CN111390869A - Transmission device and mechanical arm - Google Patents

Abstract

The present invention discloses a transmission device and a robot arm, wherein the transmission device comprises a first shell, a second shell connected to the first shell, a third shell axially connected to the second shell, an adapter arranged on the third shell, a first power shaft for driving the first shell and the second shell to rotate, a second power shaft for driving the third shell to rotate, and a third power shaft for driving the adapter to rotate, and the second and third power shafts are mutually sleeved shaft-in-shaft structures, and the first power shaft is an independent rod, so as to facilitate the use of a motor with a smaller load moment of inertia to drive the first power shaft, so that a cheaper motor can be selected, thereby reducing production costs.

Description

Transmission and robotic arm

technical field

The present invention relates to a transmission device, in particular to a transmission device applicable to a mechanical arm.

Background technique

At present, robots are extremely important equipment in industrial production, and more and more industries use robotic arms to assist operations in factories or production lines, and even perform dangerous work, such as welding, trimming, ion cutting, mold casting handling, etc. However, this operating environment will cause great damage to the motor and wires of the robotic arm, so the industry has set the motor away from the load end of the arm.

As shown in FIG. 1A, the existing six-axis robot 9 is controlled by a control system 9a, which includes a base 90, a bracket 91, a support arm 92, a forearm 93, a wrist body 94 and a swing portion 95 that constitute a wrist, and a turntable 96, and the motor 9b, which is the power source of the wrist, is far away from the turntable 96. The bracket 91 is disposed on the base 90 and can perform an autorotation movement F1 relative to the base 90 around the first rotation axis J1. The bottom end of the support arm 92 is rotatably pivoted to the bracket 91 to perform a rotational movement F2 that swings back and forth around the second rotation axis J2. The forearm 93 is rotatably connected to the top end of the support arm 92 to perform a rotational movement F3 that swings up and down around the third rotation axis J3. The wrist body 94 is disposed at the end of the forearm 93 to perform an autorotation movement F4 together with the forearm 93 around the fourth rotation axis J4. The swinging portion 95 is pivotally connected to the wrist body 94 to perform a rotational motion F5 that swings up and down around the fifth rotation axis J5. The turntable 96 is used to hold at least one object, and is disposed on the front end of the swing portion 95 to perform an autorotation movement F6 around the sixth rotation axis J6.

As shown in FIG. 1B , in the existing six-axis robot 9 , the forearm 93 is provided with a first transmission rod 81 , a second transmission rod 82 and a third transmission rod 83 to drive the autorotation motion F4 , the rotational motion F5 and the autorotation Move F6, and the first transmission rod 81, the second transmission rod 82 and the third transmission rod 83 form a three-layer coaxial structure nested with each other.

However, in the existing six-axis robot 9, it is difficult to manufacture the three-layer coaxial structure, and the innermost third transmission rod 83 is difficult to process because its outer diameter is too small, and its rigidity is too low to even support the connected components, resulting in unstable transmission. On the other hand, because the outer diameter of the outermost first transmission rod 81 is too thick, the overall inertia of the first transmission rod 81 is too large, resulting in insufficient overall support of the first transmission rod 81 . Therefore, in the three-layer coaxial structure, the inertia of the outermost first transmission rod 81 is too large, and it is difficult for the inner second and third transmission rods 82, 83 to support the connected components, so that the motor 9b providing power is Since the moment of inertia of the first and second transmission rods 81 and 82 needs to be directly absorbed, a specification with higher horsepower is required. Therefore, the existing six-axis robot 9 needs to use a relatively expensive motor 9b, thus increasing the production cost.

In addition, in the existing six-axis robot 9, the deceleration mechanism of the forearm 93 adopts the specification that the motor 9b and the decelerator are integrally formed, that is, the decelerator is located where the top end of the support arm 92 is close to the forearm 93, resulting in a deceleration space Limited (that is, the reduction ratio is small), so high torque transmission cannot be performed, so that the fourth to sixth rotating shafts J4, J5, J6 cannot provide high torque, so that the six-axis robot 9 cannot perform high-load movements.

In addition, if the fourth shaft J4 wants to provide the required high torque, the motor 9b needs to increase the power, and the reducer needs to increase the volume to increase its reduction ratio, so that the reducer needs to bear a larger torque, resulting in the motor The service life of 9b and its reducer is shortened, and the volume of the forearm 93 needs to be increased, which is not conducive to the erection of the six-axis robot 9 on the production line.

In addition, if the motor 9b and the speed reducer are integrally arranged on the wrist body 94 or the swing part 95, although high torque transmission can be performed, the wrist part will increase in volume and the weight of the wrist part will also increase. As a result, the wrist is easily broken, and on the other hand, the turntable 96 cannot hold heavier objects (otherwise the forearm 93 or the wrist will be unstable and the six-axis robot 9 will fall over), and the working environment will also affect the motor. 9b and wires cause great damage.

Therefore, how to overcome various shortcomings of the prior art is an urgent problem to be solved by all walks of life at present.

