Robot joint transmission assembly with adjustable gear clearance

Abstract

The utility model discloses a robot joint transmission assembly with an adjustable gear clearance, which comprises a connecting frame, a transmission shaft and a transmission gear, an adjusting assembly is arranged on the connecting frame, and the transmission gear is arranged on the adjusting assembly; the adjusting assembly comprises a round sleeve fixedly connected with the connecting frame, the round sleeve is rotationally connected with an adjusting rod, the adjusting rod is in threaded connection with a threaded sleeve, and one side of the threaded sleeve is fixedly connected with a sliding sleeve. According to the gear clearance adjusting device, by arranging the adjusting assembly, when a user adjusts the gear clearance, the transmission structure can be driven to move only by screwing the adjusting rod outside the robot joint, the gear clearance can be adjusted, and meanwhile the sliding sleeve is matched with the supporting rod to adjust the position of the transmission structure; the counter-acting force applied to the gear in the transmission process cannot drive the gear to move, and it is ensured that after adjustment is completed, the gear can operate under the condition that the gap is proper for a long time.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot equipment, in particular to a robot joint transmission assembly with adjustable gear clearance. Background Technique

[0002] When gears are engaged in transmission, in order to form a lubricating oil film between the meshing tooth profiles and prevent jamming due to the expansion of the tooth flanks caused by frictional heat generation, there must be a clearance between the tooth profiles. This clearance is called the backlash. The existence of the backlash will cause impact between teeth and affect the smoothness of gear transmission. Therefore, this clearance can only be very small and is usually ensured by tooth difference. For the design of gear motion, it is still designed according to the condition of no backlash (zero backlash).

[0003] In the existing transmission system of multi-axis robots, bevel gears are mostly used at the end. Due to the complex assembly relationship at the robot joints and the axial force exerted on the bevel gears during bevel gear transmission, the bevel gears will move away from the meshing position, ultimately resulting in an increase in the gear clearance. This not only affects the gear transmission effect, increases kinetic energy loss, but also shortens the service life of the gears. Therefore, we propose a robot joint transmission assembly with adjustable gear clearance to solve the above problems. Content of the Utility Model

[0004] The purpose of the utility model is to solve the problems existing in the prior art, and to propose a robot joint transmission assembly with adjustable gear clearance.

[0005] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0006] A robot joint transmission assembly with adjustable gear clearance includes a connecting frame, a transmission shaft and a transmission gear. An adjusting assembly is arranged on the connecting frame, and the transmission gear is arranged on the adjusting assembly.

[0007] The adjusting assembly includes a round sleeve fixedly connected to the connecting frame. The round sleeve is rotatably connected with an adjusting rod. A threaded sleeve is threadedly connected to the adjusting rod. A sliding sleeve is fixedly connected to one side of the threaded sleeve. A limiting plate is fixedly connected to the connecting frame, and a plurality of support rods are rotatably connected to the limiting plate. The sliding sleeve is rotatably connected with a sleeve, and the sleeve is slidably connected with the support rods. A sliding frame is also slidably connected to the connecting frame. The sliding frame is slidably connected to the end of the support rod away from the limiting plate. A transmission structure is arranged on the sliding frame.

[0008] Preferably, the transmission assembly includes a bearing seat fixedly connected to the sliding frame. An extension shaft is rotatably connected in the bearing seat. The extension shaft is fixedly connected to the transmission gear and is slidably connected to the transmission shaft.

[0009] Preferably, a sunk groove is provided on one side of the connecting frame, the adjusting rod is arranged in the sunk groove, a round head is fixedly connected to the adjusting rod located in the sunk groove, and a hexagonal groove is formed in the round head.

[0010] Preferably, a sliding groove is formed in the connecting frame, and the limiting plate is slidably connected to the sliding groove.

[0011] Preferably, a damping rotating shaft is further fixedly connected to the connecting frame, and the adjusting rod is fixedly connected to the damping rotating shaft.

