Sectional type robot shaft structure

Abstract

The utility model discloses a sectional type robot shaft structure which comprises a first mechanical arm and a transmission box, the transmission box is installed on the side wall of one side of the first mechanical arm and fixedly connected with the first mechanical arm, a driving box is installed on the side wall of the transmission box and fixedly connected with the transmission box, and the first mechanical arm is fixedly connected with the driving box. A second mechanical arm is slidably installed on the side wall of the other side of the first mechanical arm, a driving motor is arranged in the driving box, a driving shaft is installed at the output end of the driving motor, the surface of the driving shaft is sleeved with a driving gear, and a transmission shaft is arranged in the position, on one side of the driving motor, of the driving box; and the transmission shaft is fixedly connected with the driving box, and a movable shaft is arranged in the driving box on one side of the transmission shaft. According to the utility model, not only is the convenient multi-stage speed reduction transmission of the robot shaft realized, but also the good transmission of the mechanical arm through the robot shaft is facilitated, and the transmission effect of the robot shaft is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a sectional robot axle structure. BACKGROUND

[0002] In prior art, when designing the robot with long arm span, since the slender solid axle and the slender hollow axle are long (generally more than 800mm, some even reach 2000mm, and the axle diameter is small or the wall is thin), so the turning and grinding processing are difficult, even if the slender axle is processed, the shape and position tolerances of the slender axle are also difficult to guarantee, and the transportation between processes is also difficult, and the slender axle may be bent by mistake, and the assembled robot may also have vibration, noise and other disadvantages, in order to improve the situation, a sectional robot axle structure is provided.

[0003] The utility model discloses a kind of robot axle structure devices, including pneumatic hand, pneumatic hand and mechanical hand support screw connection, mechanical hand support is fixed in telescopic arm by screw, telescopic arm is connected with cylinder axle end block by screw, cylinder axle end block and cylinder screw connection, guide rail box is fixed in crossbeam by screw, lead screw and driven part are connected, driven part is fixed in crossbeam by screw, nut and lead screw screw connection, nut and nut seat screw connection, nut seat is fixed on crossbeam by screw, guide rail box is fixed in crossbeam by screw, guide rail is fixed in crossbeam by screw, guide rail box is fixed in shelf plate by screw, guide rail is inserted into guide rail box slot, driven part is fixed in shelf plate by screw, gear and driven part are connected, rack is fixed in crossbeam inner side by screw, gear and rack are engaged;

[0004] Although the utility model realizes that three-stage transmission guarantees enough transmission distance and saves space, but does not solve the problem that the existing robot is not convenient for multi-stage speed reduction transmission of robot axle when being used, and is not conducive to good transmission of mechanical arm by robot axle, which affects the effect of robot axle transmission. UTILITY MODEL CONTENTS

[0005] The utility model discloses a sectional robot axle structure, to solve the problem that robot is not convenient for multi-stage speed reduction transmission of robot axle in the above background art, and is not conducive to good transmission of mechanical arm by robot axle, which affects the effect of robot axle transmission.

[0006] To achieve the above object, the utility model provides the following technical scheme: A sectional robot shaft structure, including first mechanical arm and transmission case, the side wall of first mechanical arm side installs transmission case, and transmission case is fixedly connected with first mechanical arm, the side wall of transmission case installs drive case, and drive case is fixedly connected with transmission case, the side wall of first mechanical arm other side is slidably installed with second mechanical arm, the inside of drive case is provided with drive motor, the output of drive motor installs drive shaft, the surface of drive shaft is equipped with drive gear, the inside of drive case of drive motor side is provided with transmission shaft, and transmission shaft is fixedly connected with drive case, the inside of drive case of transmission shaft side is provided with movable shaft, and movable shaft is movably connected with drive case.

[0007] Preferably, the surface of the transmission shaft is equipped with a fifth gear, and the fifth gear is meshed with the drive gear.

