Joint drive mechanism of a robot

Abstract

The utility model relates to robot technical field especially is a kind of joint driving mechanism of robot, including large arm component and small arm component, the top of large arm component is equipped with carousel, the bottom end of carousel is equipped with rotating shaft sleeve, the outside bottom of rotating shaft sleeve is equipped with external gear, the inside bottom end of large arm component is equipped with first bearing, the top of carousel is equipped with second bearing, first bearing and the first shaft in the bottom surface inside large arm component are equipped with, the outside middle part of first shaft is equipped with first gear, the inner wall of large arm component is equipped with support plate.In the utility model, by driving source and first shaft, cooperate the second gear and third gear controlled by electric push rod, the driving of two kinds of movements of small arm pitch and carousel rotation and mode switching are realized.This "one source two uses" design, saves a set of independent motor and speed reducer, greatly simplifies joint structure, makes mechanism more compact, while effectively reduces manufacturing cost and maintenance complexity.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a joint drive mechanism for a robot. Background Technology

[0002] In the field of industrial automation, robots are core equipment for performing repetitive, high-precision, or high-risk tasks. Among them, multi-joint robots, with their flexible motion capabilities, are widely used in complex scenarios such as welding, painting, assembly, and material handling. The joint drive mechanism of a robot is the foundation of its dexterous movement, and its performance directly determines the robot's working range, load capacity, and motion accuracy.

[0003] To achieve two degrees of freedom of movement for the forearm (pitch and rotation, or turntable rotation), traditional designs typically require two completely independent sets of motors, reducers, and transmission mechanisms. This parallel stacking approach results in a large number of parts, complex transmission chains, high manufacturing costs, and increases the system's potential for failure and maintenance difficulty. Therefore, a robot joint drive mechanism is needed to improve upon these issues. Utility Model Content

[0004] The purpose of this invention is to provide a joint drive mechanism for a robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A joint drive mechanism for a robot includes a large arm component and a small arm component. The large arm component has a turntable at its top and a rotating shaft sleeve at its bottom. An external gear is located at the bottom outer side of the rotating shaft sleeve. A first bearing is located at the bottom inner side of the large arm component. A second bearing is located at the top of the turntable. A first rotating shaft is located between the second bearing and the first bearing located on the bottom inner side of the large arm component. A first gear is located at the middle outer side of the first rotating shaft. A support plate is located on the inner wall of the large arm component. An electric actuator is located at the top of the support plate. A U-shaped frame is located at the output end of the electric actuator. A third bearing is located at the top and bottom of the U-shaped frame. A second rotating shaft is located between the two third bearings. A second gear and a third gear are located at the upper and lower outer sides of the second rotating shaft, respectively. The second gear meshes with the external gear, and the third gear meshes with the first gear.

[0007] As a preferred embodiment of this utility model, the top of the boom component is provided with a first bearing, and the rotating sleeve is fitted in the inner ring of the first bearing. The first bearing supports the rotating sleeve, ensuring smooth rotation and bearing radial and axial forces.

[0008] As a preferred embodiment of this utility model, when the turntable is not required to rotate, the second gear separates from the external gear, and the third gear separates from the first gear.

[0009] As a preferred embodiment of this utility model, a mounting frame is provided on one side of the boom component, and a drive source is located inside the mounting frame. A second driving bevel gear is located at the output end of the drive source, and a second driven bevel gear is located on the lower outer side of the first rotating shaft. The second driven bevel gear meshes with the second driving bevel gear. The drive source is a motor acceleration and deceleration unit, which is the sole driving force of the mechanism. Through the meshing of the second driving bevel gear and the second driven bevel gear, the direction of the power is changed and input to the vertical first rotating shaft.

[0010] As a preferred embodiment of this utility model, the bottom end of the forearm component is provided with a U-shaped frame, a rotating rod is provided through the U-shaped frame, a pair of bearing seats are provided on the top of the turntable, and the two ends of the rotating rod are respectively fitted on the pair of bearing seats. The pair of bearing seats support the pitch axis (rotating rod) of the forearm, making it the core joint connecting the two degrees of freedom of motion.

[0011] As a preferred embodiment of this utility model, a first driven bevel gear is provided on the outside of the rotating rod located inside the U-shaped frame, and a first driving bevel gear is provided on the top of the first rotating shaft. The first driving bevel gear meshes with the first driven bevel gear. The first driving bevel gear is used to drive the forearm to pitch. By changing the direction of power through the first driving bevel gear and the first driven bevel gear, the rotating rod is driven to rotate, thereby realizing the raising and lowering of the forearm.