SUMMARY OF THE INVENTION

In view of the above-mentioned various deficiencies in the prior art, the present invention discloses a transmission device and a mechanical arm, which can reduce the production cost.

The transmission device of the present invention includes: a first casing, which has opposite first and second ends; a second casing, which is connected to the first end of the first casing; and a first deceleration mechanism, It is arranged between the first end of the first casing and the second casing; and a first power shaft actuates the first speed reduction mechanism to drive the second casing to rotate.

The aforementioned transmission device further includes a first motor, which drives the first power shaft. For example, the first motor drives the first power shaft through a bevel gear set.

In the aforementioned transmission device, the first power shaft drives the first reduction mechanism through a first transmission mechanism. For example, the first transmission mechanism is a gear set, and the power of the first transmission mechanism is transmitted to the first reduction mechanism through a connection structure, and the connection structure is a pipe body.

The present invention also discloses a transmission device, comprising: a first casing, which has opposite first and second ends; a second casing, which is connected to the first end of the first casing; a third a casing, which is axially connected to the second casing; a first reduction mechanism, which is arranged between the first end of the first casing and the second casing; a first power shaft, which is driven by the first transmission The mechanism actuates the first deceleration mechanism to drive the second casing and the third casing to rotate in the same direction; the second deceleration mechanism is arranged on the second casing; and the second power shaft is The second speed reduction mechanism is actuated by the second transmission mechanism to drive the third casing to rotate relative to the second casing.

The aforementioned transmission device further includes a first motor, which is disposed at the second end of the first casing and drives the first power shaft. For example, the first motor drives the first power shaft through a bevel gear set.

In the aforementioned transmission device, the first power shaft drives the first reduction mechanism through a first transmission mechanism. For example, the first transmission mechanism is a gear set, and the power of the first transmission mechanism is transmitted to the first reduction mechanism through a connection structure, and the connection device is a pipe body.

The aforementioned transmission device further includes a second motor, which drives the second power shaft.

In the aforementioned transmission device, the second transmission mechanism includes a first pulley set and a first gear set that links the first pulley set, so as to link the second power shaft through the first gear set, and the first The pulley set is linked to the second speed reduction mechanism. For example, the second transmission mechanism further includes a first transmission shaft and a second transmission shaft respectively connected to both sides of the first pulley set, and the first transmission shaft is linked to the first gear set, and the second transmission shaft The second speed reduction mechanism is actuated. Alternatively, the first pulley set includes two rollers and a belt surrounding the two rollers, and further includes a pressing member against the belt.

The present invention further provides a transmission device, comprising: a first casing having opposite first and second ends; a second casing connected to the first end of the first casing; a third a housing, which is axially connected to the second housing; an adapter, which is axially connected to the third housing; a first deceleration mechanism, which is arranged between the first end of the first housing and the second housing between; a first power shaft, which actuates the first deceleration mechanism to drive the second casing and the third casing to rotate in the same direction; a second deceleration mechanism, which is arranged on the second casing; a second power shaft, which operates the second deceleration mechanism through a second transmission mechanism to drive the third casing to rotate relative to the second casing; a third deceleration mechanism is disposed on the third casing; and a third power shaft, which operates the third speed reduction mechanism through a third transmission mechanism to drive the adapter to rotate relative to the third housing, wherein the third power shaft is a tube body, so that the first A power shaft is located outside the tube body of the third power shaft, and the second power shaft passes through the tube body of the third power shaft.

The aforementioned transmission device further includes a first motor, which is disposed at the second end of the first casing and drives the first power shaft. For example, the first motor drives the first power shaft through a bevel gear set.

In the aforementioned transmission device, the first power shaft drives the first reduction mechanism through a first transmission mechanism. For example, the first transmission mechanism is a gear set, and the power of the first transmission mechanism is transmitted to the first reduction mechanism through a connection structure, and the connection device is a pipe body. Further, the connecting structure is a hollow tube body, so that the second power shaft and the third power shaft pass through the connecting structure.

The aforementioned transmission device further includes a second motor, which drives the second power shaft.

In the aforementioned transmission device, the second transmission mechanism includes a first pulley set and a first gear set that links the first pulley set, so as to link the second power shaft through the first gear set, and the first The pulley set is linked to the second speed reduction mechanism. For example, the first pulley set includes two rollers and a belt that surrounds the two rollers, and the second transmission mechanism also includes first pulleys respectively connected to both sides of the first pulley set. The transmission shaft and the second transmission shaft are linked with the first gear set, and the second transmission shaft actuates the second reduction mechanism. Further, the third transmission mechanism includes a second pulley set, a third drive shaft and a fourth drive shaft respectively connected to both sides of the second pulley set, and a second gear set that links the third and fourth drive shafts The third gear set is linked with the third power shaft through the second gear set, and the third gear set is linked with the third speed reduction mechanism. For example, the first transmission shaft and the third transmission shaft are arranged in the middle of the shaft, and the second transmission shaft and the fourth transmission shaft are arranged in the middle of the shaft. In addition, a pressing member against the belt is also included.

The aforementioned transmission device further includes a third motor, which drives the third power shaft.

