Reversing mechanism for manipulator module

Abstract

The utility model relates to a reversing mechanism for a manipulator module. The reversing mechanism comprises a first shaft and a second shaft which are vertically fixed with each other, first bevel gears are coaxially arranged at the two ends of the first shaft, and second bevel gears are coaxially arranged at the two ends of the second shaft; the two first bevel gears are meshed with the two second bevel gears; the first bevel gear is fixed with the first shaft; one of the two second bevel gears is fixed with the second shaft, and the other is rotationally connected with the second shaft; the side wall, deviating from the first shaft, of the second bevel gear is at least provided with a first mounting position for mounting an executing mechanism; the multi-angle rotary switching mechanism is simple in overall structure and convenient to install, angle rotary switching of the multiple first installation positions can be achieved through cooperation of the four bevel gears, in the actual production and machining process, multiple different executing mechanisms can be installed on the multiple first installation positions respectively, direction switching is achieved through rotation cooperation of the four bevel gears, and the multi-angle rotary switching mechanism is convenient to use. And on-site production and processing are greatly facilitated.

Description

Technical Field

[0001] This utility model relates to the field of automation technology, and in particular to a reversing mechanism for a robotic arm module. Background Technology

[0002] In recent years, robotics technology has developed rapidly, and robots have been widely used in industries such as manufacturing, agriculture, services, medicine, and the military. Robotic arms are an important branch of robotics technology, capable of performing various pre-defined tasks. As the end effector of a robot, the flexible rotation and switching of its end-effector processing modules is a crucial prerequisite for achieving efficient production and processing.

[0003] However, in some processing scenarios, different operations need to be performed on the workpiece or different products need to be processed separately. Currently, the industry's traditional approach is to stop the machine and replace the actuator corresponding to the processing requirements. For example, when a suction nozzle is needed to pick up a workpiece, the robot must be stopped, the original gripper mechanism at the end of the robotic arm must be disassembled, the suction nozzle mechanism must be installed, and then production must be restarted. While this method solves the switching between different actuators, the switching efficiency is extremely low, time-consuming, and labor-intensive, which is detrimental to the company's cost control.

[0004] Therefore, it is necessary to design a reversing mechanism for robotic arm modules to meet higher production and processing requirements. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a reversing mechanism for robotic arm modules, which can effectively solve the aforementioned problems.

[0006] To achieve the above requirements, the technical solution adopted by this utility model to solve its technical problem is as follows:

[0007] A reversing mechanism for a robotic arm module is provided, comprising a first shaft and a second shaft fixed perpendicularly to each other; a first bevel gear is coaxially provided at both ends of the first shaft, and a second bevel gear is coaxially provided at both ends of the second shaft; both first bevel gears mesh with both second bevel gears; the first bevel gears are fixed to the first shaft; one of the two second bevel gears is fixed to the second shaft, and the other is rotatably connected to the second shaft; at least one first mounting position for mounting an actuator is provided on the side wall of the second bevel gear away from the first shaft.

[0008] The reversing mechanism for a robotic arm module of the present invention includes a channel extending axially through both ends of the second shaft, the channel forming a second mounting position.

[0009] The reversing mechanism for a robotic arm module of the present invention includes a pneumatic shaft running through the channel, with both ends of the pneumatic shaft passing through the two first mounting positions.

[0010] The reversing mechanism for a robotic arm module according to this utility model includes a first shaft comprising a connecting seat disposed between two first bevel gears and a connecting shaft body connecting the first bevel gears and the connecting seat; the connecting shaft body is rotatably connected to the first bevel gears on the same axis; and the connecting seat is provided with a through hole for the second shaft to pass through.

[0011] The reversing mechanism for a robotic arm module of this utility model includes an inner bearing inside the through hole, the inner ring of the inner bearing being coaxially fixed with the second shaft, and the outer ring of the inner bearing being fixed with the connecting seat.

