Cantilever rotary joint of a robot

Abstract

The utility model discloses a cantilever rotary joint of a robot, and relates to the technical field of mechanical arm joints. The utility model comprises a large arm, a small arm, a storage box and a hose, wherein the small arm is rotatably connected to the large arm, the storage box is fixedly connected to the surface of the large arm, the hose is communicated with the storage box, an oil supply mechanism and an auxiliary mechanism are arranged on the large arm, the small arm is driven to drive a pushing protrusion to contact a connecting protrusion plate, the pushing protrusion can drive the connecting protrusion plate to move, the connecting protrusion plate drives a piston rod to move, and the internal pressure of an oil supply cylinder will change, the lubricating fluid in the storage box can be pumped into the oil supply cylinder through the hose, and then enters the rotary joint of the large arm and the small arm through the oil supply pipe, so as to lubricate the rotary joint, improve the lubricity of the joint, avoid wear at the joint of the mechanical arm, and utilize the rotation force of the small arm itself to drive the oil supply mechanism to work, which is conducive to simplifying the operation steps and improving the overall use effect of the mechanical arm.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arm joints, in particular to a cantilever rotary joint of a robot. Background Art

[0002] A robotic arm refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields. With the continuous development of society and the continuous advancement of science and technology, in the process of mechanical processing, in order to reduce the labor expenditure of workers, the application of robotic arms has gradually become popular. However, during the long-term use of the robotic arm, friction will occur at the joints (between transmission gears). In order to improve the lubricity of its joints and avoid wear at the joints of the robotic arm, the staff needs to regularly apply lubricating oil to the joints of the robotic arm, and the manual application method is more troublesome; therefore, a cantilever rotary joint of a robot is proposed to solve the above technical problems. Utility Model Content

[0003] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0004] The utility model is a cantilever rotary joint of a robot, comprising a large arm, a small arm, a storage box and a hose, the small arm is rotatably connected to the large arm, the storage box is fixedly connected to the surface of the large arm, the hose is communicated with the storage box, and an oil supply mechanism and an auxiliary mechanism are arranged on the large arm, and the oil supply mechanism and the auxiliary mechanism are adapted to each other.

[0005] Preferably, the oil supply mechanism includes two receiving blocks and an oil supply cylinder, the two receiving blocks are fixedly connected to the surface of the boom, the oil supply cylinder is fixedly installed between the two receiving blocks, and one end of the hose is connected to the oil supply cylinder.

[0006] Preferably, the oil supply mechanism also includes an oil supply pipe, a piston rod and a limit block. One end of the oil supply pipe is connected to the boom, and the other end of the oil supply pipe is connected to the oil supply cylinder. The piston rod is slidably installed in the oil supply cylinder, and the limit block is fixedly sleeved on the surface of the piston rod, and the limit block is slidably connected to the inner wall of the oil supply cylinder.

[0007] Preferably, the oil supply mechanism also includes a return spring, a connecting cam and a pushing cam, the return spring is slidably sleeved on the surface of the piston rod, one end of the piston rod is fixedly connected to the inner wall of the oil supply cylinder, the other end of the piston rod is fixedly connected to the surface of the piston rod, the connecting cam is arranged on one side of the oil supply cylinder, one end of the piston rod extends out of the oil supply cylinder and is fixedly connected to the connecting cam, the pushing cam is fixedly connected to the surface of the forearm, and the pushing cam is adapted to the connecting cam.

[0008] Preferably, the auxiliary mechanism further includes a sealing cover and two movable grooves, the sealing cover is arranged on one side of the upper arm, and the two movable grooves are both opened on the surface of the sealing cover.

[0009] Preferably, the auxiliary mechanism also includes two moving blocks and two insertion rods, the two moving blocks are respectively slidably connected to the corresponding moving grooves, the two insertion rods are respectively fixedly connected to the corresponding moving blocks, and the two insertion rods are both adapted to the upper arms.

[0010] Preferably, the auxiliary mechanism also includes two pulling blocks and two telescopic springs, the two pulling blocks are fixedly connected to the corresponding moving blocks, one end of the two telescopic springs are fixedly connected to the inner wall of the corresponding moving groove, and the other end of the two telescopic springs are fixedly connected to the surface of the corresponding moving block.

[0011] The utility model has the following beneficial effects:

[0012] 1. The utility model relates to a cantilever rotary joint of a robot, which drives the forearm to drive the pushing protrusion to contact the connecting protrusion plate, the pushing protrusion can drive the connecting protrusion plate to move, the connecting protrusion plate drives the piston rod to move, the internal pressure of the oil supply cylinder will change, the lubricating liquid in the storage box can be pumped into the oil supply cylinder through a hose, and then enters the rotary joint of the upper arm and the forearm through the oil supply pipe to lubricate the rotary joint, so as to improve the lubricity of the joint and avoid wear of the joint of the mechanical arm, and use the rotation force of the forearm itself to drive the oil supply mechanism to work, which is conducive to simplifying the operating steps and improving the overall use effect of the mechanical arm.

