Robot joint driver

Abstract

The utility model relates to the technical field of robots, in particular to a robot joint driver which comprises a joint driving assembly, the joint driving assembly comprises a motor, a transmission shaft, a shell, a limiting ring and a differential shaft, the transmission shaft is detachably connected with the motor and located on one side of the motor, and the transmission shaft is arranged at the output end of the motor; the shell is arranged on the outer surface of the motor and further arranged on the outer surface of the transmission shaft, the limiting ring is detachably connected with the shell and located on one side of the interior of the shell, the limiting ring is arranged on one side of the transmission shaft, and the differential shaft penetrates through the limiting ring, is detachably connected with the transmission shaft and located on the side, away from the motor, of the transmission shaft and is arranged on one side of the shell. A traditional structure is modified and replaced with the joint driving assembly, and therefore the problems that a traditional robot joint driver is insufficient in torque output, poor in control precision, low in response speed and low in integration degree are effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a robot joint drive. BACKGROUND

[0002] The humanoid robot is the advanced development stage of the robot technology, embodies the mechanism, motion and dynamics etc. of the robot many aspects research and development level, the humanoid robot strong obstacle avoidance ability, mobile direction can be all -round adjustment, terrain adaptability is strong, motion flexibility is good, carrying capacity is high, is the best choice under the complex operation environment, has broad application prospect, the existing joint support device cannot conveniently and fastly maintain it regularly.

[0003] With the wide application of robots in industrial automation, medical assistance, logistics distribution and home service, the performance requirements of robot joint drive are increasingly stringent. The traditional robot joint drive has problems such as insufficient torque output, poor control accuracy, slow response speed and low integration. This leads to the difficulty of precise and efficient movement of the robot when performing complex tasks, which limits the application expansion of the robot in more scenarios.

[0004] To solve the above problems, we propose a robot joint drive. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a kind of robot joint drive, solve the problem that traditional robot joint drive exists insufficient torque output, control accuracy is poor, response speed is slow and the problem of low integration.

[0006] To achieve the above purpose, a kind of robot joint drive is adopted in the utility model, including joint drive component, the joint drive component includes motor, transmission shaft, shell, limit ring and differential shaft, the transmission shaft is detachably connected with the motor, and located at one side of the motor, and the transmission shaft is arranged at the output end of the motor, the shell is arranged on the outer surface of the motor, and the shell is also arranged on the outer surface of the transmission shaft, the limit ring is detachably connected with the shell, and located at the inside one side of the shell, and the limit ring is arranged at one side of the transmission shaft, the differential shaft is detachably connected with the transmission shaft through the limit ring, and located at the side of the transmission shaft away from the motor, and the differential shaft is arranged at one side of the shell.

[0007] Wherein, the joint drive component further includes limit disc, the limit disc is fixedly connected with the differential shaft, and located at the side of the differential shaft away from the limit ring, and the limit disc is vertically arranged with the differential shaft.

[0008] The joint driving assembly further comprises a transmission block and a rack plate, the transmission block is detachably connected with the differential shaft and located on the outer surface of the differential shaft, and the transmission block is arranged on the outer surface of the differential shaft on the side close to the limiting disc, the rack plate is detachably connected with the transmission block and located on the side of the transmission block away from the differential shaft, and the rack plate is arranged perpendicularly to the differential shaft.

[0009] The joint driving assembly further comprises a hollow cavity and a stabilizing plate, the hollow cavity is detachably connected with the rack plate and located in the interior of the rack plate, and the hollow cavity is arranged above the differential shaft, the stabilizing plate is fixedly connected with the rack plate and located on the side of the rack plate, the stabilizing plate is arranged perpendicularly to the rack plate, and the stabilizing plate is arranged on the side of the hollow cavity.

[0010] The joint driving assembly further comprises a connecting block, a connecting cavity and a protective shell, the connecting block is detachably connected with the rack plate and located on the side of the rack plate, the connecting block is arranged perpendicularly to the rack plate, the connecting block is arranged on the side of the stabilizing plate away from the shell, the connecting cavity is fixedly connected with the connecting block and located in the interior center of the connecting block, the protective shell is slidingly connected with the connecting block and located on the outer surface of the connecting block, and the protective shell is arranged on the side of the rack plate.

[0011] The utility model discloses a robot joint driver, including joint driving assembly, the joint driving assembly includes motor, transmission shaft, shell, limiting ring and differential shaft, the transmission shaft is detachably connected with the motor and is located on the side of the motor, and the transmission shaft is arranged on the output end of the motor, the shell is arranged on the outer surface of the motor, and the shell is also arranged on the outer surface of the transmission shaft, the limiting ring is detachably connected with the shell and is located on the inside one side of the shell, and the limiting ring is arranged on the side of the transmission shaft, the differential shaft passes through the limiting ring and is detachably connected with the transmission shaft and is located on the side of the transmission shaft away from the motor, and the differential shaft is arranged on the side of the shell, because the traditional structure is modified and replaced for joint driving assembly, thereby the traditional robot joint driver will effectively solve the problem of insufficient torque output, control precision is not good, response speed is slow and the problem of low integration. ACCURATE DRAWINGS

[0012] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creating labor.

