The connection structure between the palm and the arm of the robot

Abstract

The present invention relates to a connection structure between the palm and the arm of a manipulator, comprising: a connection tube arranged at the end of the palm, the inner wall of the connection tube is provided with a connection protrusion, and the connection protrusion is provided with a pushable damping ball; a connection column arranged at the end of the arm and insertable into the connection tube, the connection column is provided with a notch corresponding to the connection protrusion and an annular embedding groove connected to the notch, and the bottom of the annular embedding groove is provided with a plurality of pits corresponding to the damping ball; wherein the connection tube and the connection column can rotate relative to each other, thereby realizing the relative rotation between the palm and the arm. The present invention realizes the connection by plugging the connection tube and the connection column, which is simple, convenient and fast to operate. The damping ball provides resistance, which can prevent the palm and the arm from rotating randomly, and the setting of the pit plays a positioning role in the position of the damping ball, so that the relative rotation between the palm and the arm has good stability. In addition, the damping ball has little wear and a long service life.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical structures, and in particular to a connection structure between a palm and an arm of a robot. Background Art

[0002] The palm and arm of the robot are connected in a rotatable manner to achieve relative rotation between the palm and the arm. The existing connection method can connect the palm through a motor drive, and then use the motor to drive the rotation of the palm. However, in a certain application scenario, the palm does not need to be rotated, as long as the palm has the function of rotation. In this case, the motor connection method has problems such as high cost and cumbersome assembly. The existing connection method also connects the palm and the arm through a bearing, so that the palm and the arm can be relatively rotated and adjusted, that is, it has a rotation function, but no drive parts. This connection method will cause random rotation when subjected to vibration or other external forces. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide a connection structure between the palm and the arm of a robot to solve the problem that the existing palm and the arm connected by bearings are prone to random rotation.

[0004] The technical solution to achieve the above purpose is:

[0005] The present invention provides a connection structure between a palm and an arm of a robot, comprising:

[0006] A connecting tube provided at the end of the palm, wherein the inner wall of the connecting tube is provided with a connecting protrusion, and a pushable damping ball is provided on the connecting protrusion; and

[0007] A connecting column provided at the end of the arm and insertable into the connecting tube, the connecting column having a notch corresponding to the connecting protrusion and an annular embedding groove communicating with the notch, and a plurality of pits at the bottom of the annular embedding groove corresponding to the damping ball;

[0008] The connecting tube and the connecting column can rotate relative to each other, thereby realizing relative rotation between the palm and the arm.

[0009] The palm and the arm of the present invention are connected by means of plugging a connecting tube and a connecting column, which is simple, convenient and quick to operate. A damping ball and a pit are provided between the connecting tube and the connecting column, so that the damping ball applies resistance to the relative rotation between the palm and the arm, thereby preventing the palm and the arm from rotating randomly. The setting of the pit positions the damping ball, so that the relative rotation between the palm and the arm has better stability and positionality. In addition, the damping ball has less wear, and this connection method has the characteristics of long service life.

[0010] A further improvement of the connection structure between the palm and the arm of the manipulator of the present invention is that the damping ball can rotate freely.

[0011] A further improvement of the connection structure between the palm and the arm of the manipulator of the present invention is that an assembly space is provided on the connection protrusion corresponding to the damping ball, and a support spring is provided in the assembly space;

[0012] The damping ball is arranged in the assembly space and connected to the supporting spring, and the supporting spring applies elastic force to the damping ball so that a part of the damping ball extends out from the top of the assembly space.

[0013] A further improvement of the connection structure between the palm and the arm of the manipulator of the present invention is that the inner wall of the connection pipe is provided with a first annular member and a second annular member which are butt-connected;

[0014] A first clamping block is provided on the inner wall of the first annular member, and a first groove is provided on the first clamping block;

[0015] The inner wall of the second annular member is provided with a second clamping block opposite to the first clamping block, and the second clamping block is provided with a second groove opposite to the first groove;

[0016] The first clamping block and the second clamping block are connected to form the connecting protrusion, and the first groove and the second groove are connected to form an assembly space for installing the damping ball.

[0017] A further improvement of the connection structure between the palm and the arm of the robot arm of the present invention is that there are two connection protrusions which are arranged opposite to each other.

