Waterproof robot joint

Abstract

This invention provides a waterproof robot joint, relating to the field of robot joint technology. It includes a main joint and a secondary joint. One end of the main joint is connected to a first motor via a transmission box, and the other end of the main joint is provided with a mounting box containing a second motor. One end of the secondary joint is equipped with a connecting seat, which is connected to the second motor. A waterproof protective component is provided at the connection point between the connecting seat and the second motor. When pressure is applied, multiple main air reservoirs are compressed, and the gas inside the main air reservoirs is then transferred to an annular air reservoir through a connecting channel, thereby expanding the airbag. The expanded airbag seals tightly against the inner wall of the irregularly shaped groove. The polygonal design of the irregularly shaped groove improves the sealing effect, thus enabling this invention not only to protect the joint drive components but also to adaptively adjust the sealing strength according to the pressure.

Description

Technical Field

[0001] This invention relates to the field of robot joint technology, and more specifically, to a waterproof robot joint. Background Technology

[0002] Robotic joints, also known as articulated robotic arms or multi-joint robots, involve rotational movements of each joint. Articulated robots are suitable for automated mechanical operations in many industrial fields. For example, application number CN202221302134.5 describes a hollow RV reducer robot joint module, comprising a joint output shaft, a hollow RV reducer, a joint input shaft, a joint motor, a joint housing, a first bearing seat, an inner ring encoder, a joint sealing cover, a driver fixing plate, a second bearing seat, an outer ring encoder, and a power-off brake. This utility model's hollow RV reducer robot joint module is made of lightweight aluminum alloy, reducing the weight of the joint module. The joint housing has a multi-stage internal stepped structure, enabling positioning of multiple components on the axes. The aforementioned utility model employs a dual inner and outer ring encoder design, allowing for better control of the robot joint module. Robotic joints are also used in marine inspections to reduce the workload of personnel and ensure their safety during operations. However, existing robotic joints in marine inspections lack additional waterproof structures, which leads to damage to the drive joints during long-term operation in the marine environment, requiring frequent maintenance. Furthermore, the pressure changes in the marine environment can cause simple sealing structures to leak. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a waterproof robot joint that solves the problem that existing robot joints cannot adaptively adjust the sealing strength according to different sea pressures.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A waterproof robot joint includes a main joint and a secondary joint. One end of the main joint is connected to a first motor via a transmission box, and the other end of the main joint is provided with a mounting box. A second motor is installed inside the mounting box. One end of the secondary joint is equipped with a connecting seat, which is connected to the second motor. A waterproof protective component is provided at the connection between the connecting seat and the second motor. Connecting components for installing the protective component are respectively provided on the opposite sides of the mounting box and the connecting seat.

[0005] Preferably, the mounting box is provided with a mounting slot, a second motor is installed inside the mounting slot, a drive shaft is fixedly installed at the output end of the second motor, and one end of the drive shaft is combined with a connecting seat.

[0006] Preferably, the connecting component includes a main board with a through hole in the middle of the main board, an extension ring fixedly installed on one side of the main board, and an insertion port on one side of the main board and located on the outer periphery of the extension ring.

[0007] Preferably, the inner wall of the extension ring is provided with a shaped groove, the insertion port is provided with a sealing and fixing groove, and a plurality of pressure frames are provided inside the sealing and fixing groove for limiting and sliding.

[0008] Preferably, each of the pressing frames is hollow inside, and a connecting rod is connected between every two adjacent pressing frames, with each connecting rod inserted through the corresponding pressing frame.

[0009] Preferably, a threaded hole is provided through the top of the main board of the component, the inside of the threaded hole is connected to the sealing and fixing groove, a lead screw is threaded inside the threaded hole, the lower end of the lead screw is rotatably connected to the uppermost pressure frame, a knob is fixedly installed on the upper end of the lead screw, and a sealing ring is fixedly installed on the lower surface of the knob, the sealing ring is sealed and engaged with the threaded hole.

[0010] Preferably, the protective component includes a protective soft cover, the protective soft cover having a combination hole in the middle, a limit cylinder being provided inside the combination hole, and the limit cylinder being disposed on the outer periphery of the drive shaft.

[0011] Preferably, the protective soft cover has sealing edges at both ends, which are inserted into the insertion port. Expanded airbags are fixedly installed on both sides of the protective soft cover. Engaging grooves are opened on both sides of the protective soft cover near the expanded airbags, and the engaging grooves are sealed to the extension ring.