In the aforementioned transmission device, the third transmission mechanism includes a pulley set and two gear sets respectively linking the pulley set, so as to link the third power shaft and the third speed reduction mechanism respectively through the gear sets. For example, the third transmission mechanism further includes two transmission shafts respectively connected to two sides of the pulley set to drive the gear sets respectively.

The present invention further provides a robotic arm, comprising: the aforementioned transmission device; and an arm body pivotally connected to the second end of the first housing.

In the aforementioned robotic arm, the transmission device includes a wrist.

As can be seen from the above, the transmission device and the mechanical arm of the present invention are mainly by independently arranging the first power shaft outside the tube of the third power shaft, so as to facilitate the use of the first motor with a smaller load moment of inertia. Compared with the prior art, the present invention can select a relatively cheap first motor, thereby reducing the production cost.

Description of drawings

1A is a schematic perspective view of an existing six-axis robot;

Figure 1B is a partial cross-sectional view of the forearm of Figure 1A;

2A is a perspective view of a transmission device of the present invention;

2B is a schematic diagram of the configuration of components of the transmission device of the present invention;

3A is a partial perspective schematic view of FIG. 2A;

3B is a schematic top view of FIG. 3A;

4A is a schematic perspective view of the second housing of FIG. 2A;

FIG. 4B is a partial plan view of FIG. 2A;

FIG. 5A is a schematic perspective view of the third housing of FIG. 2A;

5B is a partial plan view of FIG. 2A;

5C is a partial plan view of FIG. 5B;

FIG. 6 is a schematic perspective view of the robotic arm of the present invention.

Symbol Description

1 Robot arm 1a First motor

1b Bevel gear set 10 First housing

10a first end 10b second end

11 The first speed reduction mechanism 110 The connection structure

12 The first power shaft 13 The first transmission mechanism

130,131 Spur gear 2a Second motor

2b Output shaft 20 Second housing

20a Rear end part 20b Front end part

201,202 Support part 201a Groove

202a Placement slot 21 Second reduction mechanism

22 The second power shaft 23 The second transmission mechanism

230 The first pulley set 230a, 330a rollers

230b, 330b belt 231 first drive shaft

232 Second drive shaft 233 First gear set

3a Third motor 3b Pulley set

30 Third housing 301 First nozzle

302 Second nozzle 303 Third nozzle

31 Third reduction mechanism 310 Gear lever

32 The third power shaft 33 The third transmission mechanism

330 Second pulley set 331 Third drive shaft

332 Fourth drive shaft 333 Second gear set

334 Third gear set 4 transmission

4a Fourth Motor 40 Adapter

41 Pressing parts 5 External structure

50 Adapter shaft 6 Arm body

60,90 Base 61 First Arm

62 Second arm 81 First transmission rod

82 Second drive rod 83 Third drive rod

9 Six-axis robot 9a control system

9b Motor 91 Bracket

92 Support Arm 93 Forearm

94 Wrist body 95 Swing part

96 Turntable D1 Outer Diameter

D2 Outer diameter F1,F4,F6 Rotational motion

F2,F3,F5 Rotation G1 1st axis rotation mode

G2 2nd axis rotation mode G3 3rd axis rotation mode

J1 1st reel J2 2nd reel

J3 The third axis of rotation J4 The fourth axis of rotation

J5 Fifth shaft J6 Sixth shaft

L1 first axis L2 second axis

L3 Third axis M1 First movement mode

M2 Second sport mode M3 Third sport mode

S The direction of the Z arrow of the accommodation space.

Detailed ways

The embodiments of the present invention are described below by means of specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

It should be noted that the structures, proportions, sizes, etc. shown in the accompanying drawings of this specification are only used to cooperate with the contents disclosed in the specification for the understanding and reading of those who are familiar with the technology, and are not intended to limit the present invention. The limited conditions that can be implemented have no technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the present invention without affecting the effect and the purpose that the present invention can achieve. It is within the scope that the technical content disclosed in the present invention can cover. Meanwhile, references such as "up", "lower", "top", "bottom", "first", "second", "third", "front", "back", and " Terms such as "一" are only used for the convenience of description and clarity, and are not used to limit the scope of the present invention. Changes or adjustments in their relative relationships, without substantial changes to the technical content, shall be regarded as the scope of the present invention. .

2A and 2B are schematic views of the transmission device 4 of the present invention. As shown in FIG. 2A and FIG. 2B , the transmission device 4 includes: a first casing 10 , a first reduction mechanism 11 , a first power shaft 12 , a first transmission mechanism 13 , and a first casing 10 connected to the first casing 10 . The second housing 20 , the second speed reduction mechanism 21 , the second power shaft 22 , the second transmission mechanism 23 , the third housing 30 , the third speed reduction mechanism 31 , the third power shaft 32 and The third transmission mechanism 33 .

In this embodiment, the transmission device 4 is configured with a first motor 1a, a second motor 2a and a third motor 3a, which are used as power sources for the first to third motion modes M1, M2, and M3.

The first housing 10 is in the shape of a hollow cylinder or a long cylinder, and has opposite first end portions 10a and second end portions 10b.

