Double-bearing robot joint structure

Abstract

The utility model provides a double-bearing robot joint structure which comprises a first joint, a first bearing seat is installed at the top of the first joint, a second joint is arranged at the top of the first joint, a second bearing seat is installed at the end, facing the first joint, of the second joint, and the first bearing seat and the second bearing seat are installed in a combined mode. Storage is facilitated through a storage groove, a first insertion rod and a second insertion rod are guided and limited, a certain buffering effect is provided for vertical rotation of a second joint through a spring, and compared with the prior art, connection of a triangular block and penetrating-out of the first insertion rod and the second insertion rod can be achieved through meshing transmission of a gear and a toothed plate when the second joint rotates along a second bearing seat, so that a certain buffering effect is achieved. And the second inserting rod assists the rotation of the second joint to jack up the second joint, so that the pressure borne by the second bearing seat is reduced while the bottom of the second joint is supported, and the service life of the device is prolonged.

Description

Technical Field

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

[0002] At present, in the field of robot joint design, there are generally difficulties such as difficulty in improving motion accuracy and limited robot life. Most Japanese companies use very expensive RV reducers as a means to deal with related problems, because RV reducers have good rigidity, strong impact resistance, stable transmission, high precision, and are suitable for medium and heavy load applications. However, RV reducers need to transmit large torque and withstand large overload shocks to ensure the expected working life. Therefore, a relatively complex over-positioning structure is used in the design, and the manufacturing process requirements are high and cost control is difficult. In my country, RV reducers are relatively more expensive, and localization requires great efforts to tackle and accumulate materials, heat treatment, processes and other technologies. At present, domestic development of robots is mainly for small and medium-sized robots, and small and medium-sized robots usually use relatively cheap harmonic reducers in their forearms, wrists or hands. However, as the use time increases, the motion accuracy of harmonic reducers will be significantly reduced, which will greatly affect the use of robot joints, resulting in problems such as short service life and high replacement rate of robot joints.

[0003] Patent CN208930298U proposes a dual-bearing robot joint structure, in which a bearing is added between the cylinders connecting the two robot joints. This bearing is coaxial with the reducer to form a dual-bearing structure with the reducer, thereby effectively improving the robot's motion accuracy, enhancing the robot's running stability, and greatly extending the service life of the robot joints.

[0004] Although the above scheme increases the service life by adding bearings, each joint relies on the bearings for rotation, which will cause greater wear and pressure at the rotating position of the bearings, and cannot achieve a good efficiency in reducing wear. Utility Model Content

[0005] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a dual-bearing robot joint structure to solve the problems raised in the above-mentioned background technology. The utility model has a novel structure. The connection of the triangular block and the insertion of the first plug rod and the second plug rod can enable the meshing transmission of the gear tooth plate when the second joint rotates along the second bearing seat, so that the second plug rod assists the rotation of the second joint and lifts the second joint upward, thereby supporting the bottom of the second joint while reducing the pressure on the second bearing seat and increasing the service life of the device.

[0006] In order to achieve the above-mentioned purpose, the utility model is implemented through the following technical scheme: a dual-bearing robot joint structure, including a first joint, a first bearing seat is installed on the top of the first joint, a second joint is provided on the top of the first joint, and a second bearing seat is installed on one end of the second joint facing the first joint, the first bearing seat and the second bearing seat are installed in combination, a connecting component is provided between the first joint and the second joint, and the connecting component includes a triangular block, a second plug rod is slidably inserted in the vertical surface of the triangular block, a first plug rod is slidably inserted in the horizontal surface of the triangular block, and the first plug rod and the second plug rod are respectively connected to the first joint and the second joint, shaft rods are provided at both ends of the second bearing seat, and the triangular block is connected to the shaft rods on both sides of the second bearing seat in a transmission connection.

[0007] Furthermore, telescopic plates are installed on both sides of the second bearing seat, and the extended ends of the telescopic plates are rotatably installed on the outer surface of the triangular block through a rotating shaft.

