Robot joint structure

Abstract

The robot joint structure comprises a first adjusting mechanism, a second adjusting mechanism and an electric wire connecting mechanism, the first adjusting mechanism comprises a connecting frame, a center shaft, an adjusting rod, a hydraulic rod and a planetary gear, the center shaft is fixedly connected to the middle of the connecting frame, the adjusting rod is rotationally connected to the middle of the center shaft, and the hydraulic rod is fixedly connected to the adjusting rod. A hydraulic rod is rotationally arranged between the adjusting rod and the connecting frame, a planetary gear is rotationally connected into the connecting frame, and the planetary gear and a toothed belt are arranged in the connecting frame and the mechanical sleeve, so that the stability during rotation is conveniently improved; the hydraulic rod adjusts the extension and contraction length according to swinging of the adjusting rod, secondary limiting of the adjusting rod is facilitated, and the stability is improved.

Description

Technical Field

[0001] The utility model relates to a robot, in particular to a robot joint structure, and belongs to the technical field of robots. Background Art

[0002] In recent years, robotics has experienced rapid development in both industrial and civilian applications. Robotic joints are the basis of robot control. Therefore, a highly versatile method for measuring robot joint angles is essential.

[0003] According to a disclosed robot joint structure (authorization announcement number: CN114750135A), "a robot joint structure is described, including a mounting frame, an elastic bracket, a driving mechanism, a first arm, an adjusting arm, a second arm and an adjusting mechanism. The robot joint structure can convert rigid drive into flexible drive, thereby reducing the risk in the process of using the robot joint structure and improving the adaptability of human-computer interaction. In addition, by designing the adjustment mechanism, the length of the adjustable spacing L and the angle of the initial angle α can be adaptively changed. In this way, the wearer can adaptively adjust the initial angle α between the first arm and the second arm according to his or her habitual standing posture and the angle of his or her own knee extension. In this way, the robot joint mechanism can adapt to the knee joint extension of different wearers and has a wider range of applicability."

[0004] The existing robot joints rotate infinitely, which will cause the wires inside to be tightly entangled, and will eventually cause serious hidden dangers. The robot joints have poor stability, which can easily cause damage to the joints when overloaded. Therefore, a robot joint structure is proposed. Utility Model Content

[0005] In view of this, the present invention provides a robot joint structure to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0006] The technical solution of the embodiment of the utility model is achieved as follows: a robot joint structure includes a first adjustment mechanism, a second adjustment mechanism and a wire connection mechanism, the first adjustment mechanism includes a connecting frame, a central shaft, an adjustment rod, a hydraulic rod and a planetary gear, the central portion of the connecting frame is fixedly connected to the central shaft, the central portion of the central shaft is rotatably connected to the adjustment rod, a hydraulic rod is rotatably provided between the adjustment rod and the connecting frame, and the interior of the connecting frame is rotatably connected to the planetary gear;

[0007] The wire connecting mechanism includes a wire sleeve, a spring telescopic sleeve, a conductive ball, a conductive metal ring and an extension wire. One end of the wire sleeve is fixedly connected to the spring telescopic sleeve, one end of the spring telescopic sleeve is fixedly connected to the conductive ball, one end of the connecting frame is fixedly connected to the conductive metal ring, the outer wall of the conductive metal ring is slidably connected to the conductive ball, the rear side of the conductive metal ring is fixedly connected to the extension wire, and the outer wall of the extension wire passes through the interior of the connecting frame.

[0008] Further preferably, the first adjusting mechanism also includes a first reducer, a first progressive motor, a first transmission gear, a second transmission gear and a limit sleeve, the outer wall of the connecting frame is fixedly connected to the first reducer, the output end of the first reducer is fixedly connected to the middle part of the first transmission gear, and the outer wall of the first transmission gear is meshedly connected to the second transmission gear.

[0009] Further preferably, a limiting sleeve is fixedly connected to the inner middle portion of the connecting frame, and a first progressive motor is fixedly mounted on the outer wall of the first reducer.

