阅读说明：本技术 一种机器人手臂关节及其机器人 (Robot arm joint and robot thereof ) 是由 贺晓辉 游青山 蒋雨芯 赵世纪 冷泉清 于 2021-05-10 设计创作，主要内容包括：本发明公开了一种机器人手臂关节及其机器人,启动所述机座内的所述第一伺服电机,通过所述第一联动减速机带动所述第一转动臂转动,启动所述第二伺服电机,通过所述第二联动减速机带动所述第一输出齿轮转动,所述第一输出齿轮与所述第一传动齿部啮合,从而带动所述翻转座翻转,启动所述翻转座内的所述第三伺服电机,通过所述第三联动减速机带动所述伸缩臂转动,启动所述第四伺服电机,通过所述第四联动减速机带动所述第二输出齿轮转动,所述第二输出齿轮与所述第二传动齿部啮合,从而带动所述前臂翻转,启动所述第五伺服电机,通过所述第五联动减速机带动所述安装盘上的机械爪转动,从而提高大大提高搬运机器人的灵活度。(The invention discloses a robot arm joint and a robot thereof, wherein a first servo motor in a machine base is started, a first rotating arm is driven to rotate through a first linkage reducer, a second servo motor is started, a first output gear is driven to rotate through a second linkage reducer, the first output gear is meshed with a first transmission tooth part so as to drive a turnover seat to turn over, a third servo motor in the turnover seat is started, a telescopic arm is driven to rotate through a third linkage reducer, a fourth servo motor is started, a fourth linkage reducer is used for driving a second output gear to rotate, the second output gear is meshed with a second transmission tooth part so as to drive a front arm to turn over, the fifth servo motor is started, and a mechanical claw on a mounting disc is driven to rotate through the fifth linkage reducer, thereby improving the flexibility of the transfer robot.)

1. A robot arm joint is characterized in that,

including frame, first slewing mechanism, first slewing arm, upset seat, first tilting mechanism, second slewing mechanism, flexible arm, second tilting mechanism, forearm, rotation seat and third slewing mechanism, the inside of frame is provided with first slewing mechanism, first slewing mechanism includes first servo motor and first linkage speed reducer, first servo motor with the connection can be dismantled to the frame, and is located the inside of frame, first servo motor's output is provided with first linkage speed reducer, the output of first linkage speed reducer is provided with first rotary disk, first slewing arm with first rotary disk can be dismantled the connection, the one end that first slewing arm kept away from first rotary disk is provided with first rotation groove, upset seat with first slewing arm swing joint to be located in the first rotation groove, the first turnover mechanism comprises a second servo motor, a second linkage speed reducer and a first output gear, a first transmission tooth part is arranged on the turnover seat, a first placing plate is arranged on the first rotating arm, the second servo motor is detachably connected with the first placing plate, the second linkage speed reducer is arranged at the output end of the second servo motor, the first output gear is arranged at the output end of the second linkage speed reducer, and the first output gear is movably connected with the first transmission gear;

the second rotating mechanism comprises a third servo motor and a third linkage speed reducer, the third servo motor is detachably connected with the turnover seat and is positioned in the turnover seat, the output end of the third servo motor is provided with the third linkage speed reducer, the output end of the third linkage speed reducer is provided with the second rotating disc, one end of the telescopic arm is detachably connected with the second rotating disc, the other end of the telescopic arm is provided with a second rotating groove, the front arm is movably connected with the telescopic arm and is positioned in the second rotating groove, the second turnover mechanism comprises a fourth servo motor, a fourth linkage speed reducer and a second output gear, the front arm is provided with a second transmission tooth part, the telescopic arm is provided with a second placing plate, the fourth servo motor is detachably connected with the second placing plate, and the output end of the fourth servo motor is provided with the fourth linkage speed reducer, the output end of the fourth linkage speed reducer is provided with the second output gear which is movably connected with the second transmission tooth part;

keep away from the forearm the one end of flexible arm is provided with rotate the seat, third slewing mechanism includes fifth servo motor and fifth linkage speed reducer, fifth servo motor with rotate the seat and can dismantle the connection, and be located rotate the inside of seat, fifth servo motor's output is provided with the fifth linkage speed reducer, the output of fifth linkage speed reducer is provided with the mounting disc.

