Manipulator joint

Abstract

The utility model relates to the technical field of manipulators, in particular to a manipulator joint which comprises a joint arm, two plate bodies are symmetrically and fixedly connected to the lower end of the joint arm, two rotating shafts are symmetrically and rotatably connected between the two plate bodies, two motors are fixedly connected to the plate body located on the rear side, and the two rotating shafts are connected to output shafts of the two motors through couplings respectively. Two rotating shafts are arranged on the base, clamping jaws are fixedly connected to the two rotating shafts, the clamping device further comprises two sliding groove frames, the two sliding groove frames are connected through two baffles, two internal thread sliding bases are installed between the two sliding groove frames, studs are detachably connected into the two internal thread sliding bases, and the two studs are attached to the two clamping jaws respectively. The clamping jaw has the advantages that the rotating angle of the clamping jaw is limited, and the probability that a clamped object is damaged due to the fact that the mechanical arm exerts large pressure is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator joint. Background Art

[0002] A truss robot is a fully automatic industrial equipment based on a rectangular X, Y, and Z three-coordinate system that can adjust the workpiece's position or achieve trajectory movement of the workpiece. After aligning the clamped object, the truss robot needs to lock the robot joints to complete the clamping.

[0003] Disadvantages of existing truss manipulator joints: Most existing truss manipulator joints use motors to control the rotation and tightness of the joints. The pressure and angle applied during clamping are completely controlled by the motor. If the control is improper, it is easy to leave clamp marks on the surface of the clamped object or directly damage the clamped object. Utility Model Content

[0004] The utility model provides a manipulator joint, which has the beneficial effect of limiting the rotation angle of the clamping claws, thereby reducing the probability of the clamped object being damaged due to the large pressure applied by the manipulator.

[0005] A robot joint includes a joint arm, the lower end of the joint arm is symmetrically fixed to two plate bodies, two rotating shafts are symmetrically rotatably connected between the two plate bodies, two motors are fixed to the plate body located on the rear side, the two rotating shafts are respectively connected to the output shafts of the two motors through couplings, and the two rotating shafts are fixed with clamping claws. It also includes two slide slot frames, the two slide slot frames are connected by two baffles, two internal threaded slide seats are installed between the two slide slot frames, studs are detachably connected in the two internal threaded slide seats, and the two studs are respectively fitted with two clamping claws.

[0006] The two internal thread slide seats are both slidably connected between the two slide slot frames.

[0007] The two slide slot frames are both located between the two baffles.

[0008] A bidirectional screw is rotatably connected between the two baffles, and side frames are integrally formed at the upper ends of the two internal threaded slide seats, and the two side frames are respectively threadedly connected to the two ends of the bidirectional screw.

[0009] The internal thread sliding seat is threadedly connected to the stud. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The utility model is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0011] Figure 1 It is a schematic diagram of the overall structure of a robot joint;

[0012] Figure 2It is a schematic diagram of the overall structure of a robot joint in another form;

[0013] Figure 3 is a schematic diagram of the structure of the articulated arm;

[0014] Figure 4 for Figure 3 Another perspective structural diagram of;

[0015] Figure 5 is a schematic diagram of the structure of the gripper;

[0016] Figure 6 It is a structural schematic diagram of the slide frame;

[0017] Figure 7 It is a schematic diagram of the structure of a bidirectional screw;

[0018] Figure 8 It is a structural schematic diagram of an internal thread slide;

[0019] Fig. 9 It is a structural schematic diagram of the cooperation between the internal thread slide and the stud.