[0012] As a preferred embodiment of this utility model, the rotating shaft sleeve is fitted outside the first rotating shaft, and the rotating shaft sleeve is loosely fitted outside the first rotating shaft to ensure that the rotation of the first rotating shaft and the rotation of the turntable are independent of each other.

[0013] As a preferred embodiment of this utility model, heat dissipation holes are evenly provided on both sides of the outer side of the mounting frame. The heat dissipation holes are used to dissipate heat from the drive source and prevent the internal temperature from becoming too high.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. In this utility model, the drive source and the first rotating shaft, together with the second and third gears controlled by the electric actuator, realize the driving and mode switching of two movements: forearm pitch and turntable rotation. This "one source, two uses" design eliminates the need for a separate motor and reducer, greatly simplifies the joint structure, makes the mechanism more compact, and effectively reduces manufacturing costs and maintenance complexity.

[0016] 2. In this invention, the up-and-down movement of the U-shaped frame is controlled by an electric actuator, which in turn drives the engagement and disengagement of the second gear and the external gear, and the third gear and the first gear. This makes the drive of the turntable (driving the forearm rotation) and the pitch drive of the forearm itself two selectable modes, and the switching process is mechanically linked, accurate, reliable, and does not interfere with each other. The robot can flexibly select the motion mode according to the task requirements, enhancing its operational adaptability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the joint drive mechanism of this utility model;

[0018] Figure 2 This is a schematic diagram of the meshing structure of the first and third gears of this utility model;

[0019] Figure 3 This is a schematic diagram of the non-meshing structure of the first and third gears of this utility model;

[0020] Figure 4 This is an exploded structural diagram of the joint drive mechanism of this utility model;

[0021] Figure 5 This is a schematic diagram of the connection between the upper arm component and the lower arm component of this utility model.

[0022] In the diagram: 1. Boom assembly; 101. Mounting frame; 102. Support plate; 103. First bearing; 2. Turntable; 201. Bearing seat; 202. Rotary shaft sleeve; 203. External gear; 204. Second bearing; 3. Arm assembly; 301. U-shaped frame; 302. Rotating rod; 303. First driven bevel gear; 4. Drive source; 401. Second driving bevel gear; 5. First rotating shaft; 501. Second driven bevel gear; 502. First gear; 503. First driving bevel gear; 6. Electric actuator; 601. U-shaped frame; 602. Second rotating shaft; 603. Second gear; 604. Third gear; 605. Third bearing. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0024] To facilitate understanding of this utility model, a more comprehensive description of the utility model will be given below with reference to the accompanying drawings, and several embodiments of the utility model will be provided. However, the utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and complete.

[0025] For examples, please refer to Figure 1-5 This utility model provides a technical solution:

[0026] A joint drive mechanism for a robot includes an upper arm component 1 and a lower arm component 3. The upper arm component 1 serves as the main body and base of the entire joint mechanism, supporting and mounting all other functional components such as the drive source 4, electric actuators 6, bearings, etc. A turntable 2 is provided on the top of the upper arm component 1, which serves as a rotation output platform connecting the upper arm and the lower arm, directly realizing the horizontal rotational movement of the lower arm. A rotating shaft sleeve 202 is provided at the bottom of the turntable 2. The rotating shaft sleeve 202 is a hollow sleeve, with one end connected to the turntable 2 and the other end supported by the upper arm component 1 through a first bearing 103, allowing the turntable 2 to rotate relative to the upper arm. The rotating shaft sleeve 202 has an external gear 203 at its outer bottom. The external gear 203 is a gear machined on the outside of the rotating shaft sleeve 202 and is the transmission gear that drives the turntable 2 to rotate. The inner bottom of the boom component 1 has a first bearing 103, and the top of the turntable 2 has a second bearing 204. A first rotating shaft 5 is located within the second bearing 204 and the first bearing 103 on the inner bottom surface of the boom component 1, inside the turntable 2. Together with the first bearing 103, it provides stable double support for the first rotating shaft 5, ensuring the rigidity and concentricity of the long shaft under high-speed rotation and reducing vibration. 5 is a vertical long shaft running through the upper arm component 1, serving as a "highway" for power transmission from the bottom drive source 4 to the top forearm joint. A first gear 502 is located at the middle of the outer side of the first shaft 5, acting as the power interface for rotating the drive turntable 2. A support plate 102 is located on the inner wall of the upper arm component 1, with an electric push rod 6 at its top. A U-shaped frame 601 is located at the output end of the electric push rod 6. The U-shaped frame 601 ensures synchronous movement of the second gear 603 and the third gear 604, achieving precise meshing and disengagement and avoiding motion interference. The top of the U-shaped frame 601... Both the top and bottom are provided with third bearings 605, and a second rotating shaft 602 is provided between the two third bearings 605. The upper and lower parts of the outer side of the second rotating shaft 602 are respectively provided with a second gear 603 and a third gear 604. The extension and retraction of the electric push rod 6 drives the U-shaped frame 601 to move up and down, thereby causing the second gear 603 and the third gear 604 on it to simultaneously mesh or disengage with the target gear. The second gear 603 meshes with the external gear 203, and the third gear 604 meshes with the first gear 502, thus realizing the synchronous rotation of the rotation and the normal pitching movement of the forearm.

