Robot joint arm connecting piece with radial compensation support

Abstract

The utility model discloses a robot joint arm connecting piece with a radial compensation support, which comprises a mounting joint, a rotating joint is mounted at one end of the mounting joint, a compensation mechanism is arranged on the inner side of the rotating joint, and the rotating joint is supported in the stress direction through the rotating state of the rotating joint. According to the robot joint arm connecting piece with the radial compensation support, when the contact wheel rotates to the upper end position of the joint of the rotating joint and the mounting joint, through contact supporting with the surface of the mounting joint, the joint of the rotating joint and the mounting joint can be supported under the large load, and therefore abrasion of the joint of the rotating joint and the mounting joint is reduced; the service life of the mechanical arm joint is prolonged, the contact wheel can be kept stable when making contact with the surface of the mounting joint in the mode that the contact wheel is hydraulically controlled to stretch out, and the contact wheel cannot cause reverse abrasion caused by excessive compensation of the connecting position of the mounting joint and the rotating joint in cooperation with control over the stretching-out length of the contact wheel.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a robot joint arm connecting piece provided with radial compensation supports. Background Art

[0002] The working range of industrial multi-joint robotic arms can be large or small, and different models have different working ranges and loads. It can place the end fixture of the robotic arm on a nearly unlimited number of planes at almost any angle. The robotic arm has a wide range of uses, such as painting, stamping, drilling, loading and unloading, tapping, spraying, cutting, picking and placing, material handling, packaging, assembly, etc. When the weight of the fixture carried by the robotic arm is heavy, the joints of the robotic arm will cause abnormal wear due to the increase in radial load, thereby reducing the service life of the robotic arm. Utility Model Content

[0003] The utility model aims to provide a robot articulated arm connecting piece provided with radial compensation support, so as to solve the problem of abnormal wear of the robot arm caused by radial load proposed in the above background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solution: a robot articulated arm connection part with radial compensation support, including a mounting joint, a rotating swivel joint is installed at one end of the mounting joint, an inner ring is arranged between the inner surface of the swivel joint and the outer surface of the mounting joint, and a compensation mechanism is arranged on the inner side of the swivel joint, so as to realize support for the swivel joint in the force direction through the rotation state of the swivel joint.

[0005] Preferably, the compensation mechanism includes: a pressure chamber, which is evenly opened on the inner surface of the rotary joint, and piston chambers are opened inside the rotary joint on both sides of the pressure chamber, the piston chamber and the pressure chamber are connected through a connecting pipe, and a pressure valve is fixedly installed inside the connecting pipe, a block is fixedly installed on the inner surface of the piston chamber, and a piston plate is installed inside the piston chamber, a piston rod is fixedly installed on the lower surface of the piston plate, and the lower end of the piston rod passes through the inner surface of the rotary joint, and a rotating contact wheel is installed on the lower end of the piston rod.

[0006] By adopting the above technical solution, the contact wheel can support the rotating joint by contacting with the surface of the mounting joint.

[0007] Preferably, the piston plate and the piston chamber are in sliding friction connection, and the stopper is located above the piston plate.

[0008] By adopting the above technical solution, the stopper can limit the sliding stroke of the piston plate.

[0009] Preferably, a timely pressure mechanism is installed on the outer surface of the swivel joint, and the direction of the support compensation is controlled by connecting the pressure increase and pressure decrease pipeline.

[0010] By adopting the above technical solution, the contact wheel located below will not contact the installation joint, which will increase the rotation resistance of the installation joint and the rotating joint.

[0011] Preferably, the timely pressure mechanism comprises: a mounting ring, which is embedded in the side surface of the rotating joint, and an injection pipe is provided on the inner surface of the mounting ring, and an external joint is fixedly installed on the outer surface of the mounting ring opposite to the injection pipe, and an injection hole is provided on the outer surface of the rotating joint opposite to the injection pipe, and the mounting ring is fixedly connected to the mounting joint through a fixing rod.

[0012] By adopting the above technical solution, the mounting ring can remain relatively still with the mounting joint.

[0013] Preferably, the mounting ring and the swivel joint are concentrically arranged, and the inner surface of the mounting ring fits with the outer surface of the swivel joint.

[0014] By adopting the above technical solution, the rotation of the swivel joint will not be blocked by the mounting ring.

[0015] Preferably, the injection pipe is symmetrically arranged on the inner surface of the mounting ring, and the injection hole passes through the inner surface of the pressure chamber.