[0020] In the figure: articulated arm 101; plate body 102; rotating shaft 103; motor 104; clamping claw 105; slide slot frame 201; baffle 202; bidirectional screw 203; internal threaded slide seat 204; side frame 205; stud 206; notch 207. DETAILED DESCRIPTION

[0021] See also Figures 1 to 9 , showing a schematic diagram of an embodiment of the utility model in which the probability of a clamped object being damaged due to a large pressure applied by a manipulator is reduced;

[0022] A robot joint comprises a joint arm 101, the lower end of the joint arm 101 is symmetrically welded to two plate bodies 102, two rotating shafts 103 are symmetrically rotated between the two plate bodies 102, two motors 104 are fixedly connected to the plate body 102 at the rear side by bolts and a motor frame, the two rotating shafts 103 are respectively connected to the output shafts of the two motors 104 by couplings, and the two rotating shafts 103 are fixedly connected with clamping claws 105 by pins, and also comprises two slide slot frames 201, the two slide slot frames 201 are fixedly connected by two baffles 202, two internal thread slide seats 204 are installed between the two slide slot frames 201, and studs 206 are detachably connected to the two internal thread slide seats 204, and the two studs 206 are respectively fitted with the two clamping claws 105;

[0023] The articulated arm 101 is connected to the mechanical arm, and the two motors 104 are started to drive the two rotating shafts 103 to rotate. The two rotating shafts 103 drive the clamping jaws 105 thereon to rotate through the pins, and the two opened clamping jaws 105 are aligned with the clamped object and rotated toward each other to complete the clamping; the pressure and angle applied by the two clamping jaws 105 during clamping are completely controlled by the two motors 104. If the control is not appropriate, it is easy to leave clamping marks on the surface of the clamped object or directly damage the clamped object. Therefore, the present invention provides two studs 206 respectively attached to the inner walls of the two clamping jaws 105, such as Figure 1 As shown, the inward rotation angle of the two clamping jaws 105 during clamping is limited, thereby preventing the two clamping jaws 105 from over-clamping and leaving clamping marks on the surface of the clamped object or directly damaging the clamped object, thereby reducing the probability of the clamped object being damaged due to the high pressure applied by the robot.

[0024] See also Figure 2 , showing a schematic diagram of an embodiment of preventing the two clamping jaws 105 from being excessively opened according to the utility model;

[0025] The two internal thread slide seats 204 are both slidably connected between the two slide slot frames 201;

[0026] The positions of the two internal threaded slide seats 204 between the two slide slot frames 201 can be adjusted so that the two studs 206 are respectively attached to the outer wall surfaces of the two clamping jaws 105. Figure 2 As shown, the outward rotation angle of the two clamping jaws 105 during clamping is limited, thereby preventing the two clamping jaws 105 from opening excessively when releasing the clamped object.

[0027] See also Figure 7 , showing a schematic diagram of an embodiment of the travel limit of two internal threaded slide seats 204 according to the utility model;

[0028] The two slide trough frames 201 are both located between the two baffles 202;

[0029] The baffle plate 202 and the slide frame 201 are fixed by screw locking. The two baffle plates 202 are respectively located on the outer sides of the left and right sides of the slide frame 201, thereby limiting the travel of the two internally threaded slide seats 204 and preventing the two internally threaded slide seats 204 from detaching from the slide frame 201.

[0030] See also Figures 6 to 8 , showing a schematic diagram of an embodiment of adjusting the positions of two studs 206 according to the utility model;

[0031] A bidirectional screw 203 is rotatably connected between the two baffles 202, and side frames 205 are integrally formed at the upper ends of the two internal thread slides 204, and the two side frames 205 are respectively threadedly connected to the two ends of the bidirectional screw 203;

[0032] Manually rotating the bidirectional screw 203 drives the two side frames 205 to slide towards or away from each other, the two side frames 205 drive the two internal thread slides 204 to slide towards or away from each other, the two internal thread slides 204 drive the two studs 206 to slide towards or away from each other, and then adjust the positions of the two studs 206 so that they fit on the inner wall or outer wall of the clamp 105 to limit its rotation direction.