[0027] In this embodiment, a first bearing 103 is provided at the top of the boom component 1, and a rotating bushing 202 is fitted in the inner ring of the first bearing 103. The first bearing 103 supports the rotating bushing 202, ensuring smooth rotation and bearing radial and axial forces.

[0028] In this embodiment, when the turntable 2 does not need to rotate, the second gear 603 separates from the external gear 203, and the third gear 604 separates from the first gear 502.

[0029] In this embodiment, a mounting frame 101 is provided on one side of the boom component 1. A drive source 4 is located inside the mounting frame 101. A second driving bevel gear 401 is located at the output end of the drive source 4. A second driven bevel gear 501 is located on the lower outer side of the first rotating shaft 5. The second driven bevel gear 501 meshes with the second driving bevel gear 401. The drive source 4 is a motor acceleration and deceleration unit and is the sole driving force of the mechanism. Through the meshing of the second driving bevel gear 401 and the second driven bevel gear 501, the power direction is changed by 90 degrees and input to the vertical first rotating shaft 5.

[0030] In this embodiment, the bottom end of the forearm component 3 is provided with a U-shaped frame 301, and a rotating rod 302 is provided through the U-shaped frame 301. The top of the turntable 2 is provided with a pair of bearing seats 201. The two ends of the rotating rod 302 are respectively fitted on the pair of bearing seats 201. The pair of bearing seats 201 support the pitch axis (rotating rod 302) of the forearm, making it the core joint connecting the two degrees of freedom of motion.

[0031] In this embodiment, a first driven bevel gear 303 is provided on the outside of the rotating rod 302 located inside the U-shaped frame 301, and a first driving bevel gear 503 is provided on the top of the first rotating shaft 5. The first driving bevel gear 503 meshes with the first driven bevel gear 303. The first driving bevel gear 503 is used to drive the forearm to pitch. The direction of power is changed by 90 degrees through the first driving bevel gear 503 and the first driven bevel gear 303, driving the rotating rod 302 to rotate, thereby realizing the raising and lowering of the forearm.

[0032] In this embodiment, the rotating shaft sleeve 202 is fitted outside the first rotating shaft 5, and the rotating shaft sleeve 202 is loosely fitted outside the first rotating shaft 5 to ensure that the rotation of the first rotating shaft 5 and the rotation of the turntable 2 are independent of each other.

[0033] In this embodiment, heat dissipation holes are evenly provided on both sides of the outer side of the mounting frame 101. The heat dissipation holes are used to dissipate heat from the drive source 4 to prevent the internal temperature from becoming too high.

[0034] The working process of this utility model is as follows: When the joint drive mechanism and structure of the robot designed using this solution are in operation, and the turntable 2 does not need to rotate, the electric push rod 6 pushes out, lifting the entire U-shaped frame 601 upwards. At this time, the third gear 604 on the U-shaped frame 601 disengages from the first gear 502 on the first rotating shaft 5, and the second gear 603 disengages from the external gear 203 on the rotating shaft sleeve 202. Then, the drive source 4 is activated, driving the first rotating shaft 5 to rotate through the second active bevel gear 401 and the second driven bevel gear 501. The first active bevel gear 503 at the top of the first rotating shaft 5 rotates accordingly and drives the first driven bevel gear 303 that meshes with it. The first driven bevel gear 303 is fixed on the rotating rod 302, thereby driving the rotating rod 302 to rotate. Since the forearm component 3 is fixed to the rotating rod 302 through the U-shaped frame 301, the rotation of the rotating rod 302 is directly converted into the pitching motion of the forearm.