[0008] Preferably, the surface of the transmission shaft on the side of the fifth gear is movably provided with a fourth gear, and the fourth gear is fixedly connected with the fifth gear; the surface of the movable shaft is movably equipped with a sixth gear, and the sixth gear is meshed with the fourth gear.

[0009] Preferably, the surface of the transmission shaft on the side of the fourth gear is movably equipped with a third gear; the surface of the movable shaft on the side of the sixth gear is movably equipped with a seventh gear, and the seventh gear is fixedly connected with the sixth gear and is meshed with the third gear.

[0010] Preferably, the surface of the movable shaft on the side of the seventh gear is movably equipped with an eighth gear; the surface of the transmission shaft on the side of the third gear is movably equipped with a second gear, and the second gear is fixedly connected with the third gear and is meshed with the eighth gear.

[0011] Preferably, the surface of the movable shaft on the side of the eighth gear is movably equipped with a ninth gear, and the ninth gear is fixedly connected with the eighth gear; the surface of the transmission shaft on the side of the second gear is movably equipped with a first gear, and the first gear is meshed with the ninth gear.

[0012] Preferably, a linkage shaft is installed on the side wall of the first gear, and the linkage shaft is fixedly connected with the first gear and is movably connected with the first mechanical arm.

[0013] Preferably, the linkage shaft extends to the inside of the second mechanical arm, and the linkage shaft is fixedly connected with the second mechanical arm.

[0014] Compared with the prior art, the utility model has the advantages that the robot not only realizes convenient multi-stage speed reduction for transmission of the robot shaft, facilitates good transmission of the mechanical arm by the robot shaft, and improves the transmission effect of the robot shaft.

[0015] By opening the driving motor, the driving motor drives the driving gear to rotate through the driving shaft, the driving gear drives the fifth gear to rotate, the fifth gear drives the fourth gear to rotate, the fourth gear drives the sixth gear to rotate, the sixth gear drives the seventh gear to rotate, the seventh gear drives the third gear to rotate, the third gear drives the second gear to rotate, the second gear drives the eighth gear to rotate, the eighth gear drives the ninth gear to rotate, the ninth gear drives the first gear to rotate, the first gear drives the linkage shaft to rotate, under the activity support of the first mechanical arm, the linkage shaft drives the second mechanical arm to rotate, so that the transmission work of the second mechanical arm is completed, convenient multi-stage speed reduction is realized to drive the robot shaft, the robot shaft is conveniently and well driven by the mechanical arm, and the robot shaft transmission effect is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a three-dimensional structure schematic view of the utility model;

[0017] Figure 2 It is a side view sectional structure schematic view of the first mechanical arm of the utility model;

[0018] Figure 3 It is a three-dimensional perspective structure schematic view of the transmission box of the utility model;

[0019] Figure 4 It is a top view sectional structure schematic view of the transmission box of the utility model;

[0020] Figure 5 It is a three-dimensional perspective structure schematic view of the driving box of the utility model.

[0021] In the drawing: 1, first mechanical arm; 2, driving box; 3, transmission box; 4, linkage shaft; 5, second mechanical arm; 6, first gear; 7, third gear; 8, fifth gear; 9, sixth gear; 10, eighth gear; 11, ninth gear; 12, second gear; 13, fourth gear; 14, driving gear; 15, transmission shaft; 16, activity shaft; 17, seventh gear; 18, driving motor; 19, driving shaft. DETAILED DESCRIPTION

[0022] The technical scheme in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor fall within the protection scope of the utility model.