[0018] A further improvement of the connection structure between the palm and the arm of the manipulator of the present invention is that the connection column includes a columnar body, a first ring plate sleeved and fixed on one end of the columnar body, and a second ring plate sleeved and fixed on the other end of the columnar body, and the spacing between the first ring plate and the second ring plate is adapted to the size of the connection protrusion;

[0019] The outer surface of the columnar body is provided with the concave pit, and the concave pit is located between the first ring plate and the second ring plate;

[0020] The notch is located on the first ring plate.

[0021] A further improvement of the connection structure between the palm and the arm of the robot arm of the present invention is that it also includes a mounting block arranged in the connecting protrusion, and the mounting block is provided with a spherical groove adapted to the damping ball, and the damping ball is freely rotatable in the spherical groove.

[0022] A further improvement of the connection structure between the palm and the arm of the manipulator of the present invention is that the dimension of the end of the connection protrusion away from the connection tube is smaller than the dimension of the end of the connection protrusion connected to the connection tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of the manipulator of the present invention when the connection structure between the palm and the arm is not yet connected.

[0024] Figure 2 This is a schematic diagram of the structure of the connection structure between the palm and the arm of the robot arm of the present invention, in which part of the connection tube is omitted to expose the connection column.

[0025] Figure 3 It is a structural schematic diagram of the connection between the connecting tube and the palm in the connection structure between the palm and the arm of the manipulator of the present invention.

[0026] Figure 4 for Figure 3 Enlarged schematic diagram of the middle connecting pipe.

[0027] Figure 5 It is a structural schematic diagram of the connection between the connecting column and the arm in the connection structure between the palm and the arm of the robot arm of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0029] See also Figure 1 The present invention provides a connection structure between the palm and the arm of a manipulator, which is used to realize the rotational connection between the palm and the arm, so that the palm and the arm have the function of relative rotation, and the palm and the arm can rotate relative to each other under the action of external force. The connection structure of the present invention adopts a plug-in connection between a connecting column and a connecting tube to realize the assembly of the palm and the arm, which has the advantages of simple, convenient and fast installation. The notch provided on the connecting column has positioning for the movement of the damping ball, so that the rotation between the arm and the palm has good stability and positionality. The damping ball can rotate freely, has little wear during use, and has a long service life. The connection structure between the palm and the arm of the manipulator of the present invention is explained below with reference to the accompanying drawings.

[0030] See also Figure 1 , showing a schematic diagram of the structure of the palm and arm of the robot hand of the present invention when the connection structure is not yet connected. Figure 2 , showing a schematic diagram of the connection structure between the palm and the arm of the manipulator of the present invention, omitting part of the connecting pipe to expose the connecting column. Figure 1 and Figure 2 , the connection structure between the palm and the arm of the robot arm of the present invention is explained.

[0031] like Figure 1 and Figure 2 As shown, the connection structure between the palm and the arm of the manipulator of the present invention includes a connection tube 21 and a connection column 22, wherein the connection tube 21 is arranged at the end of the palm 11, and the inner wall surface of the connection tube 21 is provided with a connection protrusion 211, and the connection protrusion 211 is provided with a pressable damping ball 212; the connection column 22 is arranged at the end of the arm 12, and the connection column 22 can be inserted into the connection tube 21, and the connection column 22 is provided with a notch 221 corresponding to the connection protrusion 211 and an annular embedded groove 222 connected to the notch 221, and the bottom of the annular embedded groove 222 corresponds to the damping ball 212. The ball 212 is provided with a plurality of pits 223; the connecting protrusion 211 can be inserted into the annular groove 222 from the notch 221, and the connecting protrusion 211 can rotate freely in the annular groove 222, and the damping ball 212 can be inserted into the corresponding pit 223. When the connecting protrusion 211 rotates, the damping ball 212 can move out of the corresponding pit 223 and move on the surface of the connecting column 22 and then insert into the next pit 223. The movement of the damping ball 212 generates resistance to the rotation of the connecting protrusion 211, which can prevent the connecting protrusion 211 from rotating randomly. The connecting tube 21 and the connecting column 22 can rotate relative to each other, thereby realizing the relative rotation between the palm and the arm.

