Mechanical arm structure driven by multiple speed reducers in combined mode

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a multi-speed-reducer combined transmission mechanical arm structure which comprises a first-shaft base piece, a second-shaft large arm piece, a double-speed-reduction transmission assembly, a third-speed-reduction transmission assembly, a fourth-shaft rotating piece, a fifth-shaft small arm piece, a sixth-shaft rotating piece and a tail end executing piece with a coupler. Load and overturning moment borne by all joints are borne by the crossed cylindrical roller slewing bearing, and the RV speed reducer only bears torque of rotation transmission. The RV speed reducer reduces the model selection, prolongs the service life, reduces the cost, has a larger reduction ratio, reduces the power of a motor, reduces the overall power consumption, particularly has double torque and double torque, and can improve the precision when being used for three joints without machining and mounting balance devices and the like; the six-dimensional treatment bed has the advantages of being capable of improving the stroke of the three joints without being influenced by balance devices and the like, reducing the height of the bed panel of the six-dimensional treatment bed, convenient to use, large in torque, large in reduction ratio, high in precision, compact and simple in structure, easy to install and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, concretely is a kind of multi-reducer combination transmission's mechanical arm structure. BACKGROUND

[0002] Mechanical arm structure is widely applied, such as be applied to six-dimensional treatment bed or light truck battery replacement etc. field;Six-dimensional treatment bed is important component of medical linear accelerator system, six-dimensional treatment bed can realize six degrees of freedom patient accurate positioning, avoid the problem of positioning deviation to reduce treatment effect. In addition to the linear motion function of ordinary treatment bed, it can also rotate around X, Y, Z axis, flexibly adjust patient positioning, correct error, improve radiotherapy accuracy. With the increase of cancer patients, as important supporting equipment, light truck battery replacement is a new energy light truck energy supplement method, it is a new generation of battery replacement technology. It has many advantages: light truck battery replacement mechanical arm can rotate around X, Y, Z axis, flexibly adjust posture, adjust light truck error at any time, greatly reduce the damage to truck during battery replacement, battery replacement only needs 4 minutes, far lower than fast charging time;

[0003] However, six-dimensional treatment bed needs larger load capacity and larger working radius, one RV reducer is mostly used for the first, second and third joints of existing six-dimensional treatment bed, 3 joints adopt one RV reduction plus balancing device, therefore, it has the following shortcomings, the reduction ratio of standard RV reducer is small, so that the driving motor power is large, resulting in large and heavy six-dimensional treatment bed structure, which affects the precision of six-dimensional treatment bed, the adopted balancing device is uncontrollable and has poor precision, the three-joint stroke is reduced due to the balancing device, and the overall power is large due to large and heavy structure, and light truck battery replacement currently mostly adopts linear motion truss and RGV mode, which has the following shortcomings, cannot flexibly adjust posture, cannot adjust light truck error at any time, which may cause damage to vehicle body and battery, and needs to position truck;

[0004] Therefore, in order to solve the above problems, a multi-reducer combination transmission mechanical arm structure is proposed. SUMMARY

[0005] The utility model aims at providing a kind of multi-reducer combination transmission's mechanical arm structure to solve the problem of insufficient existing mechanical arm proposed in the above background technology.

[0006] To achieve the above object, the utility model provides following technical scheme: a kind of mechanical arm structure of multiple speed reducer combination transmission, including a shaft base piece, the surface of the shaft base piece is equipped with two shaft arms by double reduction transmission assembly one, the surface of the end of two shaft arms away from the shaft base piece is equipped with three reduction transmission assemblies by double reduction transmission assembly two, and the outer end of three reduction transmission assemblies is equipped with four shaft rotating parts, the end of four shaft rotating parts away from three reduction transmission assemblies is equipped with five shaft arm parts by double reduction transmission assembly three connection, the side end of five shaft arm parts is equipped with six shaft rotating parts, and six shaft rotating parts upper is equipped with end execution part with coupler.

[0007] As further of the present scheme, the double reduction transmission assembly one is installed inside the shaft base piece, and the upper end of double reduction transmission assembly one is connected and equipped with the lower part of the end of two shaft arms close to the shaft base piece by first cross cylindrical roller bearing, the lower end of three reduction transmission assemblies is connected and equipped with double reduction transmission assembly two by second cross cylindrical roller bearing, and double reduction transmission assembly two is equipped inside the other end of two shaft arms, and the output end of three reduction transmission assemblies is equipped and connected with the two side walls of four shaft rotating parts close to the end of three reduction transmission assemblies, double reduction transmission assembly three between four shaft rotating parts and five shaft arm parts is also equipped.