[0033] See also Figure 6 , showing a schematic diagram of an embodiment of XXX in the utility model;

[0034] The internal threaded sliding seat 204 is threadedly connected to the stud 206;

[0035] Before adjusting the position of the internal threaded slide 204, the stud 206 is manually screwed to separate it from the internal threaded slide 204, so that when adjusting the position of the internal threaded slide 204, the stud 206 will not interfere with the clamp 105. After the position of the internal threaded slide 204 is adjusted, the stud 206 is screwed back onto the internal threaded slide 204.

[0036] See also Fig. 9 , showing a schematic diagram of an embodiment of the present invention that is convenient for hand-gripping and screwing the stud 206;

[0037] The front end of the stud 206 is welded and fixed with a screwing disk; the screwing disk is convenient for holding the stud 206 to exert better force.

[0038] See also Figure 6 , showing a schematic diagram of an embodiment of the utility model that is convenient for hand-gripping and screwing the bidirectional screw 203;

[0039] A hexagonal sleeve column is welded and fixed to the middle of the bidirectional screw rod 203 ; the hexagonal sleeve column facilitates hand gripping and screwing of the bidirectional screw rod 203 to exert better force.

[0040] See also Figures 6 to 7 , showing a schematic diagram of an embodiment of giving up the position of the hexagonal sleeve column according to the utility model;

[0041] A notch 207 is provided on the upper end of the slide frame 201 corresponding to the hexagonal sleeve column;

[0042] The notch 207 is simultaneously opened at the lower end of the plate body 102 at the front end;

[0043] A notch 207 is provided on the lower end of the front plate 102 and the upper end of the slide bracket 201 to make room for the hexagonal sleeve column, thereby leaving sufficient space for holding the hexagonal sleeve column.

[0044] Further;

[0045] like Figure 3 and 4 As shown, the articulated arm 101 is provided with a plurality of screw holes for inserting screws to connect with the mechanical arm.

[0046] The model of the motor 104 is provided as Z2-11-112, and other applicable models in the prior art can also be used.

Claims

1. A robot joint, comprising a joint arm (101), the lower end of the joint arm (101) is symmetrically fixed to two plates (102), the two plates (102) are symmetrically rotatably connected to two rotating shafts (103), two motors (104) are fixed to the plate (102) located at the rear side, the two rotating shafts (103) are respectively connected to the output shafts of the two motors (104) through couplings, and the two rotating shafts (103) are fixedly connected to the clamping claws (105), characterized in that: It also includes two slide slot frames (201), the two slide slot frames (201) are connected via two baffles (202), two internal threaded slide seats (204) are installed between the two slide slot frames (201), and studs (206) are detachably connected in the two internal threaded slide seats (204), and the two studs (206) are respectively fitted with the two clamping claws (105).

2. A robot joint according to claim 1, characterized in that: The two internal thread slide seats (204) are both slidably connected between the two slide slot frames (201).

3. A robot joint according to claim 2, characterized in that: The two slide slot frames (201) are both located between the two baffles (202).

4. A robot joint according to claim 3, characterized in that: A bidirectional screw (203) is rotatably connected between the two baffles (202), and side frames (205) are integrally formed at the upper ends of the two internal threaded slide seats (204), and the two side frames (205) are respectively threadedly connected to the two ends of the bidirectional screw (203).

5. A robot joint according to claim 4, characterized in that: The internal threaded sliding seat (204) is threadedly connected to the stud (206).

6. A robot joint according to claim 5, characterized in that: The front end of the stud (206) is fixedly connected with a screwing disk.

7. A robot joint according to claim 4, characterized in that: A hexagonal sleeve column is fixedly connected to the middle of the bidirectional screw (203).

8. A robot joint according to claim 7, characterized in that: A notch (207) is provided on the upper end of the slide slot frame (201) at a position corresponding to the hexagonal sleeve column.

9. A robot joint according to claim 8, characterized in that: The notch (207) is simultaneously opened at the lower end of the plate body (102) located at the front end.

10. A robot joint according to claim 1, characterized in that: A plurality of screw holes are provided on the joint arm (101).

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