[0010] Further preferably, the second adjustment mechanism includes a mechanical sleeve, a second reducer, a limit head, a toothed belt, a limit slot and a second progressive motor, the interior of the mechanical sleeve is fixedly connected to the second reducer, one end of the second reducer is fixedly installed with the second progressive motor, the output end of the second reducer is fixedly connected to the limit head, the interior of the mechanical sleeve is fixedly connected to the toothed belt, and a limit slot is provided at one end of the mechanical sleeve.

[0011] Further preferably, the interior of the limiting groove is slidably connected to the outer wall of the connecting frame, and one end of the mechanical sleeve is fixedly connected to the connecting frame.

[0012] Further preferably, the outer wall of the toothed belt is meshedly connected to the outer wall of the planetary gear, and the limiting head is sleeved inside the limiting groove.

[0013] Further preferably, the outer wall of the mechanical sleeve is fixedly connected to a wire sleeve.

[0014] Further preferably, the number of the hydraulic rods is two, and the two hydraulic rods are symmetrically arranged around the central axis.

[0015] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution:

[0016] 1. By providing a conductive metal ring and conductive balls at the connection between the connecting frame and the mechanical sleeve, it can prevent the robot joint from rotating infinitely, causing the wires inside to be tightly entangled and causing serious hidden dangers;

[0017] Second, planetary gears and toothed belts are provided inside the connecting frame and the mechanical sleeve to increase the stability during rotation. When the first progressive motor adjusts the rotation of the robotic arm, the hydraulic rod adjusts the extension and contraction length according to the swing of the adjusting rod, which facilitates the secondary limitation of the adjusting rod to improve stability.

[0018] The above summary is for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 It is a structural diagram of the entire utility model;

[0021] Figure 2 This is another structural diagram of the utility model as a whole from another angle;

[0022] Figure 3 This is a schematic diagram of the interior of the entire middle portion of the utility model;

[0023] Figure 4 This is a schematic diagram of the connecting frame of the utility model;

[0024] Figure 5 This is a schematic diagram of the mechanical sleeve of the utility model;

[0025] Figure 6 For this utility model Figure 3 A partial enlarged schematic diagram of point A in the middle.

[0026] Figure numerals: 1. First adjusting mechanism; 101. Connecting frame; 102. Central axis; 103. Adjusting rod; 104. First reducer; 105. First progressive motor; 106. First transmission gear; 107. Second transmission gear; 108. Hydraulic rod; 109. Limiting sleeve; 1010. Planetary gear; 2. Second adjusting mechanism; 201. Mechanical sleeve; 202. Second reducer; 203. Limiting head; 204. Toothed belt; 205. Limiting groove; 206. Second progressive motor; 3. Wire connecting mechanism; 301. Wire sleeve; 302. Spring expansion sleeve; 303. Conductive ball; 304. Conductive metal ring; 305. Extension wire. DETAILED DESCRIPTION

[0027] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0028] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0029] Example

[0030] like Figures 1-6 As shown, the embodiment of the present utility model provides a robot joint structure, including a first adjustment mechanism 1, a second adjustment mechanism 2 and a wire connection mechanism 3, the first adjustment mechanism 1 includes a connecting frame 101, a central shaft 102, an adjustment rod 103, a hydraulic rod 108 and a planetary gear 1010, the middle part of the connecting frame 101 is fixedly connected to the central shaft 102, the middle part of the central shaft 102 is rotatably connected to the adjustment rod 103, a hydraulic rod 108 is rotatably provided between the adjustment rod 103 and the connecting frame 101, and the interior of the connecting frame 101 is rotatably connected to the planetary gear 1010, when the first progressive motor 105 adjusts the rotation of the robotic arm, the hydraulic rod 108 adjusts the length of extension and contraction according to the swing of the adjustment rod 103, so as to facilitate the secondary limiting of the adjustment rod 103 to improve stability;