[0012] Preferably, the expanded airbag has an annular air storage groove inside, and the protective soft cover has several main air storage grooves in the middle. Each main air storage groove and the annular air storage groove are connected by a connecting channel. The expanded airbag is sealed and fitted to the inner wall of the groove.

[0013] Preferably, the inner wall of the combined hole is provided with a plurality of connecting grooves, and a connecting rod is movably arranged inside each connecting groove. One end of each connecting rod is connected to a limiting cylinder, and the other end of each connecting rod is connected to a connecting spring on the inner wall of the connecting groove. The inner wall of the limiting cylinder is provided with several sliding grooves, and ball bearings are slidably arranged inside the sliding grooves, with each ball bearing fitting against the drive shaft.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. To enable waterproof operation of the protective components, sealing edges and expansion airbags are provided on the inner and outer rings at both ends of the protective soft cover to achieve multi-layer protection. The sealing edges play a primary role in fixing and assist in sealing, while the expansion airbags have a ring design, which can provide the main sealing treatment at the connection between the two ends, thereby achieving the waterproof function. In order to achieve protection, when pressure is encountered, multiple main air storage tanks are compressed, and then the gas inside the main air storage tanks is transferred to the annular air storage tank through the connecting channel, thereby expanding the expansion airbags. The expansion airbags will seal against the inner wall of the irregular groove. The polygonal design of the irregular grooves improves the sealing effect. Thus, this application can not only protect the joint drive parts, but also achieve adaptive adjustment of the sealing strength according to the pressure. Compared with the prior art, which cannot withstand the pressure of the seabed in the marine environment, this application not only adjusts the sealing strength through the pressure of the seabed, but also buffers the pressure of the seabed to a certain extent.

[0015] 2. In order to avoid the protective soft cover from interfering with the drive shaft during driving, this application uses a limiting cylinder inside the protective soft cover and provides ball bearings on the inner wall of the limiting cylinder. This avoids the problem of additional friction caused by the drive shaft contacting the protective soft cover during driving, so that the driving efficiency of this application will not be affected. In addition, the limiting cylinder is connected to the connecting rod by a connecting spring, so that the position of the limiting cylinder is limited to a certain extent, and the excessive change in the position angle of the limiting cylinder will interfere with the drive shaft. To install the protective assembly, the sealing edge is inserted into the insertion port and extends into the sealing groove. The sealing edge is then clamped and secured using a clamping frame, achieving a soft fixation of the protective assembly's position. To control the clamping frame's fixation of the sealing edge, rotating a knob engages a lead screw with a threaded hole. The lead screw rotates within the clamping frame, causing it to move. To ensure multi-sided fixation of the sealing edge, connecting rods connect between every two adjacent clamping frames, enabling synchronous control of multiple clamping frames and ensuring the stability of the protective assembly after installation. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a top view of the structure of the present invention; Figure 3 yes Figure 2 Schematic diagram of the three-dimensional cross-section at point AA; Figure 4 yes Figure 3 Enlarged structural diagram at point a; Figure 5 This is a schematic diagram of the connection structure of the present invention; Figure 6 This is a three-dimensional structural diagram of the connecting components; Figure 7 This is a top view of the connecting components. Figure 8 yes Figure 7 Schematic diagram of the three-dimensional cross-section at point BB; Figure 9 yes Figure 7 Schematic diagram of the three-dimensional structure of the cross-section at the CC point; Figure 10 yes Figure 9 Enlarged structural diagram at point b; Figure 11 This is a three-dimensional structural diagram of the protective components; Figure 12 This is a top view of the protective components. Figure 13 yes Figure 12 Schematic diagram of the three-dimensional cross-section at point DD; Figure 14 yes Figure 12 Schematic diagram of the three-dimensional cross-section of the EE section; Figure 15 yes Figure 14 Enlarged structural diagram at point c; Figure 16 yes Figure 14 Enlarged structural diagram at point d.