[0023] Please refer to Figures 1-5The utility model provides a kind of embodiment: a sectional robot shaft structure, including first mechanical arm 1 and transmission case 3, transmission case 3 is installed on the side wall of first mechanical arm 1 side, and transmission case 3 is fixedly connected with first mechanical arm 1, drive case 2 is installed on the side wall of transmission case 3, and drive case 2 is fixedly connected with transmission case 3, second mechanical arm 5 is slidably installed on the side wall of the other side of first mechanical arm 1, the inside of drive case 2 is provided with driving motor 18, driving motor 18 plays the role of power drive, the output end of driving motor 18 is installed with driving shaft 19, driving shaft 19 is equipped with driving gear 14 on surface, the inside of drive case 2 of driving motor 18 side is provided with transmission shaft 15, and transmission shaft 15 is fixedly connected with drive case 2, the inside of drive case 2 of transmission shaft 15 side is provided with movable shaft 16, and movable shaft 16 is movably connected with drive case 2;

[0024] The surface of transmission shaft 15 is equipped with fifth gear 8, and fifth gear 8 is engaged with driving gear 14, the surface of transmission shaft 15 of fifth gear 8 side is movably provided with fourth gear 13, and fourth gear 13 is fixedly connected with fifth gear 8, the surface of movable shaft 16 is movably equipped with sixth gear 9, and sixth gear 9 is engaged with fourth gear 13;

[0025] The surface of transmission shaft 15 of fourth gear 13 side is movably equipped with third gear 7, the surface of movable shaft 16 of sixth gear 9 side is movably equipped with seventh gear 17, and seventh gear 17 is fixedly connected with sixth gear 9, and seventh gear 17 is engaged with third gear 7;

[0026] The surface of movable shaft 16 of seventh gear 17 side is movably equipped with eighth gear 10, the surface of transmission shaft 15 of third gear 7 side is movably equipped with second gear 12, and second gear 12 is fixedly connected with third gear 7, and eighth gear 10 is engaged with second gear 12, the surface of movable shaft 16 of eighth gear 10 side is movably equipped with ninth gear 11, and ninth gear 11 is fixedly connected with eighth gear 10, the surface of transmission shaft 15 of second gear 12 side is movably equipped with first gear 6, and first gear 6 is engaged with ninth gear 11;

[0027] The side wall of first gear 6 is installed with linkage shaft 4, and linkage shaft 4 is fixedly connected with first gear 6, and linkage shaft 4 is movably connected with first mechanical arm 1, linkage shaft 4 extends to the inside of second mechanical arm 5, and linkage shaft 4 is fixedly connected with second mechanical arm 5;

[0028] The driving motor 18 is turned on, and the driving motor 18 drives the driving gear 14 to rotate through the driving shaft 19. The fifth gear 8 is driven to rotate by the driving gear 14 through the mutual engagement of the driving gear 14 and the fifth gear 8. The fourth gear 13 is driven to rotate by the fifth gear 8. The sixth gear 9 is driven to rotate by the fourth gear 13 through the mutual engagement of the fourth gear 13 and the sixth gear 9. The seventh gear 17 is driven to rotate by the sixth gear 9. The third gear 7 is driven to rotate by the seventh gear 17 through the mutual engagement of the seventh gear 17 and the third gear 7. The second gear 12 is driven to rotate by the third gear 7. The eighth gear 10 is driven to rotate by the second gear 12 through the mutual engagement of the second gear 12 and the eighth gear 10. The ninth gear 11 is driven to rotate by the eighth gear 10. The first gear 6 is driven to rotate by the ninth gear 11 through the mutual engagement of the ninth gear 11 and the first gear 6. The linkage shaft 4 is driven to rotate by the first gear 6. The second mechanical arm 5 is driven to rotate by the linkage shaft 4 under the activity support of the first mechanical arm 1. Thus, the transmission work of the second mechanical arm 5 is completed, the robot shaft is conveniently transmitted at multiple stages, the mechanical arm is conveniently and well transmitted by the robot shaft, and the transmission effect of the robot shaft is improved.