[0013] Figure 1 is the overall structure of the utility model schematic diagram.

[0014] Figure 2 is the internal structure of the utility model sectional view.

[0015] Figure 3 is the front view of the utility model. Figure 2

[0016] 101-motor, 102-transmission shaft, 103-differential shaft, 104-limit ring, 105-limit disc, 106-housing, 107-transmission block, 108-plate, 109-hollow cavity, 110-stabilizing plate, 111-connection block, 112-connection cavity, 113-protective shell. DETAILED DESCRIPTION

[0017] The embodiments of the utility model are described in detail below, examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the utility model, and cannot be understood as a limitation of the utility model.

[0018] Please refer to Figures 1-3 , Figure 1 is the overall structure of the utility model schematic diagram, Figure 2 is the internal structure of the utility model sectional view, Figure 3 is the front view of the utility model. Figure 2

[0019] ​​The utility model provides a kind of robot joint driver, including joint drive component, the joint drive component includes motor 101, transmission shaft 102, shell 106, limit ring 104, differential shaft 103, limit disc 105, transmission block 107, shelf plate 108, hollow cavity 109, stabilizing plate 110, connecting block 111, connecting cavity 112 and protective shell 113, by traditional robot joint driver exists torque output deficiency, control precision is poor, response speed is slow and the problem of low integration, it can be understood that, the aforementioned scheme can connect the connecting device of the joint of robot with the connecting cavity 112, whereby installation will be completed, and after starting the motor 101 will power transmission into the transmission shaft 102, the transmission shaft 102 will utilize the differential shaft 103 to form simple reducer, whereby in smaller volume can output powerful torque, meet the demand of robot in heavy object, complex assembly and other high-strength work scene, it is more with the setting of the transmission plate, the transmission of force when accurately controlling joint in motion, while the hollow cavity 109 will reduce manufacturing cost also will part internal structure be shown, facilitate staff real-time viewing whether overall internal damage appears, and the protective shell 113 is in the process of movement guarantee that the shell 106 and the motor 101 cannot be damaged by outside, whereby the problem of traditional robot joint driver exists torque output deficiency, control precision is poor, response speed is slow and low integration will be effectively solved.

[0020] For this specific embodiment, the transmission shaft 102 is detachably connected with the motor 101 and located on one side of the motor 101, and the transmission shaft 102 is arranged at the output end of the motor 101. The shell 106 is arranged on the outer surface of the motor 101, and the shell 106 is also arranged on the outer surface of the transmission shaft 102. The limit ring 104 is detachably connected with the shell 106 and located on the inner side of the shell 106, and the limit ring 104 is arranged on one side of the transmission shaft 102. The differential shaft 103 is detachably connected with the transmission shaft 102 through the limit ring 104 and located on the side of the transmission shaft 102 away from the motor 101, and the differential shaft 103 is arranged on one side of the shell 106. The connecting device of the joint of robot is connected with the connecting cavity 112, whereby installation will be completed, and after starting the motor 101 will power transmission into the transmission shaft 102. The transmission shaft 102 will utilize the differential shaft 103 to form simple reducer, whereby in smaller volume can output powerful torque, meet the demand of robot in heavy object, complex assembly and other high-strength work scene, it is more with the setting of the transmission plate, the transmission of force when accurately controlling joint in motion.

[0021] The limiting disc 105 is fixedly connected with the differential shaft 103 and located on the side of the differential shaft 103 away from the limiting ring 104, and the limiting disc 105 is vertically arranged with the differential shaft 103, and the limiting disc is an auxiliary structural component for limiting the transmission block 107 from falling off the differential shaft 103.

[0022] Secondly, the transmission block 107 is detachably connected with the differential shaft 103 and located on the outer surface of the differential shaft 103, and the transmission block 107 is arranged on the outer surface of the side of the differential shaft 103 close to the limiting disc 105, the bracket plate 108 is detachably connected with the transmission block 107 and located on the side of the transmission block 107 away from the differential shaft 103, and the bracket plate 108 is vertically arranged with the differential shaft 103, and the transmission plate is arranged to accurately control the force transmission of the joint during movement.

