CN218313606U - Robot joint transmission structure - Google Patents

Abstract

The utility model discloses a robot joint transmission structure belongs to the robotechnology field. The novel electric drill comprises a base, base bottom intermediate position fixedly connected with electric putter, electric putter top fixedly connected with rack, rack and base sliding connection, the equal first gear of fixedly connected with in both sides of rack, the first pivot of first gear centre of a circle department fixedly connected with, the one end fixedly connected with second gear that first pivot is close to first gear, the circumference outside of second gear is rotated and is connected with the chain, the one end fixedly connected with third gear of second gear is kept away from to the chain, third gear department fixedly connected with second pivot, the one end rotation that the second pivot is close to the third gear is connected with the arm. Compared with the prior art, this application is through setting up spring and dead lever, at arm pivoted in-process, absorbs the vibrations that the arm produced through damping spring, guarantees the steady rotation of first pivot and second pivot.

Description

Robot joint transmission structure

Technical Field

The utility model relates to a robotechnology field, concretely relates to robot joint transmission structure.

Background

In a robot, a robot joint is an important transmission member and carries various loads. As mentioned in [201721751233.0], in a variable thickness robot joint transmission structure, a planet carrier is fixed on a shell through a crossed roller bearing, a planet is a double variable thickness planet gear without a sun gear, an input end is a pair of gears with variable speed ratio or a spiral bevel gear is fixed on the shell through a deep groove ball bearing, and the sun gear is removed to be a hollow shaft for passing through a cable and an associated shaft, and a linear object passes through. This structure cannot alleviate the shock.

There is a need for a robot joint transmission structure that can mitigate the shock generated.

SUMMERY OF THE UTILITY MODEL

To the not enough of prior art, the utility model provides a robot joint transmission structure.

The purpose of the utility model can be realized by the following technical scheme: the utility model provides a robot joint transmission structure, includes the base, base bottom intermediate position fixedly connected with electric putter, electric putter top fixedly connected with rack, rack and base sliding connection, the equal first gear of fixedly connected with in both sides of rack, the first pivot of first gear centre of a circle department fixedly connected with, the one end fixedly connected with second gear that first pivot is close to first gear, the circumference outside rotation of second gear is connected with the chain, the one end fixedly connected with third gear of second gear is kept away from to the chain, third gear department fixedly connected with second pivot, the one end rotation that the second pivot is close to the third gear is connected with the arm, the base is close to the equal a plurality of damping spring of one side fixedly connected with of first pivot and second pivot, damping spring keeps away from the one side fixedly connected with shock attenuation board of base, one side fixedly connected with dead lever of spring is kept away from to the shock attenuation board, the damping spring outside is equipped with fixed frame, one side and base fixed connection that the dead lever was kept away from to the fixed frame, the one end fixedly connected with mount pad of spring is kept away from, one side fixedly connected with transmission ball of dead lever is kept away from to the mount pad.

Furthermore, the first rotating shaft penetrates through the first gear, and one end, far away from the first gear, of the first rotating shaft is fixedly connected with one side of the base.

Furthermore, the second rotating shaft penetrates through the third gear, and one end, far away from the first gear, of the second rotating shaft is fixedly connected with one side of the base.

Furthermore, two groups of damping springs are arranged, and the damping springs are located on the outer sides of the circumferences of the first rotating shaft and the second rotating shaft.

Furthermore, the shock attenuation board and fixed frame inner wall sliding connection.

Further, the first gear is meshed with the rack.

Further, the second gear and the third gear are meshed with the chain.

The utility model has the advantages that:

through the matching of the electric push rod, the rack, the first gear, the second gear, the third gear, the first rotating shaft and the second rotating shaft, the two mechanical arms can be driven to rotate reversely, so that the opening and tightening actions are realized;

through the structure of the second gear, the third gear and the chain transmission, the synchronism of the two mechanical arms in the rotation process can be effectively improved;

through setting up damping spring and dead lever, at arm pivoted in-process, can absorb first pivot and second pivot because the rotatory vibrations that produce of arm through damping spring, guarantee the steady rotation of first pivot and second pivot.

Drawings

The present invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of the present application;

FIG. 2 is a side view of the present application;

figure 3 is a schematic view of the inside of the fixed frame of the present application.

The parts corresponding to the reference numerals in the figures are as follows: 1. a base; 2. an electric push rod; 3. a rack; 4. a first gear; 5. a first rotating shaft; 6. a second gear; 7. a chain; 8. a third gear; 9. a second rotating shaft; 10. a mechanical arm; 11. a damping spring; 12. a damper plate; 13. fixing the rod; 14. a fixing frame; 15. a mounting seat; 16. The ball is driven.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

