A double-branch face gear joint and mechanical arm integrated driving device

Abstract

The application relates to a double-branch face gear joint and mechanical arm integrated driving device, which comprises an input shaft and an output shaft connected with a mechanical arm joint, and further comprises a first transmission shaft and a second transmission shaft, the input shaft is provided with an intermediate gear, the output shaft is provided with a straight-tooth face gear, the first transmission shaft is provided with a first transmission gear meshing with the intermediate gear and a first helical cylindrical gear meshing with the straight-tooth face gear at two ends respectively, the second transmission shaft is provided with a second transmission gear meshing with the intermediate gear and a second helical cylindrical gear meshing with the straight-tooth face gear at two ends respectively, and the helix angles of the first helical cylindrical gear and the second helical cylindrical gear are equal and the rotation directions thereof are opposite. The application realizes double-branch input of single power by meshing the two helical cylindrical gears and the straight-tooth face gear, so that the load can be dispersed to multiple gear tooth surfaces, and the robot joint has higher bearing capacity.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a drive device integrating a double-branched gear joint with a robotic arm. Background Technology

[0002] In the field of modern robotics, robot joints and robotic arms, as core actuators, play a decisive role in robot performance due to their driving methods and structural designs. Electric drive is currently the most widely used driving method. Existing robot joint and robotic arm drive devices include planetary gear structures, harmonic gears, and cycloidal pinwheels. In most cases, the joint reducer and motor are directly mounted, resulting in large joint size and weight, which is detrimental to improving the robot's actuation and load-bearing capacity. Utility Model Content

[0003] In view of this, the purpose of this utility model is to provide a drive device integrating a double-branched gear joint with a robotic arm.

[0004] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a double-branch surface gear joint integrated drive device for a robotic arm, including an input shaft and an output shaft connected to the robotic arm joint, and also including a first transmission shaft and a second transmission shaft. An intermediate gear is provided on the input shaft, and a spur gear is provided on the output shaft. The first transmission shaft has a first transmission gear meshing with the intermediate gear and a first helical cylindrical gear meshing with the spur gear at both ends, respectively. The second transmission shaft has a second transmission gear meshing with the intermediate gear and a second helical cylindrical gear meshing with the spur gear at both ends, respectively. The helix angles of the first helical cylindrical gear and the second helical cylindrical gear are equal and their rotation directions are opposite.

[0005] Furthermore, both the first transmission gear and the second transmission gear are spur gears.

[0006] Furthermore, the intermediate gear is a spur gear.

[0007] Furthermore, the first transmission gear and the second transmission gear are arranged symmetrically along the axis of the intermediate gear.

[0008] Furthermore, the first drive shaft is provided with first supports for slewing bearings near its two ends.

[0009] Furthermore, the second drive shaft is provided with second supports for slewing bearings near its two ends.

[0010] Furthermore, it also includes a drive motor, which is installed at the end of the robotic arm and its output end is connected to the input shaft. The spur gear and the output shaft are installed at the joint at the front end of the robotic arm.

[0011] The beneficial effects of this application are as follows: 1. This application achieves dual-branch input of single power by meshing two helical cylindrical gears and spur gears, which allows the load to be distributed across multiple gear tooth surfaces, giving the robot joint a higher load-bearing capacity. Simultaneously, it balances the radial and axial forces during transmission, further enhancing the smoothness of the transmission. The axial forces generated by the reverse helix angle cancel each other out, and the radial force is balanced by the symmetrically arranged first and second transmission gears, reducing vibration and noise.

[0012] 2. This application employs a double-branch surface gear transmission structure, which consists of an intermediate gear, a transmission gear, a helical cylindrical gear, and a spur gear. Power is distributed to two symmetrical branches via a single-stage intermediate gear, and final deceleration and torque output are achieved through the meshing of the two helical cylindrical gears and the spur gear. This layout fully utilizes the spatial dimensions of the robotic arm, particularly the radial space, avoiding the lengthy axial dimensions associated with traditional multi-stage series reduction mechanisms.

[0013] 3. By installing the drive motor at the end of the robotic arm, it is possible to avoid accumulating a large number of transmission components at the joints, making the joint structure of the robotic arm simpler and more compact, reducing the direct load at the joints, reducing the stress on the joints, and helping to extend the service life of key components such as joint bearings and shafts.

[0014] 4. Bearings are installed at both ends of the drive shaft to suppress shaft deformation and extend service life. Attached Figure Description

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

[0016] Figure 2 This is a schematic diagram of the helix angle of the first and second helical cylindrical gears of this utility model.

[0017] Diagram markings: 1. Input shaft, 2. Intermediate gear, 3. First transmission gear, 4. Second transmission gear, 5. First transmission shaft, 6. Second transmission shaft, 7. First helical cylindrical gear, 8. Second helical cylindrical gear, 9. Spur gear, 10. Output shaft. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] Please see Figure 1-2 This application provides a dual-branch surface gear joint integrated drive device for a robotic arm, including an input shaft 1 and an output shaft 10 connected to the robotic arm joint, as well as a first transmission shaft 5 and a second transmission shaft 6. An intermediate gear 2 is provided on the input shaft 1, and a spur gear 9 is provided on the output shaft 10. The first transmission shaft 5 has a first transmission gear 3 meshing with the intermediate gear 2 and a first helical cylindrical gear 7 meshing with the spur gear 9 at both ends, respectively. The second transmission shaft 6 has a second transmission gear 4 meshing with the intermediate gear 2 and a second helical cylindrical gear 8 meshing with the spur gear 9 at both ends, respectively. The helix angles of the first helical cylindrical gear 7 and the second helical cylindrical gear 8 are equal and their rotation directions are opposite.