[0012] The reversing mechanism for a robotic arm module according to this utility model includes a washer between the connecting seat and the second bevel gear, wherein when assembled in place, the washer abuts against the inner ring of the inner bearing.

[0013] The reversing mechanism for a robotic arm module according to the present invention includes a third mounting position on both sides of the connecting seat located on the second bevel gear, wherein the third mounting position is located between the two first bevel gears.

[0014] The reversing mechanism for a robotic arm module according to this utility model includes a cuboid-shaped connecting seat with two first bevel gears located at both ends of the connecting seat, a second shaft passing perpendicularly through the core of the connecting seat, and a third mounting position formed by the side wall of the connecting seat.

[0015] The reversing mechanism for the robotic arm module of this utility model further includes a drive motor for driving the first bevel gear to rotate. Two drive motors are provided corresponding to the two first bevel gears. The two drive motors are respectively located on opposite sides of the two first bevel gears.

[0016] The reversing mechanism for the robotic arm module of this utility model further includes brackets respectively disposed on the opposite sides of the two first bevel gears, the first bevel gears being rotatably connected to the brackets, and the drive motor being disposed on the brackets.

[0017] The beneficial effects of this utility model are as follows:

[0018] The overall structure is simple and the actuator is easy to install. The angle rotation of multiple first mounting positions can be switched through the cooperation of four bevel gears. In other words, in the actual production and processing process, multiple different actuators can be installed on multiple first mounting positions and the orientation can be switched by the rotation of the four bevel gears. When one of the modules needs to be used, it is only necessary to rotate the four bevel gears to adjust the angle of the actuator to be adjusted to a suitable position, which greatly facilitates the on-site production and processing. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the utility model will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is an overall drawing of this utility model.

[0021] Figure 2 yes Figure 1 Another perspective view in the image.

[0022] Figure 3 This is a cross-sectional view of the present invention along the length of the second axis.

[0023] Figure 4 This is a cross-sectional view of the present invention along the length of the second axis.

[0024] Figure 5 This is an overall view of the assembly of the first and second shafts of this utility model. Detailed Implementation

[0025] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0026] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] "Multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0028] Furthermore, the terms indicating orientation, such as "up," "down," "left," "right," "upper end," "lower end," and "longitudinal," are all based on the posture and position of the device or equipment described in this solution during normal use.

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of this utility model. Obviously, the described embodiments are some, but not all, embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0030] The preferred embodiment of this utility model is a reversing mechanism for a robotic arm module, such as... Figures 1-5 As shown, the mechanism includes a first shaft 10 and a second shaft 20 fixed perpendicularly to each other; both ends of the first shaft 10 are coaxially provided with first bevel gears 30, and both ends of the second shaft 20 are coaxially provided with second bevel gears 40; both first bevel gears 30 mesh with both second bevel gears 40; the first bevel gears 30 are fixed to the first shaft 10; one of the two second bevel gears 40 is fixed to the second shaft 20, and the other is rotatably connected to the second shaft 20; at least one first mounting position 50 for mounting an actuator 200 is provided on the side wall of the second bevel gear 40 away from the first shaft 10; the overall structure of this mechanism is simple, and the actuator 200 is mounted on it. Convenient, it provides at least two installation positions with switchable angles for the actuator 200. The angle rotation of multiple first installation positions 50 can be switched through the synchronous rotation of four bevel gears. In actual production and processing, multiple different actuators 200 can be installed on multiple first installation positions 50 with brackets and screws respectively, and the orientation can be switched through the rotation of four bevel gears. When one module is needed, it is only necessary to rotate the four bevel gears to adjust the angle of the actuator 200 to the appropriate position, which greatly facilitates on-site production and processing.