In this embodiment, the first motor 1a, the second motor 2a and the third motor 3a can be erected on the second end 10b of the first casing 10, and an external structure 5 can be configured as required. For example, the external structure 5 can include an adapter shaft 50 , and a fourth motor 4 a for rotating the adapter shaft 50 can be mounted on the external structure 5 .

The first deceleration mechanism 11 is connected to the first end 10a of the first housing 10 , and the power transmission of the first motor 1a is decelerated by the first deceleration mechanism 11 .

In this embodiment, the reduction ratio of the first reduction mechanism 11 is 1/80, and its structure is various, such as the eccentric swing type shown in FIG. 3A and FIG. 3B , the input power of the first reduction mechanism 11, It outputs the power of the first transmission mechanism 13 to the first reduction mechanism 11 through a connection structure 110 .

The first power shaft 12 (as shown in FIG. 3A ) is disposed in the first casing 10 and is linked to the first motor 1a.

In this embodiment, the first motor 1a is connected to the first power shaft 12 through a bevel gear set 1b (as shown in FIG. 3B ), so that the first motor 1a drives the first power shaft 12 to rotate.

The first transmission mechanism 13 is connected to the first power shaft 12 and the first reduction mechanism 11 , so that the first power shaft 12 can actuate the first reduction mechanism 11 through the first transmission mechanism 13 .

In this embodiment, the first transmission mechanism 13 includes a gear set consisting of two spur gears 130 , 131 (as shown in FIG. 3A ), and the power of the first transmission mechanism 13 is transmitted through the two spur gears 130 , 131 to the connection structure 110 , and the opposite ends of the connection structure 110 are respectively connected with the spur gear 131 of the first transmission mechanism 13 and the power input end of the first reduction mechanism 11 , so that the The power is output into the first speed reduction mechanism 11 . It should be understood that the power of the first transmission mechanism 13 is transmitted to the connection structure 110 via the two spur gears 130 and 131 , and the driving mode of the two spur gears 130 and 131 can also be replaced by a pulley or a chain.

The first deceleration mechanism 11 is disposed between the first casing 10 and the second casing 20 , that is, the second casing 20 and the first casing 10 do not move relative to each other.

In this embodiment, the second casing 20 and the first casing 10 are arranged coaxially. For example, the first speed reduction mechanism 11 is coaxially coupled between the side of the first end portion 10a of the first housing 10 and the second housing 20, so that the first power shaft 12 is driven by the first transmission The mechanism 13 actuates the first deceleration mechanism 11 to enable the second casing 20 and the third casing 30 to rotate in the same direction, such as the first movement mode M1.

In addition, as shown in FIG. 4A , the second housing 20 is in a shape similar to a ㄇ shape such as a fork shape, a horseshoe shape or a notch shape. For example, the rear end portion 20a of the second housing 20 can be formed into a circular sleeve as required to coaxially engage the first speed reduction mechanism 11, and the front end portion 20b extends from the rear end portion 20a to form two opposite sides. The supporting parts 201 and 202 form an accommodating space S between the supporting parts 201 and 202 . Specifically, one of the supporting parts 201 can have at least one groove 201a, and the other supporting part 202 can have at least one placing groove 202a.

The second deceleration mechanism 21 is connected to one of the supporting parts 201 of the second housing 20 , and the power transmission of the second motor 2 a is decelerated by the second deceleration mechanism 21 .

In this embodiment, the structure of the second reduction mechanism 21 is various, and the gear set and related matching shown in FIG. 4B are not particularly limited, and can be positioned in the groove 201a according to requirements.

The second power shaft 22 is disposed in the first casing 10 and the second casing 20 and is linked to the second motor 2a.

In this embodiment, the output shaft 2b of the second motor 2a is directly connected to the second power shaft 22, so that the second motor 2a drives the second power shaft 22 to rotate. For example, the output shaft 2b of the second motor 2a inputs power to the second power shaft 22 via a coupling (not shown).

The second transmission mechanism 23 is disposed in the second casing 20 and is connected to the second power shaft 22 and the second reduction mechanism 21 , so that the second power shaft 22 is driven by the second transmission mechanism 23 . The second speed reduction mechanism 21 is moved.

In this embodiment, the second transmission mechanism 23 includes a first pulley set 230 (the outer pulley set shown in FIG. 2A and FIG. 2B ), and first transmission shafts respectively connected to both sides of the first pulley set 230 231, the second transmission shaft 232, and the first gear set 233 linked with the first transmission shaft 231, so as to link the second power shaft 22 through the first gear set 233, and the second transmission shaft 232 is connected The second speed reduction mechanism 21 is moved. Specifically, the first gear set 233 is a bevel gear set, and the second transmission shaft 232 and the second reduction mechanism 21 are coaxially arranged, and the first pulley set 230 includes the first and second shafts respectively. The two rollers 230a of the transmission shafts 231 and 232 and the belt 230b encircling the two rollers 230a in a single loop can press the belt 230 by a pressing member 41 such as an idler to adjust the tension of the belt 230 as required.

