Protective anthropomorphic robot joint with lightweight characteristic

Abstract

The utility model relates to the technical field of robot wrist joints, in particular to a protection type anthropomorphic robot joint with the light weight characteristic, which comprises a joint support and an end effector mounted on the joint support, and further comprises a first driving assembly and a second driving assembly which are mounted on the joint support in parallel, the driving device is used for driving the end effector to perform freedom-degree motion, the axes of the freedom degrees intersect on the plane, and meanwhile the intersection point is arranged on the central axis of the joint support; and the differential gear box is installed on the joint support, the differential gear box is of a closed structure, a transmission mechanism is arranged in the differential gear box, and the transmission mechanism is connected with the first driving assembly, the second driving assembly and the end effector and used for transmitting driving force of the first driving assembly and the second driving assembly to the end effector. The device provided by the utility model is anthropomorphic; the inertia is low; the stability and the precision are high; modular design is adopted; and the power consumption is low.

Description

Technical Field

[0001] This utility model relates to the field of robot wrist joint technology, specifically a lightweight protective anthropomorphic robot joint. Background Technology

[0002] A search revealed patent CN116638545B, which discloses a compact, flexible two-degree-of-freedom robot wrist joint. The joint includes an output wheel assembly, a support assembly, a power component, a pulley assembly, and a transmission rope. The output wheel assembly, power component, and pulley assembly are mounted on the support assembly. The output end of the power component is a grooved wire winding wheel. Both ends of the transmission rope are fixed to the input end of the output wheel assembly. The transmission rope, in conjunction with the grooved wire winding wheel and pulley assembly, transmits power to the input end of the output wheel assembly under the drive of the power component. The input end of the output wheel assembly then transmits power to the output end, which serves as the output side of the robot wrist joint. Compared to existing technologies, this invention's power component and pulley assembly enable flexible two-degree-of-freedom motion in a small volume. As a relatively distal part of a rehabilitation robot, it significantly reduces the requirements for the rear drive mechanism. However, this patent has drawbacks: a relatively large size; exposed gears, making them susceptible to wear and tear from external impurities, reducing transmission accuracy and even causing system failure; and asymmetrical gear arrangement leading to stress concentration due to uneven force distribution.

[0003] For example, patent CN205184806U discloses a wrist joint structure for a welding torch robot, including a hollow mounting base, a drive device, a transmission device, and a welding torch holder. The drive device is disposed within the mounting base, the transmission device is mounted on the mounting base, and the welding torch holder is connected to one end of the mounting base. The welding torch holder is connected to the drive device through the transmission device. Compared with existing robot wrist joints, the wrist joint structure of this invention features high degree of freedom, compact structure, small space area, light weight, and high flexibility. Furthermore, this invention facilitates the installation of the welding torch, allows for flexible swinging of the welding torch holder, significantly reduces the impact intensity on the wrist joint, and improves the service life of the welding torch robot, making it highly practical. However, this patent has drawbacks: synchronous belt drive results in poor impact resistance; the structure is complex and bulky, lacking lightweight and human-like design.

[0004] In summary, current robot wrist joints generally suffer from the following problems: complex and not compact serial structures with large end-effector inertia; poor precision and low load-bearing capacity due to synchronous belt drives; exposed transmission components that are susceptible to wear and tear from external impurities, which can reduce transmission precision or even cause system failure; and non-intersecting wrist joint rotation axes, resulting in a lack of lightweight and human-like design. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention proposes a lightweight, protective anthropomorphic robot joint.

[0006] The technical problem to be solved by this utility model is achieved by the following technical solution:

[0007] A lightweight, protective anthropomorphic robot joint includes a joint support, an end effector mounted on the joint support, and further includes:

[0008] Drive component one and drive component two are installed in parallel on the joint bracket to drive the end effector to perform degree of freedom movement, and the axes of the degree of freedom intersect in a plane, with the intersection point arranged on the central axis of the joint bracket.

