Space-based compact flexible joint device

Abstract

The utility model discloses a flexible joint device based on space compactness, and relates to the technical field of robot flexible joints, the flexible joint device comprises a supporting seat, an extension block is fixedly arranged on the upper end face of the supporting seat, a convex block is fixedly arranged on the front end face of the extension block, a spherical mounting part is movably arranged in the convex block, and the spherical mounting part is fixedly arranged on the lower end face of the supporting seat. A joint moving part is arranged at the front end of the spherical mounting part, a spherical groove is formed in the joint moving part, a corresponding clamping block is arranged in the spherical groove, the spherical mounting part is clamped into the spherical groove, a corresponding clamping groove is formed in the spherical mounting part, and the corresponding clamping block is clamped into the corresponding clamping groove. And clamping grooves are formed in the joint moving part and the spherical mounting part correspondingly, limiting grooves are formed in the four end feet of each clamping groove correspondingly, and an inserting rod is connected into each clamping groove in a penetrating mode. According to the utility model, the stability of the joint device is improved by strengthening the connection mode between the joint devices.

Description

Technical Field

[0001] The utility model relates to the technical field of robot flexible joint devices, in particular to a space-compact flexible joint device. Background Art

[0002] As the core component of the robot, the joint is regarded as the entity of the kinematic pair. It determines the kinematics and kinematic behavior of the robot and is the key to ensure the safe and smooth operation of the robot. The main tasks of the joint include generating and transmitting power, position sensing, and mechanical connection. It is mainly composed of motors, reducers, motion shafts, sensors and harness management devices, drive and data acquisition and processing circuits, etc.

[0003] For example, patent number CN201711473910.1 discloses a driving structure and a device with a flexible joint, the structure of which includes a first Hooke's hinge structure, and the first Hooke's hinge structure includes a first hinge and a second hinge. The first hinge is hinged to the holding part through a first hinge axis; the second hinge is connected to the flexible joint and is arranged in the first hinge, and is hinged to the first hinge through a second hinge axis, and the axis of the first hinge axis is perpendicular to the axis of the second hinge axis. The utility model is suitable for application in a device with a flexible joint, and the device with a flexible joint includes a flexible joint and a holding part; the driving structure includes a driving body and a control line, the driving body is arranged between the flexible joint and the holding part, and the two ends are respectively connected to the flexible joint and the holding part, and the two ends of the driving body can be relatively deflected; one end of the control line is connected to the end of the flexible joint away from the driving body, and the other end is connected to the driving body;

[0004] The flexible joint devices in this patent are all fixed by snap-on connection. This fixing method is relatively simple and not stable enough, which affects the overall use and has certain disadvantages. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a space-compact flexible joint device, which solves the problem that the flexible joint devices are all fixed by snap-on connection, which is relatively simple and not stable enough, affecting the overall use and having certain disadvantages.

[0006] To achieve the above objectives, the utility model is implemented through the following technical solutions: a space-compact flexible joint device, including a support seat, an extension block is fixedly provided on the upper end surface of the support seat, a convex block is fixedly provided on the front end surface of the extension block, a spherical mounting portion is movably provided inside the convex block, a joint movable portion is provided at the front end of the spherical mounting portion, a spherical groove is provided inside the joint movable portion, a corresponding card block is provided inside the spherical groove, the spherical mounting portion is snapped into the spherical groove, a corresponding card slot is provided inside the spherical mounting portion, the corresponding card block is snapped into the corresponding card slot, and the joint movable portion and the spherical mounting portion are The interior of the locking cam is provided with a card connection slot, and the four end legs of the card connection slot are provided with a limiting slot. The interior of the card connection slot is penetrated by a plug-in rod, and limiting blocks are fixedly arranged at both ends of the plug-in rod, and the limiting block is inserted into the limiting slot. Internal threads are arranged on both sides of the plug-in rod, and a threaded rod meshing with the internal thread is arranged on one side of the limiting block. Insert blocks are fixedly arranged at both ends of one side of the limiting block, slots are arranged on both sides of the joint movable part, and balls are arranged at both ends of the slot, and ball rolling grooves are arranged at both ends of the insert block. The ball is inserted into the ball rolling groove, and the insert block is inserted into the slot.

[0007] Preferably, a reinforced suction cup is provided below the support seat.

[0008] Preferably, a mounting block is provided on the front end surface of the joint movable part.

[0009] Preferably, a spherical portion movable groove is provided inside the protrusion, and the spherical mounting portion is located in the spherical portion movable groove.