[0031] In this embodiment, the second shaft 20 is provided with a channel 60 that extends axially through both ends of it. The channel 60 forms a second mounting position. Specifically, a pneumatic shaft 70 is provided through the channel 60, and two first mounting positions 50 extend from both ends of the pneumatic shaft 70. The pneumatic shaft 70 can be used to install actuators 200 such as vacuum nozzles or air nozzles. Inclined tools or grippers and other actuators 200 can be installed on the second bevel gear 40 around the pneumatic shaft 70. When the second bevel gear 40 rotates on a fixed axis, the orientation of the corresponding mechanism can be adjusted to a suitable direction. Furthermore, by rotating the first bevel gear 30, the second bevel gear 40 and the actuators 200 on it can be adjusted to a specified orientation, thereby facilitating further operation of the robot arm.

[0032] In this embodiment, the first shaft 10 includes a connecting seat 101 disposed between two first bevel gears 30, and a connecting shaft body 102 connecting the first bevel gears 30 and the connecting seat 101; one end of the connecting shaft body 102 is rotatably connected to the first bevel gear 30 on the same axis, and the other end is fixedly connected to the first bevel gear; the connecting seat 101 is provided with a through hole 1011 for the second shaft 20 to pass through, so that the second shaft can achieve fixed-axis rotation by being driven by the second bevel gear; through the combined design of the connecting shaft and the connecting seat 101, the connecting shaft body 102 and the connecting seat 101 can be easily connected together radially using bolts 150, and the bolt position can be selected at the position where the connecting seat 101 is directly opposite the second bevel gear 40, thereby leaving space for other actuators 200 to be installed in other positions of the connecting seat 101.

[0033] Furthermore, an inner bearing 80 is provided in the through hole 1011. The inner ring of the inner bearing 80 is coaxially fixed with the second shaft 20, and the outer ring of the inner bearing 80 is fixed with the connecting seat 101. A washer 90 is provided between the connecting seat 101 and the second bevel gear 40. When assembled, the washer 90 abuts against the inner ring of the inner bearing 80. Through the cooperation of the inner bearing 80 and the washer 90, the stable rotation of the second bevel gear 40 can be ensured, and the over-pressure meshing between the second bevel gear 40 and the first bevel gear 30 can be reduced.

[0034] Furthermore, the second bevel gear 40, which is rotatably connected to the second shaft 20, is rotatably connected through the outer bearing 140. The inner ring of the outer bearing 140 is coaxially sleeved on the second shaft 20, and the outer ring of the outer bearing 140 is coaxially fixed with the corresponding second bevel gear 40. After installation, the planar sidewall of the outer bearing 140 is flush with the planar sidewall of the second bevel gear 40 to avoid hindering the installation of the actuator. The setting of the outer bearing ensures that the second shaft can rotate smoothly when it rotates relative to the second bevel gear rotatably connected to it, effectively maintaining the concentricity of the second shaft, thereby maintaining the center point position of the actuator.

[0035] In this embodiment, the connecting seat 101 is provided with a third mounting position 110 on both sides of the second bevel gear 40. The third mounting position 110 is located between the two first bevel gears 30, so that the positions on both sides of the first bevel gear 30 and located between the two second bevel gears 40 form an empty third mounting position 110, so as to further improve the space utilization of the connecting seat 101 and allow more actuators 200 to be installed at the end of the robot.

[0036] Furthermore, the connecting seat 101 is rectangular in shape and the two first bevel gears 30 are located at both ends of the connecting seat 101. The second shaft 20 passes vertically through the shaft core of the connecting seat 101. The side wall of the connecting seat 101 forms a third mounting position 110. Of course, the cross-section of the connecting seat 101 is not limited to a square, but can also be other polygons such as pentagons or hexagons, so that each side wall plane can serve as a position for installing the actuator 200. After the adjacent actuators 200 are installed, there will naturally be a certain angle between them to avoid interference.

