Joint driving device of robot

Abstract

The utility model discloses a joint driving device of a robot, which comprises a driving motor and an output shaft, the head of the driving motor is provided with the output shaft, the surface of the shaft body of the output shaft is provided with a key slot, and the joint driving device further comprises transmission teeth and a tooth connecting mechanism, the tooth connecting mechanism comprises a base support ring, a raised head matching key, a straight key strip, a fixed ring, a D-shaped connecting groove, a D-shaped fixed rib and a tail holding ring, the tooth connecting mechanism is arranged between a driving motor for driving the robot joint and a transmission tooth, and the tooth connecting mechanism provides firm multi-point connection between the driving motor and the transmission tooth. When the output shaft of the driving motor drives the transmission gear to be installed at the joint of the robot for driving, the number of connecting point faces between the transmission gear and the conveying shaft of the driving motor is large, the connecting firmness and transmission stability between the transmission gear and the driving motor can be guaranteed, errors in the transmission process of the driving motor and the transmission gear are reduced through accurate cooperation, and the reliability of the robot is improved. And the precise movement of the robot joint is ensured.

Description

TECHNICAL FIELD

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

[0002] The joint is the pair formed by the connecting rod joint part of the robot, and is an important functional component for connection and drive. According to the different structures, the joint can be divided into rotary joint and moving joint. The rotary joint rotates the joint component of the robot around an axis through the drive of the motor, and the translational joint moves the component along the linear axis through the drive device (such as the motor), and the joint drive device of the robot is the core component of the robot movement. When the drive device (such as the motor) receives electric energy, it starts to work and converts electric energy into mechanical energy, provides power and controls the movement of the joint.

[0003] The output shaft of the motor is usually provided with a gear for transmission when the robot in the prior art is driven by the motor. However, the gear and the output shaft of the motor are usually assembled and transmitted by straight keys and key grooves. The connecting points of such assembly structure are less, and the connection stability between the motor and the gear is poor, thereby affecting the driving effect of the motor at the joint of the robot. Therefore, we propose a joint drive device of a robot. UTILITY MODEL CONTENT

[0004] The main purpose of the utility model is to provide a joint drive device of a robot. The connecting gear mechanism is arranged between the driving motor for driving the joint of the robot and the transmission gear. The connecting gear mechanism provides more firm multi-point connection between the driving motor and the transmission gear. When the output shaft of the driving motor drives the transmission gear installed at the joint of the robot for driving, the connecting points between the transmission gear and the output shaft of the driving motor are more, which can ensure the connection firmness and transmission stability between the transmission gear and the driving motor. Such precise cooperation reduces the error in the transmission process of the driving motor and the transmission gear, ensures the accurate movement of the joint of the robot, and effectively solves the problems in the background art.

[0005] To achieve the above-mentioned purpose, the utility model adopts the technical scheme that:

[0006] The joint driving device of a robot comprises a driving motor and an output shaft, the head of the driving motor is provided with the output shaft, the shaft body surface of the output shaft is provided with a key groove, further comprises a transmission gear and a connecting gear mechanism, the connecting gear mechanism comprises a base ring, a convex head matching key, a straight key strip, a fixed ring, a D-shaped connecting groove, a D-shaped fixed rib and a tail holding ring, the shaft body of the output shaft is provided with the base ring outside the sleeve, the ring opening of the base ring is integrally formed with the convex head matching key for clamping into the key groove, the straight key strip is inserted into the key groove on one side of the convex head matching key, the tail end of the straight key strip is clamped with the convex head of the convex head matching key, and the straight key strip and the transmission gear are clamped outside the sleeve of the output shaft, the strip body of the straight key strip is clamped into the inner groove of the transmission gear, the surface of the base ring outside the convex head matching key is protruded with the D-shaped fixed rib, the D-shaped connecting groove for clamping the D-shaped fixed rib is provided at one end of the concave groove of the transmission gear, the surface of the base ring outside the convex head matching key is protruded with the fixed ring, and the fixed ring is clamped into the concave groove of the transmission gear, the other ring surface of the base ring away from the fixed ring is fixed with the tail holding ring for clamping outside the output shaft.