[0009] A differential gearbox is mounted on the joint bracket. The differential gearbox has a closed structure and an internal transmission mechanism. The transmission mechanism is connected to the drive assembly one, drive assembly two, and end effector, and is used to transmit the driving force of the drive assembly one and drive assembly two to the end effector.

[0010] As a further improvement of this utility model, a gearbox bracket is installed on the joint bracket, and the differential gearbox is installed on the gearbox bracket.

[0011] As a further improvement of this utility model, the transmission mechanism includes a first driving gear and a second driving gear disposed inside the differential gearbox and rotatably mounted on the gearbox bracket via a driving gear bearing, and a first driven gear and a second driven gear rotatably mounted inside the differential gearbox via a driven gear bearing. One end of the first driven gear meshes with both the first and second driving gears simultaneously, and the other end of the first driven gear is fixedly connected to the end effector. One end of the second driven gear meshes with both the first and second driving gears simultaneously, and the other end of the second driven gear is rotatably connected to the end effector.

[0012] As a further improvement of this utility model, an oil plug is fixedly connected to the differential gearbox.

[0013] As a further improvement of this utility model, an oil seal is interference-fitted onto the differential gearbox, and the oil seal contacts and rotates with the second drive gear.

[0014] As a further improvement of this utility model, the differential gearbox is provided with a wire hole.

[0015] As a further improvement of this utility model, the drive assembly includes a drive motor mounted on the joint bracket, a long connecting rod flange fixedly connected to the drive motor, a long connecting rod flange fixedly connected to the drive gear, a long connecting rod 1 and a long connecting rod 2 with the upper end rotatably connected to the long connecting rod flange 1 and the lower end rotatably connected to the long connecting rod flange 2.

[0016] As a further improvement of this utility model, the second drive assembly includes a second drive motor mounted on the joint bracket, a first short connecting rod flange fixedly connected to the second drive motor, a second short connecting rod flange fixedly connected to the second drive gear, a first short connecting rod and a second short connecting rod whose upper end is rotatably connected to the first short connecting rod flange and whose lower end is rotatably connected to the second short connecting rod flange.

[0017] The beneficial effects of this utility model are:

[0018] This invention provides a lightweight protective anthropomorphic robot joint, which has the following characteristics:

[0019] Anthropomorphism: The differential gear set enables parallel transmission of multiple degrees of freedom of the wrist joint and makes the axes of multiple degrees of freedom of the wrist joint intersect at a point, and multiple drive devices operate simultaneously to achieve high dynamic response;

[0020] Low inertia: All drive units are located far from the actuator, reducing the end inertia and achieving excellent acceleration and deceleration performance;

[0021] High stability and high precision: The enclosed gearbox gives the transmission system high rigidity and reduces wear;

[0022] Modular design: The gearbox and transmission connecting rods are modularly designed for easy maintenance;

[0023] Low power consumption: Parallel drives can distribute the load to multiple drive units, reducing the power requirement of a single drive unit. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0025] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0026] Figure 2 This is a schematic diagram of the drive component in this utility model;

[0027] Figure 3 This is a schematic diagram of the second drive component in this utility model;

[0028] Figure 4 This is a schematic diagram of the transmission mechanism in the differential gearbox of this utility model;

[0029] Figure 5 This is a schematic diagram of the differential gearbox structure of this utility model.

[0030] In the diagram: 1. Joint bracket; 2. Drive assembly one; 21. Drive motor one; 22. Long connecting rod flange one; 23. Long connecting rod one; 24. Long connecting rod two; 25. Long connecting rod flange two; 3. Drive assembly two; 31. Drive motor two; 32. Short connecting rod flange one; 33. Short connecting rod one; 34. Short connecting rod two; 35. Short connecting rod flange two; 4. Gearbox bracket; 5. Differential gearbox; 51. Drive gear one; 52. Drive gear two; 53. Driven gear one; 54. Driven gear two; 55. Oil plug; 56. Drive gear bearing; 57. Driven gear bearing; 58. Oil seal; 59. Cable guide hole; 6. End effector. Detailed Implementation

[0031] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0032] like Figure 1 As shown, a lightweight protective anthropomorphic robot joint mainly includes a joint support 1, a drive assembly 1 2, a drive assembly 2 3, a gearbox support 4, a differential gearbox 5, and an end effector 6.