[0023] Meanwhile, the hollow cavity 109 is detachably connected with the bracket plate 108 and located in the interior of the bracket plate 108, and the hollow cavity 109 is arranged above the differential shaft 103, the stable plate 110 is fixedly connected with the bracket plate 108 and located on the side of the bracket plate 108, and the stable plate 110 is vertically arranged with the bracket plate 108, and the stable plate 110 is arranged on the side of the hollow cavity 109, and the hollow cavity 109 will reduce the manufacturing cost and also display part of the internal structure, so as to facilitate the staff to watch the whole internal damage in real time.

[0024] In addition, the connecting block 111 is detachably connected with the bracket plate 108 and located on the side of the bracket plate 108, and the connecting block 111 is vertically arranged with the bracket plate 108, the connecting block 111 is arranged on the side of the stable plate 110 away from the shell 106, the connecting cavity 112 is fixedly connected with the connecting block 111 and located in the center of the interior of the connecting block 111, the protective shell 113 is slidingly connected with the connecting block 111 and located on the outer surface of the connecting block 111, and the protective shell 113 is arranged on the side of the bracket plate 108, the connecting device of the joint of the robot is connected with the connecting cavity 112, so that the installation is completed, and the protective shell 113 can ensure that the shell 106 and the motor 101 are not damaged by the external environment during movement.

[0025] When the utility model is used, the connecting device of the joint of the robot is connected with the connecting cavity 112, thereby completing installation, and after starting, the motor 101 will transmit power into the transmission shaft 102, the transmission shaft 102 will form a simple reducer with the differential shaft 103, thereby being capable of outputting powerful torque in smaller volume, satisfying the demand of the robot under heavy load carrying, complex assembly and other high strength operation scenarios, and at the same time, the transmission plate is more provided, the transmission of force of the joint during movement is accurately controlled, meanwhile, the hollow cavity 109 will reduce manufacturing cost and also exhibit part of internal structure, thereby being convenient for staff to watch whether the whole inside appears damage in real time, and the protective shell 113 will guarantee that the shell 106 and the motor 101 will not be damaged by the outside during movement, thereby effectively solving the problems of insufficient torque output, poor control precision, slow response speed and low integration of the traditional robot joint drive.

[0026] The above disclosed is only a preferred embodiment of the utility model, of course, cannot limit the right range of the utility model, and the person skilled in the art can understand that all or part of the processes of the above-mentioned embodiment are realized, and the equivalent changes made according to the utility model claim still belong to the range covered by the utility model.

Claims

1. A robot joint drive, characterized in that, comprising a joint drive assembly, the joint drive assembly comprising a motor, a transmission shaft, a shell, a limit ring and a differential shaft, the transmission shaft is detachably connected with the motor and located on one side of the motor, and the transmission shaft is arranged at the output end of the motor, the shell is arranged on the outer surface of the motor, and the shell is also arranged on the outer surface of the transmission shaft, the limit ring is detachably connected with the shell and located on the inside of the shell. One side, and the limit ring is arranged on one side of the transmission shaft, the differential shaft is detachably connected with the transmission shaft through the limit ring and located on the side of the transmission shaft away from the motor, and the differential shaft is arranged on one side of the shell.

2. The robot joint drive of claim 1, characterized in that, the joint drive assembly further comprises a limiting disc, the limiting disc is fixedly connected with the differential shaft and located on the side of the differential shaft away from the limit ring, and the limiting disc is arranged vertically with the differential shaft.

3. The robot joint drive of claim 2, characterized in that, the joint drive assembly further comprises a transmission block and a bracket plate, the transmission block is detachably connected with the differential shaft and located on the outer surface of the differential shaft, and the transmission block is arranged on the outer surface of the differential shaft close to the limiting disc. One side, the bracket plate is detachably connected with the transmission block and located on the side of the transmission block away from the differential shaft, and the bracket plate is arranged vertically with the differential shaft.

4. The robot joint drive of claim 3, characterized in that, the joint drive assembly further comprises a hollow cavity and a stabilizing plate, the hollow cavity is detachably connected with the bracket plate and located in the interior of the bracket plate, and the hollow cavity is arranged above the differential shaft, the stabilizing plate is fixedly connected with the bracket plate and located on one side of the bracket plate, and the stabilizing plate is arranged vertically with the bracket plate, and the stabilizing plate is arranged on one side of the hollow cavity.

5. The robot joint drive of claim 4, characterized in that, the joint drive assembly further comprises a connecting block, a connecting cavity and a protective shell, the connecting block is detachably connected with the connecting block and the bracket plate and located on one side of the bracket plate, and the connecting block is arranged vertically with the bracket plate, the connecting block is arranged on the side of the stabilizing plate away from the shell, the connecting cavity is fixedly connected with the connecting block and located in the center of the connecting block. The interior, the protective shell is slidingly connected with the connecting block and located on the outer surface of the connecting block, and the protective shell is arranged on one side of the bracket plate.

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