Compact robot arm drive based on planetary gear reduction mechanism

Abstract

The utility model discloses a compact mechanical arm driving device based on planetary gear reduction mechanism, including device whole frame, servo driver, planetary gear reduction machine, steel wire roll movement mechanism and electronic control unit. Servo driver connects reduction machine, and reduction machine output shaft drives steel wire roll movement mechanism and converts rotary motion into linear motion. Steel wire roll movement mechanism includes pivot, steel wire reel, steel wire rope, steel wire roll outer cover and guide nut, and through the cooperation of steel wire roll outer cover, guide nut and guide shaft, ensures that steel wire rope is sequentially wound along spiral groove, prevents lateral deviation and ensures that the movement track of steel wire rope is straight. The device has the advantages of compact structure, light weight, high transmission efficiency, good control precision and the like, is suitable for automation production line, lifting system and lightweight mechanical arm scenes and the like, and solves the problems of large volume and complex assembly of traditional driving devices.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical transmission technology, and in particular relates to a compact robotic arm drive device based on a planetary gear reduction mechanism. Background Technology

[0002] Traditional robotic arm drive mechanisms mostly use spur gears, worm gears, or ordinary planetary gear mechanisms, which have the following problems:

[0003] Large size and weight: Multi-stage transmission requires a complex structure, resulting in bulky equipment that is difficult to meet portability requirements.

[0004] The large number of parts makes assembly complex, costly, and prone to failure.

[0005] Efficiency and accuracy are limited: The long transmission chain leads to energy loss and hysteresis accumulation, which affects control accuracy.

[0006] Existing planetary gear mechanisms typically use a fixed ring gear or sun gear with a planet carrier as the output. While they offer high reduction ratios, they are difficult to directly adapt to lightweight applications requiring an external ring gear output. Therefore, there is an urgent need for a compact, efficient, and cost-effective solution. Utility Model Content

[0007] The purpose of this invention is to provide a compact robotic arm drive device based on a planetary gear reduction mechanism, so as to solve the technical problems of large size, heavy weight, low transmission efficiency and complex assembly of robotic arm drive devices.

[0008] To achieve the above objectives, the specific technical solution of this utility model for a compact robotic arm drive device based on a planetary gear reduction mechanism is as follows:

[0009] A compact robotic arm drive device based on a planetary gear reduction mechanism includes an overall frame on which a servo driver, a reducer, a wire coil motion mechanism, and an electronic control unit are mounted. The electronic control unit is electrically connected to the servo driver, which is connected to the reducer. The output shaft of the reducer is connected to the wire coil motion mechanism. The electronic control unit controls a servo motor driver, which drives the reducer output shaft to rotate, thereby converting the rotational motion of the wire rope into linear motion. The driving mechanism includes a rotating shaft, a wire drum, a wire rope, a wire coil outer sleeve, and a guide nut. The rotating shaft is fixedly connected to the output shaft of a reducer and is driven to rotate by the reducer. The wire drum is limited and fixed on the outer circumference of the rotating shaft and rotates with the shaft. The outer circumference of the wire drum has a spiral groove, and the wire rope is wound and connected in the spiral groove. The wire coil outer sleeve is fixed on the outer circumference of the wire drum. The guide nut is fixedly connected to one side of the wire coil outer sleeve and is also threadedly connected to the spiral groove of the wire drum. The lower part of the wire coil outer sleeve has a through hole, and the output end of the wire rope passes through the through hole below the wire coil outer sleeve.

[0010] Furthermore, the overall frame of the device includes a front cover, a rear cover, an outer frame, and a drive protection shell. The electronic control unit, servo driver, and reducer are fixedly mounted on the front cover. The wire coil motion mechanism is installed between the front and rear covers. The outer frame is installed around the front and rear covers to enclose the wire coil motion mechanism. The drive protection shell is installed on the front cover to form a closed chassis, which encloses the electronic control unit, servo driver, and reducer drive components.

[0011] Furthermore, the reducer adopts a planetary gear reduction mechanism, and the input end of the reducer is connected to the servo driver through a flange, while the output end is directly connected to the wire coil motion mechanism.