[0031] The wire connection mechanism 3 includes a wire sleeve 301, a spring expansion sleeve 302, a conductive ball 303, a conductive metal ring 304 and an extension wire 305. One end of the wire sleeve 301 is fixedly connected to the spring expansion sleeve 302, and one end of the spring expansion sleeve 302 is fixedly connected to the conductive ball 303. One end of the connecting frame 101 is fixedly connected to the conductive metal ring 304, and the outer wall of the conductive metal ring 304 is slidably connected to the conductive ball 303. The rear side of the conductive metal ring 304 is fixedly connected to the extension wire 305. The outer wall of the extension wire 305 passes through the interior of the connecting frame 101. The conductive metal ring 304 and the conductive ball 303 are provided at the connection between the connecting frame 101 and the mechanical sleeve 201 to prevent the robot joint from rotating infinitely, causing the wires inside to be tightly entangled, causing serious hidden dangers.

[0032] In one embodiment, specifically, the first adjusting mechanism 1 also includes a first reducer 104, a first progressive motor 105, a first transmission gear 106, a second transmission gear 107 and a limit sleeve 109. The outer wall of the connecting frame 101 is fixedly connected to the first reducer 104, the output end of the first reducer 104 is fixedly connected to the middle of the first transmission gear 106, and the outer wall of the first transmission gear 106 is meshed with the second transmission gear 107. By arranging planetary gears 1010 and toothed belts 204 inside the connecting frame 101 and the mechanical sleeve 201, it is convenient to increase stability during rotation.

[0033] In one embodiment, specifically, a limiting sleeve 109 is fixedly connected to the inner middle part of the connecting frame 101, and a first progressive motor 105 is fixedly installed on the outer wall of the first reducer 104, and the first progressive motor 105 is started to drive the first reducer 104 to rotate.

[0034] In one embodiment, specifically, the second adjustment mechanism 2 includes a mechanical sleeve 201, a second reducer 202, a limit head 203, a toothed belt 204, a limit slot 205 and a second progressive motor 206. The interior of the mechanical sleeve 201 is fixedly connected to the second reducer 202, one end of the second progressive motor 206 is fixedly installed, the output end of the second reducer 202 is fixedly connected to the limit head 203, the interior of the mechanical sleeve 201 is fixedly connected to the toothed belt 204, and one end of the mechanical sleeve 201 is provided with a limit slot 205. By fixing the entire device at the connection between the robot and the robotic arm, and starting the second progressive motor 206 to drive the second reducer 202 to rotate, the second reducer 202 drives the connecting frame 101 to rotate, thereby facilitating the adjustment of the rotation of the robotic arm.

[0035] In one embodiment, specifically, the interior of the limiting groove 205 is slidably connected to the outer wall of the connecting frame 101 , and one end of the mechanical sleeve 201 is fixedly connected to the connecting frame 101 .

[0036] In one embodiment, specifically, the outer wall of the toothed belt 204 is meshedly connected to the outer wall of the planetary gear 1010, and the limit head 203 is sleeved inside the limit groove 205, and the planetary gear 1010 and the toothed belt 204 are arranged inside the connecting frame 101 and the mechanical sleeve 201.

[0037] In one embodiment, specifically, the outer wall of the mechanical sleeve 201 is fixedly connected to the wired sleeve 301 .

[0038] In one embodiment, specifically, two hydraulic rods 108 are provided, and the two hydraulic rods 108 are symmetrically arranged around the central axis 102 .

[0039] When the present invention is working: by fixing the entire device at the connection between the robot and the mechanical arm, by starting the second progressive motor 206 to drive the second reducer 202 to rotate, the second reducer 202 drives the connecting frame 101 to rotate, so as to facilitate the adjustment of the rotation of the mechanical arm, and by starting the first progressive motor 105 to drive the first reducer 104 to rotate, the first reducer 104 drives the adjusting rod 103 to rotate along the central axis 102, so as to facilitate the adjustment of the up and down swing of the mechanical wall. When the first progressive motor 105 adjusts the rotation of the mechanical wall, the hydraulic rod 108 adjusts the extension and contraction length according to the swing of the adjusting rod 103, so as to facilitate the secondary limiting of the adjusting rod 103 to improve stability. By providing a conductive metal ring 304 and a conductive ball 303 at the connection between the connecting frame 101 and the mechanical sleeve 201, it is possible to prevent the robot joint from rotating infinitely, causing the wires inside to be tightly entangled, causing serious hidden dangers. By providing a planetary gear 1010 and a toothed belt 204 inside the connecting frame 101 and the mechanical sleeve 201, it is convenient to increase the stability during rotation.