[0008] Furthermore, the connecting assembly also includes a receiving groove, and a receiving groove is opened inside the triangular block at positions corresponding to the first plug rod and the second plug rod. A spring is fixed to the inner wall of the bottom of the receiving groove, and the other end of the spring is fixedly connected to the first plug rod and the second plug rod.

[0009] Furthermore, the triangular block is provided with movable notches on the outer surfaces on both sides of the two receiving grooves.

[0010] Furthermore, a tooth plate is slidably connected to the outer side of the movable notch, and the tooth plate passes through the movable notch and is connected to the corresponding first plug rod or the second plug rod.

[0011] Furthermore, gears are provided on one side of the triangular block corresponding to the vertical tooth plate and at the rotation connection between the telescopic plate and the triangular block, and the gears are meshed and connected with the corresponding horizontal and vertical tooth plates.

[0012] Furthermore, transmission belts are installed on the outer surfaces of the two gears.

[0013] Furthermore, the first plug rod and the second plug rod are both provided with a ring at the outer end, the ring of the first plug rod is rotatably sleeved on the first joint, and the second plug rod is rotatably connected to the ring through a rotating shaft, and the ring of the second plug rod slides along the second joint surface.

[0014] Beneficial effects of the utility model: A dual-bearing robot joint structure of the utility model comprises a first joint; a first bearing seat; a second joint; a second bearing seat; a telescopic plate; a connecting assembly; a triangular block; a first plug rod; a second plug rod; a collar; a moving notch; a toothed plate; a gear; a transmission belt; a storage groove; a spring;

[0015] 1. The utility model uses the collar of the second plug rod. When the telescopic plate drives the triangular block to move and the gear and the toothed plate cooperate in transmission, the second plug rod extends, the collar slides along the surface of the second joint, and the second plug rod assists in lifting the second joint to reduce the pressure on the second bearing seat.

[0016] 2. The utility model separates the first plug rod from the triangular block, so that the toothed plate of the first plug rod meshes with the corresponding gear, cooperates with the transmission of the transmission belt, and the gear of the second plug rod meshes with the toothed plate, and the second plug rod is passed through the storage groove to lift the second joint, and this process is carried out synchronously with the rotation of the second bearing seat.

[0017] 3. The utility model facilitates storage, guidance and limitation of the first insertion rod and the second insertion rod through the storage groove, and provides a certain buffering effect on the vertical rotation of the second joint through the spring.

[0018] 4. Compared with the prior art, the connection of the triangular block and the insertion of the first plug rod and the second plug rod in the utility model can enable the meshing transmission of the gear tooth plate when the second joint rotates along the second bearing seat, so that the second plug rod assists the rotation of the second joint and pushes the second joint upward, thereby supporting the bottom of the second joint while reducing the pressure on the second bearing seat and increasing the service life of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is one of the overall structural schematic diagrams of a dual-bearing robot joint structure of the utility model;

[0020] Figure 2 This is the second overall structural diagram of a dual-bearing robot joint structure of the utility model;

[0021] Figure 3 This is a schematic diagram of the external structure of a connection component of a dual-bearing robot joint structure of the utility model;

[0022] Figure 4 This is a schematic diagram of the internal structure of a connecting component of a dual-bearing robot joint structure of the utility model.