[0017] In the diagram: 1. Transmission box; 2. First motor; 3. Main joint; 4. Secondary joint; 5. Mounting box; 501. Mounting slot; 502. Second motor; 503. Drive shaft; 6. Connecting seat; 7. Connecting assembly; 701. Assembly main board; 7011. Insertion port; 7012. Sealing and fixing slot; 702. Extension ring; 7021. Irregular groove; 703. Knob; 7031. Lead screw; 7032. Threaded hole; 7033. Sealing ring; 704. 705. Through hole; 7051. Pressure frame; 7052. Connecting rod; 8. Protective component; 801. Protective soft cover; 8011. Sealing edge; 8012. Expanding airbag; 8013. Connecting channel; 8014. Main air reservoir; 8015. Engaging groove; 8016. Annular air reservoir; 802. Limiting cylinder; 8021. Slide groove; 8022. Ball bearing; 8023. Connecting rod; 8024. Connecting spring; 803. Combination hole; 804. Connecting groove. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figures 1 to 16 As shown, a waterproof robot joint includes a main joint 3 and a secondary joint 4. One end of the main joint 3 is connected to a first motor 2 via a transmission box 1, and the other end of the main joint 3 is provided with a mounting box 5. A second motor 502 is installed inside the mounting box 5. A connecting seat 6 is installed at one end of the secondary joint 4. The connecting seat 6 is connected to the second motor 502, and a waterproof protective component 8 is provided at the connection between the connecting seat 6 and the second motor 502. Connecting components 7 for installing the protective component 8 are respectively provided on the opposite sides of the mounting box 5 and the connecting seat 6.

[0020] In this embodiment, a mounting slot 501 is provided inside the mounting box 5. A second motor 502 is installed inside the mounting slot 501. A drive shaft 503 is fixedly installed at the output end of the second motor 502. One end of the drive shaft 503 is combined with the connecting seat 6. By starting the first motor 2, the main joint 3 can swing to a certain extent. By starting the second motor 502, the drive shaft 503 can be rotated. By utilizing the combination of the drive shaft 503 and the connecting seat 6, the secondary joint 4 can also swing to a certain extent, thereby improving the range of motion of the robot joints in this application.

[0021] It should be noted that the connecting component 7 includes a component motherboard 701, a through hole 704 is provided in the middle of the component motherboard 701, an extension ring 702 is fixedly installed on one side of the component motherboard 701, and an insertion port 7011 is provided on one side of the surface of the component motherboard 701 and on the outer periphery of the extension ring 702. The inner wall of the extension ring 702 has a shaped groove 7021, and the insertion port 7011 has a sealing and fixing groove 7012. Several pressure frames 705 are slidably arranged inside the sealing and fixing groove 7012 for limiting. In order to install the protective component 8, the sealing edge 8011 is inserted into the insertion port 7011 and extends into the sealing and fixing groove 7012. Then, the pressure frames 705 are used to fix and clamp the sealing edge 8011, thereby achieving soft fixation of the protective component 8 in position.

[0022] In the specific setup, each holding frame 705 is hollow inside, and a connecting rod 7051 is connected between the interiors of every two adjacent holding frames 705. Each connecting rod 7051 is inserted into the interior of the corresponding holding frame 705. A threaded hole 7032 is provided through the top of the main board 701. The inside of the threaded hole 7032 is connected to the sealing and fixing groove 7012. A lead screw 7031 is threaded inside the threaded hole 7032. The lower end of the lead screw 7031 is rotatably connected to the uppermost pressure frame 705. A knob 703 is fixedly installed on the upper end of the lead screw 7031. A sealing ring 7033 is fixedly installed on the lower surface of the knob 703. The sealing ring 7033 is sealed and fitted with the threaded hole 7032. In order to control the fixing of the pressure frame 705 to the sealing edge 8011, the knob 703 is rotated to drive the lead screw 7031 to engage with the threaded hole 7032. The lead screw 7031 is rotatably connected to the pressure frame 705, thereby causing the pressure frame 705 to move. In order to ensure the multi-sided fixing of the sealing edge 8011, a connecting rod 7051 is connected between every two adjacent pressure frames 705 to achieve synchronous control of multiple pressure frames 705, thus ensuring the stability of the protective assembly 8 after installation.

