Industrial mechanical arm joint transmission device

Abstract

The utility model relates to the technical field of mechanical arms, in particular to an industrial mechanical arm joint transmission device which comprises a driving mechanism, two transmission mechanisms and two adjusting mechanisms, the two transmission mechanisms are symmetrically installed on one side of the driving mechanism, and the two adjusting mechanisms are installed at one ends of the two transmission mechanisms respectively. The driving mechanism comprises a first L-shaped plate, the transmission mechanism comprises a movable arm and a connecting rod, and the bottom end of the connecting rod is rotationally connected to the upper surface of the first L-shaped plate through a bearing. The driving gear drives the driven gear to rotate, so that the rotating shaft drives the mechanical claw to rotate, the clamping angle is adjusted, accurate control over the angle of the mechanical claw is achieved, diversified production requirements are met, and the universality and practicability of the equipment are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a joint transmission device for an industrial mechanical arm. Background Art

[0002] The Industrial Internet is a new type of infrastructure, application model, and industrial ecology that deeply integrates the new generation of information and communication technology with the industrial economy. A robotic arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety, and explosion protection. The industrial robotic arm controlled by the Industrial Internet is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling model of the robotic arm is also uncertain. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade and form the end posture;

[0003] A Chinese patent publication (publication number: CN215701701U) discloses a joint transmission device for an industrial robot arm, which includes a fixed rod, a fixed block fixedly installed on the rear side of the fixed rod, a connecting hole opened in the middle of the rear side of the fixed rod, a telescopic rod movably installed inside the connecting hole, a starting device movably installed at one end of the telescopic rod, a moving rod fixedly installed at the other end of the telescopic rod, and sleeves connected at both ends of the moving rod. The utility model drives the telescopic rod to extend outward through the starting device, and the telescopic rod drives the moving rod to move to one side. When the moving rod moves, it can drive the sleeve to move. Due to the sleeve There is a first limiting rod on the upper part and it is connected to the second limiting rod through a connecting rod. Because the second limiting rod is connected to the side of the fixed rod, it can cooperate with the moving rod to fix the moving direction of the sleeve, so that the sleeve can be translated toward the center on the moving rod, making its transmission more coordinated and achieving the purpose of higher flexibility. However, the angle adjustment of the mechanical claw is limited, and it is difficult to adjust the angle of the mechanical claw in real time according to different working environments and task requirements. When faced with complex and changeable production tasks, the existing joint transmission device cannot quickly and accurately adjust the angle of the mechanical claw, resulting in low production efficiency and unstable operation accuracy. For this reason, an industrial robot arm joint transmission device is proposed. Utility Model Content

[0004] In view of this, the present invention provides an industrial robot arm joint transmission device to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0005] The technical solution of the present utility model is implemented as follows: an industrial robot arm joint transmission device includes a driving mechanism, two transmission mechanisms and two adjustment mechanisms, the two transmission mechanisms are symmetrically installed on one side of the driving mechanism, and the two adjustment mechanisms are respectively installed on one end of the two transmission mechanisms, the driving mechanism includes a first L-shaped plate, the transmission mechanism includes a movable arm and a connecting rod, the bottom end of the connecting rod is rotatably connected to the upper surface of the first L-shaped plate through a bearing, and the movable arm is fixedly connected to the outer side wall of the connecting rod;

[0006] The adjustment mechanism includes a rotating shaft and a mechanical claw. One end of the rotating shaft is rotatably connected to one end of the movable arm through a bearing, and the mechanical claw is fixedly connected to the outer side wall of the rotating shaft.

[0007] Further preferably, the driving mechanism further includes a through hole, an electric push rod and a driving block, the through hole is opened on one side of the first L-shaped plate, the electric push rod is installed on the other side of the first L-shaped plate, and the telescopic end of the electric push rod passes through the through hole.

[0008] Further preferably, the transmission mechanism further includes a connecting plate, the driving block is fixedly connected to the telescopic end of the electric push rod, one side of the connecting plate is hinged to the driving block, and the other side of the connecting plate is hinged to the movable arm.