[0008] As further of the present scheme, the three reduction transmission assemblies include two groups RV speed reducer one and rotating box and speed reducer connection box body, the rotating box and speed reducer connection box body are integrally arranged, and the speed reducer connection box body is located at the right side of rotating box, drive motor one is installed inside the rotating box, and the output end of drive motor one is equipped with harmonic reducer one, the output end of harmonic reducer one is equipped with bevel gear one, and bevel gear one side edge is engaged with bevel gear two, RV speed reducer input gear shaft is fixed in the inside of bevel gear two, and RV speed reducer input gear shaft is equipped in the inside of speed reducer connection box body through bearing one, and the two ends of RV speed reducer input gear shaft are connected with the input end of RV speed reducer one.

[0009] As further of the present scheme, the end of harmonic reducer one close to drive motor one is equipped in the inside of rotating box through fixed flange one, two groups RV speed reducer one are symmetrically equipped at the outer end of speed reducer connection box body, and the output end of RV speed reducer one is located at the outside.

[0010] As further of the present scheme, the end of speed reducer connection box body away from rotating box is provided with side through hole, and the inner wall of side through hole is smooth and arc-shaped.

[0011] As a further further of the scheme, the double reduction transmission assembly one, the double reduction transmission assembly two and the double reduction transmission assembly three are the same setting, the double reduction transmission assembly one includes RV speed reducer two and harmonic reducer two, the RV speed reducer two top is equipped with the connecting flange, and the harmonic reducer two is equipped in the inside of the connecting flange top, the connecting flange input end is equipped with RV speed reducer input gear one, and harmonic reducer two output shaft end and RV speed reducer input gear one assembled butt joint transmission, the harmonic reducer two outer end is equipped with fixed flange two, and the fixed flange two surface is supported and equipped with drive motor two, the drive motor two output end and harmonic reducer two input end assembled butt joint.

[0012] As a further further of the scheme, the RV speed reducer two output shaft end outside sleeve is equipped with bearing two, and the bearing two outside is equipped with oil seal assembly, the bearing two and hollow wire cylinder support are equipped on the surface of the connecting flange, and the RV speed reducer two output shaft inside is provided with hollow wire cylinder.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] The utility model discloses a double reduction transmission assembly one, double reduction transmission assembly two and double reduction transmission assembly three are set up as the driving device of mechanism arm one, two, four joints, adopt RV speed reducer two and harmonic reducer two combination transmission, and harmonic reducer two is as primary drive, and the advantage of high precision bottom backlash is as primary drive, and RV speed reducer two is as secondary drive, and RV speed reducer two has torque big and the characteristic of high rigidity as transmission output end, and two speed reducer combination transmission improves the reduction ratio and does not reduce bottom transmission precision, through this design, the convenience and practicality of the mechanical arm structure of multiple speed reducer combination transmission are improved, have big torque, big reduction ratio, high precision, and compact structure, simple, easy to install and the advantages such as.

[0015] The utility model discloses a three reduction transmission assembly is set up as the driving device of mechanism arm three joints, adopts two groups RV speed reducer one and harmonic reducer one combination transmission, and harmonic reducer one is primary drive, and RV speed reducer one is secondary drive, because mechanical arm three joints load and torque are very big, so this place adopts double RV speed reducer parallel connection and has double torque and double torque, and three speed reducer combination transmission improves the reduction ratio and does not reduce bottom transmission precision and can big torque and torque, through this design, the convenience and practicality of the mechanical arm structure of multiple speed reducer combination transmission are improved, have big torque, big reduction ratio, high precision, and compact structure, simple, easy to install and the advantages such as. ACCURACY OF THE DRAWINGS

[0016] Figure 1 It is the structure front view cross section perspective schematic diagram of the utility model;

[0017] Figure 2 It is partial structure top view sectional stereogram schematic view of three reduction transmission assembly of the utility model;

[0018] Figure 3 It is partial structure front view sectional stereogram schematic view of double reduction transmission assembly one of the utility model;

[0019] Figure 4 It is partial structure side view stereogram schematic view of three reduction transmission assembly of the utility model;

[0020] Figure 5 It is partial structure front view stereogram schematic view of double reduction transmission assembly one of the utility model;

[0021] Figure 6 It is overall structure front view stereogram schematic view of the utility model;

[0022] Figure 7 It is overall structure top view stereogram schematic view of the utility model;