[0023] It is understood that in this application, the protective component 8 includes a protective soft cover 801, a combination hole 803 is provided in the middle of the protective soft cover 801, a limit cylinder 802 is provided inside the combination hole 803, and the limit cylinder 802 is provided on the outer periphery of the drive shaft 503. The protective soft cover 801 has sealing edges 8011 at both ends, and the sealing edges 8011 at both ends are inserted into the insertion port 7011 respectively. The protective soft cover 801 has expansion airbags 8012 fixedly installed on both sides of the protective soft cover 801. The protective soft cover 801 has locking grooves 8015 on both sides of the protective soft cover 801 and near the expansion airbags 8012. The locking grooves 8015 are sealed to the extension ring 702. The expandable airbag 8012 has an annular air storage groove 8016 inside, and the protective soft cover 801 has several main air storage grooves 8014 in the middle. Each main air storage groove 8014 and the annular air storage groove 8016 are connected by a connecting channel 8013. The expandable airbag 8012 is sealed to the inner wall of the irregular groove 7021. In order to enable the protective component 8 to be waterproof, sealing edges 8011 and expandable airbags 8012 are provided on the inner and outer rings at both ends of the protective soft cover 801 to achieve multi-layer protection. The sealing edges 8011 play the main fixing role and assist in sealing, while the expandable airbag 8012 has an annular design, which can provide the main sealing treatment at the connection of the two ends, thereby achieving the waterproof function. In order to achieve protection, when pressure is encountered, the multiple main air storage grooves 8014 are compressed, and then the gas inside the main air storage grooves 8014 is transferred through the connecting channel 8013. The air is moved into the annular air storage tank 8016, thereby expanding the airbag 8012. The airbag 8012 will seal against the inner wall of the shaped groove 7021. The polygonal arrangement of the shaped groove 7021 improves the sealing effect. This application can not only protect the joint drive part, but also achieve adaptive adjustment of the sealing strength according to the pressure. Compared with the prior art, which cannot withstand the pressure of the seabed in the marine environment, this application can not only adjust the sealing strength by the pressure of the seabed, but also buffer the pressure of the seabed to a certain extent.

[0024] The inner wall of the combination hole 803 is provided with several connecting grooves 804. Each connecting groove 804 is movably provided with a connecting rod 8023. One end of each connecting rod 8023 is connected to the limiting cylinder 802, and the other end of each connecting rod 8023 is connected to the inner wall of the connecting groove 804 with a connecting spring 8024. The inner wall of the limiting cylinder 802 is provided with several sliding grooves 8021, and ball bearings 8022 are slidably arranged inside the sliding grooves 8021. Each ball bearing 8022 is in contact with the drive shaft 503. In order to avoid the protective soft cover 801 interfering with the drive shaft 503 during driving, the limiting cylinder 802 is provided inside the protective soft cover 801, and the ball bearings 8022 are provided on the inner wall of the limiting cylinder 802. This avoids the problem of additional friction caused by the drive shaft 503 contacting the protective soft cover 801 during driving, so that the driving efficiency of this application is not affected. It is also connected to the connecting rod 8023 by a connecting spring 8024, so that the position of the limiting cylinder 802 is limited to a certain extent, and the excessive change in the position angle of the limiting cylinder 802 will not interfere with the drive shaft 503.

[0025] The working principle of a waterproof robot joint: During assembly, firstly, the knob 703 is rotated to engage the lead screw 7031 and the threaded hole 7032. The bottom of the lead screw 7031 is rotatably connected to the holding frame 705, causing the holding frame 705 to move up and down inside the sealing and fixing groove 7012. Then, through the connection of the connecting rod 7051, multiple holding frames 705 are moved, reserving space inside the sealing and fixing groove 7012. Next, the sealing edge 8011 in the protective soft cover 801 is inserted into the insertion port 7011 and extends into the sealing and fixing groove 7012. Then, the knob 703 is rotated in the opposite direction, and the multiple holding frames 705 are moved inward through the above transmission, causing the holding frames 705 to clamp the sealing edge 8011. After clamping, the sealing ring 7033 is sealed and fitted with the threaded hole 7032, achieving sealing treatment of the drive part. After the sealing edge 8011 is clamped, the installation of the protective component 8 is completed. When the sealing edge 8011 is inserted, the shaft of the drive shaft 503 passes through the limiting cylinder 802 and the through hole 704 and connects with the connecting seat 6, thereby completing the connection of the joint. When using the joint of this application, multi-angle movement can be achieved by activating the first motor 2 and the second motor 502. Since this application is used for marine detection, when it extends into the seawater, the pressure in the seawater will cause compression at the joint connection of this application. In order to avoid damage to this application, multiple main air storage tanks 8014 are provided to store gas. When pressure is applied, the gas will be transferred through the connecting channel 8013 to the extended airbags 8012 on both sides, thereby buffering the current pressure. Furthermore, this application causes an impact on the waterproof seal under marine pressure. In order to ensure that this application can be stably waterproof in the marine environment, when under pressure, the gas will be transferred through the connecting channel 8013 to the expansion airbags 8012 on both sides, thereby causing the expansion airbags 8012 on both sides to expand. In conjunction with the irregular groove 7021 provided in the extension ring 702, the expansion airbag 8012 will fit the shape of the irregular groove 7021, so as to achieve a higher strength of sealing treatment. This ensures that the robot joints will not be easily damaged due to the inability to perform waterproof operation when the application is driven. In order to avoid external pressure and friction during transmission due to the expansion airbag 8012 during robot joint adjustment, this application provides a limiting cylinder 802 in the combination hole 803 and provides ball bearings 8022 between the inner wall of the limiting cylinder 802 and the drive shaft 503, so that the drive shaft 503 will not experience additional friction during driving and ensure driving stability. In order to ensure the stability of the limiting cylinder 802, this application connects the connecting groove 804 and the limiting cylinder 802 with a connecting rod 8023. With the support of the connecting spring 8024, the limiting cylinder 802 will not tilt at an angle, thereby ensuring that the limiting cylinder 802 can improve the driving stability of the drive shaft 503.