[0040] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope of protection of the claims.

Claims

1. A robot joint structure, comprising a first adjustment mechanism (1), a second adjustment mechanism (2) and a wire connection mechanism (3), characterized in that: The first adjustment mechanism (1) comprises a connecting frame (101), a central shaft (102), an adjustment rod (103), a hydraulic rod (108) and a planetary gear (1010); the central shaft (102) is fixedly connected to the middle of the connecting frame (101); the adjustment rod (103) is rotatably connected to the middle of the central shaft (102); a hydraulic rod (108) is rotatably arranged between the adjustment rod (103) and the connecting frame (101); and the planetary gear (1010) is rotatably connected to the interior of the connecting frame (101); The wire connection mechanism (3) comprises a wire sleeve (301), a spring expansion sleeve (302), a conductive ball (303), a conductive metal ring (304) and an extension wire (305); one end of the wire sleeve (301) is fixedly connected to the spring expansion sleeve (302); one end of the spring expansion sleeve (302) is fixedly connected to the conductive ball (303); one end of the connection frame (101) is fixedly connected to the conductive metal ring (304); the outer wall of the conductive metal ring (304) is slidably connected to the conductive ball (303); the rear side of the conductive metal ring (304) is fixedly connected to the extension wire (305); and the outer wall of the extension wire (305) passes through the interior of the connection frame (101).

2. A robot joint structure according to claim 1, characterized in that: The first adjustment mechanism (1) further comprises a first reducer (104), a first stepping motor (105), a first transmission gear (106), a second transmission gear (107) and a limiting sleeve (109); the outer wall of the connecting frame (101) is fixedly connected to the first reducer (104); the output end of the first reducer (104) is fixedly connected to the middle part of the first transmission gear (106); and the outer wall of the first transmission gear (106) is meshingly connected to the second transmission gear (107).

3. A robot joint structure according to claim 2, characterized in that: A limiting sleeve (109) is fixedly connected to the middle portion of the inner side of the connecting frame (101), and a first stepping motor (105) is fixedly mounted on the outer wall of the first reducer (104).

4. A robot joint structure according to claim 1, characterized in that: The second adjustment mechanism (2) comprises a mechanical sleeve (201), a second reducer (202), a limit head (203), a toothed belt (204), a limit slot (205) and a second progressive motor (206); the interior of the mechanical sleeve (201) is fixedly connected to the second reducer (202); one end of the second reducer (202) is fixedly mounted with the second progressive motor (206); the output end of the second reducer (202) is fixedly connected to the limit head (203); the interior of the mechanical sleeve (201) is fixedly connected to the toothed belt (204); and one end of the mechanical sleeve (201) is provided with a limit slot (205).

5. A robot joint structure according to claim 4, characterized in that: The interior of the limiting groove (205) is slidably connected to the outer wall of the connecting frame (101), and one end of the mechanical sleeve (201) is fixedly connected to the connecting frame (101).

6. A robot joint structure according to claim 4, characterized in that: The outer wall of the toothed belt (204) is meshedly connected to the outer wall of the planetary gear (1010), and the limiting head (203) is sleeved inside the limiting groove (205).

7. A robot joint structure according to claim 4, characterized in that: The outer wall of the mechanical sleeve (201) is fixedly connected to a wire sleeve (301).

8. A robot joint structure according to claim 1, characterized in that: The number of the hydraulic rods (108) is two, and the two hydraulic rods (108) are symmetrically arranged around the central axis (102).

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