[0016] By adopting the above technical solution, the injection hole can cooperate with the injection pipe to inject and extract oil.

[0017] Compared with the prior art, the utility model has the following beneficial effects: the robot articulated arm connecting piece provided with radial compensation support:

[0018] 1. When the contact wheel rotates to the upper end of the connection between the rotating joint and the mounting joint, it is supported by the contact with the surface of the mounting joint, so that the connection between the rotating joint and the mounting joint can be supported when the load is large, thereby reducing the wear of the connection between the rotating joint and the mounting joint and extending the service life of the joint of the robot arm;

[0019] 2. Furthermore, by hydraulically controlling the extension of the contact wheel, the contact wheel can remain stable when in contact with the surface of the mounting joint, and by controlling the extension length of the contact wheel, the contact wheel will not cause reverse wear caused by overcompensation at the connection between the mounting joint and the rotating joint;

[0020] 3. Furthermore, by distributing the position of the injection pipe and coordinating the upper and lower external joints to connect the pressure increasing and decreasing pipes respectively, the contact wheel can be extended and retracted in time to ensure that the rotation of the swivel joint is not restricted by the contact of the contact wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model;

[0022] Figure 2 This is a schematic diagram of the three-dimensional structure of the connection between the rotating joint and the contact wheel of the utility model;

[0023] Figure 3 This is a schematic diagram of the overall three-dimensional structure of the installation section of the utility model;

[0024] Figure 4 It is a three-dimensional structural schematic diagram of the cross-section surface connecting the installation joint and the rotation joint of the utility model;

[0025] Figure 5 This is a three-dimensional structural schematic diagram of the cross-section surface connecting the rotary joint and the pressure chamber of the utility model;

[0026] Figure 6 For this utility model Figure 4 Enlarged structural diagram at A in the middle.

[0027] In the figure: 1. mounting joint; 2. rotating joint; 3. inner ring; 4. pressure chamber; 5. piston chamber; 6. connecting pipe; 7. pressure valve; 8. stopper; 9. piston plate; 10. piston rod; 11. contact wheel; 12. mounting ring; 13. injection pipe; 14. external joint; 15. injection hole; 16. fixing rod. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] See also Figure 1-6 The utility model provides a technical solution: a robot joint arm connector with radial compensation support, including a mounting section 1, a rotating swivel section 2 is mounted on one end of the mounting section 1, an inner ring 3 is arranged between the inner surface of the swivel section 2 and the outer surface of the mounting section 1, and a compensation mechanism is arranged on the inner side of the swivel section 2, and support for the swivel section 2 in the force direction is achieved through the rotation state of the swivel section 2;

[0030] The compensation mechanism includes: a pressure chamber 4, which is evenly arranged on the inner surface of the rotary joint 2, and piston chambers 5 are arranged inside the rotary joint 2 on both sides of the pressure chamber 4, the piston chamber 5 is connected to the pressure chamber 4 through a connecting pipe 6, and a pressure valve 7 is fixedly installed inside the connecting pipe 6, a stopper 8 is fixedly arranged on the inner surface of the piston chamber 5, and a piston plate 9 is arranged inside the piston chamber 5, a piston rod 10 is fixedly arranged on the lower surface of the piston plate 9, and the lower end of the piston rod 10 passes through the inner surface of the rotary joint 2, and a rotating contact wheel 11 is installed at the lower end of the piston rod 10, the piston plate 9 and the piston chamber 5 are in sliding friction connection, and the stopper 8 is located above the piston plate 9;

[0031] When the rotating joint 2 is driven by the motor to rotate relative to the mounting joint 1, the inner ring 3 assists the rotation of the connection between the mounting joint 1 and the rotating joint 2. During the process, when the pressure chamber 4 rotates to the top of the cross section of the rotating joint 2, hydraulic oil is injected. At this time, the internal pressure of the pressure chamber 4 increases, causing the hydraulic oil to enter the piston chamber 5 through the connecting pipe 6 and the pressure valve 7 to push the piston plate 9, the piston rod 10 and the contact wheel 11 to extend outward from the rotating joint 2 until the piston plate 9 can no longer slide. At this time, the contact wheel 11 just contacts the outer surface of the mounting joint 1 to support the rotating joint 2, so that the rotating joint 2 will not deflect downward under the action of the radial load and cause abnormal wear.

