Robot mechanical arm structure driven by differential gear

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a robot mechanical arm structure driven by differential gears, which comprises a large arm frame, a small arm frame, an adjusting mechanism, a transmission rod, a driving mechanism and a driving mechanism, wherein the adjusting mechanism is arranged in the middle of the upper side of the large arm frame and is arranged in the middle of one end of the large arm frame far away from the small arm frame and is used for driving the large arm frame or the transmission rod to rotate; and the transmission mechanism is arranged in the small arm frame. The adjusting mechanism is arranged, the first stepping motor and the second stepping motor are used for driving the first driving bevel gear and the second driving bevel gear to rotate, flexible rotation of the large arm frame or the transmission rod is achieved in combination with cooperation of the first driven bevel gear, easy adjustment can be achieved by changing the rotating direction and the rotating speed of the motors, and operation is easy and convenient; due to the design of the transmission mechanism, rotation of the transmission rod can smoothly drive the small arm frame to rotate, the rotation requirement of the small arm frame is met, complexity and weight of the mechanical arm are reduced, and economical efficiency and practicability of the mechanical arm are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robotic arm structure driven by differential gears. Background Technology

[0002] In the rapidly developing and ever-evolving field of robotics, the robotic arm is like the "arm" of a robot. As an important component of the robot, it plays a crucial role, undertaking various complex and delicate tasks such as assembly, handling, welding, and painting. Like a highly skilled all-rounder, it flexibly switches between different work scenarios. With its precise movements and powerful functions, it helps the robot complete various tasks efficiently, greatly expanding the application scope and working capabilities of the robot.

[0003] However, traditional robotic arms typically employ complex transmission mechanisms with intricate internal structures containing numerous gears, shafts, bearings, and other components. The sheer number of parts makes the robotic arm's structure extremely complex, increasing the difficulty of design and manufacturing. Furthermore, the combined weight of these components significantly increases the overall weight of the robotic arm. Many components are also susceptible to wear, loosening, or breakage. Once these malfunctions occur, the robotic arm cannot function properly, increasing the probability of failure and raising maintenance and repair costs.

[0004] To address this, those skilled in the art have proposed a differential gear driven robotic arm structure. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides a differential gear driven robot arm structure. This addresses the issue that traditional robot arms in the prior art typically employ complex transmission devices with intricate internal structures containing numerous gears, shafts, bearings, and other components. The sheer number of parts makes the robot arm's structure extremely complex, increasing the difficulty of design and manufacturing. Furthermore, the combined weight of these components significantly increases the overall weight of the robot arm. Many components are also susceptible to wear, loosening, and breakage. These malfunctions, once they occur, prevent the robot arm from functioning properly, increasing the probability of failure and raising maintenance and repair costs.

[0006] The differential gear driven robot arm structure includes a large arm and a small arm, which are located on the upper middle part of the large arm. An adjustment mechanism is located at the middle of one end of the large arm away from the small arm and is used to drive the large arm or a transmission rod to rotate. The transmission rod is located inside the large arm. The transmission mechanism is located inside the small arm and drives the small arm to rotate through cooperation with the adjustment mechanism and the transmission rod.

[0007] Preferably, the adjustment mechanism includes a stepper motor 1 and a stepper motor 2 fixedly installed on the left and right sides of the boom. The output end of the stepper motor 1 extends into the interior of the boom and is fixedly connected to a drive bevel gear 1. The output end of the stepper motor 2 also extends into the interior of the boom and is fixedly connected to a drive bevel gear 2.

[0008] Preferably, the outer surfaces of both the first and second active bevel gears are meshed with the first passive bevel gear. The bottom of the first passive bevel gear is rotatably connected to a support frame via a pin. The support frame is fixedly connected to the inner wall of the boom. The top of the first passive bevel gear is fixedly connected to a fixing member, which is fixedly connected to one end of the transmission rod.

[0009] Preferably, the transmission mechanism includes a transmission bevel gear fixedly connected to the end of the transmission rod away from the fixed part, a driven bevel gear two meshing with the outer surface of the transmission bevel gear, the driven bevel gear two being rotatably connected to the boom frame through a connecting seat, and the boom frame being fixedly connected to the driven bevel gear two through connecting seats on both sides.

[0010] Preferably, the boom is internally fixedly connected with several support plates, and the middle part of the support plates is rotatably connected to the transmission rod through a bearing.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] This invention utilizes an adjustment mechanism, employing stepper motors one and two to drive active bevel gears one and two to rotate, combined with the engagement of passive bevel gear one, to achieve flexible rotation of the boom or transmission rod. The mechanism can be easily adjusted by changing the direction and speed of the motors, making operation simple. The transmission mechanism design ensures that the rotation of the transmission rod smoothly drives the rotation of the boom, meeting the boom's rotation requirements. This not only reduces the complexity and weight of the robotic arm but also significantly improves its economy and practicality. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the differential gear driven robotic arm of this utility model.