[0023] In the drawing: 100, a shaft base piece; 110, first cross cylindrical rolling rotary bearing; 200, two shaft large arm piece; 300, three reduction transmission assembly; 301, rotary box body; 302, RV speed reducer one; 303, harmonic speed reducer one; 304, fixed flange one; 305, drive motor one; 3060, bevel gear one; 3061, bevel gear two; 307, RV speed reducer input gear shaft; 308, speed reducer connecting box body; 309, bearing one; 310, second cross cylindrical rolling rotary bearing; 320, side through hole; 400, four shaft rotary piece; 500, five shaft small arm piece; 600, six shaft rotary piece; 700, end executing piece with coupler; 800, double reduction transmission assembly one; 801, RV speed reducer two; 802, connecting flange; 803, fixed flange two; 804, harmonic speed reducer two; 805, drive motor two; 806, RV speed reducer input gear one; 807, oil seal assembly; 808, bearing two; 809, hollow wire passing cylinder; 810, double reduction transmission assembly two; 820, double reduction transmission assembly three. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0025] Please refer to Figures 1-7 An embodiment provided by the utility model:

[0026] The utility model provides a kind of multi-reducer combination transmission's mechanical arm structure, including a shaft base piece 100, the surface of a shaft base piece 100 is equipped with two shaft arms piece 200 by double-reduction transmission assembly one 800, the surface of two shaft arms piece 200 far from the one end of a shaft base piece 100 is equipped with three reduction transmission assembly 300 by double-reduction transmission assembly two 810, and three reduction transmission assembly 300 outer end is equipped with four shaft rotating piece 400, four shaft rotating piece 400 far from the one end of three reduction transmission assembly 300 is equipped with five shaft small arm piece 500 by double-reduction transmission assembly three 820, five shaft small arm piece 500 side end is equipped with six shaft rotating piece 600, and six shaft rotating piece 600 upper is equipped with end effector 700 with coupler, to this end, it is more convenient and efficient to carry out assembly combination, double-reduction transmission assembly one 800 is installed in a shaft base piece 100, and the upper end of double-reduction transmission assembly one 800 is connected with the lower part of two shaft arms piece 200 close to the one end of a shaft base piece 100 by first cross cylindrical roller bearing 110, the lower end of three reduction transmission assembly 300 is connected with double-reduction transmission assembly two 810 by second cross cylindrical roller bearing 310, and double-reduction transmission assembly two 810 is equipped in the other end of two shaft arms piece 200, and the two sides of three reduction transmission assembly 300 output end are equipped with the two side walls of four shaft rotating piece 400 close to the one end of three reduction transmission assembly 300, double-reduction transmission assembly three 820 between four shaft rotating piece 400 and five shaft small arm piece 500 is also equipped, so, it is convenient to assemble, and under the cooperation of second cross cylindrical roller bearing 310 and first cross cylindrical roller bearing 110, the load and overturning moment that all joints bear are borne by it, and RV reduction machine only bears the torque of rotary transmission, reduces RV reduction machine selection, and improves RV reduction machine life, reduces cost.

[0027] As a more detailed of the present embodiment, the three reduction transmission assembly 300 includes two groups of RV speed reducer 302 and rotating box 301 and reducer connecting box 308, rotating box 301 and reducer connecting box 308 are integrally arranged, and the reducer connecting box 308 is located at the right side of the rotating box 301, the rotating box 301 is internally provided with a driving motor 305, and the output end of the driving motor 305 is assembled with a harmonic reducer 303, the output end of the harmonic reducer 303 is assembled with a bevel gear 3060, and the side of the bevel gear 3060 is engaged with a bevel gear 3061, the RV reducer input gear shaft 307 is fixed inside the bevel gear 3061, and the RV reducer input gear shaft 307 is assembled in the reducer connecting box 308 through the bearing 309, and the both ends of the RV reducer input gear shaft 307 are connected with the input end of the RV speed reducer 302 for transmission, so as to facilitate the combination transmission, so that the harmonic reducer 303 is used as a primary transmission, and the RV speed reducer 302 is used as a secondary transmission, so that the operation is more convenient, and double torque and double moment are obtained, and the transmission reduction ratio is improved under the condition of ensuring the transmission precision, so that the use is more convenient, the end of the harmonic reducer 303 close to the driving motor 305 is assembled in the rotating box 301 through the fixed flange 304, the two groups of RV speed reducer 302 are symmetrically assembled on the both sides of the reducer connecting box 308, and the output end of the RV speed reducer 302 is located on the outside, so as to facilitate the assembly of the docking mechanical arm, so that the operation is more convenient, the side through hole 320 is formed in the end of the reducer connecting box 308 away from the rotating box 301, and the inner wall of the side through hole 320 is smooth and arc-shaped, so as to make the assembly and use more convenient and efficient, and also facilitate the subsequent maintenance and assembly;