[0033] The drive assembly 2 and the drive assembly 3 are installed in parallel on the joint bracket 1. The gearbox bracket 4 is installed at the bottom of the joint bracket 1. The differential gearbox 5 is installed on the gearbox bracket 4. The differential gearbox 5 is a closed structure with a transmission mechanism inside. The drive assembly 2 and the drive assembly 3 are respectively connected to the transmission mechanism. The transmission mechanism is connected to the end effector 6.

[0034] As a further improvement to this embodiment, such as Figure 2 As shown, the drive assembly 2 includes a drive motor 21, a long connecting rod flange 22, a long connecting rod 23, a second long connecting rod 24, and a second long connecting rod flange 25. Specifically, the drive motor 21 is fixedly mounted on the joint bracket 1, the long connecting rod flange 22 is fixedly connected to the drive motor 21, and the upper ends of the long connecting rod 23 and the second long connecting rod 24 are rotatably connected to the long connecting rod flange 22, and their lower ends are rotatably connected to the second long connecting rod flange 25.

[0035] As a further improvement to this embodiment, such as Figure 3As shown, the second drive assembly 3 includes a second drive motor 31, a first short connecting rod flange 32, a first short connecting rod 33, a second short connecting rod 34, and a second short connecting rod flange 35. The second drive motor 31 is fixedly mounted on the joint bracket 1. The first short connecting rod flange 32 is fixedly connected to the second drive motor 31. The upper ends of the first short connecting rod 33 and the second short connecting rod 34 are rotatably connected to the first short connecting rod flange 32, and the lower ends are rotatably connected to the second short connecting rod flange 35.

[0036] In this invention, drive assembly 2 and drive assembly 3 are placed at the front, and parallel transmission is achieved through the structure of two drive motors and a transmission gearbox.

[0037] like Figure 4 As shown, the transmission mechanism includes a first driving gear 51, a second driving gear 52, a first driven gear 53, a second driven gear 54, a driving gear bearing 56, and a driven gear bearing 57. Two of each of the driving gear bearings 56 and the driven gear bearings 57 are provided. The first driving gear 51 is located inside the differential gearbox 5 and is fixedly connected to the second long connecting rod flange 25, and rotatably connected to the gearbox bracket 4 through a driving gear bearing 56; the second driving gear 52 is located inside the differential gearbox 5 and is fixedly connected to the second short connecting rod flange 35, and rotatably connected to the gearbox bracket 4 through another driving gear bearing 56; one end of the first driven gear 53 is fixedly connected to the end effector 6, and the other end meshes with both the first driving gear 51 and the second driving gear 52, and is rotatably connected to the differential gearbox 5 through a driven gear bearing 57; one end of the second driven gear 54 is rotatably connected to the end effector 6, and the other end meshes with both the first driving gear 51 and the second driving gear 52, and is rotatably connected to the differential gearbox 5 through another driven gear bearing 57.

[0038] This invention utilizes the high precision and rigidity inherent in gear transmission. By symmetrically arranging and meshing the first and second driving gears, as well as the first and second driven gears, the energy required for the end effector's operation is distributed to two drive motors, achieving low energy consumption for a single drive motor. Furthermore, the mirrored arrangement of the driving and driven gears ensures that the axes of the two degrees of freedom intersect in a plane, with the intersection point located on the central axis of the arm.

[0039] Furthermore, the differential gearbox 5 is provided with an oil plug 55 and an oil seal 58. The oil plug 55 is fixedly connected to the differential gearbox 5, and the oil seal 58 is interference-fitted to the differential gearbox 5 and is in contact with and rotatably connected to the second drive gear 52.

[0040] This invention achieves a reliable sealed cavity through a gearbox body, a driven gear bearing with an oil seal, an oil seal, and an oil plug, ensuring that the gear transmission is not affected by foreign objects in the environment.

[0041] Furthermore, the differential gearbox 5 is provided with a wire hole 59 for wiring.