[0012] Preferably, a rubber baffle is fixedly connected to the side plate of the connecting frame close to the sunk groove.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0014] 1. In the present utility model, by providing an adjusting assembly, when the user adjusts the gear clearance, only need to turn the adjusting rod outside the robot joint, which can drive the transmission structure to move, so as to realize the adjustment of the gear clearance. At the same time, by using the sliding sleeve and the supporting rod to adjust the position of the transmission structure, the reaction force received by the gear during the transmission process cannot drive the gear to move, ensuring that the gear can run with a proper clearance for a long time after the adjustment is completed;

[0015] 2. In the present utility model, by providing a transmission assembly, the transmission gear is fixedly connected to the extension shaft. On the one hand, it can ensure that when the user adjusts the gear clearance, the assembly relationship of other parts of the robot will not be affected, reducing the equipment debugging difficulty and reducing variables. On the other hand, the transmission shaft will not be affected by the axial reaction force, avoiding the influence on the equipment or transmission teeth and other components connected to the other end of the transmission shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. is a schematic cross-sectional structure diagram of a transmission assembly of a robot joint with adjustable gear clearance proposed by the present utility model;

[0017] Figure 2 FIG. is a partial structure diagram of a transmission assembly of a robot joint with adjustable gear clearance proposed by the present utility model.

[0018] In the figure: 1. Connecting frame; 2. Transmission shaft; 3. Transmission gear; 4. Round sleeve; 5. Adjusting rod; 6. Threaded sleeve; 7. Sliding sleeve; 8. Limiting plate; 9. Supporting rod; 10. Sleeve; 11. Sliding frame; 12. Bearing seat; 13. Extension shaft; 14. Round head; 15. Damping rotating shaft; 16. Rubber baffle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0020] Referring to Figure 1-2 , a robot joint transmission assembly with adjustable gear clearance, including a connecting frame 1, a transmission shaft 2 and a transmission gear 3. An adjustment assembly is provided on the connecting frame 1, and the transmission gear 3 is arranged on the adjustment assembly;

[0021] The adjustment assembly includes a circular sleeve 4 fixedly connected to the connecting frame 1. The circular sleeve 4 is rotatably connected with an adjustment rod 5. The adjustment rod 5 is arranged parallel to the transmission shaft 2. A threaded sleeve 6 is threadedly connected to the adjustment rod 5. One side of the threaded sleeve 6 is fixedly connected with a sliding sleeve 7. A limiting plate 8 is fixedly connected to the connecting frame 1, and a plurality of support rods 9 are rotatably connected to the limiting plate 8. The sliding sleeve 7 is rotatably connected with a sleeve 10, and the sleeve 10 is slidably connected with the support rods 9. A sliding frame 11 is also slidably connected to the connecting frame 1. The sliding frame 11 is slidably connected to the end of the support rod 9 away from the limiting plate 8. A transmission structure is arranged on the sliding frame 11;

[0022] In the above design, when the user needs to adjust the gear clearance, only need to rotate the adjustment rod 5. The adjustment rod 5 drives the threaded sleeve 6 to move. The threaded sleeve 6 drives a plurality of support rods 9 to rotate. After the plurality of support rods 9 rotate, the distance between the transmission assembly and the limiting plate 8 will be changed, and finally the purpose of adjusting the gear clearance is achieved. This way can change the direction of the force when the reaction force during gear transmission is conducted to the adjustment rod 5 through the sleeve 10 and the sliding sleeve 7. In the normal industrial production process, after the adjustment rod 5 adjusts the position of the transmission structure, the clearance between the transmission gears 3 will not change due to the reaction force, and the threaded sleeve 6 on the adjustment rod 5 and the thread on the adjustment rod 5 will not be damaged. This adjustment assembly has good stability and durability, and enables the user to adjust the gear clearance outside the robot without disassembling the robot, which is convenient for the user to quickly adjust during the actual production process.

[0023] Furthermore, the transmission assembly includes a bearing seat 12 fixedly connected to the sliding frame 11. An extension shaft 13 is rotatably connected inside the bearing seat 12. The extension shaft 13 is fixedly connected to the transmission gear 3, and the extension shaft 13 is slidably connected to the transmission shaft 2;

[0024] In this design, the bearing seat 12 is used to stabilize the transmission shaft 2 and can drive the extension shaft 13 to move. The transmission gear 3 is fixed on the extension shaft 13. During the actual operation of the robot, the transmission gear 3 will not move relative to the extension shaft 13 due to the force, and the bearing seat 12 will not conduct the reaction force to the transmission shaft 2.