[0026] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A waterproof robot joint comprising a main joint (3) and a sub joint (4), characterized in that: One end of the main joint (3) is connected to the first motor (2) through the transmission box (1), and the other end of the main joint (3) is provided with a mounting box (5). The mounting box (5) is provided with a second motor (502). One end of the sub-joint (4) is provided with a connecting seat (6). The connecting seat (6) is connected to the second motor (502), and a waterproof protective component (8) is provided at the connection between the connecting seat (6) and the second motor (502). The mounting box (5) and the connecting seat (6) are respectively provided with connecting components (7) for installing the protective component (8) on opposite sides. The mounting box (5) is provided with a mounting slot (501), and a second motor (502) is installed inside the mounting slot (501). A drive shaft (503) is fixedly installed at the output end of the second motor (502), and one end of the drive shaft (503) is combined with the connecting seat (6). The connecting component (7) includes a component main board (701), a through hole (704) is provided in the middle of the component main board (701), an extension ring (702) is fixedly installed on one side of the component main board (701), and an insertion port (7011) is provided on one side of the surface of the component main board (701) and on the outer periphery of the extension ring (702). The protective component (8) includes a protective soft cover (801), a combination hole (803) is provided in the middle of the protective soft cover (801), a limiting cylinder (802) is provided inside the combination hole (803), and the limiting cylinder (802) is provided on the outer periphery of the drive shaft (503); The protective soft cover (801) has sealing edges (8011) at both ends, and the sealing edges (8011) at both ends are respectively inserted into the insertion port (7011). The protective soft cover (801) has expansion airbags (8012) fixedly installed on both sides. The protective soft cover (801) has locking grooves (8015) on both sides and near the expansion airbags (8012). The locking grooves (8015) are sealed to the extension ring (702).

2. A waterproof robot joint according to claim 1, characterized in that: The inner wall of the extension ring (702) is provided with a shaped groove (7021), and the inside of the insertion port (7011) is provided with a sealing and fixing groove (7012). Several pressure frames (705) are provided inside the sealing and fixing groove (7012) for limiting and sliding.

3. A watertight robot joint according to claim 2, characterized in that: Each of the pressing frames (705) is hollow inside, and a connecting rod (7051) is connected between the interiors of every two adjacent pressing frames (705). Each connecting rod (7051) is inserted into the interior of the corresponding pressing frame (705).

4. A watertight robot joint according to claim 3, characterized in that: A threaded hole (7032) is provided through the top of the main board (701) of the component. The inside of the threaded hole (7032) is connected to the sealing and fixing groove (7012). A lead screw (7031) is threaded inside the threaded hole (7032). The lower end of the lead screw (7031) is rotatably connected to the uppermost pressure frame (705). A knob (703) is fixedly installed on the upper end of the lead screw (7031). A sealing ring (7033) is fixedly installed on the lower surface of the knob (703). The sealing ring (7033) is sealed and fitted with the threaded hole (7032).

5. The waterproof robot joint of claim 2, wherein: The extended airbag (8012) is provided with an annular air storage groove (8016) inside. The protective soft cover (801) has several main air storage grooves (8014) in the middle. Each main air storage groove (8014) and the annular air storage groove (8016) are connected by a connecting channel (8013). The extended airbag (8012) is sealed and fitted to the inner wall of the irregular groove (7021).

6. A watertight robot joint according to claim 5, characterized in that: The inner wall of the combined hole (803) is provided with a plurality of connecting grooves (804), and a connecting rod (8023) is movably arranged inside each connecting groove (804). One end of each connecting rod (8023) is connected to the limiting cylinder (802), and the other end of each connecting rod (8023) is connected to the inner wall of the connecting groove (804) with a connecting spring (8024). The inner wall of the limiting cylinder (802) is provided with a plurality of sliding grooves (8021), and ball bearings (8022) are slidably arranged inside the sliding grooves (8021), and each ball bearing (8022) is in contact with the drive shaft (503).

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