[0032] When connecting the palm and arm of the robot arm of the present invention, they only need to be inserted into the connecting tube through the connecting column and rotated to allow the connecting protrusion to avoid the notch to complete the installation. After installation, the position of the palm can also be adjusted by rotating the palm. When rotating the palm, the damping ball can provide resistance to the rotation of the palm, thereby improving the stability of the palm during rotation.

[0033] In a specific embodiment of the present invention, the damping ball 212 can rotate freely. In this way, when the damping ball 212 moves on the surface of the connecting column 22, the damping ball 212 can roll, which can reduce the friction resistance between the damping ball 212 and the connecting column 22, and can also reduce the noise generated by the friction between the damping ball 212 and the connecting column 22.

[0034] In a specific embodiment of the present invention, Figures 2 to 4 As shown, an assembly space is provided on the connecting protrusion 211 corresponding to the damping ball 212, and a support spring 213 is provided in the assembly space; the damping ball 212 is arranged in the assembly space and connected to the support spring 213, and the support spring 213 applies elastic force to the damping ball 212 so that a part of the damping ball 212 extends out from the top of the assembly space.

[0035] By setting the supporting spring 213, the damping ball 212 can be pressed downward. When assembling the connecting column 22 and the connecting tube 21, the connecting protrusion 211 is inserted into the annular groove 222 from the notch. When the damping ball 212 on the top of the connecting protrusion 211 contacts the bottom of the annular groove 22, the damping ball 212 compresses the supporting spring 213 and completely enters the connecting protrusion 211. When the damping ball 212 moves to the position of the pit, the supporting spring 213 pushes the damping ball 212 to extend, and then the damping ball 212 is inserted into the pit.

[0036] Furthermore, a circular hole communicating with the assembly space is provided on the top surface of the connecting protrusion 211 , and the diameter of the circular hole is smaller than the diameter of the damping ball 212 , so that the damping ball 212 is placed in the assembly space and will not fall out of the circular hole.

[0037] In a specific embodiment of the present invention, Figure 4 As shown, the inner wall of the connecting tube 21 is provided with a first annular member 214 and a second annular member 215 which are butt-connected, and a first clamping block 2141 is provided on the inner wall of the first annular member 214, and a first groove is provided on the first clamping block 2141; a second clamping block 2151 opposite to the first clamping block 2141 is provided on the inner wall of the second annular member 215, and a second groove opposite to the first groove is provided on the second clamping block 2151, the first clamping block 2141 and the second clamping block 2151 are butt-jointed to form a connecting protrusion 211, and the first groove and the second groove are butt-jointed to form an assembly space for installing the damping ball 212.

[0038] During assembly, the damping ball and the support spring can be placed in the first groove of the first block first, and then the second annular member 215 and the first annular member 214 can be docked and connected. Next, the support spring can be pressed and the first annular member and the second annular member can be inserted into the connecting tube 21. Finally, the first annular member and the second annular member can be connected and fixed to the connecting tube 21, thereby completing the assembly of the connecting tube 21.

[0039] In a specific embodiment of the present invention, there are two connecting protrusions 211 which are arranged opposite to each other.

[0040] In a specific embodiment of the present invention, a mounting block is further included in the connecting protrusion 211, and a hemispherical groove matching the damping ball 212 is provided on the mounting block, and the damping ball 212 is freely rotatable in the hemispherical groove. In this way, the damping ball 212 can freely rotate in the hemispherical groove.

[0041] Preferably, the mounting block is disposed in the assembly space of the connecting protrusion 211 and is connected to the supporting spring.

[0042] In a specific embodiment of the present invention, Figure 3 and Figure 4As shown, the dimension of the end of the connecting protrusion 211 away from the connecting pipe 21 is smaller than the dimension of the end of the connecting protrusion 211 connected to the connecting pipe 21 .

[0043] In a specific embodiment of the present invention, Figure 5 As shown, the connecting column 22 includes a columnar body 224, a first ring plate 225 sleeved and fixed on one end of the columnar body 224, and a second ring plate 226 sleeved and fixed on the other end of the columnar body 224. Figure 2 As shown, the spacing between the first ring plate 225 and the second ring plate 226 is adapted to the size of the connecting protrusion 211 ; a pit 223 is provided on the outer surface of the columnar body 224 , and the pit 223 is located between the first ring plate 225 and the second ring plate 226 ; and the notch 224 is located on the first ring plate 225 .