2. The robot arm joint of claim 1,

the overturning seat comprises a first connecting column, a first embracing ring and a seat body, wherein the first connecting column penetrates through the first rotating groove, a first driven tooth part is arranged on the first connecting column, the first embracing ring is connected with the first connecting column through a bolt, and the first connecting column is sleeved on the surface of the first connecting column and is located inside the first rotating groove, the seat body is in threaded connection with the first embracing ring, and the seat body is provided with the second rotating mechanism.

3. The robotic arm joint of claim 2,

the forearm includes second spliced pole, second armful ring and the arm body, the second spliced pole runs through the second rotates the groove, be provided with the driven tooth portion of second on the second spliced pole, the second armful ring with second spliced pole bolted connection to the cover is established the surface of second spliced pole, and is located the inside in second rotation groove, the arm body with the second is embraced and is encircled threaded connection, the arm body is kept away from the one end of flexible arm is provided with rotate the seat.

4. The robotic arm joint of claim 3,

the first connecting column and the second connecting column respectively comprise a column body, a clamping plate and a nut, one end of the column body is provided with a corresponding first driven tooth part and a corresponding second driven tooth part, the other end of the column body is provided with threads, the nut is matched with the threads, and the clamping plate is arranged in the middle of the column body.

5. The robotic arm joint of claim 4,

the first hoop and the second hoop all comprise a first semi-ring and a second semi-ring, one end of the first semi-ring is provided with a first connecting block, the other end of the first semi-ring is provided with a first mounting plate, one end of the second semi-ring is provided with a second connecting block, the other end of the second semi-ring is provided with a second mounting plate, the first connecting block and the second connecting block are all in bolted connection with a clamping plate, the clamping plate is located between the first connecting block and the second connecting block, a clamping block is arranged on the first mounting plate, a clamping groove is formed in the second mounting plate, and the clamping block is matched with the clamping groove.

6. A robot comprising the robot arm joint according to claim 1, further comprising a protective cover, wherein the protective cover is covered on the outside of each of the first and second turnover mechanisms.

Technical Field

The invention relates to the technical field of robots, in particular to a robot arm joint and a robot thereof.

Background

Often need use transfer robot in the workshop, carry the product from a production line to another production line on, but the arm of current transfer robot adopts rotation and the upset of simple and easy cylinder control arm mostly, and the flexibility ratio is lower.

Disclosure of Invention

The invention aims to provide a robot arm joint and a robot thereof, and aims to solve the technical problems that the arms of the existing carrying robot in the prior art mostly adopt simple air cylinders to control the rotation and the turnover of the arms, and the flexibility is low.

In order to achieve the above purpose, the robot arm joint adopted by the present invention comprises a base, a first rotating mechanism, a first rotating arm, a turning base, a first turning mechanism, a second rotating mechanism, a telescopic arm, a second turning mechanism, a front arm, a rotating base and a third rotating mechanism, wherein the first rotating mechanism is arranged inside the base, the first rotating mechanism comprises a first servo motor and a first linkage reducer, the first servo motor is detachably connected with the base and is located inside the base, the output end of the first servo motor is provided with the first linkage reducer, the output end of the first linkage reducer is provided with a first rotating disc, the first rotating arm is detachably connected with the first rotating disc, and one end of the first rotating arm, which is far away from the first rotating disc, is provided with a first rotating groove, the turnover seat is movably connected with the first rotating arm and is positioned in the first rotating groove, the first turnover mechanism comprises a second servo motor, a second linkage speed reducer and a first output gear, a first transmission tooth part is arranged on the turnover seat, a first placing plate is arranged on the first rotating arm, the second servo motor is detachably connected with the first placing plate, the second linkage speed reducer is arranged at the output end of the second servo motor, the first output gear is arranged at the output end of the second linkage speed reducer, and the first output gear is movably connected with the first transmission gear;