[0032] A timely pressure mechanism is installed on the outer surface of the rotating joint 2, and the direction of the support compensation is controlled by connecting the pressure increase and decrease pressure pipeline. The timely pressure mechanism includes: a mounting ring 12, the mounting ring 12 is embedded and installed inside the side surface of the rotating joint 2, and an injection pipe 13 is provided on the inner surface of the mounting ring 12, and an external joint 14 is fixedly installed on the outer surface of the mounting ring 12 facing the injection pipe 13, and an injection hole 15 is provided on the outer surface of the rotating joint 2 facing the injection pipe 13, the mounting ring 12 is fixedly connected to the mounting joint 1 through a fixing rod 16, the mounting ring 12 and the rotating joint 2 are concentrically arranged, and the inner surface of the mounting ring 12 is in contact with the outer surface of the rotating joint 2, the injection pipe 13 is symmetrically arranged on the inner surface of the mounting ring 12, and the injection hole 15 passes through the inner surface of the pressure chamber 4;

[0033] When the pressure valve 7 rotates to the upper external joint 14, the external joint 14 injects hydraulic oil into the injection hole 15 through the injection pipe 13, and when the pressure valve 7 rotates to the lower external joint 14, the external joint 14 draws out hydraulic oil through the injection pipe 13 and the injection hole 15, so that the piston plate 9 can achieve reciprocating sliding support and contact support, when the piston plate 9 slides into the piston chamber 5, it will be blocked by the block 8 to prevent excessive sliding, and the mounting ring 12 remains stationary with the mounting section 1 through the fixing rod 16 to prevent the pipeline connected to the external joint 14 from twisting.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot articulated arm connecting member provided with radial compensation support, comprising a mounting section (1), one end of which is provided with a rotatable rotating section (2), an inner ring (3) being provided between the inner surface of the rotating section (2) and the outer surface of the mounting section (1), characterized in that: A compensation mechanism is provided on the inner side of the rotating joint (2), and support for the rotating joint (2) in the force direction is achieved through the rotating state of the rotating joint (2).

2. The robot articulated arm connection member with radial compensation support according to claim 1, characterized in that: The compensation mechanism comprises: a pressure chamber (4), the pressure chamber (4) being evenly arranged on the inner surface of the rotary joint (2), and piston chambers (5) being arranged inside the rotary joint (2) on both sides of the pressure chamber (4), the piston chamber (5) being connected to the pressure chamber (4) via a connecting pipe (6), and a pressure valve (7) being fixedly installed inside the connecting pipe (6), a stopper (8) being fixedly arranged on the inner surface of the piston chamber (5), and a piston plate (9) being arranged inside the piston chamber (5), a piston rod (10) being fixedly arranged on the lower surface of the piston plate (9), and the lower end of the piston rod (10) passing through the inner surface of the rotary joint (2), and a rotating contact wheel (11) being installed on the lower end of the piston rod (10).

3. The robot articulated arm connection member with radial compensation support according to claim 2, characterized in that: The piston plate (9) and the piston chamber (5) are connected by sliding friction, and the stopper (8) is located above the piston plate (9).

4. The robot articulated arm connection member with radial compensation support according to claim 1, characterized in that: The outer surface of the rotary joint (2) is provided with a timely pressure mechanism, which controls the direction of support compensation by connecting a pressure increase or decrease pressure pipeline.

5. The robot articulated arm connection member with radial compensation support according to claim 4, characterized in that: The timely pressure mechanism comprises: a mounting ring (12), the mounting ring (12) being embedded and mounted inside the side surface of the rotating joint (2), an injection pipe (13) being provided on the inner side surface of the mounting ring (12), an outer joint (14) being fixedly mounted on the outer side surface of the mounting ring (12) facing the injection pipe (13), an injection hole (15) being provided on the outer side surface of the rotating joint (2) facing the injection pipe (13), and the mounting ring (12) being fixedly connected to the mounting joint (1) via a fixing rod (16).

6. The robot articulated arm connection member with radial compensation support according to claim 5, characterized in that: The mounting ring (12) and the rotating joint (2) are arranged concentrically, and the inner surface of the mounting ring (12) fits the outer surface of the rotating joint (2).

7. The robot articulated arm connection member with radial compensation support according to claim 5, characterized in that: The injection pipe (13) is symmetrically arranged on the inner surface of the mounting ring (12), and the injection hole (15) penetrates the inner surface of the pressure chamber (4).

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