[0020] In this configuration, both the first transmission gear 3 and the second transmission gear 4 are spur gears. The intermediate gear 2 is also a spur gear, forming a stable spur meshing transmission with the first transmission gear 3 and the second transmission gear 4. The first transmission gear 3 and the second transmission gear 4 are symmetrically arranged along the axis of the intermediate gear 2 to ensure uniform load distribution in the dual-branch transmission and improve transmission balance. The spur gear 9 is a spur gear with a straight tooth surface. It should be noted that any parts not detailed in this application are prior art.

[0021] Specifically, the first drive shaft 5 has first supports, which are bearings, near both ends to provide slewing support for the first drive shaft 5. This ensures the stability and accuracy of the rotation of the first drive shaft 5. The second drive shaft 6 has second supports, which are bearings, near both ends to provide slewing support for the second drive shaft 6. This ensures the reliable rotation of the second drive shaft 6. The input shaft 1 also has bearings to provide slewing support for the input shaft 1. The input shaft 1 is connected to the drive motor via a coupling.

[0022] The helix angles of the first helical cylindrical gear 7 and the second helical cylindrical gear 8 are equal, and the helix angle of the first helical cylindrical gear 7 is... The helix angle of the second helical cylindrical gear 8 is... Furthermore, the offset distances of the first helical cylindrical gear 7 and the second helical cylindrical gear 8 are the same. The relationship between the helix angle and offset distance of the first helical cylindrical gear 7 and the pitch circle radius of the spur gear 9 is as follows: In the formula, The offset distance of the first helical cylindrical gear 7. The helix angle of the first helical cylindrical gear 7 is... The radius of the 9th pitch circle of a spur gear.

[0023] Furthermore, the drive device of this application is installed inside the robotic arm, more specifically, inside the arm tube of the robotic arm. It also includes a drive motor, which is installed at the end of the robotic arm. The output end of the drive motor is connected to the input shaft 1, and the spur gear 9 and the output shaft 10 are installed at the joint at the front end of the robotic arm.

[0024] The working principle of this application is as follows: the drive motor outputs torque to the input shaft 1, driving the intermediate gear 2 to rotate. The intermediate gear 2 simultaneously drives the first transmission gear 3 and the second transmission gear 4 to rotate, and the first transmission shaft 5 and the second transmission shaft 6 rotate accordingly. This drives the first helical cylindrical gear 7 and the second helical cylindrical gear 8 to output in the same direction. The first helical cylindrical gear 7 and the second helical cylindrical gear 8 serve as the dual inputs in the same direction for the spur gear 9, driving the spur gear 9 to move, and finally the output shaft 10 drives the robot joint to rotate.

[0025] It should be noted that the above embodiments are only used to illustrate the present utility model, but the present utility model is not limited to the above embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model shall fall within the protection scope of the present utility model.

Claims

1. A dual-branch surface gear joint integrated drive device for a robotic arm, comprising an input shaft (1) and an output shaft (10) connected to the robotic arm joint, characterized in that, It also includes a first drive shaft (5) and a second drive shaft (6). An intermediate gear (2) is provided on the input shaft (1), and a spur gear (9) is provided on the output shaft (10). The first drive shaft (5) has a first drive gear (3) meshing with the intermediate gear (2) and a first helical cylindrical gear (7) meshing with the spur gear (9) at both ends. The second drive shaft (6) has a second drive gear (4) meshing with the intermediate gear (2) and a second helical cylindrical gear (8) meshing with the spur gear (9) at both ends. The helix angles of the first helical cylindrical gear (7) and the second helical cylindrical gear (8) are equal and their rotation directions are opposite.

2. The integrated drive device for a dual-branch surface gear joint and robotic arm according to claim 1, characterized in that, Both the first transmission gear (3) and the second transmission gear (4) are spur gears.

3. The integrated drive device for a dual-branch surface gear joint and a robotic arm according to claim 2, characterized in that, The intermediate gear (2) is a spur gear.

4. The integrated drive device for a dual-branch surface gear joint and a robotic arm according to claim 1, characterized in that, The first transmission gear (3) and the second transmission gear (4) are arranged symmetrically along the axis of the intermediate gear (2).

5. The integrated drive device for a dual-branch surface gear joint and a robotic arm according to claim 1, characterized in that, The first drive shaft (5) is provided with a first support for slewing support near its two ends. The first support is a bearing.

6. The integrated drive device for a dual-branch surface gear joint and a robotic arm according to claim 1, characterized in that, The second drive shaft (6) is provided with second supports near its two ends for rotating support of the second drive shaft (6), and the second supports are bearings.

7. The integrated drive device for a dual-branch surface gear joint and a robotic arm according to claim 1, characterized in that, It also includes a drive motor, which is installed at the end of the robotic arm. The output end of the drive motor is connected to the input shaft (1), and the spur gear (9) and the output shaft (10) are installed at the joint at the front end of the robotic arm.

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