[0044] The outer side surface of the first ring plate 225 is flush with the corresponding end surface of the columnar body 224 , and the outer side surface of the second ring plate 226 is flush with the corresponding end surface of the columnar body 224 .

[0045] During assembly, the second ring plate 226 can be attached to the end of the arm 12 and then welded and fixed. Of course, the connection between the connecting column and the arm is not limited to welding, and can also be fixed by screw connection, clamping connection and other connection methods.

[0046] like Figure 1 As shown, the end of the connecting pipe 21 is attached to the end of the palm 11 and fixed by welding. Of course, the connection mode between the connecting pipe and the palm is not limited to welding, and can also be fixed by screw connection, clamping connection, etc.

[0047] The connection structure of the present invention is combined with the palm and the arm when connecting Figure 1 As shown, first align the connecting protrusion 211 in the connecting tube 21 with the notch 221 on the connecting column 22, and then insert the connecting column 22 into the connecting tube 21. Figure 3 As shown, the connecting protrusion 211 is inserted into the annular groove 223 from the notch 221, and then the palm or arm is rotated to make the connecting protrusion 211 staggered with the notch 221, so that the connection between the palm and the arm is completed. Due to the cooperation of the damping ball and the pit, resistance is provided for the connecting pipe and the connecting column, so that the connecting pipe and the connecting column will not be easily separated, and the connecting pipe and the connecting column will not rotate randomly.

[0048] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A connection structure between the palm and the arm of a robot, characterized in that: include: A connecting tube provided at the end of the palm, wherein the inner wall of the connecting tube is provided with a connecting protrusion, and a pressable damping ball is provided on the connecting protrusion; as well as A connecting column provided at the end of the arm and insertable into the connecting tube, the connecting column having a notch corresponding to the connecting protrusion and an annular embedding groove communicating with the notch, and a plurality of pits at the bottom of the annular embedding groove corresponding to the damping ball; The connecting tube and the connecting column can rotate relative to each other, thereby realizing relative rotation between the palm and the arm.

2. The connection structure between the palm and the arm of the robot according to claim 1, characterized in that: The damping ball can rotate freely.

3. The connection structure between the palm and the arm of the robot according to claim 1, characterized in that: An assembly space is provided on the connecting protrusion corresponding to the damping ball, and a supporting spring is provided in the assembly space; The damping ball is arranged in the assembly space and connected to the supporting spring, and the supporting spring applies elastic force to the damping ball so that a part of the damping ball extends out from the top of the assembly space.

4. The connection structure between the palm and the arm of the robot according to claim 1, characterized in that: The inner wall of the connecting pipe is provided with a first annular member and a second annular member which are butt-connected; A first clamping block is provided on the inner wall of the first annular member, and a first groove is provided on the first clamping block; The inner wall of the second annular member is provided with a second clamping block opposite to the first clamping block, and the second clamping block is provided with a second groove opposite to the first groove; The first clamping block and the second clamping block are connected to form the connecting protrusion, and the first groove and the second groove are connected to form an assembly space for installing the damping ball.

5. The connection structure between the palm and the arm of the robot according to claim 1, characterized in that: There are two connecting protrusions, which are arranged opposite to each other.

6. The connection structure between the palm and the arm of the robot according to claim 1, characterized in that: The connecting column comprises a columnar body, a first ring plate sleeved and fixed on one end of the columnar body, and a second ring plate sleeved and fixed on the other end of the columnar body, and the spacing between the first ring plate and the second ring plate is adapted to the size of the connecting protrusion; The outer surface of the columnar body is provided with the pit, and the pit is located between the first ring plate and the second ring plate; The notch is located on the first ring plate.

7. The palm-arm connection structure of the robot according to claim 1, characterized in that: It also includes a mounting block arranged in the connecting protrusion, the mounting block is provided with a spherical embedding groove adapted to the damping ball, and the damping ball is freely rotatably arranged in the spherical embedding groove.

8. The connection structure between the palm and the arm of the robot according to claim 1, characterized in that: The dimension of the end of the connecting protrusion away from the connecting pipe is smaller than the dimension of the end of the connecting protrusion connected to the connecting pipe.

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