Multi-axis linkage assembly of mechanical arm

Abstract

The utility model relates to a multi-shaft linkage assembly of a mechanical arm, and belongs to the technical field of mechanical transmission. Comprising a three-section type mechanical wrist section, a circular-tube-shaped hollow cavity is formed in the three-section type mechanical wrist section, three coaxial transmission gears are arranged at one end of the three-section type mechanical wrist section, a rotary mounting disc is arranged at the other end of the three-section type mechanical wrist section, and a gear linkage set is arranged on the inner side of the three-section type mechanical wrist section and comprises a first gear set and a second gear set; the first gear set comprises a first bevel gear arranged in the first mechanical wrist section, a second bevel gear, a third bevel gear and a fourth bevel gear, wherein the second bevel gear and the third bevel gear are arranged in the second mechanical wrist section, and the fourth bevel gear is arranged in the third mechanical wrist section. The second gear set comprises a first linkage gear, a second linkage gear, a third linkage gear and a fourth linkage gear. The utility model has the advantages of high-efficiency transmission, avoidance of motion conflict, low processing cost and the like.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical transmission technology, and in particular relates to a multi-axis linkage component for a robotic arm. Background Technology

[0002] In the painting industry, more and more companies are using painting robots for automated painting operations. The hollow wrist structure at the end of the robotic arm allows pipelines to pass through the inside of the robot's wrist, making the wrist structure more compact. When used in conjunction with painting robots, it can improve the performance of the painting robots. As the core transmission component of the hollow wrist, the multi-axis linkage component directly affects the performance of the equipment due to the compactness of its wrist structure, transmission accuracy, and pipeline protection capabilities.

[0003] Common hollow wrists often use helical gear sets to achieve joint transmission. Although this can transmit power, concave helical gears require special tools for machining, resulting in complex tooth surface shaping and high processing costs. When the wrist joint bends, the internal pipelines and rotating components are prone to relative motion, causing repeated bending and wear of the flexible hoses. At the same time, the cross arrangement of the gear pair axes can easily cause spatial interference, and the rigid connecting components in the transmission chain can cause motion coupling interference. Utility Model Content

[0004] This utility model addresses the shortcomings of the existing technology by providing a multi-axis linkage component for a robotic arm, which solves the problems of achieving efficient transmission, avoiding motion conflicts, and reducing processing costs.

[0005] This utility model achieves the above-mentioned objective through the following technical solution: It includes a three-segment mechanical wrist joint, the interior of which is a cylindrical hollow cavity. One end of the three-segment mechanical wrist joint is provided with three coaxial transmission gears, and the other end is provided with a rotating mounting disk. A gear linkage assembly is provided inside the three-segment mechanical wrist joint. The gear linkage assembly includes a first gear set and a second gear set. The first gear set includes a first bevel gear in the first segment of the mechanical wrist joint, a second bevel gear and a third bevel gear in the second segment of the mechanical wrist joint, and a fourth bevel gear in the third segment of the mechanical wrist joint. The second gear set includes a first linkage gear, a second linkage gear, a third linkage gear, and a fourth linkage gear. The first linkage gear is installed inside the first segment of the mechanical wrist joint. The second linkage gear and the third linkage gear are respectively installed inside the inclined surfaces at both ends of the second segment of the mechanical wrist joint. The fourth linkage gear is installed inside the third segment of the mechanical wrist joint. The first linkage gear, the second linkage gear, the third linkage gear, and the fourth linkage gear are connected by key gear meshing.

[0006] Furthermore, one end of the coaxial transmission gear in the middle is provided with a first transmission bevel gear and is connected to a screw through a connector. The first transmission bevel gear is connected to the first bevel gear through key meshing. The first bevel gear, the second bevel gear, the third bevel gear and the fourth bevel gear are connected through key meshing transmission.

[0007] Furthermore, the first bevel gear is located at the inclined end of the first segment of the mechanical wrist joint, the second bevel gear and the third bevel gear are located at the inclined ends of the second segment of the mechanical wrist joint, and the fourth bevel gear is located at the inclined end of the third segment of the mechanical wrist joint. The inclination angle of the three-segment mechanical wrist joint is matched with the bevel angle of the gear.

[0008] Furthermore, the first bevel gear is connected to the first mechanical joint via a bearing, the second bevel gear and the third bevel gear are both connected to the second mechanical joint via bearings, and the fourth bevel gear is connected to the third mechanical joint via screws.