[0010] Preferably, a through hole is provided inside the spherical mounting portion, and the plug-in rod is connected to the spherical mounting portion through the through hole.

[0011] Preferably, an anti-slip pad is provided on the surface of the limiting block.

[0012] Preferably, a rotation groove is provided between the two ball movable grooves.

[0013] Beneficial Effects

[0014] The utility model provides a flexible joint device. Compared with the prior art, it has the following beneficial effects:

[0015] When installing the joint movable part, the spherical groove inside it is aligned with the spherical mounting part in the convex block on the front end surface of the extension block, so that the spherical mounting part is snapped into the spherical groove. At the same time, the multiple corresponding snap-in blocks inside it are also snapped into the corresponding snap-in grooves inside the spherical mounting part for fixation. At this time, the connecting rod is aligned with the joint movable part and the snap-in groove opened in the middle of the spherical mounting part to insert it and connect it through. The limit blocks at both ends of the connecting rod are just snapped into the limit grooves of the joint movable part. At this time, the threaded rod on one side of the limit block is engaged with the internal thread inside the connecting rod for fixation. At this time, the insert blocks at both ends of one side of the limit block are inserted into the slots inside the joint movable part. While the threaded rod is engaged and rotated, the insert block rotates inside the slot until the ball is snapped into the ball movable groove for fixation to complete the installation of the joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0017] Figure 2 This is a schematic diagram of the cross-sectional structure of the connection of the active part of the utility model;

[0018] Figure 3 This is a schematic diagram of the cross-sectional structure of the active part of the utility model at the connecting part of the plug rod;

[0019] Figure 4 For this utility model Figure 3 Schematic diagram of the local enlarged structure at cross section A.

[0020] In the figure: 1. support seat; 2. joint movable part; 3. extension block; 4. mounting block; 5. protrusion; 6. spherical mounting part; 7. corresponding clamping block; 8. corresponding clamping slot; 9. spherical slot; 10. clamping slot; 11. plug-in rod; 12. limit slot; 13. limit block; 14. threaded rod; 15. internal thread; 16. ball movable slot; 17. slot; 18. plug-in block; 19. ball. DETAILED DESCRIPTION

[0021] 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.

[0022] See also Figure 1-4The utility model provides a technical solution: a space-compact flexible joint device, including a support seat 1, an extension block 3 is fixedly provided on the upper end surface of the support seat 1, a convex block 5 is fixedly provided on the front end surface of the extension block 3, a spherical mounting portion 6 is movably provided inside the convex block 5, a joint movable portion 2 is provided at the front end of the spherical mounting portion 6, a spherical groove 9 is provided inside the joint movable portion 2, a corresponding card block 7 is provided inside the spherical groove 9, the spherical mounting portion 6 is inserted into the spherical groove 9, a corresponding card groove 8 is provided inside the spherical mounting portion 6, a reinforcement suction cup is provided below the support seat 1, a mounting block 4 is provided on the front end surface of the joint movable portion 2, firstly, the spherical groove 9 inside the joint movable portion 2 is aligned with the spherical mounting portion 6 in the convex block 5 on the front end surface of the extension block 3 during installation, so that the spherical mounting portion 6 is inserted into the spherical groove 9, and at the same time;

[0023] The corresponding card block 7 is inserted into the corresponding card slot 8, and the joint movable part 2 and the spherical mounting part 6 are both provided with a card slot 10, and the four end feet of the card slot 10 are provided with a limit slot 12. The inside of the card slot 10 is connected through a plug rod 11, and both ends of the plug rod 11 are fixedly provided with a limit block 13, and the limit block 13 is inserted into the limit slot 12. Both sides of the plug rod 11 are provided with internal threads 15. The inside of the protrusion 5 is provided with a spherical part movable groove, and the spherical mounting part 6 is located in the spherical part movable groove. The inside of the spherical mounting part 6 is provided with a through hole, and the plug rod 11 is connected with the spherical mounting part 6 through the through hole, then the multiple corresponding card blocks 7 inside it are also just inserted into the corresponding card slots 8 inside the spherical mounting part 6 for fixing. At this time, the plug rod 11 is aligned with the card slot 10 provided in the middle of the joint movable part 2 and the spherical mounting part 6, and it is inserted and connected therewith;