the second rotating mechanism comprises a third servo motor and a third linkage speed reducer, the third servo motor is detachably connected with the turnover seat and is positioned in the turnover seat, the output end of the third servo motor is provided with the third linkage speed reducer, the output end of the third linkage speed reducer is provided with the second rotating disc, one end of the telescopic arm is detachably connected with the second rotating disc, the other end of the telescopic arm is provided with a second rotating groove, the front arm is movably connected with the telescopic arm and is positioned in the second rotating groove, the second turnover mechanism comprises a fourth servo motor, a fourth linkage speed reducer and a second output gear, the front arm is provided with a second transmission tooth part, the telescopic arm is provided with a second placing plate, and the fourth servo motor is detachably connected with the second placing plate, the output end of the fourth servo motor is provided with the fourth linkage speed reducer, the output end of the fourth linkage speed reducer is provided with the second output gear, and the second output gear is movably connected with the second transmission tooth part;

keep away from the forearm the one end of flexible arm is provided with rotate the seat, third slewing mechanism includes fifth servo motor and fifth linkage speed reducer, fifth servo motor with rotate the seat and can dismantle the connection, and be located rotate the inside of seat, fifth servo motor's output is provided with the fifth linkage speed reducer, the output of fifth linkage speed reducer is provided with the mounting disc.

The turnover seat comprises a first connecting column, a first embracing ring and a seat body, wherein the first connecting column penetrates through the first rotating groove, a first driven tooth part is arranged on the first connecting column, the first embracing ring is in bolted connection with the first connecting column, the first connecting column is sleeved with the first connecting column, the first connecting column is located inside the first rotating groove, the seat body is in threaded connection with the first embracing ring, and the second rotating mechanism is arranged inside the seat body.

Wherein, the forearm includes second spliced pole, second armful ring and the arm body, the second spliced pole runs through the second rotates the groove, be provided with the driven tooth portion of second on the second spliced pole, the second is embraced the ring and is connected with second spliced pole bolted connection to the cover is established the surface of second spliced pole, and is located the inside in second rotation groove, the arm body with the second is embraced the ring threaded connection, the arm body is kept away from the one end of flexible arm is provided with rotate the seat.

The first connecting column and the second connecting column respectively comprise a column body, a clamping plate and a nut, one end of the column body is provided with a corresponding first driven tooth part and a corresponding second driven tooth part, the other end of the column body is provided with threads, the nut is matched with the threads, and the clamping plate is arranged in the middle of the column body.

The first hoop and the second hoop comprise a first semi-ring and a second semi-ring, one end of the first semi-ring is provided with a first connecting block, the other end of the first semi-ring is provided with a first mounting plate, one end of the second semi-ring is provided with a second connecting block, the other end of the second semi-ring is provided with a second mounting plate, the first connecting block and the second connecting block are both connected with the clamping plate through bolts, the clamping plate is located between the first connecting block and the second connecting block, a clamping block is arranged on the first mounting plate, a clamping groove is formed in the second mounting plate, and the clamping block is matched with the clamping groove.

The invention also provides a robot, which comprises the robot arm joint and a protective cover, wherein the protective cover covers the outside of the first turnover mechanism and the second turnover mechanism.

The invention has the beneficial effects that: starting the first servo motor in the machine base, driving the first rotating arm to rotate through the first linkage reducer, starting the second servo motor, the first output gear is driven to rotate by the second linkage speed reducer and is meshed with the first transmission tooth part, thereby driving the turnover seat to turn over and starting the third servo motor in the turnover seat, the telescopic arm is driven to rotate by the third linkage reducer, the fourth servo motor is started, the second output gear is driven to rotate by the fourth linkage reducer, the second output gear is meshed with the second transmission tooth part, thereby drive forearm upset starts fifth servo motor, through fifth linkage speed reducer drives gripper on the mounting disc rotates to improve transfer robot's flexibility ratio greatly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.

Fig. 1 is a side view of the robot of the present invention.