[0009] Further preferably, the adjustment mechanism also includes a driven gear, a second L-shaped plate, a micro motor, a driving gear and an anti-slip pad, the driven gear is fixedly connected to the top end of the rotating shaft, the micro motor is arranged above the movable arm, the driving gear is fixedly connected to the output end of the micro motor, and the driven gear is meshed with the driving gear.

[0010] Further preferably, the second L-shaped plate is fixedly connected to the upper surface of the movable arm, and the top of the micro motor is fixedly connected to the second L-shaped plate.

[0011] Further preferably, the anti-slip pad is fixedly connected to one side of the mechanical claw.

[0012] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution:

[0013] The utility model drives the movable arm to move the mechanical claw through the electric push rod, and the micro motor drives the driving gear to rotate, and the driving gear drives the driven gear to rotate, so that the rotating shaft drives the mechanical claw to rotate, adjusts the clamping angle, realizes precise control of the mechanical claw angle, meets diversified production needs, and improves the versatility and practicality of the equipment.

[0014] The above summary is for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 This is a structural diagram of the industrial robot arm joint transmission device of the utility model;

[0017] Figure 2 For this utility model Figure 1 One-view structural diagram;

[0018] Figure 3 For this utility model Figure 1 The two-view structure diagram of

[0019] Figure 4 This is a structural diagram of the movable arm and adjustment mechanism of the utility model.

[0020] Figure numerals: 1. driving mechanism; 11. first L-shaped plate; 12. through hole; 13. electric push rod; 14. driving block; 2. transmission mechanism; 21. connecting plate; 22. movable arm; 23. connecting rod; 3. adjusting mechanism; 31. rotating shaft; 32. mechanical claw; 33. driven gear; 34. second L-shaped plate; 35. micro motor; 36. driving gear; 37. anti-slip pad. DETAILED DESCRIPTION

[0021] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0022] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0023] like Figure 1-4As shown, an embodiment of the present invention provides an industrial robot arm joint transmission device, including a driving mechanism 1, two transmission mechanisms 2 and two adjustment mechanisms 3. The two transmission mechanisms 2 are symmetrically installed on one side of the driving mechanism 1, and the two adjustment mechanisms 3 are respectively installed on one end of the two transmission mechanisms 2. The driving mechanism 1 includes a first L-shaped plate 11, and the transmission mechanism 2 includes a movable arm 22 and a connecting rod 23. The bottom end of the connecting rod 23 is rotatably connected to the upper surface of the first L-shaped plate 11 through a bearing, and the movable arm 22 is fixedly connected to the outer side wall of the connecting rod 23.

[0024] The adjustment mechanism 3 includes a rotating shaft 31 and a mechanical claw 32 . One end of the rotating shaft 31 is rotatably connected to one end of the movable arm 22 via a bearing, and the mechanical claw 32 is fixedly connected to the outer wall of the rotating shaft 31 .

[0025] In one embodiment, the driving mechanism 1 also includes a through hole 12, an electric push rod 13 and a driving block 14. The through hole 12 is opened on one side of the first L-shaped plate 11, and the electric push rod 13 is installed on the other side of the first L-shaped plate 11. The telescopic end of the electric push rod 13 passes through the through hole 12; through the setting of the electric push rod 13, the electric push rod 13 is used to drive the driving block 14 to move.

[0026] In one embodiment, the transmission mechanism 2 also includes a connecting plate 21, the driving block 14 is fixedly connected to the telescopic end of the electric push rod 13, one side of the connecting plate 21 is hinged to the driving block 14, and the other side of the connecting plate 21 is hinged to the movable arm 22; through the setting of the connecting plate 21, the connecting plate 21 is connected to the driving block 14 and the movable arm 22, so that the driving block 14 drives the movable arm 22 to move through the connecting plate 21.

[0027] In one embodiment, the adjustment mechanism 3 also includes a driven gear 33, a second L-shaped plate 34, a micro motor 35, a driving gear 36 and an anti-slip pad 37. The driven gear 33 is fixedly connected to the top of the rotating shaft 31, the micro motor 35 is arranged above the movable arm 22, and the driving gear 36 is fixedly connected to the output end of the micro motor 35. The driven gear 33 is meshed with the driving gear 36. Through the setting of the micro motor 35, when the angle of the mechanical claw 32 needs to be adjusted, the micro motor 35 drives the driving gear 36 to rotate, and the driving gear 36 drives the driven gear 33 to rotate, so that the rotating shaft 31 drives the mechanical claw 32 to rotate.

