Intelligent robot mechanical joint assembly

Abstract

The utility model provides an intelligent robot mechanical joint assembly, which relates to the technical field of joint assemblies, and comprises a middle connector, a shoulder shaft and an upper arm rod, the shoulder shaft is rotatably connected with the rear part in the middle connector, an upper clamping head is arranged at the front part of the middle connector, the upper clamping head is sleeved at the middle part of a rotating shaft arranged at the front end of a motor, and the upper arm rod is connected with the shoulder shaft. A fastening nut is installed on a front rod body of the rotating shaft through threads, two first inner side plates are arranged on the upper portion of the upper arm rod and fixed to the rotating shaft, and a lower clamping groove is formed between the two first inner side plates; an inner groove is formed in the middle of the front part of the middle connector, a plurality of groups of first balls are arranged in the inner groove, and the rolling surfaces of the first balls are just in contact with the outer ring surface of the upper connector at the front part of the shoulder shaft. The middle connector and the upper arm rod can be conveniently and flexibly rotated up and down, and can also move back and forth, so that flexibility and convenience are achieved, disassembly, overhaul and maintenance are convenient, and convenience and practicability are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of joint assemblies, in particular to a mechanical joint assembly of an intelligent robot. Background Art

[0002] In the field of existing robotics, there are many structures related to shoulder joints. However, most of them use servos as joints. A person has two shoulder joints, each with three degrees of freedom, so there must be six servos. The existing servos are independent of each other. In order to make three servos form a shoulder joint, the servos must be connected to each other through intermediate transition pieces.

[0003] In the specification of a shoulder joint assembly of a simulated intelligent robot in the prior art (publication number CN206170125U), it is mentioned that "the two arm left and right swing and rotation integrated structure motors are positioned on the front and rear swing arm forks through the output shafts at both ends of the left and right swing motors, and are respectively positioned on the output shafts of the two front and rear swing motors on the left and right sides of the shoulder back plate through the front and rear swing arm forks. The arm left and right swing and rotation integrated structure motor has an integrated structure in its outer shell, and the output shafts of the arm left and right swing motors and the arm rotation motor are perpendicular to each other. A notch is opened in the middle of the shoulder back plate, and the entire shoulder joint assembly is positioned on the top vertebra of the spine joint assembly through the front and rear swing motor support plates thereon". However, the shoulder joint assembly in the prior art can only move the arm rod up and down, and cannot move forward and backward, and is inconvenient to flexibly assemble or disassemble, affecting later inspection and maintenance. Utility Model Content

[0004] In order to overcome the defects of the prior art, an intelligent robot mechanical joint assembly is now provided to solve the problem that the shoulder joint assembly in the prior art can only flip the movable arm rod up and down, cannot move forward and backward, and is inconvenient to flexibly assemble or disassemble, affecting the subsequent inspection and maintenance.

[0005] To achieve the above-mentioned purpose, an intelligent robot mechanical joint assembly is provided, including a middle connector, a shoulder shaft and an upper arm rod, the inner rear part of the middle connector is rotatably connected to the shoulder shaft, and the front part of the middle connector is provided with an upper clamping head, the upper clamping head is sleeved on the middle part of the rotating shaft installed at the front end of the motor, and the front rod body of the rotating shaft is threadedly installed with a fastening nut, two groups of first inner side plates are provided on the upper part of the upper arm rod, and the two groups of first inner side plates are fixed on the rotating shaft, and a lower clamping groove is provided between the two groups of first inner side plates.

[0006] Furthermore, an inner groove is arranged in the middle of the front part of the middle connector, and a plurality of groups of first balls are arranged in the inner groove, and the rolling surface of the first balls just contacts the outer ring surface of the upper connector at the front part of the shoulder shaft.

[0007] Furthermore, an outer groove is arranged in the front part of the shoulder shaft, and a plurality of groups of second balls are arranged in the outer groove, and the second balls are just in contact with the rear outer annular surface of the middle connector.

[0008] Furthermore, an upper oil chamber inlet is provided in the middle of the upper part of the middle connector, and a lower port of the upper oil chamber inlet leads to the inner groove, and a side oil chamber inlet is provided on the outer side of the upper part of the middle connector, and a lower port of the side oil chamber inlet leads to the outer groove.

[0009] Furthermore, first outer plates are provided on both left and right sides of the front of the middle connector, and an outer sleeve hole is opened on the first outer plate, the outer sleeve hole is sleeved outside the rotating shaft, and an upper clamping groove is opened between the two groups of first outer plates, and the upper clamping head is located in the upper clamping groove.

[0010] Furthermore, the two groups of first inner plates at the upper end of the upper arm rod are embedded in the upper clamping groove, and the two groups of first inner plates are respectively located on the left and right sides of the upper clamping head, and the inner sleeve holes opened on the first inner plates and the outer sleeve holes opened on the first outer plates are aligned.