[0007] Further, the connecting rib is integrally formed between the tail holding ring and the base ring, and six groups of connecting ribs are arranged between the tail holding ring and the base ring.

[0008] By adopting the above technical scheme, the design of the connecting rib enhances the connection strength between the tail holding ring and the base ring, and the uniform distribution of the six groups of connecting ribs further improves the overall rigidity and stability of the tail holding ring and the base ring.

[0009] Further, the D-shaped connecting groove is arranged in five groups in the annular distribution of the concave groove of the transmission gear, and the size of the groove cavity of the D-shaped connecting groove is the same as the size of the rib body of the D-shaped fixed rib.

[0010] By adopting the above technical scheme, the annular distribution design of the five groups of D-shaped connecting grooves makes the connection between the transmission gear and the base ring more uniform and stable, and the matching of the size of the groove cavity and the size of the rib body ensures the tightness of the connection and the accuracy of the transmission.

[0011] Further, the tail end of the straight key strip is provided with a concave head groove, and the convex head of the convex head matching key is clamped in the concave head groove of the straight key strip.

[0012] By adopting the above technical scheme, the concave head groove and the convex head of the convex head matching key cooperate to simplify the connection process between the straight key strip and the convex head matching key, and improve the stability of the connection and the accuracy of the transmission.

[0013] Further, the concave groove of the transmission gear is an annular groove cavity, and the diameter of the concave groove of the transmission gear is the same as the diameter of the ring body of the fixed ring.

[0014] By adopting the above technical scheme, the concave groove of the annular groove cavity of the transmission gear enables the transmission gear to better cooperate with the fixed ring, ensuring the tightness of the connection and the accuracy of the transmission.

[0015] Further, the length of the straight key bar is the same as the length of the bar-shaped inner groove of the transmission tooth.

[0016] By adopting the above technical scheme, the straight key bar can be smoothly clamped at the bar-shaped inner groove of the transmission tooth for stable connection, ensuring the transmission accuracy and stability of the transmission tooth.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] The utility model discloses a drive motor and transmission tooth between the joint drive of robot are provided with the gear mechanism, and the gear mechanism provides more firm multi -point connection between drive motor and transmission tooth, and when the output shaft of drive motor drives transmission tooth to install at the joint of robot and drive, the connecting point surface between transmission tooth and the conveying axle of drive motor is more, can guarantee the connection firmness and transmission stability between transmission tooth and drive motor, and this kind of accurate cooperation reduces the error in the transmission process of drive motor and transmission tooth, ensures the accurate movement of robot joint.

[0019] And the connection between each component of the gear mechanism is reasonable and stable, so as to reduce the failure rate caused by looseness or wear, which not only reduces the maintenance cost, but also prolongs the service life of the whole drive device where the gear mechanism is located. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is the whole structure schematic diagram of the joint drive device of the utility model a robot.

[0021] Figure 2 It is the gear mechanism explosion drawing of the utility model a robot's joint drive device.

[0022] Figure 3 It is the tail embrace ring structure schematic diagram of the utility model a robot's joint drive device.

[0023] Figure 4 It is the D-shaped continuous groove structure schematic diagram of the utility model a robot's joint drive device.

[0024] In the drawing: 1, drive motor, 2, output shaft, 3, keyway, 4, transmission tooth, 5, gear mechanism, 6, base ring, 7, convex head key, 8, straight key bar, 9, concave head groove, 10, fixed ring, 11, D-shaped continuous groove, 12, D-shaped fixed rib, 13, tail embrace ring, 14, connecting rib. PREFERRED EMBODIMENT

[0025] In order to make the technical means, creative features, purposes and effects of the utility model easy to understand, the utility model is further described in combination with specific embodiments.