[0023] In the figure: 1. first joint; 11. first bearing seat; 2. second joint; 21. second bearing seat; 3. telescopic plate; 4. connecting assembly; 41. triangular block; 42. first plug rod; 43. second plug rod; 44. collar; 45. movable notch; 46. tooth plate; 47. gear; 48. transmission belt; 49. storage groove; 410. spring. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0025] See also Figures 1 to 4 The utility model provides a technical solution: a dual-bearing robot joint structure, including a first joint 1, a first bearing seat 11 is installed on the top of the first joint 1, a second joint 2 is provided on the top of the first joint 1, and a second bearing seat 21 is installed on one end of the second joint 2 facing the first joint 1, the first bearing seat 11 and the second bearing seat 21 are installed in combination, a connecting component 4 is provided between the first joint 1 and the second joint 2, and the connecting component 4 includes a triangular block 41, a second plug rod 43 is slidably inserted in the vertical surface of the triangular block 41, a first plug rod 42 is slidably inserted in the horizontal surface of the triangular block 41, and the first plug rod 42 and the second plug rod 43 are respectively connected to the first joint 1 and the second joint 2, shaft rods are provided at both ends of the second bearing seat 21, and the triangular block 41 is transmission-connected with the shaft rods on both sides of the second bearing seat 21. When the device is used, the connecting component 4 is installed on the surface of the first joint 1 and the second joint 2. When the first bearing seat 11 or the second bearing seat 21 rotates, the connecting component 4 maintains the stability of the second joint 2, and at the same time assists in lifting the second joint 2 to reduce the pressure on the bearing seat.

[0026] In this embodiment, telescopic plates 3 are installed on both sides of the second bearing seat 21, and the extended ends of the telescopic plates 3 are rotatably installed on the outer surface of the triangular block 41 through a rotating shaft. The connecting component 4 also includes a receiving groove 49. A receiving groove 49 is opened at the position of the first plug rod 42 and the second plug rod 43 inside the triangular block 41. A spring 410 is fixed to the inner wall of the bottom of the receiving groove 49, and the other end of the spring 410 is fixedly connected to the first plug rod 42 and the second plug rod 43. The receiving groove 49 is used to facilitate the storage, guidance and limitation of the first plug rod 42 and the second plug rod 43, and the spring 410 provides a certain buffering effect on the vertical rotation of the second joint 2.

[0027] In this embodiment, the triangular block 41 is provided with movable notches 45 on the outer surfaces of both sides of the two receiving grooves 49, and a tooth plate 46 is slidably connected to the outer side of the movable notch 45, and the tooth plate 46 passes through the movable notch 45 and is connected with the corresponding first plug rod 42 or second plug rod 43. A gear 47 is provided on one side of the triangular block 41 corresponding to the vertical tooth plate 46 and at the rotation connection between the telescopic plate 3 and the triangular block 41, and the gear 47 is meshed and connected with the corresponding horizontal and vertical tooth plates 46. A transmission belt 48 is installed on the outer surfaces of the two gears 47. When the telescopic plate 3 pushes the triangular block 41 to move, the first plug rod 42 is separated from the triangular block 41, so that the tooth plate 46 of the first plug rod 42 is meshed with the corresponding gear 47. In cooperation with the transmission of the transmission belt 48, the gear 47 of the second plug rod 43 is meshed with the tooth plate 46, and the second plug rod 43 is passed through the receiving groove 49 to lift the second joint 2, and this process is carried out synchronously with the rotation of the second bearing seat 21.

[0028] In this embodiment, the outer ends of the first plug rod 42 and the second plug rod 43 are both provided with a ring 44, the ring 44 of the first plug rod 42 is rotatably sleeved on the first joint 1, and the second plug rod 43 is rotatably connected to the ring 44 through a rotating shaft, and the ring 44 of the second plug rod 43 slides along the surface of the second joint 2. The first plug rod 42 and the ring 44 are installed on the first joint 1, so that the horizontal movement of the triangular block 41 can be maintained, and when the first bearing seat 11 is rotated, a triangular support effect is provided for the bottom of the second connecting rod. Through the ring 44 of the second plug rod 43, when the telescopic plate 3 drives the triangular block 41 to move and the gear 47 cooperates with the gear plate 46, the second plug rod 43 is extended, the ring 44 slides along the surface of the second joint 2, and the second plug rod 43 assists in lifting the second joint 2 to reduce the pressure on the second bearing seat 21.

