Mechanical arm joint

Abstract

The utility model discloses a mechanical arm joint which comprises a shell, a first speed reducer, a second speed reducer, a first driven wheel, a first driving wheel, a second driven wheel, a first transmission belt, a first motor and a wire passing pipe, the interior of the shell is hollow, a mounting hole is formed in the shell, the first speed reducer is fixed on the outer wall of the shell, and the second speed reducer is fixed on the outer wall of the shell. The input end of the first speed reducer extends into the shell through the mounting hole, a cable of the first motor can penetrate out of the cable passing pipe, the second speed reducer is fixed to the outer wall of the shell, and a second motor is arranged on the second arm. The second driving wheel can be driven by the second motor to rotate and drive the second driven wheel and the input end of the second speed reducer to rotate through the second transmission belt, and the output end of the second speed reducer can drive the second arm to swing. The utility model has the advantages of compact structure, convenient wiring and good sealing performance.

Description

Technical Field

[0001] The utility model relates to a robotic arm, in particular to a robotic arm joint. Background Art

[0002] With the development of the times, industrial production technology is also developing rapidly. Robotic arms are increasingly used in industrial production. Currently, robotic arm joints usually have the problem of being not compact enough. Moreover, current robotic arms also have problems such as poor joint sealing, easy entry of foreign objects inside, and difficult wire routing, which are not conducive to large-scale promotion and industrial production. Summary of the Utility Model

[0003] In order to overcome the above defects, the utility model provides a robotic arm joint, which has the advantages of compact structure, convenient wire routing, and good sealing performance.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a robotic arm joint, comprising: a housing, a first speed reducer, a second speed reducer, a first driven wheel, a first driving wheel, a second driven wheel, a first transmission belt, a first motor, and a wire passing tube. The interior of the housing is hollow, and an installation hole is provided on the housing. The first speed reducer is fixed to the outer wall of the housing, and the input end of the first speed reducer extends into the housing through the installation hole. The first driven wheel is circumferentially fixed to the input end of the first speed reducer. The first motor is arranged inside the housing, and the first driving wheel is circumferentially fixed to the rotating shaft of the first motor. The first driving wheel and the first driven wheel are connected by the first transmission belt for transmission. A first through hole is provided along the axis of the first speed reducer, and a second through hole is provided along the axis of the first driven wheel. The first end of the wire passing tube can pass through the first through hole and be rotatably connected to the second through hole. The cable of the first motor can pass through the wire passing tube. The output end of the first speed reducer is connected to the first arm. The first driving wheel can rotate under the drive of the first motor and drive the first driven wheel and the input end of the first speed reducer to rotate through the first transmission belt. The output end of the first speed reducer can drive the first arm to swing. The second speed reducer is fixed to the outer wall of the housing. The axis of the first speed reducer is perpendicular to the axis of the second speed reducer. The second driven wheel is circumferentially fixed to the input end of the second speed reducer. A second motor is arranged on the second arm, and the second driving wheel is circumferentially fixed to the rotating shaft of the second motor. The second driving wheel and the second driven wheel are connected by the second transmission belt for transmission. The second arm is connected to the output end of the second speed reducer. The second driving wheel can rotate under the drive of the second motor and drive the second driven wheel and the input end of the second speed reducer to rotate through the second transmission belt. The output end of the second speed reducer can drive the second arm to swing.

[0005] Optionally, the first speed reducer is a first harmonic speed reducer, which includes a first wave generator, a first flexible gear, and a first rigid gear. The first wave generator is the input end of the first speed reducer, the first flexible gear is the output end of the first speed reducer, and the first speed reducer is fixed to the outer wall of the housing through the first rigid gear. The second speed reducer is a second harmonic speed reducer, which includes a second wave generator, a second flexible gear, and a second rigid gear. The second wave generator is the input end of the second speed reducer, the second flexible gear is the output end of the second speed reducer, and the second speed reducer is fixed to the outer wall of the housing through the second rigid gear.

[0006] Optionally, it further includes a cover plate. The housing is provided with an assembly opening at one end away from the first speed reducer, and the cover plate can be fixed to the housing through the first bolt, and the cover plate can cover the assembly opening.

[0007] Optionally, the ends of the second arm are protrudingly provided with a first fixing plate and a second fixing plate. The housing is located between the first fixing plate and the second fixing plate. The housing is provided with a bushing at one end away from the second speed reducer, and the bushing is fixed to the housing through the second bolt. A first connection port is opened on the first fixing plate, and the bushing can be rotatably connected to the connection port. A relief opening is penetrated through the second fixing plate, and the second flexible gear is fixedly connected to the second fixing plate, and the second driven wheel can extend out from the relief opening.