[0029] Working principle: the driving motor 18 drives the driving gear 14 to rotate through the driving shaft 19. The fifth gear 8 is driven to rotate by the driving gear 14. The fourth gear 13 is driven to rotate by the fifth gear 8. The sixth gear 9 is driven to rotate by the fourth gear 13. The seventh gear 17 is driven to rotate by the sixth gear 9. The third gear 7 is driven to rotate by the seventh gear 17. The second gear 12 is driven to rotate by the third gear 7. The eighth gear 10 is driven to rotate by the second gear 12. The ninth gear 11 is driven to rotate by the eighth gear 10. The first gear 6 is driven to rotate by the ninth gear 11 through the mutual engagement of the ninth gear 11 and the first gear 6. The linkage shaft 4 is driven to rotate by the first gear 6. The second mechanical arm 5 is driven to rotate by the linkage shaft 4 under the activity support of the first mechanical arm 1. Thus, the transmission work of the second mechanical arm 5 is completed, and the above is the entire use of the segmented robot shaft structure.

Claims

1. A segmented robot shaft structure comprising a first robot arm (1) and a transmission box (3), characterized in that: The side wall of one side of the first mechanical arm (1) is provided with a transmission box (3), and the transmission box (3) is fixedly connected with the first mechanical arm (1); the side wall of the transmission box (3) is provided with a driving box (2), and the driving box (2) is fixedly connected with the transmission box (3); the side wall of the other side of the first mechanical arm (1) is slidably provided with a second mechanical arm (5); the inside of the driving box (2) is provided with a driving motor (18), the output end of the driving motor (18) is provided with a driving shaft (19), the surface of the driving shaft (19) is sleeved with a driving gear (14), the inside of the driving box (2) of one side of the driving motor (18) is provided with a transmission shaft (15), and the transmission shaft (15) is fixedly connected with the driving box (2); the inside of the driving box (2) of one side of the transmission shaft (15) is provided with a movable shaft (16), and the movable shaft (16) is movably connected with the driving box (2).

2. A segmented robotic shaft structure according to claim 1, wherein: The surface of the transmission shaft (15) is sleeved with a fifth gear (8), and the fifth gear (8) is meshed with the driving gear (14).

3. A segmented robotic shaft structure according to claim 2, wherein: The surface of the transmission shaft (15) of one side of the fifth gear (8) is movably provided with a fourth gear (13), and the fourth gear (13) is fixedly connected with the fifth gear (8); the surface of the movable shaft (16) is movably sleeved with a sixth gear (9), and the sixth gear (9) is meshed with the fourth gear (13).

4. A segmented robotic shaft structure according to claim 3, wherein: The surface of the transmission shaft (15) of one side of the fourth gear (13) is movably sleeved with a third gear (7); the surface of the movable shaft (16) of one side of the sixth gear (9) is movably sleeved with a seventh gear (17), the seventh gear (17) is fixedly connected with the sixth gear (9), and the seventh gear (17) is meshed with the third gear (7).

5. A segmented robotic shaft structure as claimed in claim 4, wherein: The surface of the movable shaft (16) of one side of the seventh gear (17) is movably sleeved with an eighth gear (10); the surface of the transmission shaft (15) of one side of the third gear (7) is movably sleeved with a second gear (12), the second gear (12) is fixedly connected with the third gear (7), and the eighth gear (10) is meshed with the second gear (12).

6. A segmented robotic shaft structure according to claim 5, wherein: The surface of the movable shaft (16) of one side of the eighth gear (10) is movably sleeved with a ninth gear (11), and the ninth gear (11) is fixedly connected with the eighth gear (10); the surface of the transmission shaft (15) of one side of the second gear (12) is movably sleeved with a first gear (6), and the first gear (6) is meshed with the ninth gear (11).

7. A segmented robotic shaft structure according to claim 6, wherein: The side wall of the first gear (6) is provided with a linkage shaft (4), the linkage shaft (4) is fixedly connected with the first gear (6), and the linkage shaft (4) is movably connected with the first mechanical arm (1).

8. A segmented robotic shaft structure according to claim 7, wherein: The linkage shaft (4) extends into the inside of the second mechanical arm (5), and the linkage shaft (4) is fixedly connected with the second mechanical arm (5).

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