In addition, the first gear set 233 is located at the rear end portion 20a of the second housing 20, and other parts of the second transmission mechanism 23 (such as the first pulley set 230, the first transmission shaft 231 and the second The transmission shaft 232) is positioned on the placement groove 202a of the other support portion 202, so that the second speed reduction mechanism 21 and the second transmission mechanism 23 are generally located on opposite sides of the second housing 20, that is, on the first on the two supporting parts 201 and 202 of the second casing 20 .

In addition, the second transmission shaft 232 is spanned between the supporting portions 201 and 202 to span the accommodating space S. As shown in FIG.

The third casing 30 is located in the accommodating space S of the second casing 20 to be axially connected to the second casing 20 along the vertical line between the two support portions 201 and 202 .

In this embodiment, the third casing 30 is rotatably mounted on the two support parts 201 and 202 and connected to the second speed reduction mechanism 21 , so that the second speed reduction mechanism 21 drives the third housing 30 to be opposite to the first speed reduction mechanism 21 . The second housing 20 rotates, such as the second movement mode M2.

In addition, as shown in FIGS. 5A to 5C , the third housing 30 is a three-way pipe structure, which has a first nozzle 301 , a second nozzle 302 and a third nozzle 303 , so that the second speed reduction mechanism 21 is engaged with the first nozzle 301, and the second transmission shaft 232 passes through the third housing 30 from the second nozzle 302 to connect the second speed reduction mechanism 21, that is, the third housing 30 uses the The second transmission shaft 232 is a rotating shaft and rotates relative to the second housing 20 .

The third deceleration mechanism 31 is connected to the third nozzle 303 of the third housing 30 , and the power transmission of the third motor 3 a is decelerated by the third deceleration mechanism 31 .

In the present embodiment, the structure of the third speed reduction mechanism 31 is various, and the gear lever 310 and related matching as shown in FIG. 5C are not particularly limited.

The third power shaft 32 is disposed in the first casing 10 and the second casing 20 , the third power shaft 32 is a tube body, and the second power shaft 22 passes through the third power shaft 32 , that is, the second power shaft 22 and the third power shaft 32 are two-layer shaft-centered coaxial structures, and the first power shaft 12 is located outside the tube of the third power shaft 32 .

In this embodiment, the third motor 3a is connected to the third power shaft 32 through a pulley set 3b (as shown in FIG. 2B and FIG. 3A , the belt is omitted in FIG. 3B ), so that the third motor 3a drives the The third power shaft 32 rotates. It should be understood that the third motor 3a can be linked to the third power shaft 32 by other transmission modes, and is not limited to the pulley transmission mode.

In addition, the connecting structure 110 is a single tube body, so that the second power shaft 22 and the third power shaft 32 pass through the connecting structure 110 and pass through the first speed reduction mechanism 21 through the bearing member.

The third transmission mechanism 33 is disposed in the second casing 20 and the third casing 30 and connects the third power shaft 32 and the third speed reduction mechanism 31, so that the third power shaft 32 can pass The third transmission mechanism 33 actuates the third reduction mechanism 31 .

In this embodiment, the third transmission mechanism 33 includes a second pulley set 330 (inner pulley set as shown in FIG. 2A and FIG. 2B ), and third transmission shafts respectively connected to both sides of the second pulley set 330 331 and the fourth transmission shaft 332, and the second gear set 333 and the third gear set 334 linking the third and fourth transmission shafts 331, 332, so that the second gear set 333 is connected with the third power shaft 32 , and the third gear set 334 is linked to the third speed reduction mechanism 31 . Specifically, the second gear set 333 and the third gear set 334 are bevel gear sets, and the second pulley set 330 includes two rollers 330 a that are respectively connected to the third and fourth transmission shafts 331 , 332 and surround in a single circle. The belts 330b of the two rollers 330a push the belt 330 by the pressing member 41 to change the tension of the belt 330 .

In addition, the second gear set 333 is located at the rear end portion 20a of the second housing 20, and other partial components of the third transmission mechanism 33 (such as the second pulley set 330, the third and fourth transmission shafts 331, 332 ) is positioned on the placement groove 202a of the other support portion 202, so that the second reduction mechanism 21 and some components of the third transmission mechanism 33 are located on opposite sides of the second housing 20, that is, on the second on the two supporting parts 201 and 202 of the casing 20 .

In addition, the fourth transmission shaft 332 is erected on the support portion 202 to protrude from the accommodating space S of the second housing 20 and protrude into the third housing 30, so that the third gear set 334 is located in the accommodating space S of the second housing 20. in the third housing 30 .

In addition, the first transmission shaft 231 and the third transmission shaft 331 are arranged in the middle of the shaft, and the second transmission shaft 232 and the fourth transmission shaft 332 are arranged in the middle of the shaft. For example, the third and fourth transmission shafts 331 and 332 are tubular bodies, so that the first transmission shaft 231 passes through the third transmission shaft 331 and the second transmission shaft 232 passes through the fourth transmission shaft 332 . In this way, when the first and second pulley sets 230, 330 are arranged in the same support portion 202 of the second housing 20, the arrangement space of the second and third transmission mechanisms 23, 33 can be effectively reduced, thus reducing the The volume of the second housing 20 .

