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发明公开
CN107921629A 机器人手臂的驱动机构 有权

机器人手臂的驱动机构
摘要：
一种机械臂，含有关节机构，使得机械臂的一肢(310)与机械臂的另一肢(311)围绕两根不平行的旋转轴接合，该机构包括：一个中间托架(28)，通过拥有纵摇转动轴(20)的第一转动关节与第一肢相连，通过拥有偏航转动轴(21)的第二转动关节与第二肢相连；第一传动齿轮(33)，围绕纵摇转动轴，第一传动齿轮与托架固定；第二传动齿轮(37)，围绕偏航转动轴，第二传动齿轮与第二臂固定；第一传动轴(26)，驱动第一传动齿轮围绕纵摇转动轴旋转，第一传动轴沿第一肢延伸并在其上有第一轴齿轮(32)，第一轴齿轮与第一传动齿轮齿合；第二传动轴(27)，驱动第二传动齿轮围绕偏航转动轴旋转，第二传动轴沿第一肢延伸并在其上有第二轴齿轮(34)；中间齿轮传动链(35,38,39)，由托架承受，使得第二轴齿轮与第二传动齿轮耦接。
摘要（英）：

A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier (28) attached to a first one of the limbs by a first revolute joint having a pitch rotation axis (20) and to a second one of the limbs by a second revolute joint having a yaw rotation axis (21); a first drive gear (33) disposed about the pitch rotation axis, the first drive gear being fast with the carrier; a second drive gear (37) disposed about the yaw rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft (26) for driving the first drive gear to rotate about the pitch rotation axis, the first drive shaft extending along the firstone of the limbs and having a first shaft gear (32) thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft (27) for driving the second drive gear to rotate about the yaw rotation axis, the second drive shaft extending along the first one of the limbs and having a second shaft gear (34) thereon; and an intermediate gear train (35, 38, 39) borne by the carrier and coupling the second shaft gear to the second drive gear.

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