[0011] The beneficial effects of the utility model are:

[0012] 1. The arrangement of the first ball in the inner groove of the utility model makes the rotation connection between the upper joint and the middle joint more smooth and flexible, and facilitates the rotational connection between the middle joint and the shoulder shaft.

[0013] 2. In the utility model, lubricating oil is transported into the inner groove through the upper oil chamber inlet, and lubricating oil is transported into the outer groove through the side oil chamber inlet, so as to ensure that the rotation activity between the middle connector and the shoulder shaft is longer and more reliable.

[0014] 3. The motor in the utility model is installed outside the first outer plate on the right side of the middle connector, which is convenient for using the motor to rotate the shaft, thereby driving the first inner plate to flip up and down a certain angle, and driving the upper arm to be lifted or lowered, which is more convenient and saves trouble; and the upper arm and the middle connector can be assembled or disassembled, which is easier and more convenient for later inspection or maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a rendering of an embodiment of the utility model;

[0016] Figure 2 It is a top view schematic diagram of an embodiment of the utility model;

[0017] Figure 3 It is a cross-sectional schematic diagram of an embodiment of the utility model;

[0018] Figure 4 This is a schematic diagram of the internal structure of the middle connector in an embodiment of the utility model;

[0019] Figure 5 The utility model is a schematic diagram of the upper arm structure of an embodiment of the present invention.

[0020] In the figure: 1, middle connector; 10, inner groove; 11, first ball; 12, upper clamp; 13, upper groove; 14, first outer plate; 15, outer sleeve hole; 16, side oil chamber inlet; 17, upper oil chamber inlet; 2, shoulder shaft; 20, outer groove; 21, second ball; 22, upper connector; 3, upper arm; 30, first inner plate; 31, inner sleeve hole; 32, lower groove; 4, motor; 40, rotating shaft; 41, fastening nut. DETAILED DESCRIPTION

[0021] In order to make the technical problems, technical solutions and beneficial effects to be solved by the utility model clearer, the utility model is further described in detail in combination with the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the utility model, and are not used to limit the utility model. Specific details such as specific system structures and technologies are proposed in order to more thoroughly understand the embodiments of the utility model. The described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. However, it should be clear to those skilled in the art that the utility model can also be implemented in other embodiments without these specific details. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present disclosure.

[0022] The specific implementation of the utility model is described in detail below with reference to the accompanying drawings.

[0023] Figure 1 The effect diagram of the embodiment of the utility model is as follows: Figure 2 A schematic top view of an embodiment of the utility model, Figure 3 It is a cross-sectional schematic diagram of an embodiment of the utility model, Figure 4 The internal structure diagram of the connector in the embodiment of the utility model and Figure 5 The utility model is a schematic diagram of the upper arm structure of an embodiment of the present invention.

[0024] Reference Figures 1 to 5 As shown, the utility model provides an intelligent robot mechanical joint assembly, including a middle connector 1, a shoulder shaft 2 and an upper arm rod 3, the inner rear part of the middle connector 1 is rotatably connected to the shoulder shaft 2, and the front part of the middle connector 1 is provided with an upper clamping head 12, the upper clamping head 12 is sleeved on the middle part of the rotating shaft 40 installed at the front end of the motor 4, and the front rod body of the rotating shaft 40 is threadedly installed with a fastening nut 41, and two groups of first inner side plates 30 are provided on the upper part of the upper arm rod 3, and the two groups of first inner side plates 30 are fixed on the rotating shaft 40.

[0025] In this embodiment, an inner groove 10 is provided in the middle of the front part of the middle connector 1, and a plurality of groups of first balls 11 are provided in the inner groove 10, and the rolling surface of the first balls 11 just contacts the outer annular surface of the upper joint 22 at the front part of the shoulder shaft 2; an outer groove 20 is provided in the front part of the shoulder shaft 2, and a plurality of groups of second balls 21 are provided in the outer groove 20, and the second balls 21 just contact the outer annular surface of the rear part of the middle connector 1.

[0026] As a preferred embodiment, the arrangement of the first ball 11 in the inner groove 10 of the utility model makes the rotational connection between the upper joint 22 and the middle connector 1 smoother and more flexible, and facilitates the rotational connection between the middle connector 1 and the shoulder shaft 2.

[0027] In this embodiment, an upper oil chamber inlet 17 is provided in the middle of the upper part of the middle connector 1, and the lower port of the upper oil chamber inlet 17 leads to the inner groove 10, and a side oil chamber inlet 16 is provided on the outer side of the upper part of the middle connector 1, and the lower port of the side oil chamber inlet 16 leads to the outer groove 20.