On the other hand, the transmission device 4 further includes an adapter 40 that is axially connected to the third housing 30 . For example, the adapter 40 is connected to the third deceleration mechanism 31 , so that the third deceleration mechanism 31 drives the adapter 40 to rotate relative to the third housing 30 , such as the third movement mode M3 .

The operation of the transmission device 4 is described below.

In the first movement mode M1, the first motor 1a transmits kinetic energy through the bevel gear set 1b to drive the first power shaft 12, so that the first power shaft 12 transmits kinetic energy through the first transmission mechanism 13 to operate Move the first deceleration mechanism 11, so that the first deceleration mechanism 11 drives the first housing 10, the second housing 20 and the third housing 30 along the first axis L1 (as shown in FIG. 2A, or along the second power shaft 22 or the third power shaft 32) rotate in the same direction (that is, the first to third casings 10, 20, 30 rotate relative to the external structure 5), and the first to third casings 10,20,30 can achieve the desired deceleration effect during exercise.

In the second movement mode M2, the second motor 2a transmits kinetic energy through the output shaft 2b to drive the second power shaft 22, so that the second power shaft 22 transmits kinetic energy through the second transmission mechanism 23 (which The power transmission sequence is the first gear set 233, the first drive shaft 231, the first pulley set 230, and the second drive shaft 232, as shown in FIG. 4B) to actuate the second reduction mechanism 21, so that the second The deceleration mechanism 21 drives the third housing 30 to rotate relative to the second housing 20 along the second axis L2 (as shown in FIG. 2A , or along the second transmission shaft 232 ), and the third housing 30 is moving The desired deceleration effect can be achieved.

In the third movement mode M3, the third motor 3a transmits kinetic energy through the pulley set 3b to drive the third power shaft 32, so that the third power shaft 32 transmits kinetic energy (the power thereof) through the third transmission mechanism 33 The transmission sequence is the second gear set 333, the third drive shaft 331, the second pulley set 330, the fourth drive shaft 332 and the third gear set 334) to actuate the third reduction mechanism 31, so that the third The deceleration mechanism 31 drives the adapter 40 to rotate relative to the third housing 30 along the third axis L3 (as shown in FIG. 2A , or along the gear rod 310 ), and the adapter 40 can achieve the required movement when moving. deceleration effect.

In this embodiment, the second axis L2 intersects the first axis L1 at a predetermined angle (eg, vertical), and the third axis L3 intersects the second axis L2 at a predetermined angle (eg, vertical).

In addition, the first axis L1 and the third axis L3 may be located on the same straight path, but may not be located on the same straight path.

Furthermore, in other embodiments, if the second axis L2 does not pass through the extension line of the first axis L1 and is not parallel to the first axis L1, it may not cross the first axis L1. Alternatively, if the third axis L3 does not pass through the extension of the second axis L2 and is not parallel to the second axis L2, it may not cross the second axis L2.

In addition, moving (in the direction of arrow Z as shown in FIG. 3B ) the pressing member 41 (idler) can adjust the tension of the belts 230b, 330b of the first and second pulley sets 230, 330, and fix the pressing member with screws 41; If the first and second pulley sets 230, 330 or the belts 230b, 330b need to be replaced and replaced, only the pressing member 41 needs to be loosened (for example, by loosening the screws), and the replacement operation can be performed.

The transmission device 4 of the present invention having a shaft-in-shaft type power shaft (the second and third power shafts 22 and 32 ) is mainly by arranging the first power shaft 12 independently outside the tube of the third power shaft 32 , so as to It is advantageous to use the first motor 1a with a smaller load moment of inertia. Therefore, compared with the prior art, the present invention can select a cheaper first motor 1a, thereby reducing the production cost. Specifically, the moment of inertia of the first power shaft 12 can be regarded as the moment of inertia of the motor drive shaft, and the formula (1) of its moment of inertia I is:

I=1/2mr ² ................(1)

, where m is the mass of the power shaft (kg), and r is the radius of the power shaft (mm). Therefore, the moment of inertia of the first power shaft 12 is 0.5·2·11 ² =121 (kg-mm ² ), and the existing outer shaft rod (as shown in FIG. 1B , the outer diameter of the first transmission rod 81 D1 is 52mm, and the outer diameter D2 of the second transmission rod 82 is 38mm) and the moment of inertia is 0.5·3(19 ² +26 ² )=1555 (kg-mm ² ), so the first motor 1a of the present invention The moment of inertia of the required load is much smaller than that of the existing motor, for example, the difference between the two is more than 10 times.