In a specific embodiment, as shown in fig. 1, a robot joint transmission structure includes a base 1, a bottom middle position of the base 1 is fixedly connected with an electric push rod 2, a top fixedly connected with a rack 3 of the electric push rod 2, the rack 3 is slidably connected with the base 1, two sides of the rack 3 are fixedly connected with a first gear 4, a circle center of the first gear 4 is fixedly connected with a first rotating shaft 5, the first rotating shaft 5 is close to a one end fixedly connected with a second gear 6 of the first gear 4, a circumference outer side of the second gear 6 is rotatably connected with a chain 7, the chain 7 is far away from a one end fixedly connected with a third gear 8 of the second gear 6, the third gear 8 is fixedly connected with a second rotating shaft 9, one end of the second rotating shaft 9 close to the third gear 8 is rotatably connected with a mechanical arm 10, and one side fixedly connected with a plurality of damping springs 11 of the base 1 close to the first rotating shaft 5 and one side fixedly connected with the second rotating shaft 9. Furthermore, the first rotating shaft 5 penetrates through the first gear 4, and one end, far away from the first gear 4, of the first rotating shaft 5 is fixedly connected with one side of the base 1. Furthermore, the second rotating shaft 9 penetrates through the third gear 8, and one end, far away from the first gear 4, of the second rotating shaft 9 is fixedly connected with one side of the base 1. Further, the first gear 4 is engaged with the rack 3. Further, the second gear 6 and the third gear 8 are engaged with the chain 7. During the use, at first open electric putter 2 for rack 3 slides from top to bottom, and it is rotatory to make rack 3 drive the first gear 4 of both sides after sliding on base 1, under the effect through first pivot 5, makes second gear 6 rotate, makes third gear 8 rotatory under the effect through chain 7, under the effect through second pivot 9, makes arm 10 rotatory, realizes opening or tightens up the action.

In a specific embodiment, as shown in fig. 2 and 3, a damping plate 12 is fixedly connected to a side of the damping spring 11 away from the base 1, a fixing rod 13 is fixedly connected to a side of the damping plate 12 away from the spring, a fixing frame 14 is arranged outside the damping spring 11, a side of the fixing frame 14 away from the fixing rod 13 is fixedly connected to the base 1, a mounting seat 15 is fixedly connected to one end of the fixing rod 13 away from the spring, and a plurality of transmission balls 16 are fixedly connected to one side of the mounting seat 15 away from the fixing rod 13. Further, two groups of damping springs 11 are arranged, and the damping springs 11 are located on two sides of the first rotating shaft 5 and the second rotating shaft 9. Further, the damping plate 12 is slidably connected to the inner wall of the fixing frame 14. When the rotatory in-process of first pivot 5 and second pivot 9 contacts with transmission ball 16, make first pivot 5 and second pivot 9 comparatively smooth at the rotation in-process, reduce the friction that produces among the rotation process, the life of first pivot 5 and second pivot 9 has been increased, the vibrations that arm 10 rotated the production are transferred to mount pad 15 and dead lever 13 through transmission ball 16, make damper plate 12 slide slightly on fixed frame 14, absorb the vibrations of the rotatory production of arm 10 through damping spring 11, guarantee the steady rotation of first pivot 5 and second pivot 9.

The working principle of the present invention is explained in detail below, when in use, the electric push rod 2 is firstly opened to make the rack 3 slide up and down, the first gear 4 driving both sides after the rack 3 slides on the base 1 is rotated, the second gear 6 is rotated under the action of the first rotating shaft 5, the third gear 8 is rotated under the action of the chain 7, and the mechanical arm 10 is rotated under the action of the second rotating shaft 9 to realize the opening or tightening action. When the rotatory in-process of first pivot 5 and second pivot 9 contacts with transmission ball 16, make first pivot 5 and second pivot 9 comparatively smooth at the rotation in-process, reduce the friction that produces among the rotation process, the life of first pivot 5 and second pivot 9 has been increased, the vibrations that arm 10 rotated the production are transferred to mount pad 15 and dead lever 13 through transmission ball 16, make damper plate 12 slide slightly on fixed frame 14, absorb the vibrations of the rotatory production of arm 10 through damping spring 11, guarantee the steady rotation of first pivot 5 and second pivot 9.

In the description of the present invention, it is to be understood that the terms "open hole", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", and the like, indicate positional or positional relationships, are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention.

Claims (7)

1. The utility model provides a robot joint transmission structure, a serial communication port, including the base, base bottom intermediate position fixedly connected with electric putter, electric putter top fixedly connected with rack, rack and base sliding connection, the both sides of rack all are equipped with first gear, the first pivot of fixedly connected with is located in the first gear centre of a circle, first pivot is close to the one end fixedly connected with second gear of first gear, the circumference outside of second gear is rotated and is connected with the chain, the one end that the second gear was kept away from to the chain is rotated and is connected with the third gear, fixedly connected with second pivot is located to the third gear, the one end that the second pivot is close to the third gear is rotated and is connected with the arm, the base is close to the equal a plurality of damping spring of one side fixedly connected with of first pivot and second pivot, damping spring keeps away from one side fixedly connected with shock attenuation board of base, damping plate keeps away from one side fixedly connected with dead lever of spring, the damping spring outside is equipped with fixed frame, fixed frame keeps away from one side and base fixed connection of dead lever, the dead lever is kept away from one end fixedly connected with mount pad of spring, one side fixedly connected with mount pad is kept away from the dead lever, the dead lever transmission ball is kept away from to the mount pad.

2. The transmission structure of a robot joint of claim 1, wherein the first rotating shaft penetrates through the first gear, and one end of the first rotating shaft, which is far away from the first gear, is fixedly connected with one side of the base.

3. The transmission structure of a robot joint according to claim 1, wherein the second shaft penetrates through the third gear, and one end of the second shaft, which is far away from the first gear, is fixedly connected with one side of the base.

4. A robot joint transmission structure according to claim 1, wherein there are two sets of damping springs, and the damping springs are located outside the circumferences of the first and second rotating shafts.

5. A robot joint transmission structure according to claim 1, wherein the shock absorbing plate is slidably connected to the inner wall of the fixed frame.

6. A robot joint transmission according to claim 1, wherein said first gear is engaged with a rack.

7. A robot joint transmission according to claim 1, wherein the second gear and the third gear are engaged with a chain.

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