[0012] Furthermore, one end of the rotating shaft is mounted on the front cover of the chassis via a bearing, and its center is fixedly connected to the output shaft of the reducer. The other end is abutted and limited by the rear cover of the chassis.

[0013] Furthermore, one end of the wire rope is fixed to the rotating shaft by a fastener, and the other end extends to the bottom of the outer frame and has a hook for connecting to the lifted weight.

[0014] Furthermore, the wire coil motion mechanism also includes a guide shaft. The outer sleeve of the wire coil has a groove, and the guide shaft passes through the groove. Both ends are fixed to the inside of the front cover and rear cover of the chassis. The guide shaft is used to limit the circumferential position of the wire coil to prevent rotation. The output end of the wire rope hangs down along the guide shaft. The guide shaft also guides the direction of the wire rope, ensuring that the movement trajectory of the wire rope is straight, while bearing the motion load and improving the rigidity of the system.

[0015] Furthermore, the electronic control unit includes a power switch, a circuit board, and a spring wire. The power switch and the circuit board are fixedly mounted on the front cover of the chassis. The power switch is connected to an external power source through a through hole on the drive protective housing and controls the on / off state of the device through the external power source. The circuit board integrates a sensor or communication interface and is electrically connected to the power switch for controlling signal processing, power distribution, and system logic. The spring wire is fixedly mounted below the outer frame, on the outer periphery of the wire rope output end, and is electrically connected to the power switch and the circuit board through a wire to provide electrical connection to external devices or provide mechanical tension.

[0016] Furthermore, a cooling fan is also installed inside the drive protection housing. The drive protection housing has heat dissipation holes. The cooling fan is electrically connected to the circuit board via wires. The cooling fan dissipates heat to the outside through the heat dissipation holes, providing forced cooling for electronic components, servo drives, and reducers.

[0017] The compact robotic arm drive device based on a planetary gear reduction mechanism of this invention has the following advantages:

[0018] Compact structure, small size, and light weight

[0019] The integrated design of planetary gear reduction mechanism and wire coil motion mechanism significantly reduces the complex structure required by traditional multi-stage transmission, reduces the overall size and weight, and facilitates deployment and movement in space-constrained industrial scenarios.

[0020] High transmission efficiency and good control precision

[0021] The planetary gear reduction mechanism is directly connected to the servo drive, which shortens the transmission chain, reduces energy loss and hysteresis accumulation, and improves transmission efficiency and control accuracy, making it suitable for automation tasks with high precision requirements.

[0022] Simple assembly and low maintenance cost

[0023] Modular design (such as overall frame, electronic control unit, etc.) simplifies the assembly process, reduces the number of parts, lowers the failure rate, and facilitates maintenance and replacement of parts, saving time and costs.

[0024] Highly efficient and reliable motion conversion

[0025] The wire rope motion mechanism converts rotational motion into linear motion through the cooperation of the spiral groove and the guide nut. Combined with the rigid support of the guide shaft, it ensures that the movement trajectory of the wire rope is straight and stable, thereby improving the load capacity and system rigidity.

[0026] Excellent heat dissipation performance

[0027] The drive protection housing integrates a cooling fan and heat dissipation holes, effectively providing forced heat dissipation for electronic components and drive components, preventing system overheating, and extending the service life of the equipment.

[0028] Multifunctional integration, highly adaptable

[0029] The electronic control unit integrates sensors and communication interfaces, supporting signal processing, power distribution, and logic control. The spring wire design takes into account both electrical connection and mechanical tension requirements, making it suitable for various automated equipment and robotic arm applications.

[0030] Good protective performance

[0031] The design of the outer frame and drive protection housing effectively seals the internal components, preventing dust from entering and external impacts, thus improving the stability and reliability of the equipment in harsh environments.

[0032] Wide range of applications

[0033] It is suitable for automated production lines, lifting systems, lightweight robotic arms and other scenarios, meeting diverse needs for high precision, high load and small size, and has high practicality and promotion value.