In addition, in the present invention, by disposing the first deceleration mechanism 11 between the first end 10a of the first casing 10 and the second casing 20, the adapter 40 and the first deceleration can be greatly shortened The distance between the mechanisms 11 can reach the desired bending moment, so the transmission device 4 of the present invention can use the cheaper first reduction mechanism 11 to reduce the production cost, or the rotation of the transmission device 4. The connector 40 can hold heavier objects. Specifically, the formula (2) of the bending moment M is:

M=FL.........(2)

, where F represents the weight of the object to be carried by the adapter 40 , and L represents the length (ie, the distance between the adapter 40 and the first deceleration mechanism 11 ). Therefore, the length L of the transmission device 4 is 550 mm, while the length L of the existing six-axis robot is 1200 mm (ie, the distance between the motor 9b shown in FIG. 1A and the turntable 96 ), so the same motor power Under the same condition (ie the same bending moment M), the weight of the object (150kg) that the transmission device 4 of the present invention can hold is more than twice the weight of the object (less than 70kg) that the existing robot arm can carry. In other words, under the condition of the same object weight (ie the same weight F), the bending moment of the first speed reduction mechanism 11 of the present invention is smaller than the bending moment of the existing speed reducer, and the difference between the two is about 2 times. Therefore, based on the price of the speed reducer The price of the first speed reduction mechanism 11 of the present invention can be lower than the price of the conventional speed reducer according to the increase in the allowable bending moment.

In addition, the second transmission mechanism 23 and the third transmission mechanism 33 are arranged in the same support portion 202 of the second housing 20 , and the second reduction mechanism 21 is located at the other support portion of the first housing 20 In 201, the two supporting parts 201, 202 of the second casing 20 and their inner structures have predetermined weights to provide sufficient solid supporting force to the third casing 30 and the components above, thus avoiding the two supporting parts 201, 202 fractures. In other words, if one of the second transmission mechanism 23 and the third transmission mechanism 33 is changed to be disposed in the other support portion 201 , the internal weight of the support portion 202 will be reduced, which will reduce the weight of the second housing 20 . The center of gravity of the region is unstable, which may easily cause the mechanism to be skewed, and may not even provide sufficient solid supporting force to the third housing 30 and the components thereon, thus easily causing the supporting portion 201 to break.

In addition, as shown in FIG. 6 , the second end portion 10 b of the first housing 10 of the transmission device 4 of the present invention can be pivotally connected to an arm body 6 to form the robotic arm 1 . For example, the arm body 6 includes a base 60 , a first arm 61 disposed on the base 60 , a second arm 62 connected to the first arm 61 , and the external structure 5 , and the transmission The device 4 is connected to the second arm 62 through the connecting shaft 50 of the external structure 5 , so that the second casing 20 and the third casing 30 of the transmission device 4 can be regarded as wrists. Specifically, the first arm portion 61 performs the first axis rotation mode G1 relative to the base 60 according to the imaginary axis shown in FIG. 6 . The bottom end of the second arm portion 62 is rotatably connected to the first arm portion 61 to perform the second axis rotation mode G2 according to the imaginary axis shown in FIG. 6 . The transmission device 4 can be pivotally connected to the top end of the second arm portion 62 through the external structure 5 to perform the third axis rotation mode G3 according to the imaginary axis of the transfer shaft member 50 shown in FIG. 6 . It should be understood that the first movement mode M1 rotates as the fourth axis, the second movement mode M2 rotates as the fifth axis, and the third movement mode M3 rotates as the sixth axis.

To sum up, the robot arm 1 and its transmission device 4 of the present invention can be configured with three sets of motors (the first to third motors 1a, 2a, 3a) at the second end 10b of the first casing 10 to reduce the The probability of wire damage can be reduced, and the load of the first motor 1a can be reduced, thereby increasing the transmission efficiency of the first motor 1a.

In addition, the second and third housings 20, 30 do not need to be equipped with motors, so that the internal structure design of the second and third housings 20, 30 is more compact (eg, the first transmission shaft 231 and the third transmission shaft 331 and the coaxial structure formed by the second transmission shaft 232 and the fourth transmission shaft 332 ), so the volumes of the second and third housings 20 and 30 can be reduced.

The above embodiments are only used to illustrate the principles and effects of the present invention, but not to limit the present invention. Any person skilled in the art can make modifications to the above embodiments without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be listed in the claims.

Claims (33)

1. A transmission, comprising:

a first housing having opposite first and second ends;

a second housing connected to the first end of the first housing;

a first speed reduction mechanism disposed between the first end of the first housing and the second housing; and

the first power shaft actuates the first speed reducing mechanism to drive the second shell to rotate.

2. The transmission of claim 1, further comprising a first motor that drives the first power shaft.

3. The transmission of claim 2, wherein the first motor drives the first power shaft via a bevel gear set.

4. The transmission of claim 1, wherein the first power shaft actuates the first speed reduction mechanism via a first transmission mechanism.

5. The transmission device as claimed in claim 4, wherein the first transmission mechanism is a gear set, the power of the first transmission mechanism is transmitted to the first speed reduction mechanism by a connection structure, and the connection structure is a tube.

6. A transmission, comprising:

a first housing having opposite first and second ends;

a second housing connected to the first end of the first housing;

a third housing coupled to the second housing;

a first speed reduction mechanism disposed between the first end of the first housing and the second housing;

a first power shaft, which actuates the first speed reduction mechanism by means of a first transmission mechanism to drive the second shell and the third shell to rotate in the same direction;

a second reduction mechanism disposed on the second casing; and

the second power shaft actuates the second speed reducing mechanism by means of a second transmission mechanism to drive the third shell to rotate relative to the second shell.