[0035] When turntable 2 needs to rotate, electric actuator 6 retracts, pulling the entire U-shaped frame 601 downwards. At this time, the third gear 604 on the U-shaped frame 601 meshes with the first gear 502, while the second gear 603 meshes with the external gear 203. Drive source 4 also starts, driving the first rotating shaft 5 to rotate. Power is output from the first gear 502 in the middle of the first rotating shaft 5, and transmitted to the third gear 604 through the first gear 502, driving the second rotating shaft 602 to rotate, thereby driving the second gear 603 to drive the transmission. Through the external gear 203, the power is transmitted to the rotating shaft sleeve 202, driving turntable 2 to rotate, thereby driving the forearm component 3 to rotate. At the same time, the first driving bevel gear 503 at the top of the first rotating shaft 5 rotates, driving the first driven bevel gear 303 meshing with it, thereby driving the rotating rod 302 to rotate. Since the forearm component 3 is fixed to the rotating rod 302 by the U-shaped frame 301, the rotation of the rotating rod 302 is directly converted into the pitching motion of the forearm.

[0036] The drive source 4 and electric actuator 6 used in this utility model are both existing known electrical devices, and both can be purchased and used directly on the market. Their structure, circuit and control principle are all existing known technologies. Therefore, the structure, circuit and control principle of the drive source 4 and electric actuator 6 will not be described in detail here.

[0037] All standard parts used in this application can be purchased from the market. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art and are also general components, which are common knowledge in this field.

[0038] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A joint drive mechanism for a robot, comprising an upper arm component (1) and a forearm component (3), characterized in that: The top of the boom component (1) is provided with a turntable (2), the bottom of the turntable (2) is provided with a rotating bushing (202), and the bottom of the rotating bushing (202) is provided with an external gear (203). The inner bottom of the boom component (1) is provided with a first bearing (103), the top of the turntable (2) is provided with a second bearing (204), the second bearing (204) and the first bearing (103) located on the inner bottom surface of the boom component (1) are provided with a first rotating shaft (5), and the outer middle of the first rotating shaft (5) is provided with a first gear (502). The inner wall of the boom component (1) is provided with a support plate (102), the top of the support plate (102) is provided with an electric push rod (6), the output end of the electric push rod (6) is provided with a U-shaped frame (601), the top and bottom of the U-shaped frame (601) are provided with third bearings (605), a second rotating shaft (602) is provided between the two third bearings (605), and the upper and lower parts of the outer side of the second rotating shaft (602) are respectively provided with a second gear (603) and a third gear (604); The second gear (603) meshes with the external gear (203), and the third gear (604) meshes with the first gear (502).

2. The joint drive mechanism of a robot according to claim 1, characterized in that: The top of the boom component (1) is provided with a first bearing (103), and the rotating bushing (202) is fitted in the inner ring of the first bearing (103).

3. The joint drive mechanism of a robot according to claim 1, characterized in that: When the turntable (2) does not need to rotate, the second gear (603) separates from the external gear (203), and the third gear (604) separates from the first gear (502).

4. The joint drive mechanism of a robot according to claim 1, characterized in that: The boom component (1) has a mounting frame (101) on one side. The mounting frame (101) has a drive source (4) inside. The output end of the drive source (4) has a second active bevel gear (401). The lower outer side of the first rotating shaft (5) has a second driven bevel gear (501). The second driven bevel gear (501) meshes with the second active bevel gear (401).

5. The joint drive mechanism of a robot according to claim 1, characterized in that: The bottom end of the forearm component (3) is provided with a U-shaped frame (301), and a rotating rod (302) is provided through the U-shaped frame (301). The top of the turntable (2) is provided with a pair of bearing seats (201), and the two ends of the rotating rod (302) are respectively fitted on a pair of bearing seats (201).

6. The joint drive mechanism of a robot according to claim 5, characterized in that: The outside of the rotating rod (302) located inside the U-shaped frame (301) is provided with a first driven bevel gear (303), and the top of the first rotating shaft (5) is provided with a first driving bevel gear (503). The first driving bevel gear (503) meshes with the first driven bevel gear (303).

7. The joint drive mechanism of a robot according to claim 1, characterized in that: The rotating sleeve (202) is fitted onto the outside of the first rotating shaft (5).

8. The joint drive mechanism of a robot according to claim 4, characterized in that: The mounting frame (101) has heat dissipation holes evenly distributed on both sides of its exterior.

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