[0026] As shown in Figures 1-4 A joint driving device of a robot, comprising a driving motor 1 and an output shaft 2, the head of the driving motor 1 is provided with the output shaft 2, and the shaft body surface of the output shaft 2 is provided with a key groove 3, further comprising a transmission tooth 4 and a connecting tooth mechanism 5, the connecting tooth mechanism 5 comprises a base ring 6, a convex head matching key 7, a straight key bar 8, a fixed ring 10, a D-shaped connecting groove 11, a D-shaped fixed rib 12 and a tail holding ring 13, the shaft body of the output shaft 2 is provided with the base ring 6, and the ring opening of the base ring 6 is integrally formed with the convex head matching key 7 for clamping into the key groove 3, the key groove 3 on one side of the convex head matching key 7 is inserted with the straight key bar 8, the convex head of the convex head matching key 7 is clamped with the tail end of the straight key bar 8, and the straight key bar 8 and the output shaft 2 are provided with the transmission tooth 4, the bar body of the straight key bar 8 is clamped into the inner groove of the transmission tooth 4, the surface of the base ring 6 outside the convex head matching key 7 is protruded with the D-shaped fixed rib 12, one end of the transmission tooth 4 is provided with the D-shaped connecting groove 11 for clamping the D-shaped fixed rib 12, the surface of the base ring 6 outside the D-shaped fixed rib 12 and the convex head matching key 7 is protruded with the fixed ring 10, and the fixed ring 10 is clamped into the concave groove of the transmission tooth 4, the other ring surface of the base ring 6 away from the fixed ring 10 is fixed with the tail holding ring 13 for clamping outside the output shaft 2.

[0027] Among them, the connecting rib 14 is integrally formed between the tail holding ring 13 and the base ring 6, and six groups of connecting ribs 14 are arranged between the tail holding ring 13 and the base ring 6;

[0028] Through the above technical scheme, the design of the connecting rib 14 enhances the connection strength between the tail holding ring 13 and the base ring 6, and the uniform distribution of the six groups of connecting ribs 14 further improves the overall rigidity and stability of the tail holding ring 13 and the base ring 6.

[0029] Among them, the D-shaped connecting groove 11 is arranged in five groups in the annular distribution of the concave groove of the transmission tooth 4, and the size of the groove cavity of the D-shaped connecting groove 11 is the same as the size of the rib body of the D-shaped fixed rib 12;

[0030] Through the above technical scheme, the annular distribution design of the five groups of D-shaped connecting grooves 11 makes the connection between the transmission tooth 4 and the base ring 6 more uniform and stable, and the matching of the size of the groove cavity and the size of the rib body ensures the tightness of the connection and the accuracy of the transmission.

[0031] Among them, the tail end of the straight key bar 8 is provided with a concave head groove 9, and the convex head of the convex head matching key 7 is clamped in the concave head groove 9 of the straight key bar 8;

[0032] Through the above technical scheme, the concave head groove 9 and the convex head of the convex head matching key 7 cooperate to simplify the connection process between the straight key bar 8 and the convex head matching key 7, and at the same time improve the stability of the connection and the accuracy of the transmission.

[0033] The concave groove of the ring-shaped groove cavity of the transmission tooth 4 enables the transmission tooth 4 to be better matched and clamped with the fixed ring 10, thereby ensuring the tightness of the connection and the accuracy of the transmission.

[0034] The concave groove of the ring-shaped groove cavity of the transmission tooth 4 enables the transmission tooth 4 to be better matched and clamped with the fixed ring 10, thereby ensuring the tightness of the connection and the accuracy of the transmission.

[0035] The length of the strip body of the straight key strip 8 is the same as the length of the strip-shaped inner groove of the transmission tooth 4.

[0036] The straight key strip 8 can be smoothly clamped at the strip-shaped inner groove of the transmission tooth 4 for stable connection, thereby ensuring the transmission accuracy and stability of the transmission tooth 4.