7. The transmission of claim 6, further comprising a first motor disposed at the second end of the first housing and driving the first power shaft.

8. The transmission of claim 7, wherein the first motor drives the first power shaft via a bevel gear set.

9. The transmission of claim 6, wherein the first power shaft actuates the first speed reduction mechanism via a first transmission mechanism.

10. The transmission device as claimed in claim 9, wherein the first transmission mechanism is a gear set, the power of the first transmission mechanism is transmitted to the first reduction mechanism by a connection structure, and the connection device is a tube.

11. The transmission of claim 6, further comprising a second motor that drives the second power shaft.

12. The transmission device as claimed in claim 6, wherein the second transmission mechanism includes a first pulley set and a first gear set linked with the first pulley set, so that the first gear set is linked with the second power shaft, and the first pulley set is linked with the second speed reduction mechanism.

13. The transmission device according to claim 12, wherein the second transmission mechanism further comprises a first transmission shaft and a second transmission shaft respectively coupled to two sides of the first pulley set, and the first transmission shaft is coupled to the first pulley set and the second transmission shaft actuates the second speed reduction mechanism.

14. The transmission of claim 12, wherein the first pulley set comprises two rollers and a belt surrounding the two rollers.

15. The transmission of claim 14, further comprising a press against the belt.

16. A transmission, comprising:

a first housing having opposite first and second ends;

a second housing connected to the first end of the first housing;

a third housing coupled to the second housing;

an adapter which is coupled with the third shell by a shaft;

a first speed reduction mechanism disposed between the first end of the first housing and the second housing;

a first power shaft for actuating the first speed reducing mechanism to drive the second housing and the third housing to rotate in the same direction;

a second reduction mechanism disposed on the second casing;

the second power shaft actuates the second speed reducing mechanism by means of a second transmission mechanism so as to drive the third shell to rotate relative to the second shell;

a third reduction mechanism disposed on the third casing; and

and a third power shaft which actuates the third speed reduction mechanism by means of a third transmission mechanism to drive the adaptor to rotate relative to the third shell, wherein the third power shaft is a pipe body to enable the first power shaft to be positioned outside the pipe body of the third power shaft, and the second power shaft is arranged in the pipe body of the third power shaft in a penetrating manner.

17. The transmission of claim 16, further comprising a first motor disposed at the second end of the first housing and driving the first power shaft.

18. The transmission of claim 17, wherein the first motor drives the first power shaft via a bevel gear set.

19. The transmission of claim 16, wherein the first power shaft actuates the first speed reduction mechanism via a first transmission mechanism.

20. The transmission device as claimed in claim 19, wherein the first transmission mechanism is a gear set, the power of the first transmission mechanism is transmitted to the first reduction mechanism by a connection structure, and the connection device is a tube.

21. The transmission of claim 20, wherein the connection structure is a hollow tube such that the second power shaft and the third power shaft pass through the connection structure.

22. The transmission of claim 16, further comprising a second motor that drives the second power shaft.

23. The transmission device as claimed in claim 16, wherein the second transmission mechanism includes a first pulley set and a first gear set linked to the first pulley set, so that the first gear set is linked to the second power shaft, and the first pulley set is linked to the second speed reduction mechanism.

24. The transmission device as claimed in claim 23, wherein the second transmission mechanism further comprises a first transmission shaft and a second transmission shaft respectively coupled to two sides of the first pulley set, the first transmission shaft is coupled to the first pulley set, and the second transmission shaft actuates the second speed reduction mechanism.

25. The transmission device according to claim 24, wherein the third transmission mechanism includes a second pulley set, a third transmission shaft and a fourth transmission shaft respectively coupled to two sides of the second pulley set, and a second gear set and a third gear set linking the third and fourth transmission shafts, so that the third power shaft is linked by the second gear set, and the third gear set links the third speed reduction mechanism.

26. The transmission of claim 25, wherein the first and third shafts are arranged in a shaft-centered configuration and the second and fourth shafts are arranged in a shaft-centered configuration.

27. The transmission of claim 23, wherein the first pulley set comprises two rollers and a belt encircling the two rollers.

28. The transmission of claim 27, further comprising a press against the belt.

29. The transmission of claim 16, further comprising a third motor that drives the third power shaft.

30. The transmission device as claimed in claim 16, wherein the third transmission mechanism includes a pulley set and two gear sets respectively coupled to the pulley set, so as to respectively couple the third power shaft and the third speed reduction mechanism via the gear sets.

31. The transmission device as claimed in claim 30, wherein the third transmission mechanism further comprises two transmission shafts respectively coupled to two sides of the pulley set for respectively driving the pulley sets.

32. A robot arm, comprising:

a transmission according to one of claims 1 to 31; and

and the arm body is pivoted with the second end part of the first shell.

33. The robot arm of claim 32, wherein the transmission comprises a wrist.

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