[0028] As a more detailed embodiment, the double reduction transmission assembly one 800, the double reduction transmission assembly two 810 and the double reduction transmission assembly three 820 are the same setting, the double reduction transmission assembly one 800 includes RV speed reducer two 801 and harmonic reducer two 804, the RV speed reducer two 801 is assembled with the connecting flange 802 above, and the harmonic reducer two 804 is assembled inside above the connecting flange 802, the input end of the connecting flange 802 is assembled with the RV speed reducer input gear one 806, and the output shaft end of the harmonic reducer two 804 is assembled with the RV speed reducer input gear one 806 to drive transmission, the outer end of the harmonic reducer two 804 is assembled with the fixed flange two 803, and the surface of the fixed flange two 803 is supported and assembled with the driving motor two 805, the output end of the driving motor two 805 is assembled with the input end of the harmonic reducer two 804 to butt joint, in this way, in use, through corresponding combination, the transmission precision is ensured, the speed reduction ratio is improved, the transmission and control operation are more convenient and efficient, the outer part of the output shaft end of the RV speed reducer two 801 is assembled with the bearing two 808, the outer part of the bearing two 808 is assembled with the oil seal assembly 807, the bearing two 808 and the hollow wire passing barrel 809 are supported and assembled on the surface of the connecting flange 802, and the output shaft of the RV speed reducer two 801 is internally provided with the hollow wire passing barrel 809, in this way, in assembly and use, it is convenient to cooperate with flexible assembly and transmission, and it is also convenient to insert and assemble the corresponding line, so that the operation is more convenient.

[0029] Working principle: in the assembly and use, the shaft base piece 100, the two shaft arm piece 200, the four shaft rotating piece 400, the five shaft arm piece 500 and the six shaft rotating piece 600 are assembled and connected under the cooperation of the double reduction transmission assembly one 800, the double reduction transmission assembly two 810, the double reduction transmission assembly three 820 and the three reduction transmission assembly 300, and under the cooperation of the second cross cylindrical rolling rotary bearing 310 and the first cross cylindrical rolling rotary bearing 110, so that the assembly transmission is more convenient, that is, under the cooperation of the corresponding second cross cylindrical rolling rotary bearing 310 and the first cross cylindrical rolling rotary bearing 110, the load and overturning moment borne by all joints are borne, under the cooperation of the output end outside the double reduction transmission assembly one 800, the double reduction transmission assembly two 810, the double reduction transmission assembly three 820 and the three reduction transmission assembly 300, the RV reducer one 302 and the RV reducer two 801 only bear the torque of rotary transmission, the RV reducer selection is reduced, the RV reducer life is improved, the cost is reduced, further, under the cooperation of the corresponding harmonic reducer one 303 and the harmonic reducer two 804, the power output by the drive motor one 305 and the drive motor two 805 is transmitted as primary transmission, which is transmitted to the subsequent RV reducer one 302 and RV reducer two 801, so as to carry out combined transmission, since the RV reducer one 302 and the RV reducer two 801 have the characteristics of large torque and high rigidity as transmission output end, and the harmonic reducer one 303 and the harmonic reducer two 804 have the advantages of high precision and small backlash as primary transmission, so as to realize the guarantee of transmission precision while improving the corresponding reduction ratio, so that the operation and use are more convenient, and the power of the drive motor one 305 and the drive motor two 805 is also reduced, which can greatly reduce the overall power consumption.

[0030] Especially, the three reduction transmission assembly 300 has double torque and double moment, the three joints do not need to be processed and equipped with balancing devices, the accuracy of the three joints can be improved, the travel of the three joints is improved without the influence of the balancing devices, the height of the bed panel of the six-dimensional treatment bed is reduced, the patient can get on and off the bed conveniently, the three reduction transmission assembly 300 has the advantages of large torque, large reduction ratio, high accuracy and the like, and the structure is compact, simple and easy to install.

[0031] The above is only a preferred embodiment of the present application, and does not limit the present application in any form; any ordinary technical personnel in the industry can implement the present application according to the drawings and the above description; however, any equivalent changes, modifications and evolution of the above-mentioned technical content within the scope of the technical scheme of the present application are equivalent embodiments of the present application; meanwhile, any equivalent changes, modifications and evolution of the above-mentioned technical content within the scope of the technical scheme of the present application are equivalent embodiments of the present application.