[0029] When the device is used, the connecting component 4 is installed on the surface of the first joint 1 and the second joint 2. When the first bearing seat 11 or the second bearing seat 21 rotates, the connecting component 4 maintains the stability of the second joint 2. When the telescopic plate 3 pushes the triangular block 41 to move, the first plug rod 42 is separated from the triangular block 41, so that the toothed plate 46 of the first plug rod 42 is meshed with the corresponding gear 47, and the gear 47 of the second plug rod 43 is meshed with the toothed plate 46 in cooperation with the transmission of the transmission belt 48. The second plug rod 43 is passed through the storage slot 49 to move the second joint 2. 2 is lifted up, and the first plug rod 42 and the collar 44 are installed on the first joint 1, which can keep the horizontal movement of the triangular block 41, and provide a triangular support effect for the bottom of the second connecting rod when the first bearing seat 11 rotates. Through the collar 44 of the second plug rod 43, when the telescopic plate 3 drives the triangular block 41 to move and the gear 47 and the toothed plate 46 cooperate in transmission, the second plug rod 43 extends out, and the collar 44 slides along the surface of the second joint 2. The second plug rod 43 assists in lifting the second joint 2 and reduces the pressure on the second bearing seat 21

[0030] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0031] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A dual-bearing robot joint structure, comprising a first joint (1), characterized in that: A first bearing seat (11) is installed on the top of the first joint (1), a second joint (2) is provided on the top of the first joint (1), and a second bearing seat (21) is installed on one end of the second joint (2) facing the first joint (1), the first bearing seat (11) and the second bearing seat (21) are installed in combination, a connecting component (4) is provided between the first joint (1) and the second joint (2), and the connecting component (4) comprises a triangular block (41), a second plug rod (43) is slidably inserted into the vertical surface of the triangular block (41), a first plug rod (42) is slidably inserted into the horizontal surface of the triangular block (41), and the first plug rod (42) and the second plug rod (43) are respectively connected to the first joint (1) and the second joint (2), shaft rods are provided at both ends of the second bearing seat (21), and the triangular block (41) is drivingly connected to the shaft rods on both sides of the second bearing seat (21).

2. A dual-bearing robot joint structure according to claim 1, characterized in that: Telescopic plates (31) are installed on both sides of the second bearing seat (21), and the extended ends of the telescopic plates (31) are rotatably installed on the outer surface of the triangular block (41) via a rotating shaft.

3. A dual-bearing robot joint structure according to claim 2, characterized in that: The connecting assembly (4) further comprises a receiving groove (49), wherein the receiving groove (49) is provided inside the triangular block (41) at positions corresponding to the first insertion rod (42) and the second insertion rod (43), and a spring (410) is fixed to the inner wall of the bottom of the receiving groove (49), and the other end of the spring (410) is fixedly connected to the first insertion rod (42) and the second insertion rod (43).

4. A dual-bearing robot joint structure according to claim 3, characterized in that: The triangular block (41) is provided with movable notches (45) on the outer surfaces of both sides of the two receiving grooves (49).

5. A dual-bearing robot joint structure according to claim 4, characterized in that: A toothed plate (46) is slidably connected to the outer side of the movable notch (45), and the toothed plate (46) passes through the movable notch (45) and is connected to the corresponding first insertion rod (42) or second insertion rod (43).

6. A dual-bearing robot joint structure according to claim 5, characterized in that: A gear (47) is provided on one side of the triangular block (41) corresponding to the vertical tooth plate (46) and at the rotation connection between the telescopic plate (31) and the triangular block (41), and the gear (47) is meshedly connected with the corresponding horizontal and vertical tooth plates (46).

7. A dual-bearing robot joint structure according to claim 6, characterized in that: Transmission belts (48) are installed on the outer surfaces of the two gears (47).

8. A dual-bearing robot joint structure according to claim 7, characterized in that: The outer ends of the first plug rod (42) and the second plug rod (43) are both provided with a collar (44); the collar (44) of the first plug rod (42) is rotatably sleeved on the first joint (1); the second plug rod (43) is rotatably connected to the collar (44) via a rotating shaft; the collar (44) of the second plug rod (43) slides along the surface of the second joint (2).

Images