[0013] 2. The utility model provides a cantilever rotating joint of a robot. When the joint of the mechanical arm is damaged, two pulling blocks are pulled to drive the corresponding moving blocks to move, and the moving blocks drive the corresponding plug rods to be pulled out from the plug holes on one side of the arm, thereby releasing the limit on the sealing cover. The sealing cover can be quickly removed from one side of the arm, and the joint of the mechanical arm can be inspected, which is beneficial to improving the inspection efficiency.

[0014] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

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

[0017] Figure 2It is a partial structural schematic diagram of the oil supply mechanism in the utility model;

[0018] Figure 3 It is a partial structural schematic diagram of the auxiliary mechanism in the utility model;

[0019] Figure 4 For this utility model Figure 3 A schematic diagram of the enlarged structure at point A in the middle.

[0020] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0021] 1. Upper arm; 2. Lower arm; 3. Storage box; 4. Hose; 501. Receiver block; 502. Oil supply cylinder; 503. Oil supply pipe; 504. Piston rod; 505. Limit block; 506. Return spring; 507. Connecting convex plate; 508. Push convex block; 509. Sealing cover; 510. Moving groove; 511. Moving block; 512. Insert rod; 513. Pull block; 514. Telescopic spring. DETAILED DESCRIPTION

[0022] 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 of 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.

[0023] See also Figure 1-4 As shown, the utility model is a cantilever rotary joint of a robot, comprising an upper arm 1, a lower arm 2, a storage box 3 and a hose 4, the lower arm 2 is rotatably connected to the upper arm 1, the storage box 3 is fixedly connected to the surface of the upper arm 1, the hose 4 is connected to the storage box 3, and an oil supply mechanism and an auxiliary mechanism are provided on the upper arm 1, and the oil supply mechanism and the auxiliary mechanism are adapted to each other.

[0024] Furthermore, the oil supply mechanism includes two receiving blocks 501 and an oil supply cylinder 502, the two receiving blocks 501 are fixedly connected to the surface of the upper arm 1, the oil supply cylinder 502 is fixedly installed between the two receiving blocks 501, one end of the hose 4 is connected to the oil supply cylinder 502, the oil supply mechanism also includes an oil supply pipe 503, a piston rod 504 and a limit block 505, one end of the oil supply pipe 503 is connected to the upper arm 1, the other end of the oil supply pipe 503 is connected to the oil supply cylinder 502, the piston rod 504 is slidably installed in the oil supply cylinder 502, the limit block 505 is fixedly sleeved on the surface of the piston rod 504, the limit block 505 is slidably connected to the inner wall of the oil supply cylinder 502, the oil supply mechanism also includes a return spring 506, a connecting convex plate 507 and a pushing convex block 508, the return spring 506 is slidably sleeved on the surface of the piston rod 504, One end of the plug rod 504 is fixedly connected to the inner wall of the oil supply cylinder 502, and the other end of the piston rod 504 is fixedly connected to the surface of the piston rod 504. The connecting convex plate 507 is arranged on one side of the oil supply cylinder 502. One end of the piston rod 504 extends out of the oil supply cylinder 502 and is fixedly connected to the connecting convex plate 507. The pushing convex block 508 is fixedly connected to the surface of the small arm 2, and the pushing convex block 508 is adapted to the connecting convex plate 507. More specifically, by making the limit block 505 slidingly connected inside the oil supply cylinder 502, the piston rod 504 can be guided and limited, which is conducive to making the piston rod 504 more stable during movement. When the pushing convex block 508 is away from the connecting convex plate 507 and no longer conflicts with the connecting convex plate 507, the piston rod 504 can be reset under the elastic force of the reset spring 506, which is convenient for the next oil supply.

[0025] Furthermore, the auxiliary mechanism also includes a sealing cover 509 and two moving grooves 510, the sealing cover 509 is arranged on one side of the big arm 1, and the two moving grooves 510 are both opened on the surface of the sealing cover 509, the auxiliary mechanism also includes two moving blocks 511 and two plug rods 512, the two moving blocks 511 are respectively slidably connected to the corresponding moving grooves 510, the two plug rods 512 are respectively fixedly connected to the corresponding moving blocks 511, and the two plug rods 512 are adapted to the big arm 1, the auxiliary mechanism also includes two pull blocks 513 and two telescopic springs 514, the two pull blocks 513 are respectively fixedly connected to the corresponding moving blocks 511, and the two telescopic springs 514 are respectively One end is fixedly connected to the inner wall of the corresponding moving groove 510, and the other ends of the two telescopic springs 514 are fixedly connected to the surface of the corresponding moving block 511. More specifically, an inspection port is opened on one side of the upper arm 1, and the inspection port is adapted to the sealing cover 509. Two insertion holes are opened on the inner wall of the inspection port. By inserting the insertion rod 512 into the corresponding insertion holes, the sealing cover 509 can be limited in the inspection port. By reverse operation, the sealing cover 509 can be removed from the inspection port, which is convenient for inspecting the joints of the mechanical arm, or cleaning the surfaces of the joints to keep the joints clean, so as to facilitate the upper arm 1 and the lower arm 2 to maintain a good transmission effect.