[0009] Furthermore, a second transmission bevel gear is mounted on one end of the outermost coaxial transmission gear, and the second transmission bevel gear is connected to the first linkage gear through key meshing.

[0010] Furthermore, the fourth linkage gear is connected to the rotating mounting plate by screws, and the innermost coaxial transmission gear is connected to the first mechanical wrist joint by screws.

[0011] Furthermore, the linkage gear of the second gear set is located inside the gear of the first gear set and is coaxially and rotatably connected.

[0012] Beneficial effects: Compared with the prior art, this utility model has the following advantages:

[0013] 1. In this utility model, the first gear set adopts a bevel gear meshing structure. Compared with the concave helical gear solution, it avoids the use of special tools for negative angles, and the tooth surface can be machined through standard milling processes, improving machining efficiency by more than 40% and reducing manufacturing costs by about 35%. The cone angle of each bevel gear is precisely matched with the inclination angle of the wrist joint slope, ensuring that the gear pair always maintains effective meshing when the joint bends;

[0014] 2. In this utility model, a bevel gear set and a linkage gear set are set independently. The bevel gear set is responsible for transmitting the pitching motion of the wrist joint, and the linkage gear set drives the asynchronous rotation of the rotating mounting plate. The two sets of gears adopt a coaxial nested layout, which improves the space utilization rate. Furthermore, the motion decoupling of the two transmission systems is achieved through the differential principle, avoiding motion interference caused by power coupling in traditional structures. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a detailed schematic diagram of the structure of this utility model.

[0017] In the diagram: 1-Three-segment mechanical wrist joint, 2-Coaxial transmission gear, 3-Rotating mounting plate, 4-Gear linkage assembly;

[0018] 41 - First gear set, 42 - Second gear set;

[0019] 201-First transmission bevel gear, 202-Second transmission bevel gear, 411-First bevel gear, 412-Second bevel gear, 413-Third bevel gear, 414-Fourth bevel gear, 421-First linkage gear, 422-Second linkage gear, 423-Third linkage gear, 424-Fourth linkage gear. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0021] Combination Figures 1 to 2 The illustrated multi-axis linkage assembly of a robotic arm includes a three-section robotic wrist joint 1. The three-section robotic wrist joint 1 has an internal cylindrical hollow cavity. One end of the three-section robotic wrist joint 1 is provided with three coaxial transmission gears 2, and the other end is provided with a rotating mounting plate 3. A gear linkage group 4 is provided inside the three-section robotic wrist joint 1. The gear linkage group 4 includes a first gear group 41 and a second gear group 42. The first gear group 41 includes a first bevel gear 411 disposed in the first section of the robotic wrist joint, a second bevel gear 412 and a third bevel gear 413 disposed in the second section of the robotic wrist joint, and a third bevel gear 413 disposed in the third section of the robotic wrist joint. The fourth bevel gear 414 in the wrist joint, the second gear set 42 includes a first linkage gear 421, a second linkage gear 422, a third linkage gear 423 and a fourth linkage gear 424. The first linkage gear 421 is installed on the inner side of the first mechanical wrist joint, the second linkage gear 422 and the third linkage gear 423 are respectively installed inside the inclined surfaces at both ends of the second mechanical wrist joint, and the fourth linkage gear 424 is installed on the inner side of the third mechanical wrist joint. The first linkage gear 421, the second linkage gear 422, the third linkage gear 423 and the fourth linkage gear 424 are connected by key gear meshing.

[0022] The middle coaxial transmission gear 2 has a first transmission bevel gear 201 at one end, which is connected to the screw through a connector. The first transmission bevel gear 201 is connected to the first bevel gear 411 through key meshing. The first bevel gear 411, the second bevel gear 412, the third bevel gear 413 and the fourth bevel gear 414 are connected through key meshing transmission.

[0023] The first bevel gear 411 is located at the inclined end of the first mechanical wrist joint, the second bevel gear 412 and the third bevel gear 413 are located at the inclined ends of the second mechanical wrist joint, and the fourth bevel gear 414 is located at the inclined end of the third mechanical wrist joint. The inclined angle of the three-segment mechanical wrist joint 1 matches the bevel angle of the gears.

[0024] The first bevel gear 411 is connected to the first mechanical joint via a bearing, the second bevel gear 412 and the third bevel gear 413 are both connected to the second mechanical joint via bearings, and the fourth bevel gear 414 is connected to the third mechanical joint via screws.