Fig. 2 is a sectional view of the internal structure of fig. 1 taken along line a-a of the present invention.

Fig. 3 is a schematic structural view of a robot arm joint according to the present invention.

Fig. 4 is an enlarged view of a portion of the structure of fig. 3 a according to the present invention.

Fig. 5 is an enlarged view of a partial structure of fig. 3B according to the present invention.

Fig. 6 is a schematic structural view of the first connecting post of the present invention.

FIG. 7 is a schematic structural diagram of a first hoop of the present invention.

1-machine base, 2-first rotating arm, 3-overturning base, 4-telescopic arm, 5-front arm, 6-rotating base, 7-first servo motor, 8-first linkage reducer, 9-first rotating disc, 10-first rotating groove, 11-second servo motor, 12-second linkage reducer, 13-first output gear, 14-first transmission tooth part, 15-first placing plate, 16-third servo motor, 17-third linkage reducer, 18-second rotating disc, 19-second rotating groove, 20-fourth servo motor, 21-fourth linkage reducer, 22-second output gear, 23-second transmission tooth part, 24-second placing plate, 25-fifth servo motor, 26-a fifth linkage reducer, 27-a mounting disc, 28-a first connecting column, 29-a first embracing ring, 30-a base body, 31-a second connecting column, 32-a second embracing ring, 33-an arm body, 34-a column body, 35-a clamping plate, 36-a nut, 37-a first half ring, 38-a second half ring, 39-a first connecting block, 40-a first mounting plate, 41-a second connecting block, 42-a second mounting plate, 43-a clamping block, 44-a clamping groove, 45-a protective cover, 46-a sleeve, 47-an inner pipe, 48-an electric push rod, 49-an interlayer, 50-a base plate and 51-a reinforcing plate.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and are intended to be illustrative of the invention and should not be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicate orientations or positional relationships that are based on the orientations or positional relationships illustrated in the drawings, are used for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specifically limited.

Referring to fig. 1 to 7, the present invention provides a robot arm joint, including a base 1, a first rotating mechanism, a first rotating arm 2, a turning base 3, a first turning mechanism, a second rotating mechanism, a telescopic arm 4, a second turning mechanism, a front arm 5, a rotating base 6, and a third rotating mechanism, wherein the first rotating mechanism is disposed inside the base 1, the first rotating mechanism includes a first servo motor 7 and a first linkage reducer 8, the first servo motor 7 is detachably connected to the base 1 and is disposed inside the base 1, an output end of the first servo motor 7 is provided with the first linkage reducer 8, an output end of the first linkage reducer 8 is provided with a first rotating disc 9, the first rotating arm 2 is detachably connected to the first rotating disc 9, an end of the first rotating arm 2 away from the first rotating disc 9 is provided with a first rotating groove 10, the turnover seat 3 is movably connected with the first rotary arm 2 and is positioned in the first rotary groove 10, the first turnover mechanism comprises a second servo motor 11, a second linkage speed reducer 12 and a first output gear 13, a first transmission tooth part 14 is arranged on the turnover seat 3, a first placing plate 15 is arranged on the first rotary arm 2, the second servo motor 11 is detachably connected with the first placing plate 15, the second linkage speed reducer 12 is arranged at the output end of the second servo motor 11, the first output gear 13 is arranged at the output end of the second linkage speed reducer 12, and the first output gear 13 is movably connected with the first transmission gear;

the second rotating mechanism comprises a third servo motor 16 and a third linkage reducer 17, the third servo motor 16 is detachably connected with the turnover seat 3 and is positioned in the turnover seat 3, the output end of the third servo motor 16 is provided with the third linkage reducer 17, the output end of the third linkage reducer 17 is provided with the second rotating disc 18, one end of the telescopic arm 4 is detachably connected with the second rotating disc 18, the other end of the telescopic arm 4 is provided with a second rotating groove 19, the front arm 5 is movably connected with the telescopic arm 4 and is positioned in the second rotating groove 19, the second turnover mechanism comprises a fourth servo motor 20, a fourth linkage reducer 21 and a second output gear 22, the front arm 5 is provided with a second transmission gear part 23, the telescopic arm 4 is provided with a second placing plate 24, the fourth servo motor 20 is detachably connected with the second placing plate 24, the output end of the fourth servo motor 20 is provided with the fourth linkage reducer 21, the output end of the fourth linkage reducer 21 is provided with the second output gear 22, and the second output gear 22 is movably connected with the second transmission tooth part 23;

