Joint module structure capable of improving space utilization

Abstract

The utility model provides a joint module structure for improving space utilization, which comprises a joint shell, a big arm connecting disc and a small arm connecting disc, a reduction gear set is arranged in the joint shell, the big arm connecting disc is rotatably mounted with the upper end of a big arm through a rotating component, the small arm connecting disc is rotatably mounted with the rear end of a small arm, and the small arm connecting disc is rotatably mounted with the rear end of the small arm. The reduction gear set is in driving connection with the large arm and the small arm, a motor mounting position is further formed on one side of the joint shell and is opened and formed from the outside to the inside of the joint shell, a mounting channel is formed in the joint shell, and the motor assembly enters the joint shell through the mounting channel. An output structure of the motor assembly is meshed with the reduction gear set. The internal structure space is compact, good integration is achieved, the motor assembly is provided with a mechanical part and an electrical part, the mechanical part is connected into the joint shell through a motor installation position, and miniaturization design is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to an improved joint structure of a mechanical arm, in particular to a joint module structure improving space utilization. BACKGROUND

[0002] The mechanical arm is an automatic mechanical device capable of realizing high-precision work, which can realize multidimensional movement and steering through multiple rotary joints. The main support arms are usually called large arms and small arms. The large arm is horizontally connected with the base, and the large arm and the small arm are connected through an elbow joint to realize more than two axial rotation degrees of freedom. Therefore, the elbow joint component needs to be compact in structure, reduce the joint volume, and make the space available for the small arm movement more abundant. Therefore, a joint module structure improving space utilization needs to be proposed. SUMMARY

[0003] The utility model aims at overcoming the above-mentioned deficiencies in the prior art and providing a joint module structure improving space utilization.

[0004] The utility model adopts the technical scheme that the joint module structure includes a joint shell, a large arm connecting disc, and a small arm connecting disc. A reduction gear set is arranged in the joint shell. The large arm connecting disc is rotatably installed with the upper end of the large arm through a rotating assembly. The small arm connecting disc is rotatably installed with the rear end of the small arm. The reduction gear set is respectively connected with the large arm and the small arm for driving. A motor mounting position is further formed on one side of the joint shell. The motor mounting position is open and formed from the outside to the inside of the joint shell. An installation channel is formed in the joint shell. A motor assembly enters the inside of the joint shell through the installation channel. The output structure of the motor assembly is meshed and installed with the reduction gear set. The joint shell is the main entity structure of the joint module. Its volume determines the size of the joint. Therefore, it is designed as an assembly. The inside is used for installing mechanical structures to ensure smooth operation. The outside is mainly connected with the large arm and the small arm. The internal structure is compact. It is mainly used for setting mechanical transmission structures. Other electrical structures are fixed on the outside of the joint shell to realize good integration. The motor assembly has mechanical and electrical parts. The mechanical part is connected in the joint shell through the motor mounting position to realize miniaturization design.

[0005] Further, the joint shell is formed by casting, the surface of the joint shell is a shot blasting treated smooth surface, the rear end of the shell corresponding to the small arm connecting disc is shaped into a working open end, the reduction gear set is assembled inside the joint shell through the working open end, the edge of the working open end is shaped into a flat edge end face, and the working open end is closed by cooperating with a fixed protective cover to seal the internal space of the joint shell. The whole is provided by casting, the surface structure is subjected to shot blasting aging treatment, the structural stress is reduced, the structural strength is improved, the working open end is used for assembling the gear assembly inside the joint shell, the working surface is large, the operation is convenient, the open end can be closed by cooperating with the protective cover, and lubrication can be provided in the closed space.

[0006] Further, the large arm connecting disc and the small arm connecting disc are arranged in a spatial vertical manner along the axis, gear discs and rotating bearings are arranged in the large arm connecting disc and the small arm connecting disc, the gear discs are located in the gear meshing grooves of the large arm connecting disc and the small arm connecting disc, and the rotating bearings are located at the outer ends of the two connecting discs. The two connecting discs are arranged in a spatial intersecting manner, more degrees of freedom are achieved, the gear disc has a fixed mounting position, the driving precision is high, and assembly is facilitated.