[0026] A specific application of this embodiment is: when the device is needed, the driving arm 2 drives the pushing protrusion 508 to contact the connecting protrusion 507, the pushing protrusion 508 can drive the connecting protrusion 507 to move, the connecting protrusion 507 drives the piston rod 504 to move, the piston rod 504 drives the piston connected thereto to move, when the piston moves, the internal pressure of the oil supply cylinder 502 will change, and then form a negative pressure, the lubricating fluid in the storage box 3 is pumped into the oil supply cylinder 502 through the hose 4, and then enters the rotating joint of the upper arm 1 and the lower arm 2 through the oil supply pipe 503, so as to provide a negative pressure to the rotating joint. Lubrication is performed to improve the lubricity of the joints and avoid wear on the joints of the robotic arm. The rotational force of the forearm 2 itself is used to drive the oil supply mechanism to work, which is beneficial to simplify the operating steps and improve the overall use effect of the robotic arm. When the joints of the robotic arm are damaged, the two pulling blocks 513 are pulled to drive the corresponding moving blocks 511 to move, and the moving blocks 511 drive the corresponding plug rod 512 to be pulled out from the socket on one side of the upper arm 1, thereby releasing the limit on the sealing cover 509, and the sealing cover 509 can be quickly removed from one side of the upper arm 1, and the joints of the robotic arm can be inspected, which is beneficial to improving the inspection efficiency.

[0027] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0028] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A cantilever rotary joint of a robot, comprising an upper arm (1), a lower arm (2), a storage box (3) and a hose (4), wherein the lower arm (2) is rotatably connected to the upper arm (1), the storage box (3) is fixedly connected to the surface of the upper arm (1), and the hose (4) is connected to the storage box (3), characterized in that: The upper arm (1) is provided with an oil supply mechanism and an auxiliary mechanism, and the oil supply mechanism and the auxiliary mechanism are adapted to each other; The oil supply mechanism comprises two receiving blocks (501) and an oil supply cylinder (502), the two receiving blocks (501) are fixedly connected to the surface of the upper arm (1), the oil supply cylinder (502) is fixedly installed between the two receiving blocks (501), and one end of the hose (4) is connected to the oil supply cylinder (502); The oil supply mechanism also includes an oil supply pipe (503), a piston rod (504) and a limit block (505); one end of the oil supply pipe (503) is connected to the upper arm (1); the other end of the oil supply pipe (503) is connected to the oil supply cylinder (502); the piston rod (504) is slidably installed in the oil supply cylinder (502); the limit block (505) is fixedly sleeved on the surface of the piston rod (504); and the limit block (505) is slidably connected to the inner wall of the oil supply cylinder (502); The oil supply mechanism also includes a return spring (506), a connecting convex plate (507) and a pushing convex block (508); the return spring (506) is slidably mounted on the surface of the piston rod (504); one end of the piston rod (504) is fixedly connected to the inner wall of the oil supply cylinder (502); the other end of the piston rod (504) is fixedly connected to the surface of the piston rod (504); the connecting convex plate (507) is arranged on one side of the oil supply cylinder (502); one end of the piston rod (504) extends out of the oil supply cylinder (502) and is fixedly connected to the connecting convex plate (507); the pushing convex block (508) is fixedly connected to the surface of the forearm (2); and the pushing convex block (508) is adapted to the connecting convex plate (507).

2. The cantilever rotary joint of a robot according to claim 1, characterized in that: The auxiliary mechanism also includes a sealing cover (509) and two movable grooves (510); the sealing cover (509) is arranged on one side of the upper arm (1); and the two movable grooves (510) are both opened on the surface of the sealing cover (509).

3. The cantilever rotary joint of a robot according to claim 2, characterized in that: The auxiliary mechanism also includes two moving blocks (511) and two insertion rods (512); the two moving blocks (511) are respectively slidably connected to the corresponding moving grooves (510); the two insertion rods (512) are respectively fixedly connected to the corresponding moving blocks (511); and the two insertion rods (512) are both adapted to the upper arm (1).

4. The cantilever rotary joint of a robot according to claim 3, characterized in that: The auxiliary mechanism also includes two pulling blocks (513) and two telescopic springs (514); the two pulling blocks (513) are respectively fixedly connected to the corresponding moving blocks (511); one end of the two telescopic springs (514) is respectively fixedly connected to the inner wall of the corresponding moving groove (510); and the other end of the two telescopic springs (514) is respectively fixedly connected to the surface of the corresponding moving block (511).

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