forearm 5 is kept away from the one end of flexible arm 4 is provided with rotate seat 6, third rotation mechanism includes fifth servo motor 25 and fifth linkage speed reducer 26, fifth servo motor 25 with rotate seat 6 and can dismantle the connection, and be located rotate the inside of seat 6, fifth servo motor 25's output is provided with fifth linkage speed reducer 26, the output of fifth linkage speed reducer 26 is provided with mounting disc 27.

In this embodiment, the inside of the machine base 1 is provided with the first rotating mechanism, the turnover base 3 is movably connected with the first rotating arm 2 and is located in the first rotating groove 10, the first turnover mechanism comprises a second servo motor 11, a second linkage speed reducer 12 and a first output gear 13, a first transmission tooth portion 14 is arranged on the turnover base 3, the second rotating mechanism comprises a third servo motor 16 and a third linkage speed reducer 17, the third servo motor 16 is detachably connected with the turnover base 3 and is located inside the turnover base 3, an output end of the third servo motor 16 is provided with the third linkage speed reducer 17, the front arm 5 is movably connected with the telescopic arm 4 and is located in the second rotating groove 19, the second turnover mechanism comprises a fourth servo motor 20, A fourth linkage speed reducer 21 and a second output gear 22, wherein the front arm 5 is provided with a second transmission tooth portion 23, one end of the front arm 5 far away from the telescopic arm 4 is provided with the rotating base 6, the third rotating mechanism comprises a fifth servo motor 25 and a fifth linkage speed reducer 26, the first servo motor 7 in the base 1 is started, the first rotating arm 2 is driven to rotate through the first linkage speed reducer 8, the second servo motor 11 is started, the first output gear 13 is driven to rotate through the second linkage speed reducer 12, the first output gear 13 is meshed with the first transmission tooth portion 14, so as to drive the turnover base 3 to turn over, the third servo motor 16 in the turnover base 3 is started, the telescopic arm 4 is driven to rotate through the third linkage speed reducer 17, and the fourth servo motor 20 is started, through fourth linkage speed reducer 21 drives second output gear 22 rotates, second output gear 22 with second drive tooth portion 23 meshes, thereby drives forearm 5 upset starts fifth servo motor 25, through fifth linkage speed reducer 26 drives gripper on the mounting disc 27 rotates to improve transfer robot's the flexibility ratio greatly.

Further, the overturning seat 3 comprises a first connecting post 28, a first embracing ring 29 and a seat body 30, wherein the first connecting post 28 penetrates through the first rotating groove 10, a first driven tooth part is arranged on the first connecting post 28, the first embracing ring 29 is in bolt connection with the first connecting post 28, and is sleeved on the surface of the first connecting post 28 and located inside the first rotating groove 10, the seat body 30 is in threaded connection with the first embracing ring 29, and the seat body 30 is provided inside with the second rotating mechanism.

In this embodiment, the first connecting post 28 penetrates through the first rotating groove 10, the first clasping ring 29 is connected to the first connecting post 28 through a bolt, and the seat body 30 is installed at one end of the first clasping ring 29, which is far away from the first connecting post 28, through a screw, so that when the first output gear 13 drives the first driven tooth portion to rotate, the flipping base 3 completes the flipping action.

Further, forearm 5 includes that second spliced pole 31, second embrace 32 and the arm body 33, second spliced pole 31 runs through the second rotates groove 19, be provided with the driven tooth portion of second on the second spliced pole 31, the second embrace 32 with second spliced pole 31 bolted connection, and the cover is established the surface of second spliced pole 31, and be located the second rotates the inside of groove 19, the arm body 33 with the second is embraced 32 threaded connection, the arm body 33 is kept away from the one end of flexible arm 4 is provided with rotate seat 6.