[0034] Through the above design, this utility model has significant advantages in terms of lightweight, high-efficiency transmission, precise control and easy maintenance, and solves the pain points of traditional robotic arm drive devices. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the device of this utility model;

[0036] Figure 2 This is a schematic diagram of the internal structure of the device of this utility model;

[0037] Figure 3 This is a schematic diagram of the internal rear structure of the device of this utility model;

[0038] Figure 4 This is a cross-sectional structural diagram of the device of this utility model;

[0039] The markings in the diagram are as follows: 1. Overall frame of the device; 11. Front cover of the chassis; 12. Rear cover of the chassis; 13. Outer frame; 14. Drive protective shell; 131. Robotic arm connector; 2. Servo driver; 3. Reducer; 4. Wire coil motion mechanism; 41. Rotating shaft; 42. Wire coil; 43. Wire rope; 44. Wire coil outer sleeve; 441. Slot; 442. Through hole; 45. Guide nut; 46. Guide shaft; 47. Bearing; 5. Electronic control unit; 51. Power switch; 52. Circuit board; 53. Spring wire; 6. Cooling fan. Detailed Implementation

[0040] To better understand the purpose, structure, and function of this utility model, the following detailed description of a compact robotic arm drive device based on a planetary gear reduction mechanism is provided in conjunction with the accompanying drawings.

[0041] like Figure 1-4 As shown, this utility model discloses a compact robotic arm drive device based on a planetary gear reduction mechanism, comprising an overall frame 1, on which a servo driver 2, a reducer 3, a wire coil motion mechanism 4, and an electronic control unit 5 are mounted. The electronic control unit 5 is electrically connected to the servo driver 2, the servo driver 2 is connected to the reducer 3, the output shaft of the reducer 3 is connected to the wire coil motion mechanism 4, and the electronic control unit 5 controls the servo motor driver 2 to work. The servo motor driver 2 drives the output shaft of the reducer 3 to rotate, thereby driving the wire coil motion mechanism 4 to convert the rotational motion of the wire rope into linear motion.

[0042] The overall frame 1 serves as the basic structure, providing mechanical support and stability, fixing other components of the device, and protecting internal components from external impacts and environmental influences. The overall frame 1 includes a front cover 11, a rear cover 12, an outer frame 13, and a drive protection housing 14. The electronic control unit 5, servo driver 2, and reducer 3 are fixedly mounted on the front cover 11. The wire coil motion mechanism 4 is installed between the front cover 11 and the rear cover 12. The outer frame 13 is installed around the front cover 11 and the rear cover 12 to enclose the wire coil motion mechanism 4. The drive protection housing 14 is installed on the front cover 11, forming a closed chassis to enclose the electronic control unit 5, servo driver 2, reducer 3, and other drive components.

[0043] The reducer 3 adopts a planetary gear reduction mechanism. The input end of the reducer 3 is connected to the servo driver 2 through a flange, and the output end is directly connected to the wire coil motion mechanism 4. The reducer 3 converts the high-speed rotational motion of the servo driver 2 into a low-speed, high-torque output, which drives the wire coil motion mechanism 4 to rotate, thereby realizing the functions of power transmission and deceleration.

[0044] The wire coil motion mechanism 4 includes a rotating shaft 41, a wire coil 42, a wire rope 43, a wire coil outer sleeve 44, a guide nut 45, a guide shaft 46, and a bearing 47. One end of the rotating shaft 41 is mounted on the front cover 11 of the housing via the bearing 47, and its center is fixedly connected to the output shaft of the reducer 3, which drives it to rotate. The other end is abutted against and limited by the rear cover 12 of the housing. The wire coil 42 is limited and fixed to the outer circumference of the rotating shaft 41 and rotates with the rotating shaft 41. The outer circumference of the wire coil 42 has a spiral groove, and the wire rope 43 is wound and connected in the spiral groove. One end of the wire rope 43 is fixed to the rotating shaft 41 by a fastener, and the other end extends to the bottom of the outer frame 13 and has a hook for connecting to the lifted weight. The wire coil outer sleeve 44 is fixed to the outer circumference of the wire coil 42 to enclose the wire rope 43, protect the wire rope 43, prevent the wire rope 43 from falling off and dust from entering the coil area, and provide additional rigid protection. The guide nut 45 is fixedly connected to one side of the wire coil outer sleeve 44 by screws, and is also threadedly connected to the spiral groove of the wire coil drum 42. The wire coil outer sleeve 44 has a through hole 442 at its lower end, through which the output end of the wire rope 43 passes. The guide nut 45 moves left and right with the rotation of the wire coil drum 42, and the wire coil outer sleeve 44 moves left and right with the guide nut 45, providing a linear guide for the wire rope and ensuring that the wire rope 43 winds sequentially along the spiral groove, preventing lateral deviation. The wire coil outer sleeve 44 has a retaining groove 441 at its lower end, through which a guide shaft 46 passes, and is fixed at both ends to the inside of the front cover 11 and the rear cover 12 of the chassis. The guide shaft 46 is used to limit the circumferential position of the wire coil drum 42 to prevent rotation. The output end of the wire rope 43 hangs down along the guide shaft 46, which also guides the direction of the wire rope 43, ensuring that the movement trajectory of the wire rope 43 is straight, while bearing the motion load and improving the system rigidity.