[0025] Furthermore, a sunk groove is provided on one side of the connecting frame 1, the adjusting rod 5 is arranged in the sunk groove, a round head 14 is fixedly connected to the adjusting rod 5 located in the sunk groove, and a hexagonal groove is formed in the round head 14;

[0026] The sunk groove is provided to accommodate and hide the adjusting rod 5 to prevent the adjusting rod 5 from rotating due to accidental touch. The hexagonal groove is adapted to the commonly used internal hexagonal wrench in industry. It should be noted that an opening is also provided on the outer shell of the robot main body at the position of the sunk groove to facilitate the user to control the adjusting rod 5 with an internal hexagonal wrench.

[0027] Furthermore, a sliding groove is formed in the connecting frame 1, and the limiting plate 8 is slidably connected to the sliding groove. The sliding groove is provided to limit the limiting plate 8 to ensure that the limiting plate 8 does not deviate during sliding but remains perpendicular to the transmission shaft 2.

[0028] Furthermore, a damping rotating shaft 15 is fixedly connected to the connecting frame 1, and the adjusting rod 5 is fixedly connected to the damping rotating shaft 15. The damping rotating shaft 15 is provided to increase the rotation resistance of the adjusting rod 5 to prevent the adjusting rod 5 from rotating due to the vibration during the operation of the robot as a whole.

[0029] Furthermore, a rubber blocking piece 16 is fixedly connected to the side plate of the connecting frame 1 close to the sunk groove. The rubber blocking piece 16 is provided to block the sunk groove to prevent foreign objects from entering the sunk groove.

[0030] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and the inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A robot joint transmission assembly with adjustable gear clearance, comprising a connecting frame (1), a transmission shaft (2) and a transmission gear (3), characterized in that: The connecting frame (1) is provided with an adjustment component, and the transmission gear (3) is arranged on the adjustment component; The adjustment assembly comprises a round sleeve (4) fixedly connected to the connecting frame (1); the round sleeve (4) is rotatably connected to an adjustment rod (5); a threaded sleeve (6) is threadedly connected to the adjusting rod (5); a sliding sleeve (7) is fixedly connected to one side of the threaded sleeve (6); a limit plate (8) is fixedly connected to the connecting frame (1); a plurality of support rods (9) are rotatably connected to the limit plate (8); a sleeve (10) is rotatably connected to the sliding sleeve (7); the sleeve (10) is slidably connected to the support rod (9); a sliding frame (11) is also slidably connected to the connecting frame (1); the sliding frame (11) is slidably connected to one end of the support rod (9) away from the limit plate (8); and a transmission structure is arranged on the sliding frame (11).

2. A robot joint transmission assembly with adjustable gear clearance according to claim 1, characterized in that: The transmission assembly comprises a bearing seat (12) fixedly connected to the slide (11), an extension shaft (13) rotatably connected inside the bearing seat (12), the extension shaft (13) fixedly connected to the transmission gear (3), and the extension shaft (13) slidably connected to the transmission shaft (2).

3. The robot joint transmission assembly with adjustable gear clearance according to claim 1, characterized in that: A sink groove is provided on one side of the connecting frame (1), the adjusting rod (5) is arranged in the sink groove, a round head (14) is fixedly connected to the adjusting rod (5) in the sink groove, and a hexagonal groove is provided on the round head (14).

4. The robot joint transmission assembly with adjustable gear clearance according to claim 1, characterized in that: A sliding groove is provided in the connecting frame (1), and the limiting plate (8) is slidably connected to the sliding groove.

5. The robot joint transmission assembly with adjustable gear clearance according to claim 1, characterized in that: The connecting frame (1) is also fixedly connected to a damping rotating shaft (15), and the adjusting rod (5) is fixedly connected to the damping rotating shaft (15).

6. The robot joint transmission assembly with adjustable gear clearance according to claim 3, characterized in that: The side plate of the connecting frame (1) close to the sink is fixedly connected with a rubber stopper (16).

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