[0014] Figure 2 This is a three-dimensional structural diagram of the adjustment mechanism of this utility model;

[0015] Figure 3 This is a three-dimensional structural diagram of the transmission mechanism of this utility model.

[0016] In the picture:

[0017] 1. Boom; 2. Spindle;

[0018] 3. Adjustment mechanism; 301. Stepper motor one; 302. Driving bevel gear one; 303. Stepper motor two; 304. Driving bevel gear two; 305. Driven bevel gear one; 306. Support frame; 307. Fixing component;

[0019] 4. Transmission rod;

[0020] 5. Transmission mechanism; 501. Transmission bevel gear; 502. Driven bevel gear II; 503. Connecting seat;

[0021] 6. Support plate. Detailed Implementation

[0022] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0023] Example 1:

[0024] As attached Figure 1 To be continued Figure 3 As shown, this utility model provides a differential gear driven robot arm structure, including a large arm 1 and a small arm 2, which are located in the upper middle part of the large arm 1. An adjustment mechanism 3 is located in the middle of one end of the large arm 1 away from the small arm 2, and is used to drive the large arm 1 or the transmission rod 4 to rotate. The transmission rod 4 is located inside the large arm 1. A transmission mechanism 5 is located inside the small arm 2, and drives the small arm 2 to rotate by cooperating with the adjustment mechanism 3 and the transmission rod 4. Several support plates 6 are fixedly connected inside the large arm 1, and the middle part of the support plate 6 is rotatably connected to the transmission rod 4 through a bearing.

[0025] As can be seen from the above, when using the device, firstly turn on the stepper motor 301 and stepper motor 303 in the adjustment mechanism 3. Stepper motor 301 and stepper motor 303 drive their respective active bevel gears 302 and 304 to rotate. By changing the rotation direction and speed of the active bevel gears 302 and 304 and cooperating with the passive bevel gear, the boom 1 or the transmission rod 4 can be driven to rotate. Several support plates 6 further improve the rotational stability of the transmission rod 4. When the transmission rod 4 rotates, it drives the small boom 2 to rotate through the transmission mechanism 5. Thus, the rotation requirements of the boom 1 and the small boom 2 are met through a simple structure. Not only is the structure simple, but the overall weight of the robotic arm is also reduced, providing an economical and affordable robotic arm structure.

[0026] Example 2:

[0027] As attached Figure 2As shown, this embodiment is basically the same as the previous embodiment, except that the adjustment mechanism 3 includes a stepper motor 301 and a stepper motor 303 fixedly installed on the left and right sides of the boom 1. The output end of the stepper motor 301 extends into the interior of the boom 1 and is fixedly connected to a drive bevel gear 302. The output end of the stepper motor 303 also extends into the interior of the boom 1 and is fixedly connected to a drive bevel gear 304. The outer surfaces of the drive bevel gear 302 and the drive bevel gear 304 are meshed with a driven bevel gear 305. The bottom of the driven bevel gear 305 is rotatably connected to a support frame 306 through a pin. The support frame 306 is fixedly connected to the inner wall of the boom 1. The top of the driven bevel gear 305 is fixedly connected to a fixing member 307, and the fixing member 307 is fixedly connected to one end of the transmission rod 4.

[0028] As can be seen from the above, when stepper motor 301 and stepper motor 303 drive the active bevel gear 302 and active bevel gear 304 to rotate in opposite directions at the same speed, they can drive the passive bevel gear 305 to rotate, which in turn drives the transmission rod 4 to rotate through the fixing part 307. Moreover, by reversing the active bevel gear 302 and active bevel gear 304, the transmission rod 4 can be driven to rotate in the opposite direction. It is worth noting that when the active bevel gear 302 and active bevel gear 304 rotate at the same speed and in the same direction, that is, when the active bevel gear 302 and active bevel gear 304 abut against the passive bevel gear 305, the passive bevel gear 305 does not rotate, thereby driving the boom 1, which is fixedly connected to stepper motor 301 and stepper motor 303, to rotate. At this time, it is only necessary to change the rotation direction of stepper motor 301 and stepper motor 303 at the same time to drive the boom 1 to rotate in the opposite direction.

[0029] Example 3:

[0030] As attached Figure 3 As shown, this embodiment is basically the same as the previous embodiment, except that the transmission mechanism 5 includes a transmission bevel gear 501 fixedly connected to the end of the transmission rod 4 away from the fixing member 307. The outer surface of the transmission bevel gear 501 is meshed with a passive bevel gear 502. The passive bevel gear 502 is rotatably connected to the boom 1 through the connecting seat 503. The small boom 2 is fixedly connected to the passive bevel gear 502 through the connecting seats 503 on both sides.