[0045] The electronic control unit 5 includes a power switch 51, a circuit board 52, and a spring wire 53. The power switch 51 and circuit board 52 are fixedly mounted on the front cover 11 of the chassis. The power switch 51 is connected to an external power source through a through-hole in the drive protective housing 14. The external power source controls the device's on / off state. The circuit board 52 is the core controller of the device, integrating sensors or communication interfaces. It is electrically connected to the power switch 51 and is used for signal processing, power distribution, and system logic (such as controlling servo drives). The spring wire 53 is fixedly mounted below the outer frame 13, around the output end of the wire rope 43, and is electrically connected to the power switch 51 and circuit board 52 via wires. It provides electrical connection to external devices (such as transmitting signals and power) or provides mechanical tension (such as keeping the wire rope taut), ensuring reliable connection and adapting to movement or vibration.

[0046] A cooling fan 6 is also installed inside the drive protection housing 14. The drive protection housing 14 has heat dissipation holes. The cooling fan 6 is electrically connected to the circuit board 52 through wires. The cooling fan 6 dissipates heat to the outside through the heat dissipation holes, providing forced heat dissipation for electronic components, servo driver 2, and reducer 3, and preventing the system from overheating.

[0047] The outer frame 13 is equipped with a robotic arm connector 131 for connecting the robotic arm and enabling the overall movement of the device.

[0048] This device is applicable to automated equipment, lifting systems, or robotic arms. Workflow description:

[0049] After the servo driver 2 is started, the power is reduced and increased in torque through the reducer 3, driving the wire drum 42 to rotate.

[0050] The wire rope 43 is wound or released as the wire drum 42 rotates, achieving linear motion.

[0051] The guide nut 45 and the guide shaft 46 work together to ensure the movement accuracy of the wire rope 43.

[0052] The electronic control unit 5 monitors the system status in real time, adjusts the speed and direction of the servo drive 2, and completes the predetermined actions.

[0053] Through the above structural design, this utility model achieves miniaturization, lightweighting, and high precision of the robotic arm drive device, making it particularly suitable for space-constrained industrial automation scenarios.

[0054] It is understood that this utility model has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this utility model. Furthermore, under the teachings of this utility model, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this utility model.

Claims

1. A compact robotic arm drive device based on a planetary gear reduction mechanism, comprising an overall frame (1), characterized in that, The device's overall frame (1) is equipped with a servo driver (2), a reducer (3), a wire coil motion mechanism (4), and an electronic control unit (5). The electronic control unit (5) is electrically connected to the servo driver (2). The servo driver (2) is connected to the reducer (3). The output shaft of the reducer (3) is connected to the wire coil motion mechanism (4). The electronic control unit (5) controls the servo driver (2) to work. The servo driver (2) drives the output shaft of the reducer (3) to rotate, thereby driving the wire coil motion mechanism (4) to convert the rotational motion of the wire rope into linear motion. The wire coil motion mechanism (4) includes a rotating shaft (41), a wire coil drum (42), a wire rope (43), a wire coil outer sleeve (44), and... The guide nut (45) is fixedly connected to the output shaft of the reducer (3) and driven to rotate by the reducer (3). The wire drum (42) is limited and fixed on the outer circumference of the shaft (41) and rotates with the shaft (41). The outer circumference of the wire drum (42) has a spiral groove. The wire rope (43) is wound and connected in the spiral groove. The outer sleeve of the wire drum (44) is fixed on the outer circumference of the wire drum (42). The guide nut (45) is fixedly connected to one side of the outer sleeve of the wire drum (44) and threadedly connected to the spiral groove of the wire drum (42). The lower part of the outer sleeve of the wire drum (44) has a through hole (442). The output end of the wire rope (43) passes through the through hole (442) below the outer sleeve of the wire drum (44).