[0007] Further, the reduction gear set is entirely closed and mounted in the joint shell, the joint shell is provided with a first gear mounting position and a second gear mounting position, a first reduction gear is mounted on the first gear mounting position, and a second reduction gear is mounted on the second gear mounting position, the first reduction gear and the second reduction gear are meshingly arranged in the middle part of the joint shell in space, the first gear mounting position and the second gear mounting position are arranged in an up-down staggered manner, and the corner of the joint shell is provided with a round corner and surrounds the edge of the reduction gear. The first reduction gear and the second reduction gear of the reduction gear set have the largest volume, and therefore are arranged in a staggered manner to a certain extent, and the meshing position is located in the middle part of the joint shell as much as possible, which is beneficial to saving space. In this way, the center distance of the two gears can be controlled to be within 110 mm, and the volume can be effectively reduced.

[0008] Further, the motor mounting position is shaped into a rectangular channel structure, the outer end part is a vertical flush end face edge, the motor assembly insertion groove is inserted into the motor mounting position and is closed and mounted in cooperation with the end edge, the surface of the joint shell at the upper part of the motor mounting position is shaped into a flat base surface, a fixed base is formed on the base surface, the upper surface of the fixed base is a horizontal fixed surface, and a mounting hole is formed on the fixed surface. The channel structure facilitates the installation of the motor assembly and facilitates closed fixation, the fixed base for fixing the device is arranged on the outside of the joint shell, the electric control assembly of the motor can be mounted on the fixed base, and reliable fixation of the electrical part is achieved.

[0009] Compared with the prior art, the present application has the following advantages and effects: the improved joint structure of the mechanical arm can effectively improve the space utilization of the joint assembly, reduce the space occupation, reduce the volume of the joint structure, realize more flexible movement and work of the mechanical arm, and has good self rigidity, stable structure and strong applicability. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is a structural schematic view of the joint assembly.

[0011] Figure 2 is a structural schematic view of the joint assembly.

[0012] Figure 3 is a lateral structural schematic view.

[0013] Figure 4 is Figure 3 is a sectional structural schematic view of A-A.

[0014] In the figure: 1, joint shell, 2, large arm connecting disc, 3, small arm connecting disc, 4, motor mounting position, 5, installation channel, 6, working open end, 7, edge end face, 8, gear meshing groove, 9, first gear mounting position, 10, second gear mounting position, 11, fixed bottom support, 12, mounting hole. DETAILED DESCRIPTION

[0015] The present application will be further described in detail below in combination with the drawings and through embodiments, and the following embodiments are an explanation of the present application and the present application is not limited to the following embodiments.

[0016] A joint module structure for improving space utilization, the joint module structure comprising a joint shell 1, a large arm connecting disc 2, and a small arm connecting disc 3, the joint shell 1 being provided with a reduction gear set, the large arm connecting disc 2 being rotatably mounted to the upper end of a large arm through a rotating assembly, the small arm connecting disc 3 being rotatably mounted to the rear end of a small arm, the reduction gear set being drivingly connected to the large arm and the small arm, one side of the joint shell 1 further being formed with a motor mounting position 4, the motor mounting position 4 being outwardly and inwardly open formed from the outside of the joint shell 1, an installation channel 5 being formed in the joint shell 1, a motor assembly entering the inside of the joint shell 1 through the installation channel 5, and the output structure of the motor assembly being meshingly mounted with the reduction gear set.

[0017] The joint shell 1 is cast formed, the surface of the joint shell 1 is a shot blasting treated smooth surface, the rear end of the shell corresponding to the small arm connecting disc 3 is formed with a working open end 6, the reduction gear set is assembled to the inside of the joint shell 1 through the working open end 6, the edge of the working open end 6 is formed into a flat edge end face 7, and the inside space of the joint shell 1 is closed by cooperating with a fixed protective cover.

[0018] The axis of the big arm connecting disc 2 and the small arm connecting disc 3 is perpendicular to each other, gear plates and rotating bearings are arranged in the big arm connecting disc 2 and the small arm connecting disc 3, the gear plates are arranged in the gear meshing grooves 8 of the big arm connecting disc 2 and the small arm connecting disc 3, and the rotating bearings are arranged at the outer ends of the two connecting discs.