[0031] As can be seen from the above, when the transmission rod 4 rotates, it drives the transmission bevel gear 501 to rotate. The transmission bevel gear 501 drives the driven bevel gear 502 to rotate. The driven bevel gear 502 drives the connecting seat 503 to rotate. Since the connecting seat 503 is rotatably connected to the boom 1 and fixed to the boom 2, the rotation of the driven bevel gear 502 drives the boom 2 to rotate, thus fulfilling the rotation requirement of the boom 2.

[0032] Working principle: When using the device, first turn on stepper motor 301 and stepper motor 303 in the adjustment mechanism 3. Stepper motor 301 and stepper motor 303 drive their respective driving bevel gears 302 and 304 to rotate. When stepper motor 301 and stepper motor 303 drive driving bevel gears 302 and 304 to rotate in opposite directions at the same speed, they can drive driven bevel gear 305 to rotate, which in turn drives transmission rod 4 to rotate through fixing part 307. Moreover, by reversing driving bevel gears 302 and 304, transmission rod 4 can be driven to rotate in the opposite direction. It is worth noting that when driving bevel gears 302 and 304 rotate at the same speed and in the same direction, that is, when driving bevel gears 302 and 304 and driven bevel gear 305 rotate in the same direction, they are in sync with driven bevel gear 305. When the passive bevel gear 305 does not rotate, the boom 1, which is fixedly connected to stepper motor 301 and stepper motor 303, will rotate. At this time, by simply changing the rotation direction of stepper motor 301 and stepper motor 303, the boom 1 can be reversed. When the transmission rod 4 rotates, it drives the transmission bevel gear 501 to rotate. The transmission bevel gear 501 drives the passive bevel gear 502 to rotate. The passive bevel gear 502 drives the connecting seat 503 to rotate. Since the connecting seat 503 is rotatably connected to the boom 1 and fixed to the arm 2, the rotation of the passive bevel gear 502 drives the arm 2 to rotate. The rotation requirements of the boom 1 and arm 2 are met through a simple structure. This not only simplifies the structure but also reduces the overall weight of the robotic arm, providing an economical robotic arm structure.

[0033] The embodiments of this utility model are given for the purpose of illustration and description. Although embodiments of this utility model have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the utility model. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this utility model.

Claims

1. A robot arm structure driven by differential gears, characterized in that, include: boom (1); The small boom (2) is set in the middle of the upper side of the large boom (1); The adjustment mechanism (3) is located at the middle of one end of the boom (1) which is far from the boom (2), and is used to drive the boom (1) or the transmission rod (4) to rotate. The transmission rod (4) is installed inside the boom (1); The transmission mechanism (5) is located inside the boom (2) and drives the boom (2) to rotate through the cooperation of the adjustment mechanism (3) and the transmission rod (4).

2. The differential gear driven robotic arm structure of claim 1, wherein, The adjustment mechanism (3) includes a stepper motor 1 (301) and a stepper motor 2 (303) fixedly installed on the left and right sides of the boom (1). The output end of the stepper motor 1 (301) extends into the interior of the boom (1) and is fixedly connected to a drive bevel gear 1 (302). The output end of the stepper motor 2 (303) also extends into the interior of the boom (1) and is fixedly connected to a drive bevel gear 2 (304).

3. The differential gear driven robotic arm structure of claim 2, wherein, The outer surfaces of the first active bevel gear (302) and the second active bevel gear (304) are both meshed with the first passive bevel gear (305). The bottom of the first passive bevel gear (305) is rotatably connected to a support frame (306) via a pin. The support frame (306) is fixedly connected to the inner wall of the boom frame (1). The top of the first passive bevel gear (305) is fixedly connected to a fixing member (307). The fixing member (307) is fixedly connected to one end of the transmission rod (4).

4. The differential gear driven robotic arm structure of claim 1, wherein, The transmission mechanism (5) includes a transmission bevel gear (501) fixedly connected to the end of the transmission rod (4) away from the fixing member (307). The outer surface of the transmission bevel gear (501) is meshed with a passive bevel gear (502). The passive bevel gear (502) is rotatably connected to the boom (1) through a connecting seat (503). The boom (2) is fixedly connected to the passive bevel gear (502) through connecting seats (503) on both sides.

5. The differential gear driven robotic arm structure of claim 1, wherein, The boom (1) is internally fixedly connected to several support plates (6), and the middle part of the support plate (6) is rotatably connected to the transmission rod (4) through a bearing.

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