In this embodiment, the second connecting rod 31 penetrates through the second rotating groove 19, the second hoop 32 is connected to the second connecting rod 31 through a bolt, and the arm 33 is installed at one end of the second hoop 32 far away from the second connecting rod 31 through a screw, so that the front arm 5 completes the turning action when the second output gear 22 drives the second driven gear to rotate.

Further, the first connecting column 28 and the second connecting column 31 each include a column 34, a locking plate 35 and a nut 36, one end of the column 34 is provided with the corresponding first driven tooth portion and the corresponding second driven tooth portion, the other end of the column 34 is provided with a thread, the nut 36 is adapted to the thread, and the middle of the column 34 is provided with the locking plate 35.

In the present embodiment, the first and second connection posts 28 and 31 are respectively attached to the corresponding first and second rotation grooves 10 and 19 by inserting the post 34 into the corresponding first and second rotation grooves 10 and 19, respectively, and tightening the nut 36.

Further, each of the first hoop 29 and the second hoop 32 includes a first semi-ring 37 and a second semi-ring 38, a first connecting block 39 is disposed at one end of the first semi-ring 37, a first mounting plate 40 is disposed at the other end of the first semi-ring 37, a second connecting block 41 is disposed at one end of the second semi-ring 38, a second mounting plate 42 is disposed at the other end of the second semi-ring 38, the first connecting block 39 and the second connecting block 41 are both bolted to the clamping plate 35, the clamping plate 35 is located between the first connecting block 39 and the second connecting block 41, a clamping block 43 is disposed on the first mounting plate 40, a clamping groove 44 is disposed on the second mounting plate 42, and the clamping block 43 is matched with the clamping groove 44.

In this embodiment, after the first half ring 37 and the second half ring 38 are aligned, the locking block 43 is locked into the locking groove 44, the first connecting block 39 and the second connecting block 41 are connected to the locking plate 35 by bolts, and the arm body 33 and the seat body 30 are respectively mounted on the first mounting plate 40 and the second mounting plate 42 of the first clasp 29 and the second clasp 32 by screws.

Further, telescopic boom 4 includes sleeve 46, inner tube 47 and electric putter 48, sleeve 46 with second rolling disc 18 can dismantle the connection, be provided with intermediate layer 49 on the sleeve 46, inner tube 47 with sleeve 46 sliding connection, and be located in the intermediate layer 49, the one end that inner tube 47 kept away from sleeve 46 is provided with second rotation groove 19, electric putter 48's installation end with second rolling disc 18 can dismantle the connection, and be located sleeve 46's inside, electric putter 48's promotion end with inner tube 47 can dismantle the connection, and be located inner tube 47's inside.

In this embodiment, the inner tube 47 is located in the interlayer 49 of the sleeve 46, and the electric push rod 48 pushes the inner tube 47 to slide in the interlayer 49, so that the length of the telescopic rod can be adjusted, and the moving area of the robot arm joint is larger.

Further, the robot arm joint further comprises a base plate 50, the base plate 1 is fixedly connected with the base plate 50, the base plate 50 is connected with ground screws, and a plurality of reinforcing plates 51 are uniformly arranged between the base plate 50 and the base plate 1.

In this embodiment, the base plate 50 is installed on the ground by expansion screws, the base plate 1 is fixedly connected with the base plate 50, and the base plate is manufactured by using an integral molding technology, so that the structure is firmer, and the plurality of reinforcing plates 51 are arranged between the base plate 50 and the base plate 1, thereby further improving the stability of the joint arm of the robot.

The invention also provides a robot, which comprises the robot arm joint and a protective cover 45, wherein the protective cover 45 is covered outside the first turnover mechanism and the second turnover mechanism.

In the present embodiment, the protective cover 45 reduces the influence of the external environment on the first flipping mechanism and the second flipping mechanism, thereby improving the service life of the robot arm joint.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.