[0025] The outermost coaxial transmission gear 2 has a second transmission bevel gear 202 installed at one end. The second transmission bevel gear 202 is connected to the first linkage gear 421 through key meshing.

[0026] The fourth linkage gear 424 is connected to the rotating mounting plate 3 by screws, and the innermost coaxial transmission gear 2 is connected to the first mechanical wrist joint by screws.

[0027] The linkage gear of the second gear set 42 is located inside the gear of the first gear set 41 and is coaxially connected.

[0028] Working principle: In this utility model, the bevel gears in the first gear set mesh with each other to form a bevel gear pair, which forms an excellent transmission effect on the joints of the hollow wrist. Compared with the existing hollow wrist internal gear components, at least one of them is set as a concave helical gear or internal helical gear with a negative helical angle. The bevel gears in this utility model are all convex helical gears with a positive helical angle, which reduces the difficulty of wrist gear processing and reduces wrist manufacturing cost.

[0029] In addition, the linkage gears in the second gear set ensure that the rotating mounting plate and the internal tubing of the wrist rotate synchronously during wrist movement, avoiding abnormal movement and conflict between the internal tubing and the rotating mounting plate, and reducing wear on the internal tubing or internal protective hose.

[0030] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0031] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-axis linkage assembly for a robotic arm, comprising a three-section robotic wrist joint (1), wherein the interior of the three-section robotic wrist joint (1) is a cylindrical hollow cavity, one end of the three-section robotic wrist joint (1) is provided with three coaxial transmission gears (2), and the other end of the three-section robotic wrist joint (1) is provided with a rotating mounting plate (3), characterized in that: The three-segment mechanical wrist joint (1) has a gear linkage assembly (4) on its inner side. The gear linkage assembly (4) includes a first gear set (41) and a second gear set (42). The first gear set (41) includes a first bevel gear (411) in the first segment of the mechanical wrist joint, a second bevel gear (412) and a third bevel gear (413) in the second segment of the mechanical wrist joint, and a fourth bevel gear (414) in the third segment of the mechanical wrist joint. The second gear set (42) includes a first linkage gear (421), a second linkage gear (422), and a third linkage gear (413). The first linkage gear (421) is installed on the inner side of the first mechanical joint, the second linkage gear (422) and the third linkage gear (423) are respectively installed inside the inclined surfaces at both ends of the second mechanical joint, and the fourth linkage gear (424) is installed on the inner side of the third mechanical joint. The first linkage gear (421), the second linkage gear (422), the third linkage gear (423) and the fourth linkage gear (424) are connected by key gear meshing.

2. The multi-axis linkage assembly of claim 1, wherein: The coaxial transmission gear (2) in the middle is provided with a first transmission bevel gear (201) at one end and is connected to a screw through a connector. The first transmission bevel gear (201) and the first bevel gear (411) are connected by key meshing. The first bevel gear (411), the second bevel gear (412), the third bevel gear (413) and the fourth bevel gear (414) are connected by key meshing transmission.

3. The multi-axis linkage assembly of claim 1, wherein: The first bevel gear (411) is located at the inclined end of the first mechanical wrist joint, the second bevel gear (412) and the third bevel gear (413) are located at the inclined ends of the second mechanical wrist joint, and the fourth bevel gear (414) is located at the inclined end of the third mechanical wrist joint. The inclined angle of the three-segment mechanical wrist joint (1) matches the bevel angle of the gear.

4. The multi-axis linkage assembly of claim 3, wherein: The first bevel gear (411) is connected to the first mechanical joint via a bearing, the second bevel gear (412) and the third bevel gear (413) are both connected to the second mechanical joint via bearings, and the fourth bevel gear (414) is connected to the third mechanical joint via screws.

5. The multi-axis linkage assembly of claim 4, wherein: The outermost coaxial transmission gear (2) is equipped with a second transmission bevel gear (202) at one end. The second transmission bevel gear (202) is connected to the first linkage gear (421) by key meshing.

6. The multi-axis linkage assembly of claim 5, wherein: The fourth linkage gear (424) is connected to the rotating mounting plate (3) by screws, and the innermost coaxial transmission gear (2) is connected to the first mechanical wrist joint by screws.

7. The multi-axis linkage assembly of claim 6, wherein: The linkage gear of the second gear set (42) is located inside the gear of the first gear set (41) and is coaxially connected.

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