[0042] The working principle of this utility model:

[0043] The rotational tendency of drive motor 21 is transmitted to drive gear 51 through long connecting rod 23 and long connecting rod 24, and the rotational tendency of drive motor 31 is transmitted to drive gear 52 through short connecting rod 33 and short connecting rod 34. When drive gear 51 and drive gear 52 are running simultaneously, driven gear 53 and driven gear 54 will remain stationary relative to drive gear 51 and drive gear 52 while rotating around their own axes, thereby driving end effector 6 to pitch. When drive gear 51 and drive gear 52 are rotating and not rotating respectively, driven gear 53 and driven gear 54 will rotate around their axes, thereby forming a relative rotation with drive gear 51 and drive gear 52, realizing the swing motion of end effector 6.

[0044] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A lightweight protective anthropomorphic robot joint, comprising a joint support (1) and an end effector (6) mounted on the joint support (1), characterized in that: Also includes: Drive component one (2) and drive component two (3) are installed in parallel on the joint bracket (1) to drive the end effector (6) to perform degree of freedom movement, and the axes of the degrees of freedom intersect in the plane, and the intersection point is arranged on the central axis of the joint bracket (1). The differential gearbox (5) is mounted on the joint bracket (1). The differential gearbox (5) is a closed structure with a transmission mechanism inside. The transmission mechanism is connected to the drive assembly one (2), drive assembly two (3) and end effector (6) to transmit the driving force of the drive assembly one (2) and drive assembly two (3) to the end effector (6).

2. The lightweight protective anthropomorphic robot joint according to claim 1, characterized in that: A gearbox bracket (4) is mounted on the joint bracket (1), and the differential gearbox (5) is mounted on the gearbox bracket (4).

3. A lightweight protective anthropomorphic robot joint according to claim 2, characterized in that: The transmission mechanism includes a first driving gear (51) and a second driving gear (52) disposed inside the differential gearbox (5) and rotatably mounted on the gearbox bracket (4) via a driving gear bearing (56), and a first driven gear (53) and a second driven gear (54) rotatably mounted inside the differential gearbox (5) via a driven gear bearing (57). One end of the first driven gear (53) meshes with the first driving gear (51) and the second driving gear (52) simultaneously, and the other end of the first driven gear (53) is fixedly connected to the end effector (6). One end of the second driven gear (54) meshes with the first driving gear (51) and the second driving gear (52) simultaneously, and the other end of the second driven gear (54) is rotatably connected to the end effector (6).

4. A lightweight protective anthropomorphic robot joint according to claim 3, characterized in that: An oil plug (55) is fixedly connected to the differential gearbox (5).

5. A lightweight protective anthropomorphic robot joint according to claim 3, characterized in that: An oil seal (58) is interference-fitted onto the differential gearbox (5), and the oil seal (58) contacts and is rotatably connected to the second drive gear (52).

6. A lightweight protective anthropomorphic robot joint according to claim 3, characterized in that: The differential gearbox (5) is provided with a wire hole (59).

7. A lightweight protective anthropomorphic robot joint according to claim 3, characterized in that: The drive assembly 1 (2) includes a drive motor 1 (21) mounted on the joint bracket (1), a long connecting rod flange 1 (22) fixedly connected to the drive motor 1 (21), a long connecting rod flange 2 (25) fixedly connected to the drive gear 1 (51), a long connecting rod 1 (23) and a long connecting rod 2 (24) whose upper end is rotatably connected to the long connecting rod flange 1 (22) and whose lower end is rotatably connected to the long connecting rod flange 2 (25).

8. A lightweight protective anthropomorphic robot joint according to claim 3, characterized in that: The second drive assembly (3) includes a second drive motor (31) mounted on the joint bracket (1), a first short connecting rod flange (32) fixedly connected to the second drive motor (31), a second short connecting rod flange (35) fixedly connected to the second drive gear (52), a first short connecting rod (33) and a second short connecting rod (34) whose upper end is rotatably connected to the first short connecting rod flange (32) and whose lower end is rotatably connected to the second short connecting rod flange (35).

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