[0019] The whole reduction gear set is enclosed and mounted in the joint shell 1, the first gear mounting position 9 and the second gear mounting position 10 are arranged in the joint shell 1, the first reduction gear is mounted on the first gear mounting position 9, the second reduction gear is mounted on the second gear mounting position 10, the first reduction gear and the second reduction gear are arranged in meshing in the middle part of the space in the joint shell 1, the first gear mounting position 9 and the second gear mounting position 10 are arranged in up-down staggered mode, the corner of the joint shell 1 is arranged in round corner mode, and the edge of the reduction gear is formed.

[0020] The motor mounting position 4 is formed in rectangular channel structure, the outer side end is arranged in vertical flush end face edge, the motor assembly insertion groove is inserted into the motor mounting position 4 and is closed and mounted in the end face edge, the surface of the joint shell 1 at the upper part of the motor mounting position 4 is formed in flat base surface, the fixed bottom support 11 is formed on the base surface, the upper surface of the fixed bottom support 11 is horizontal fixed surface, and the mounting hole 12 is formed on the fixed surface.

[0021] It is obvious for those skilled in the art that the present application is not limited to the details of the above-mentioned exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application, therefore, no matter from which point of view, the embodiments should be regarded as exemplary rather than limiting, the scope of the present application is defined by the claims rather than the above description, therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0022] In addition, it should be understood that, although the present specification is described in the form of embodiments, not every embodiment contains only one independent technical solution, the description manner of the specification is only for the sake of clarity, those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be properly combined to form other embodiments which can be understood by those skilled in the art.

Claims

1. A joint module structure for improving space utilization, characterized by: The joint module structure comprises a joint shell (1), a large arm connecting disc (2) and a small arm connecting disc (3). A reduction gear set is arranged in the joint shell (1). The large arm connecting disc (2) is rotatably connected to the upper end of a large arm through a rotating assembly. The small arm connecting disc (3) is rotatably connected to the rear end of a small arm. The reduction gear set is connected to the large arm and the small arm for driving. A motor mounting position (4) is formed on one side of the joint shell (1). The motor mounting position (4) is formed by opening from the outside to the inside of the joint shell (1). An installation channel (5) is formed in the joint shell (1). A motor assembly enters the inside of the joint shell (1) through the installation channel (5). The output structure of the motor assembly is engaged and mounted with the reduction gear set.

2. The space utilization improving joint module structure according to claim 1, characterized in that: The joint shell (1) is formed by casting. The surface of the joint shell (1) is a smooth surface treated by shot blasting. A working open end (6) is formed on the rear end of the small arm connecting disc (3). The reduction gear set is assembled near the inside of the joint shell (1) through the working open end (6). The edge of the working open end (6) is formed as a flat edge end face (7). The inside space of the joint shell (1) is closed by cooperating with a fixed protective cover.

3. The space utilization improving joint module structure according to claim 1, characterized in that: The large arm connecting disc (2) and the small arm connecting disc (3) are arranged vertically with respect to the axis. Gear discs and rotating bearings are arranged in the large arm connecting disc (2) and the small arm connecting disc (3). The gear discs are located in the gear engaging grooves (8) of the large arm connecting disc (2) and the small arm connecting disc (3). The rotating bearings are located at the outer ends of the two connecting discs.

4. The space utilization improving joint module structure according to claim 1, characterized in that: The reduction gear set is integrally mounted in the joint shell (1). A first gear mounting position (9) and a second gear mounting position (10) are arranged in the inside of the joint shell (1). A first reduction gear is mounted on the first gear mounting position (9). A second reduction gear is mounted on the second gear mounting position (10). The first reduction gear and the second reduction gear are engaged and arranged in the middle part of the inside of the joint shell (1). The first gear mounting position (9) and the second gear mounting position (10) are arranged in an upper-lower staggered manner. The corner of the joint shell (1) is arranged as a round corner and is formed around the edge of the reduction gear.

5. The space utilization improving joint module structure according to claim 1, characterized in that: The motor mounting position (4) is formed as a rectangular channel structure. The outer end is a vertical flush end face. A motor assembly is inserted into the motor mounting position (4) and is mounted in a closed manner with the end face. The surface of the joint shell (1) at the upper part of the motor mounting position (4) is formed as a flat base surface. A fixed base (11) is formed on the base surface. The upper surface of the fixed base (11) is a horizontal fixed surface. Mounting holes (12) are formed on the fixed surface.

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