[0028] As a preferred embodiment, in the utility model, lubricating oil is transported into the inner groove 10 through the upper oil chamber inlet 17, and lubricating oil is transported into the outer groove 20 through the side oil chamber inlet 16, so as to ensure that the rotational activity between the middle connector 1 and the shoulder shaft 2 is more durable and reliable.

[0029] In this embodiment, first outer plates 14 are provided on both left and right sides of the front part of the middle connector 1, and an outer sleeve hole 15 is opened on the first outer plate 14, and the outer sleeve hole 15 is sleeved outside the rotating shaft 40, and an upper clamping groove 13 is opened between the two groups of first outer plates 14, and the upper clamping head 12 is located in the upper clamping groove 13; the two groups of first inner plates 30 at the upper end of the upper arm rod 3 are embedded in the upper clamping groove 13, and the two groups of first inner plates 30 are respectively located on the left and right sides of the upper clamping head 12, and the inner sleeve hole 31 opened on the first inner plate 30 and the outer sleeve hole 15 opened on the first outer plate 14 are aligned.

[0030] As a preferred embodiment, the motor 4 in the utility model is installed outside the first outer plate 14 on the right side of the middle connector 1, so that the motor 4 can be used to rotate the shaft 40, so as to drive the first inner plate 30 to flip up and down a certain angle, so as to drive the upper arm rod 3 to be lifted or lowered, which is more convenient and saves trouble; and the upper arm rod 3 and the middle connector 1 can be assembled or disassembled, which is easier and more convenient for later inspection or maintenance.

[0031] The utility model can effectively solve the problem in the prior art that the shoulder joint assembly can only flip the movable arm rod up and down but cannot move forward and backward, and is inconvenient to flexibly assemble or disassemble, which affects the later inspection and maintenance. The utility model facilitates and flexibly rotates the middle connector and the upper arm rod up and down, and can also move forward and backward, which is more flexible and convenient, and is easy to disassemble for inspection and maintenance, and is more convenient and practical.

[0032] The above embodiments are used to explain the present invention rather than to limit the present invention. Any modifications and changes made to the present invention within the spirit of the present invention and the scope of the claims for protection shall be included in the protection scope of the present invention.

Claims

1. An intelligent robot mechanical joint assembly, characterized in that: The invention comprises a middle connector (1), a shoulder shaft (2) and an upper arm rod (3), wherein the inner rear part of the middle connector (1) is rotatably connected to the shoulder shaft (2), and the front part of the middle connector (1) is provided with an upper clamping head (12), wherein the upper clamping head (12) is sleeved on the middle part of a rotating shaft (40) installed at the front end of a motor (4), and a fastening nut (41) is installed on the front rod body of the rotating shaft (40) through a thread, and two groups of first inner side plates (30) are provided on the upper part of the upper arm rod (3), and the two groups of first inner side plates (30) are fixed on the rotating shaft (40), and a lower clamping groove (32) is provided between the two groups of first inner side plates (30).

2. The intelligent robot mechanical joint assembly according to claim 1, characterized in that: An inner groove (10) is arranged in the middle of the front part of the middle connector (1), and a plurality of groups of first balls (11) are arranged in the inner groove (10), and the rolling surfaces of the first balls (11) are in contact with the outer annular surface of the upper connector (22) at the front part of the shoulder shaft (2).

3. The intelligent robot mechanical joint assembly according to claim 1, characterized in that: An outer groove (20) is arranged in the front part of the shoulder shaft (2), and a plurality of groups of second balls (21) are arranged in the outer groove (20), and the second balls (21) are just in contact with the rear outer ring surface of the middle connector (1).

4. The intelligent robot mechanical joint assembly according to claim 1, characterized in that: An upper oil chamber inlet (17) is provided in the middle of the upper portion of the middle connector (1), and a lower port of the upper oil chamber inlet (17) leads to the inner groove (10). A side oil chamber inlet (16) is provided on the outer side of the upper portion of the middle connector (1), and a lower port of the side oil chamber inlet (16) leads to the outer groove (20).

5. The intelligent robot mechanical joint assembly according to claim 1, characterized in that: The left and right sides of the front of the middle connector (1) are both provided with first outer plates (14), and the first outer plates (14) are provided with outer sleeve holes (15), the outer sleeve holes (15) are sleeved outside the rotating shaft (40), and an upper clamping groove (13) is provided between the two groups of first outer plates (14), and the upper clamping head (12) is located in the upper clamping groove (13).

6. The intelligent robot mechanical joint assembly according to claim 1, characterized in that: The two groups of first inner plates (30) at the upper end of the upper arm rod (3) are embedded in the upper clamping groove (13), and the two groups of first inner plates (30) are respectively located on the left and right sides of the upper clamping head (12), and the inner sleeve holes (31) opened on the first inner plates (30) and the outer sleeve holes (15) opened on the first outer plates (14) are aligned.

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