[0008] Optionally, it further includes a bearing. The bearing is fixed in the second through hole through a snap ring, and the first end of the wire conduit can be clamped in the inner ring of the bearing.

[0009] Optionally, it further includes a sealing ring. The sealing ring is sleeved on the second end of the wire conduit.

[0010] Optionally, it further includes an indicator light. The indicator light is fixed to the outer wall of the housing through a connecting plate.

[0011] Optionally, it further includes a sealing cover. The housing is provided with an inspection opening, and the sealing cover can be fixed to the housing through the third bolt, and the sealing cover can cover the inspection opening.

[0012] Optionally, the first motor is a first servo motor, and the second motor is a second servo motor.

[0013] The beneficial technical effects of the present utility model are as follows: The robotic arm joint includes: a housing, a first reduction gear, a second reduction gear, a first driven wheel, a first driving wheel, a second driven wheel, a first transmission belt, a first motor, and a wire passing pipe. When in use, the first arm is driven to swing by the first motor, and the second arm is driven to swing by the second motor. Since the axes of the first reduction gear and the second reduction gear are perpendicular to each other, a single robotic arm joint can provide two degrees of freedom for the robotic arm. At the same time, since the first motor is arranged inside the housing, the exposure of the first motor is avoided, so the structure of the robotic arm joint is more compact. Also, due to the protection of the housing, the sealing performance is better. Additionally, due to the provision of the wire passing pipe, the wiring is more convenient. It has the advantages of compact structure, convenient wiring, and good sealing performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is the front view of the whole machine of the present utility model;

[0015] Figure 2 is the side view of the whole machine of the present utility model;

[0016] Figure 3 is the bottom view of the whole machine of the present utility model;

[0017] Figure 4 is the exploded view of the whole machine of the present utility model from the first perspective;

[0018] Figure 5 is the exploded view of the whole machine of the present utility model from the second perspective;

[0019] Wherein:

[0020] 1. Housing; 2. First reduction gear; 3. Second reduction gear; 4. First driven wheel; 5. First driving wheel; 6. Second driven wheel; 7. First transmission belt; 8. First motor; 9. Wire passing pipe; 10. Cover plate; 11. Bush; 12. Bearing; 13. Snap ring; 14. Sealing ring; 15. Indicator light; 16. Connecting plate; 17. Sealing cover. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] In order to more clearly understand the technical means of the present utility model and be able to implement it in accordance with the content of the specification, the following combines the drawings and embodiments to further describe in detail the specific embodiments of the present utility model. The following embodiments are used to illustrate the present utility model, but are not used to limit the scope of the present utility model.

[0022] This specific embodiment details the robotic arm joint described in the present application, as Figures 1 - 5As shown in the figure, the robotic arm joint includes: a housing 1, a first reduction gear 2, a second reduction gear 3, a first driven wheel 4, a first driving wheel 5, a second driven wheel 6, a first transmission belt 7, a first motor 8, and a cable conduit 9. The interior of the housing 1 is hollow, and an installation hole is provided on the housing 1. The first reduction gear 2 is fixed to the outer wall of the housing 1, and the input end of the first reduction gear 2 extends into the housing 1 through the installation hole. The first driven wheel 4 is circumferentially fixed to the input end of the first reduction gear 2. The first motor 8 is disposed inside the housing 1, and the first driving wheel 5 is circumferentially fixed to the rotating shaft of the first motor 8. The first driving wheel 5 and the first driven wheel 4 are drivingly connected by the first transmission belt 7. A first through hole is provided along the axis of the first reduction gear 2, and a second through hole is provided along the axis of the first driven wheel 4. The first end of the cable conduit 9 can pass through the first through hole and be rotatably connected to the second through hole, and the cable of the first motor 8 can pass through the cable conduit 9. The output end of the first reduction gear 2 is connected to the first arm. The first driving wheel 5 can rotate under the drive of the first motor 8 and drive the first driven wheel 4 and the input end of the first reduction gear 2 to rotate through the first transmission belt 7. The output end of the first reduction gear 2 can drive the first arm to swing. The second reduction gear 3 is fixed to the outer wall of the housing 1. The axis of the first reduction gear 2 is perpendicular to the axis of the second reduction gear 3. The second driven wheel 6 is circumferentially fixed to the input end of the second reduction gear 3. A second motor is provided on the second arm, and a second driving wheel is circumferentially fixed to the rotating shaft of the second motor. The second driving wheel and the second driven wheel 6 are drivingly connected by a second transmission belt. The second arm is connected to the output end of the second reduction gear 3. The second driving wheel can rotate under the drive of the second motor and drive the second driven wheel 6 and the input end of the second reduction gear 3 to rotate through the second transmission belt. The output end of the second reduction gear 3 can drive the second arm to swing. During use, the first arm is driven to swing by the first motor 8, and the second arm is driven to swing by the second motor. Since the axes of the first reduction gear 2 and the second reduction gear 3 are perpendicular to each other, a robotic arm joint can provide two degrees of freedom for the robotic arm. At the same time, since the first motor 8 is disposed inside the housing 1, the exposure of the first motor 8 is avoided, so the structure of the robotic arm joint is more compact. At the same time, due to the protection of the housing 1, the sealing performance is better. In addition, due to the provision of the cable conduit 9, the wiring is more convenient. It has the advantages of compact structure, convenient wiring, and good sealing performance.