Claims

1. A multi-reducer combination transmission mechanical arm structure comprising a shaft base member (100), characterized in that: The surface of the one-axis base piece (100) is assembled with a two-axis large arm piece (200) through a double speed reduction transmission assembly one (800), the surface of the one end of the two-axis large arm piece (200) away from the one-axis base piece (100) is assembled with a three speed reduction transmission assembly (300) through a double speed reduction transmission assembly two (810), and the outer end of the three speed reduction transmission assembly (300) is assembled with a four-axis rotating piece (400), the one end of the four-axis rotating piece (400) away from the three speed reduction transmission assembly (300) is assembled and connected with a five-axis small arm piece (500) through a double speed reduction transmission assembly three (820), and the side end of the five-axis small arm piece (500) is assembled with a six-axis rotating piece (600), and the upper side of the six-axis rotating piece (600) is assembled with an end executing piece (700) with a coupler.

2. The multi-reducer combined transmission mechanical arm structure according to claim 1, characterized in that: The double speed reduction transmission assembly one (800) is installed inside the one-axis base piece (100), and the upper end of the double speed reduction transmission assembly one (800) is connected and assembled with the lower part of the one end of the two-axis large arm piece (200) close to the one-axis base piece (100) through a first cross cylindrical rolling rotary bearing (110), the lower end of the three speed reduction transmission assembly (300) is connected and assembled with the double speed reduction transmission assembly two (810) through a second cross cylindrical rolling rotary bearing (310), and the double speed reduction transmission assembly two (810) is assembled inside the other end of the two-axis large arm piece (200), and the output end of the three speed reduction transmission assembly (300) is assembled and connected with the two side walls of the four-axis rotating piece (400) close to the one end of the three speed reduction transmission assembly (300), and the double speed reduction transmission assembly three (820) between the four-axis rotating piece (400) and the five-axis small arm piece (500) is also assembled.

3. The multi-reducer combined transmission mechanical arm structure according to claim 2, characterized in that: The three speed reduction transmission assembly (300) comprises two groups of RV speed reducers one (302), a rotating box (301) and a speed reducer connecting box (308), the rotating box (301) and the speed reducer connecting box (308) are integrally arranged, the speed reducer connecting box (308) is located on the right side of the rotating box (301), a driving motor one (305) is installed inside the rotating box (301), a harmonic speed reducer one (303) is assembled at the output end of the driving motor one (305), a bevel gear one (3060) is assembled at the output end of the harmonic speed reducer one (303), a bevel gear two (3061) is engaged and connected on the side of the bevel gear one (3060), an RV speed reducer input gear shaft (307) is fixed inside the bevel gear two (3061), the RV speed reducer input gear shaft (307) is assembled inside the speed reducer connecting box (308) through a bearing one (309), and the two ends of the RV speed reducer input gear shaft (307) are connected and driven with the input ends of the RV speed reducers one (302).

4. The multi-reducer combined transmission mechanical arm structure according to claim 3, characterized in that: The one end of the harmonic speed reducer one (303) close to the driving motor one (305) is assembled inside the rotating box (301) through a fixed flange one (304), the two groups of RV speed reducers one (302) are symmetrically assembled at the outer ends of the two sides of the speed reducer connecting box (308), and the output ends of the RV speed reducers one (302) are located on the outer side.

5. The multi-reducer combined transmission mechanical arm structure according to claim 3, characterized in that: The side through hole (320) is smooth and arc-shaped on the inner wall.

6. The multi-reducer combined transmission mechanical arm structure according to claim 2, characterized in that: The double-reduction transmission assembly one (800), the double-reduction transmission assembly two (810) and the double-reduction transmission assembly three (820) are the same, the double-reduction transmission assembly one (800) includes the RV speed reducer two (801) and the harmonic reducer two (804), the RV speed reducer two (801) is assembled with the connecting flange (802) above, and the harmonic reducer two (804) is assembled inside the connecting flange (802) above, the connecting flange (802) is assembled with the RV speed reducer input gear one (806) at the input end, and the harmonic reducer two (804) output shaft end and the RV speed reducer input gear one (806) are assembled and connected to drive, the harmonic reducer two (804) is assembled with the fixed flange two (803) at the outer end, and the fixed flange two (803) surface is assembled with the driving motor two (805) and supported, the driving motor two (805) output end and the harmonic reducer two (804) input end are assembled and connected.

7. The multi-reducer combined transmission mechanical arm structure according to claim 6, characterized in that: The RV speed reducer two (801) output shaft end is externally fitted with the bearing two (808), and the bearing two (808) is externally fitted with the oil seal assembly (807), the bearing two (808) and the hollow wire passing barrel (809) are supported and assembled on the surface of the connecting flange (802), and the RV speed reducer two (801) output shaft is internally provided with the hollow wire passing barrel (809).

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