[0028] In one embodiment, the second L-shaped plate 34 is fixedly connected to the upper surface of the movable arm 22 , and the top of the micro motor 35 is fixedly connected to the second L-shaped plate 34 ; through the setting of the second L-shaped plate 34 , the second L-shaped plate 34 plays a role in fixing the micro motor 35 .

[0029] In one embodiment, the anti-skid pad 37 is fixedly connected to one side of the mechanical claw 32 . By providing the anti-skid pad 37 , the anti-skid pad 37 increases the friction of the mechanical claw 32 and improves the clamping effect of the mechanical claw 32 .

[0030] When the utility model is working: first, when the mechanical claw 32 needs to clamp, the electric push rod 13 is started, the electric push rod 13 is used to drive the driving block 14 to move, and the driving block 14 drives the movable arm 22 to move through the connecting plate 21, so that the movable arm 22 drives the mechanical claw 32 to move closer. When the clamping angle of the mechanical claw 32 needs to be adjusted, the micro motor 35 drives the driving gear 36 to rotate, and the driving gear 36 drives the driven gear 33 to rotate, so that the rotating shaft 31 drives the mechanical claw 32 to rotate, and the clamping angle is adjusted.

[0031] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope of protection of the claims.

Claims

1. An industrial robot arm joint transmission device, characterized by: The invention comprises a driving mechanism (1), two transmission mechanisms (2) and two adjustment mechanisms (3), wherein the two transmission mechanisms (2) are symmetrically mounted on one side of the driving mechanism (1), and the two adjustment mechanisms (3) are respectively mounted on one end of the two transmission mechanisms (2); the driving mechanism (1) comprises a first L-shaped plate (11), and the transmission mechanism (2) comprises a movable arm (22) and a connecting rod (23); the bottom end of the connecting rod (23) is rotatably connected to the upper surface of the first L-shaped plate (11) through a bearing, and the movable arm (22) is fixedly connected to the outer side wall of the connecting rod (23); The adjustment mechanism (3) comprises a rotating shaft (31) and a mechanical claw (32), one end of the rotating shaft (31) is rotatably connected to one end of the movable arm (22) via a bearing, and the mechanical claw (32) is fixedly connected to the outer wall of the rotating shaft (31).

2. The industrial robot arm joint transmission device according to claim 1, characterized in that: The driving mechanism (1) further comprises a through hole (12), an electric push rod (13) and a driving block (14); the through hole (12) is opened on one side of the first L-shaped plate (11); the electric push rod (13) is installed on the other side of the first L-shaped plate (11); and the telescopic end of the electric push rod (13) passes through the through hole (12).

3. The industrial robot arm joint transmission device according to claim 2, characterized in that: The transmission mechanism (2) further comprises a connecting plate (21), the driving block (14) is fixedly connected to the telescopic end of the electric push rod (13), one side of the connecting plate (21) is hinged to the driving block (14), and the other side of the connecting plate (21) is hinged to the movable arm (22).

4. The industrial robot arm joint transmission device according to claim 1, characterized in that: The adjustment mechanism (3) further comprises a driven gear (33), a second L-shaped plate (34), a micro motor (35), a driving gear (36) and an anti-slip pad (37); the driven gear (33) is fixedly connected to the top end of the rotating shaft (31); the micro motor (35) is arranged above the movable arm (22); the driving gear (36) is fixedly connected to the output end of the micro motor (35); and the driven gear (33) is meshed with the driving gear (36).

5. The industrial robot arm joint transmission device according to claim 4, characterized in that: The second L-shaped plate (34) is fixedly connected to the upper surface of the movable arm (22), and the top of the micro motor (35) is fixedly connected to the second L-shaped plate (34).

6. The industrial robot arm joint transmission device according to claim 4, characterized in that: The anti-slip pad (37) is fixedly connected to one side of the mechanical claw (32).

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