2. The compact robotic arm drive device based on a planetary gear reduction mechanism according to claim 1, characterized in that, The overall frame (1) of the device includes a front cover (11), a rear cover (12), an outer frame (13), and a drive protection shell (14). The electronic control unit (5), the servo driver (2), and the reducer (3) are fixedly installed on the front cover (11). The wire coil motion mechanism (4) is installed between the front cover (11) and the rear cover (12). The outer frame (13) is installed on the outer periphery of the front cover (11) and the rear cover (12) to enclose the wire coil motion mechanism (4). The drive protection shell (14) is installed on the front cover (11) to form a closed chassis to enclose the drive components of the electronic control unit (5), the servo driver (2), and the reducer (3).

3. The compact robotic arm drive device based on a planetary gear reduction mechanism according to claim 1, characterized in that, The reducer (3) adopts a planetary gear reduction mechanism. The input end of the reducer (3) is connected to the servo driver (2) through a flange, and the output end is directly connected to the wire coil motion mechanism (4).

4. The compact robotic arm drive device based on a planetary gear reduction mechanism according to claim 2, characterized in that, One end of the rotating shaft (41) is mounted on the front cover (11) of the chassis via a bearing (47), and the center is fixedly connected to the output shaft of the reducer (3). The other end is abutted and limited by the rear cover (12) of the chassis.

5. The compact robotic arm drive device based on a planetary gear reduction mechanism according to claim 2, characterized in that, One end of the wire rope (43) is fixed to the rotating shaft (41) by a fastener, and the other end extends to the bottom of the outer frame (13) and has a hook for connecting to the weight being lifted.

6. The compact robotic arm drive device based on a planetary gear reduction mechanism according to claim 1, characterized in that, The wire coil motion mechanism (4) also includes a guide shaft (46). The outer sleeve (44) of the wire coil has a groove (441) below it. The guide shaft (46) passes through the groove (441) and is fixed at both ends to the inside of the front cover (11) and the rear cover (12) of the chassis. The guide shaft (46) is used to limit the circumferential position of the wire coil (42) to prevent it from rotating. The output end of the wire rope (43) hangs down along the guide shaft (46). The guide shaft (46) also guides the direction of the wire rope (43) to ensure that the movement trajectory of the wire rope (43) is straight and to bear the motion load, thereby improving the rigidity of the system.

7. The compact robotic arm drive device based on a planetary gear reduction mechanism according to claim 2, characterized in that, The electronic control unit (5) includes a power switch (51), an electrical board (52), and a spring wire (53). The power switch (51) and the electrical board (52) are fixedly mounted on the front cover (11) of the chassis. The power switch (51) is connected to an external power source through a through hole on the drive protective housing (14) and controls the opening / closing of the device through the external power source. The electrical board (52) integrates a sensor or communication interface and is electrically connected to the power switch (51) for controlling signal processing, power distribution, and system logic. The spring wire (53) is fixedly mounted below the outer frame (13) and around the output end of the wire rope (43), and is electrically connected to the power switch (51) and the electrical board (52) through a wire for providing electrical connection to external devices or providing mechanical tension.

8. The compact robotic arm drive device based on a planetary gear reduction mechanism according to claim 2, characterized in that, The drive protection housing (14) is also equipped with a cooling fan (6). The drive protection housing (14) has heat dissipation holes. The cooling fan (6) is electrically connected to the circuit board (52) through wires. The cooling fan (6) dissipates heat to the outside through the heat dissipation holes, providing forced heat dissipation for electronic components, servo driver (2), and reducer (3).

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