[0023] Optionally, in this embodiment, the first reduction gear 2 is a first harmonic reduction gear. The first harmonic reduction gear includes a first wave generator, a first flexspline, and a first circular spline. The first wave generator is the input end of the first reduction gear 2, and the first flexspline is the output end of the first reduction gear 2. The first reduction gear 2 is fixed to the outer wall of the housing 1 through the first circular spline. The second reduction gear 3 is a second harmonic reduction gear. The second harmonic reduction gear includes a second wave generator, a second flexspline, and a second circular spline. The second wave generator is the input end of the second reduction gear 3, and the second flexspline is the output end of the second reduction gear 3. The second reduction gear 3 is fixed to the outer wall of the housing 1 through the second circular spline.

[0024] Optionally, in this embodiment, it further includes a cover plate 10. An assembly port is provided at one end of the housing away from the first reduction gear 2. The cover plate 10 can be fixed to the housing 1 by a first bolt, and the cover plate 10 can cover the assembly port. The provision of the assembly port facilitates assembly and maintenance.

[0025] Optionally, in this embodiment, a first fixing plate and a second fixing plate protrude from the end of the second arm. The housing 1 is located between the first fixing plate and the second fixing plate. A bushing 11 is provided at one end of the housing 1 away from the second reduction gear 3. The bushing 11 is fixed to the housing 1 by a second bolt. A first connection port is provided on the first fixing plate. The bushing 11 can be rotatably connected to the connection port. A relief port is penetrated through the second fixing plate. The second flexspline is fixedly connected to the second fixing plate. The second driven wheel 6 can extend out from the relief port. The bushing 11 can play a positioning role, and the bushing 11 can also provide support for the second arm when the second arm swings.

[0026] Optionally, in this embodiment, it further includes a bearing 12. The bearing 12 is fixed in the second through hole by a snap ring 13. The first end of the wire conduit 9 can be clamped in the inner ring of the bearing 12. The bearing 12 is provided to keep the wire conduit 9 rotatably connected to the second through hole.

[0027] Optionally, in this embodiment, it further includes a sealing ring 14. The sealing ring 14 is sleeved on the second end of the wire conduit 9. The sealing ring 14 can play a sealing role to prevent dust from entering the housing 1.

[0028] Optionally, in this embodiment, it further includes an indicator light 15. The indicator light 15 is fixed to the outer wall of the housing 1 by a connecting plate 16. The indicator light 15 can remind the user of the position of the joint to avoid the user accidentally touching the robotic arm.

[0029] Optionally, in this embodiment, it further includes a sealing cover 17. An inspection port is provided on the housing 1. The sealing cover 17 can be fixed to the housing 1 by a third bolt, and the sealing cover 17 can cover the inspection port. The provision of the inspection port on the housing 1 facilitates inspection. In this embodiment, the inspection port can also facilitate the user to adjust the tension degree of the first transmission belt 7.

[0030] Optionally, in this embodiment, the first motor 8 is a first servo motor, and the second motor is a second servo motor.

[0031] Using the robotic arm joint in this embodiment has the advantages of a compact structure, convenient wire routing, and good sealing performance.

