Rotary joint of yaw shaft of mechanical arm

Abstract

The utility model discloses a rotary joint of a yaw shaft of a mechanical arm, and belongs to the technical field of mechanical arms. The motor is installed below the bottom plate, a transmission shaft of the motor penetrates through the bottom plate, and a first gear is installed on the transmission shaft through a first connecting piece; the large arm is connected with a second gear meshed with the first gear through a second connecting piece, the second gear is connected with a center rotating piece, and a flange bearing penetrating through the bottom plate is installed on the center rotating piece. A traditional mode that a motor is directly connected with the mechanical arm is changed, gear transmission is used, the space utilization rate of the bottom of the mechanical arm is improved, meanwhile, wiring of the mechanical arm is facilitated, the transmission ratio of the gear can be changed according to different requirements, and therefore the output torque of the motor to a yaw shaft of the mechanical arm is flexibly adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a rotary joint of a yaw axis of a mechanical arm. Background Art

[0002] In recent years, with the continuous development of automation technology, the application of robotic arms has become increasingly widespread across various fields. Robotic arms are a key branch of robotics, capable of completing a wide range of desired tasks. The rotary joint of a robotic arm is a key component of the manipulator, and its flexibility and accuracy largely determine the manipulator's flexibility and accuracy. However, traditional robotic arm yaw axis designs present numerous challenges, such as high motor requirements, low space utilization, and difficult wiring. These issues limit the performance and application scope of robotic arms.

[0003] Existing designs for the yaw axis at the base of a robotic arm typically use a motor directly connected to the arm. This places high demands on the motor, reduces space utilization at the base of the arm, and makes wiring difficult. Therefore, we propose a rotary joint for the yaw axis of a robotic arm to address these issues.

[0004] The above information disclosed in this background technology is only for enhancing understanding of the background technology of the present invention and therefore it may contain information that does not constitute the prior art that is already known to a person of ordinary skill in the art. Utility Model Content

[0005] The purpose of the present utility model is to provide a rotary joint for the yaw axis of a robotic arm, so as to solve the problem that the design of the yaw axis at the bottom of the existing robotic arm proposed in the above background technology all adopts a motor directly connected to the robotic arm, which places very high requirements on the motor. Moreover, since the motor is directly connected to the robotic arm, the space utilization rate at the bottom of the robotic arm is greatly reduced, and wiring is difficult.

[0006] To achieve the above object, the present invention provides a rotary joint for the yaw axis of a robotic arm, comprising:

[0007] base plate;

[0008] a motor, the motor being mounted below the base plate, the transmission shaft of the motor passing through the base plate, the transmission shaft being mounted with a first gear via a first connecting member;

[0009] The upper arm is connected to a second gear meshing with the first gear through a second connecting member, the second gear is connected to a central rotating member, and a flange bearing penetrating the bottom plate is installed on the central rotating member.

[0010] Preferably, a first spacer is provided between the motor and the base plate.

[0011] Preferably, a first gasket is provided between the bottom of the transmission shaft and the motor, and a second gasket is provided between the top of the transmission shaft and the first gear.

[0012] Preferably, a second raising member is provided between the first connecting member and the bottom plate.

[0013] Preferably, the flange bearing is equipped with a third gasket, a fourth gasket, a fifth gasket, a sixth gasket and a seventh gasket in sequence, and the diameters of the center holes of the third gasket, the fourth gasket, the fifth gasket, the sixth gasket and the seventh gasket are all different.

[0014] Preferably, a clamping piece is provided at the bottom of the central rotating member.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] The utility model changes the traditional way of directly connecting the motor and the robotic arm, and uses gear transmission to improve the space utilization at the bottom of the robotic arm, while facilitating the wiring of the robotic arm. The gear transmission ratio can be changed according to different needs, thereby flexibly adjusting the output torque of the motor to the yaw axis of the robotic arm.

[0017] The above summary is for illustrative purposes 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

[0018] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the top view of the structure of the utility model;

[0020] Figure 3 This is a schematic diagram of the cross-sectional structure of the utility model.

[0021] In the figure: 1. Base plate; 2. Motor; 3. First spacer; 4. Drive shaft; 5. First gasket; 6. First gear; 7. Second spacer; 8. First connecting member; 9. Second gasket; 10. Flange bearing; 11. Center rotating member; 12. Upper arm; 13. Second gear; 14. Second connecting member; 15. Third gasket; 16. Fourth gasket; 17. Fifth gasket; 18. Sixth gasket; 19. Seventh gasket; 20. Clip. DETAILED DESCRIPTION

[0022] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. It should be noted that the drawings are schematic and not to scale. For the sake of clarity and convenience, the relative sizes and proportions of the parts shown in the drawings are exaggerated or reduced in size, and any sizes are only illustrative and not restrictive.

[0023] Example 1

[0024] A rotary joint of a yaw axis of a robotic arm, comprising:

[0025] Base plate 1;

[0026] The motor 2 is a GM6020 brushless DC motor 2, which is installed below the base plate 1. The transmission shaft 4 of the motor 2 passes through the base plate 1. The first gear 6 is installed on the transmission shaft 4 through a first connecting member 8.

[0027] The upper arm 12 is connected to a second gear 13 meshing with the first gear 6 via a second connecting member 14 . The second gear 13 is connected to a central rotating member 11 . A flange bearing 10 penetrating the base plate 1 is mounted on the central rotating member 11 .