[0037] In this embodiment, the reversing mechanism for the robotic arm module further includes a drive motor 120 for driving the first bevel gear 30 to rotate, and brackets 130 respectively disposed on opposite sides of the two first bevel gears 30; the brackets 130 are used to mount the entire mechanism on the end joint of the robotic arm; two drive motors 120 are provided corresponding to the two first bevel gears 30; the two drive motors 120 are respectively located on opposite sides of the two first bevel gears 30, and the rotating shaft of the drive motor is coaxially and fixedly connected to the first bevel gear; wherein the first bevel gear 30 is rotatably connected to the bracket 130, and the drive motor 120 is disposed on the bracket 130 and located on the side of the first bevel gear 30 opposite to the connecting seat 101, so as to facilitate the installation and fixing of the drive motor bolts; specifically, the bracket 130 is a long strip plate structure, which reduces weight and also reduces the distance between the drive motor 120 and the first bevel gear 30.

[0038] Operating principle: When the two drive motors rotate at the same speed but in opposite directions, the actuator itself rotates; if the two drive motors rotate in the same direction, the actuator itself does not rotate, but the two second bevel gears switch positions, enabling the actuators in the two first mounting positions to switch. By adjusting the direction of the two drive motors, the two shafts can be easily rotated while ensuring that the center point of the actuator remains unchanged. Compared to the cascaded layout of two motors, the end-effector is easier to install and position, and easier to calculate and locate when grasping target objects.

[0039] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A reversing mechanism for a robotic arm module, characterized in that, It includes a first shaft and a second shaft that are fixed perpendicularly to each other; both ends of the first shaft are coaxially provided with a first bevel gear, and both ends of the second shaft are coaxially provided with a second bevel gear; both first bevel gears mesh with both second bevel gears; the first bevel gears are fixed to the first shaft; one of the two second bevel gears is fixed to the second shaft, and the other is rotatably connected to the second shaft; at least one first mounting position for mounting an actuator is provided on the side wall of the second bevel gear away from the first shaft.

2. The reversing mechanism for a robotic arm module according to claim 1, characterized in that, The second shaft has a channel that extends axially through both ends, and the channel forms a second mounting position.

3. The reversing mechanism for a robotic arm module according to claim 2, characterized in that, An air shaft is installed through the channel, with its two ends passing through the two first mounting positions respectively.

4. The reversing mechanism for a robotic arm module according to claim 1, characterized in that, The first shaft includes a connecting seat disposed between the two first bevel gears, and a connecting shaft body connecting the first bevel gears and the connecting seat; the connecting shaft body is rotatably connected to the first bevel gears on the same axis; the connecting seat is provided with a through hole for the second shaft to pass through.

5. The reversing mechanism for a robotic arm module according to claim 4, characterized in that, An inner bearing is provided in the through hole. The inner ring of the inner bearing is fixed coaxially with the second shaft, and the outer ring of the inner bearing is fixed with the connecting seat.

6. The reversing mechanism for a robotic arm module according to claim 5, characterized in that, A washer is provided between the connecting seat and the second bevel gear. When assembled, the washer abuts against the inner ring of the inner bearing.

7. The reversing mechanism for a robotic arm module according to claim 4, characterized in that, The connecting seat is located on both sides of the second bevel gear and is also provided with a third mounting position, which is located between the two first bevel gears.

8. The reversing mechanism for a robotic arm module according to claim 7, characterized in that, The connecting seat is rectangular in shape and the two first bevel gears are located at both ends of the connecting seat. The second shaft passes perpendicularly through the core of the connecting seat, and the side wall of the connecting seat forms the third mounting position.

9. The reversing mechanism for a robotic arm module according to any one of claims 1-8, characterized in that, The reversing mechanism for the robotic arm module further includes a drive motor for driving the first bevel gear to rotate. Two drive motors are provided corresponding to the two first bevel gears. The two drive motors are respectively located on opposite sides of the two first bevel gears.

10. The reversing mechanism for a robotic arm module according to claim 9, characterized in that, The reversing mechanism for the robotic arm module further includes brackets respectively disposed on opposite sides of the two first bevel gears, the first bevel gears being rotatably connected to the brackets, and the drive motor being disposed on the brackets.

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