigidity industrial robot joint transmission structure, comprising an outer cylinder (101), characterized in that: The lower end of the outer cylinder (101) is fixed with the inner ring of the bearing (105), the outer ring of the bearing (105) is fixed on the inner circumference of the collar (301), the inner cylinder (201) is inserted into the outer cylinder (101) with clearance fit, the lower end of the inner cylinder (201) is fixed with multiple connecting columns (203), the lower end of the rack (202) is fixed on each of the multiple connecting columns (203), and multiple sets of baffles (305) arranged in pairs are fixed on the collar (301), with two baffles (305) in the same set located on both sides of the corresponding rack (202).

2. The high-rigidity industrial robot joint transmission structure according to claim 1, characterized in that: Multiple motor brackets (303) are fixed on the collar (301), and motors (304) are fixed on each of the multiple motor brackets (303). Gears (306) are fixed on the output shaft of motors (304), and gears (306) mesh with the inner side of the corresponding rack (202) for transmission.

3. The high-rigidity industrial robot joint transmission structure according to claim 2, characterized in that: Multiple limiting pieces (106) are fixed on the outer cylinder (101), and the multiple limiting pieces (106) are distributed on both sides of the collar (301) to limit the collar (301) in the upper and lower directions.

4. The high-rigidity industrial robot joint transmission structure according to claim 3), characterized in that: Each of the motor frames (303) is fixed with a connecting piece (302), and a toothed ring (307) is fixed on the upper part of the multiple connecting pieces (302).

5. The high-rigidity industrial robot joint transmission structure according to claim 4, characterized in that: The outer cylinder (101) is fixed with multiple bosses (103), and each boss (103) is rotatably connected with a gear (104), which meshes with the inner ring of the gear ring (307) for transmission.

6. The high-rigidity industrial robot joint transmission structure according to claim 5, characterized in that: Multiple motors (102) are fixed on the outer cylinder (101), and the output shafts of the multiple motors (102) are respectively fixed on multiple gears (104).

7. The high-rigidity industrial robot joint transmission structure according to claim 6, characterized in that: The upper end of the outer cylinder (101) is fixed with flange 1 (107).

8. The high-rigidity industrial robot joint transmission structure according to claim 7, characterized in that: The lower end of the inner cylinder (201) is fixed with the upper end of the rubber column (401), and the lower end of the rubber column (401) is fixed with flange two (407).

9. The high-rigidity industrial robot joint transmission structure according to claim 8, characterized in that: Two connecting columns (203) are fixed with support frames (402). Each support frame (402) is rotatably connected to a fixed shaft (405) at its lower end. The two fixed shafts (405) are fixed in the middle of two rotating frames (406). A rotating wheel (408) is rotatably connected between the two rotating frames (406). The two rotating wheels (408) are located on both sides of the rubber column (401). A second motor frame (403) is fixed on the support frame (402). A third motor (404) is fixed on the second motor frame (403). The output shaft of the third motor (404) is fixed at the end of the fixed shaft (405).

10. A high-rigidity industrial robot joint transmission structure according to claim 9, characterized in that: The wheel (408) is thin in the middle and thick at both ends.

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