Claims

1. A robotic arm joint, characterized in that, Including: A housing (1), a first speed reducer (2), a second speed reducer (3), a first driven wheel (4), a first driving wheel (5), a second driven wheel (6), a first transmission belt (7), a first motor (8) and a cable conduit (9). The interior of the housing (1) is hollow, and an installation hole is provided on the housing (1). The first speed reducer (2) is fixed to the outer wall of the housing (1), and the input end of the first speed reducer (2) extends into the housing (1) through the installation hole. The first driven wheel (4) is circumferentially fixed to the input end of the first speed reducer (2). The first motor (8) is arranged inside the housing (1), and the first driving wheel (5) is circumferentially fixed to the rotating shaft of the first motor (8). The first driving wheel (5) and the first driven wheel (4) are drivingly connected by the first transmission belt (7). A first through hole is provided along the axis of the first speed reducer (2), and a second through hole is provided along the axis of the first driven wheel (4). The first end of the cable conduit (9) can pass through the first through hole and be rotatably connected to the second through hole. The cable of the first motor (8) can pass through the cable conduit (9). The output end of the first speed reducer (2) is connected to a first arm. The first driving wheel (5) can rotate under the drive of the first motor (8) and drive the first driven wheel (4) and the input end of the first speed reducer (2) to rotate through the first transmission belt (7). The output end of the first speed reducer (2) can drive the first arm to swing. The second speed reducer (3) is fixed to the outer wall of the housing (1). The axis of the first speed reducer (2) is perpendicular to the axis of the second speed reducer (3). The second driven wheel (6) is circumferentially fixed to the input end of the second speed reducer (3). A second motor is arranged on the second arm. The second driving wheel is circumferentially fixed to the rotating shaft of the second motor. The second driving wheel and the second driven wheel (6) are drivingly connected by a second transmission belt. The second arm is connected to the output end of the second speed reducer (3). The second driving wheel can rotate under the drive of the second motor and drive the second driven wheel (6) and the input end of the second speed reducer (3) to rotate through the second transmission belt. The output end of the second speed reducer (3) can drive the second arm to swing.

2. The robotic arm joint according to claim 1, characterized in that: The first speed reducer (2) is a first harmonic speed reducer. The first harmonic speed reducer includes a first wave generator, a first flexspline and a first rigid gear. The first wave generator is the input end of the first speed reducer (2), and the first flexspline is the output end of the first speed reducer (2). The first speed reducer (2) is fixed to the outer wall of the housing (1) through the first rigid gear. The second speed reducer (3) is a second harmonic speed reducer. The second harmonic speed reducer includes a second wave generator, a second flexspline and a second rigid gear. The second wave generator is the input end of the second speed reducer (3), and the second flexspline is the output end of the second speed reducer (3). The second speed reducer (3) is fixed to the outer wall of the housing (1) through the second rigid gear.

3. The robotic arm joint according to claim 2, characterized in that: It further includes a cover plate (10). An assembly opening is provided at one end of the housing (1) away from the first speed reducer (2). The cover plate (10) can be fixed to the housing (1) by a first bolt, and the cover plate (10) can cover the assembly opening.

4. The robotic arm joint according to claim 3, wherein: The end of the second arm is provided with a first fixing plate and a second fixing plate protruding therefrom, the housing (1) is located between the first fixing plate and the second fixing plate, the housing (1) is provided with a shaft sleeve (11) at an end of the housing (1) away from the second reducer (3), the shaft sleeve (11) being fixed to the housing (1) by a second bolt, the first fixing plate being provided with a first connecting port, the shaft sleeve (11) being rotatably connected to the connecting port, the second fixing plate being provided with a clearance port, the second flexible wheel being fixedly connected to the second fixing plate, and the second driven wheel (6) being able to extend out of the clearance port.

5. The robotic arm joint according to claim 1, wherein: It also includes a bearing (12), wherein the bearing (12) is fixed in the second through hole via a retaining spring (13), and the first end of the wire tube (9) can be clamped in the inner ring of the bearing (12).

6. The robotic arm joint according to claim 1, wherein: It also includes a sealing ring (14), wherein the sealing ring (14) is sleeved on the second end of the wire passing tube (9).

7. The robotic arm joint according to claim 1, wherein: It also comprises an indicator light (15), wherein the indicator light (15) is fixed to the outer wall of the housing (1) via a connecting plate (16).

8. The robotic arm joint according to claim 1, wherein: It also comprises a sealing cover (17); an inspection opening is provided on the housing (1); the sealing cover (17) can be fixed to the housing (1) by a third bolt; and the sealing cover (17) can cover the inspection opening.

9. The robotic arm joint according to claim 1, wherein: The first motor (8) is a first servo motor, and the second motor is a second servo motor.

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