[0037] It should be noted that the utility model is a joint driving device of a robot. After the gear connecting mechanism 5 is arranged between the driving motor 1 and the transmission tooth 4 of the robot joint driving, the base ring 6 of the gear connecting mechanism 5 can be clamped on the output shaft 2 of the driving motor 1 in cooperation with the tail embracing ring 13. The tail embracing ring 13 can be clamped on the output shaft 2 with interference, the convex head key 7 of the base ring 6 can be clamped in the key groove 3 of the output shaft 2, the straight key strip 8 can be clamped in the key groove 3 and connected with the convex head key 7, then the transmission tooth 4 can be clamped on the straight key strip 8 and the output shaft 2, the D-shaped connecting groove 11 of the transmission tooth 4 is clamped and connected with the D-shaped fixed rib 12 of the base ring 6, and the fixed ring 10 of the base ring 6 is clamped at the concave groove of the transmission tooth 4 for connection. When the output shaft 2 of the driving motor 1 drives the transmission tooth 4 installed at the joint of the robot to drive, the connection points between the transmission tooth 4 and the output shaft 2 of the driving motor 1 are more, which can ensure the connection firmness and transmission stability between the transmission tooth 4 and the driving motor 1. The accurate cooperation reduces the error in the transmission process of the driving motor 1 and the transmission tooth 4, and ensures the accurate movement of the joint of the robot.

[0038] It should be noted that the utility model is a joint driving device of a robot. The components in the utility model are components known by those skilled in the art, and the structure and principle thereof can be known by those skilled in the art through a technical manual or through a conventional experimental method.

[0039] The basic principle and main features of the utility model and the advantages of the utility model are shown and described. Those skilled in the art should understand that the utility model is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model can have various changes and improvements, and these changes and improvements all fall within the scope of the claimed utility model. The scope of protection of the utility model is defined by the appended claims and their equivalents.

Claims

1. A joint driving device of a robot, comprising a driving motor (1) and an output shaft (2), the head of the driving motor (1) is provided with the output shaft (2), and the shaft body surface of the output shaft (2) is provided with a key groove (3), characterized in that: Also include transmission gear (4) and gear mechanism (5), the gear mechanism (5) includes base ring (6), convex head key (7), straight key bar (8), fixed ring (10), D-shaped connecting groove (11), D-shaped fixed rib (12) and tail holding ring (13), the shaft body of the output shaft (2) is externally sleeved with the base ring (6), and the ring mouth of the base ring (6) is integrally formed with the convex head key (7) for clamping into the key groove (3), the key groove (3) on one side of the convex head key (7) is inserted with the straight key bar (8), the convex head of the convex head key (7) is clamped with the tail end of the straight key bar (8), and the straight key bar (8) and the output shaft (2) are externally sleeved with the transmission gear (4), the bar body of the straight key bar (8) is clamped into the inner groove of the transmission gear (4), the surface of the base ring (6) outside the convex head key (7) is provided with the D-shaped fixed rib (12), one end of the transmission gear (4) is provided with the D-shaped connecting groove (11) for clamping the D-shaped fixed rib (12) in the concave groove, the surface of the base ring (6) outside the convex head key (7) is provided with the fixed ring (10), and the fixed ring (10) is clamped into the concave groove of the transmission gear (4), the other ring surface of the base ring (6) away from the fixed ring (10) is fixed with the tail holding ring (13) for clamping outside the output shaft (2).

2. The joint driving device of a robot according to claim 1, characterized in that: The connecting rib (14) is integrally formed between the ring body of the tail holding ring (13) and the base ring (6), and the connecting rib (14) is provided with six groups between the tail holding ring (13) and the base ring (6).

3. The joint driving device of a robot according to claim 1, characterized in that: The D-shaped connecting groove (11) is provided with five groups in the concave groove annular distribution of the transmission gear (4), and the groove cavity size of the D-shaped connecting groove (11) is the same as the rib body size of the D-shaped fixed rib (12).

4. The joint driving device of a robot according to claim 1, characterized in that: The tail end of the straight key bar (8) is provided with a concave head groove (9), and the convex head of the convex head key (7) is clamped in the concave head groove (9) of the straight key bar (8).

5. The joint driving device of a robot according to claim 1, characterized in that: The concave groove of the transmission gear (4) is an annular cavity, and the diameter of the concave groove of the transmission gear (4) is the same as the diameter of the ring body of the fixed ring (10).

6. The joint driving device of a robot according to claim 1, characterized in that: The bar body length of the straight key bar (8) is the same as the length of the bar-shaped inner groove of the transmission gear (4).

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