[0028] Example 2

[0029] See also Figure 1 - Figure 3 , a rotary joint of a yaw axis of a robotic arm, comprising:

[0030] Base plate 1;

[0031] Motor 2, a GM6020 brushless DC motor 2, is installed below the base plate 1, with a first spacer 3 provided between the motor 2 and the base plate 1. A transmission shaft 4 of the motor 2 passes through the base plate 1, with a first gasket 5 provided between the bottom of the transmission shaft 4 and the motor 2. A first gear 6 is installed on the transmission shaft 4 via a first connecting member 8. A second gasket 9 is provided between the top of the transmission shaft 4 and the first gear 6. A second spacer 7 is provided between the first connecting member 8 and the base plate 1.

[0032] The upper arm 12 is connected to the second gear 13 meshing with the first gear 6 through the second connecting member 14, and the second gear 13 is connected to the central rotating member 11. The central rotating member 11 is equipped with a flange bearing 10 passing through the base plate 1, and the bottom of the central rotating member 11 is equipped with a clamping member 20; the flange bearing 10 is equipped with a third gasket 15, a fourth gasket 16, a fifth gasket 17, a sixth gasket 18 and a seventh gasket 19 in sequence. The center hole diameters of the third gasket 15, the fourth gasket 16, the fifth gasket 17, the sixth gasket 18 and the seventh gasket 19 are all different, which can fix the flange bearing 10 and prevent the flange bearing 10 from falling off up and down.

[0033] Working principle of this embodiment: When using the rotary joint of the yaw axis of the robotic arm, first, the motor 2 rotates to drive the transmission shaft 4 to rotate. The transmission shaft 4 is fixed to the first gear 6 and can directly drive the first gear 6 to rotate. The first gear 6 drives the second gear 13 to rotate. The second gear 13 is fixed to the upper arm 12 and can therefore directly drive the upper arm 12 to rotate. The utility model changes the traditional method of directly connecting the motor and the robotic arm. The use of gear transmission improves the space utilization at the bottom of the robotic arm, facilitates the wiring of the robotic arm, and can change the gear ratio according to different needs, thereby flexibly adjusting the output torque of the motor to the robotic arm yaw axis. The gear transmission ratio refers to the ratio of the gear speeds in the gear transmission, usually represented by i. The calculation formula is: i = N2 / N1, where N1 is the speed of the drive shaft (or active shaft) and N2 is the speed of the driven shaft (or passive shaft). The transmission ratio can be used to determine the ratio of the number of revolutions of the output gear to the number of revolutions of the input gear or the ratio of the torque of the output gear to the torque of the input gear. In addition, a hydraulic transmission system, a pneumatic transmission system or a synchronous belt transmission system may be used to replace the gear transmission system of the present invention to achieve an indirect connection between the motor 2 and the robotic arm.

[0034] All standard parts used in this utility model can be purchased commercially, and special-shaped parts can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt conventional means such as bolts, rivets, welding, etc. that are mature in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology. In addition, the circuit connections adopt conventional connection methods in the existing technology and will not be described in detail here. Any matters not described in detail in this specification belong to the existing technology known to professional and technical personnel in this field.

[0035] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. "Multiple" means two or more, unless otherwise specifically defined.

[0036] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0037] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0038] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine the different embodiments or examples and the features of different embodiments or examples described in this specification without contradiction.

[0039] The drawings of the embodiments disclosed in the present invention only involve structures related to the embodiments disclosed in the present invention. Other structures may refer to common designs. In the absence of conflicts, the same embodiment and different embodiments of the present invention may be combined with each other.

[0040] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A rotary joint of the yaw axis of a robotic arm, characterized in that: include: Bottom plate (1); A motor (2), the motor (2) being mounted below the base plate (1), a transmission shaft (4) of the motor (2) passing through the base plate (1), and a first gear (6) being mounted on the transmission shaft (4) via a first connecting member (8); A large arm (12) is connected to a second gear (13) meshing with the first gear (6) via a second connecting member (14); the second gear (13) is connected to a central rotating member (11); and a flange bearing (10) penetrating the bottom plate (1) is mounted on the central rotating member (11).

2. The rotary joint of the yaw axis of a robotic arm according to claim 1, characterized in that: A first raising member (3) is provided between the motor (2) and the base plate (1).

3. The rotary joint of the yaw axis of a robotic arm according to claim 1, characterized in that: A first gasket (5) is provided between the bottom of the transmission shaft (4) and the motor (2), and a second gasket (9) is provided between the top of the transmission shaft (4) and the first gear (6).

4. The rotary joint of the yaw axis of a robotic arm according to claim 1, characterized in that: A second raising member (7) is provided between the first connecting member (8) and the bottom plate (1).

5. The rotary joint of the yaw axis of a robotic arm according to claim 1, characterized in that: The flange bearing (10) is sequentially matched with a third gasket (15), a fourth gasket (16), a fifth gasket (17), a sixth gasket (18) and a seventh gasket (19); the diameters of the center holes of the third gasket (15), the fourth gasket (16), the fifth gasket (17), the sixth gasket (18) and the seventh gasket (19) are all different.

6. The rotary joint of the yaw axis of a robotic arm according to claim 1, characterized in that: The bottom of the central rotating member (11) is matched with a clamping member (20).

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