[0024] A threaded rod 14 meshing with the internal thread 15 is provided on one side of the limit block 13, and plug blocks 18 are fixedly provided at both ends of one side of the limit block 13. Slots 17 are provided on both sides of the inside of the joint movable part 2, and balls 19 are provided at both ends of the inside of the slot 17. Ball movable grooves 16 are provided at both ends of the inside of the plug block 18. The balls 19 are inserted into the ball movable grooves 16, and the plug block 18 is inserted into the slot 17. An anti-slip pad is provided on the surface of the limit block 13, and a rotating groove is provided between the two ball movable grooves 16. The limit blocks 13 at both ends of the plug-in rod 11 are just inserted into the limit grooves 12 of the joint movable part 2. At this time, the threaded rod 14 on one side of the limit block 13 is meshed and connected with the internal thread 15 inside the plug-in rod 11 for fixing.

[0025] When working, first align the spherical groove 9 inside the joint movable part 2 with the spherical mounting part 6 in the convex block 5 on the front end surface of the extension block 3 during installation, so that the spherical mounting part 6 is snapped into the spherical groove 9. At the same time, the multiple corresponding card blocks 7 inside it are also snapped into the corresponding card grooves 8 inside the spherical mounting part 6 for fixation. At this time, align the plug rod 11 with the card groove 10 opened between the joint movable part 2 and the spherical mounting part 6 and insert it to penetrate and connect it. Then the plug rod 11 The limit blocks 13 at both ends are just inserted into the limit grooves 12 of the joint movable part 2. At this time, the threaded rod 14 on one side of the limit block 13 is engaged and connected with the internal thread 15 inside the plug-in rod 11 for fixation. At this time, the plug blocks 18 at both ends of one side of the limit block 13 are inserted into the slots 17 inside the joint movable part 2. While the threaded rod 14 engages and rotates, the plug block 18 rotates inside the slot 17 until the ball 19 is engaged and fixed inside the ball movable groove 16 to complete the installation of the joint.

[0026] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

Claims

1. A space-compact flexible joint device, comprising a support seat (1), characterized in that: An extension block (3) is fixedly provided on the upper end surface of the support seat (1), a convex block (5) is fixedly provided on the front end surface of the extension block (3), a spherical mounting portion (6) is movably provided inside the convex block (5), a joint movable portion (2) is provided at the front end of the spherical mounting portion (6), a spherical groove (9) is provided inside the joint movable portion (2), a corresponding clamping block (7) is provided inside the spherical groove (9), the spherical mounting portion (6) is clamped into the spherical groove (9), a corresponding clamping groove (8) is provided inside the spherical mounting portion (6), the corresponding clamping block (7) is clamped into the corresponding clamping groove (8), the joint movable portion (2) and the spherical mounting portion (6) are both provided with a clamping groove (10), the four end feet of the clamping groove (10) are each provided with a limiting groove (12), the clamping groove (10) is provided with a spherical groove (9), and the spherical mounting portion (6) is provided with a corresponding clamping groove (8). A plug-in rod (11) is connected through the interior of the groove (10), and limit blocks (13) are fixedly arranged at both ends of the plug-in rod (11), and the limit blocks (13) are inserted into the limit groove (12). Internal threads (15) are arranged on both sides of the plug-in rod (11), and a threaded rod (14) meshingly connected with the internal threads (15) is arranged on one side of the limit block (13). Insertion blocks (18) are fixedly arranged at both ends of one side of the limit block (13), and slots (17) are arranged on both sides of the joint movable part (2), and balls (19) are arranged at both ends of the slot (17), and ball movable grooves (16) are arranged at both ends of the insert block (18), and the balls (19) are inserted into the ball movable grooves (16), and the insert block (18) is inserted into the slot (17).

2. A space-compact flexible joint device according to claim 1, characterized in that: A reinforcement suction cup is arranged below the support seat (1).

3. A space-compact flexible joint device according to claim 1, characterized in that: A mounting block (4) is provided on the front end surface of the joint movable part (2).

4. A space-compact flexible joint device according to claim 1, characterized in that: A spherical portion movable groove is provided inside the protrusion (5), and the spherical mounting portion (6) is located in the spherical portion movable groove.

5. The space-compact flexible joint device according to claim 1, characterized in that: A through hole is provided inside the spherical mounting portion (6), and the plug-in rod (11) is connected to the spherical mounting portion (6) through the through hole.

6. A space-compact flexible joint device according to claim 1, characterized in that: The surface of the limiting block (13) is provided with an anti-slip pad.

7. The space-compact flexible joint device according to claim 1, characterized in that: A rotation groove is arranged between the two ball movable grooves (16).

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