Robot joint structure

Abstract

The utility model provides a robot joint structure which comprises an installation joint used for installing an external structure and a bearing joint used for bearing the installation joint, and a sleeve is fixed to the side, facing the installation joint, of the bearing joint. A Y-axis movement assembly used for controlling the mounting joint to move in the Y-axis direction and an X-axis movement assembly matched with the Y-axis movement assembly to enable the mounting joint to move in the X-axis direction are arranged on the sleeve, the robot joint structure and the mounting joint are used for being connected with an external structure, a mechanical arm and the like, and the bearing joint is connected with the mounting joint in a supporting mode. The X-axis movement assembly and the Y-axis movement assembly are matched to control the mounting joint to move in the X-axis direction and the Y-axis direction, and the mounting joint is similar to a human arm, so that the flexibility is improved.

Description

Technical Field

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

[0002] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are gaining more and more attention and are being used more and more widely. Among the robot-related technologies, the control of robot joints and other moving parts is the most important and critical.

[0003] The robot joint is a mechanism that allows relative movement between the various parts of the robot. A robot disclosed in the Chinese patent with reference to the announcement number 201510113619.8 includes a base, a six-axis robot arm, and the six-axis robot arm is controlled by a driving mechanism to rotate around its respective central axis. The driving mechanism includes a reducer and a motor. The six-axis robot arm includes an elbow arm, and the elbow arm is fixed on a transition flange, and the transition flange is connected to the output end of the reducer. The robot elbow arm of the invention is connected to the output end of the reducer through a transition flange, thereby increasing the installation diameter of the elbow arm and the contact area, which is conducive to installation and parts processing, and greatly improves the motion rigidity of the entire robot.

[0004] The above solution has improved some of the problems of the prior art to a certain extent. However, the solution still has at least the following defects: unreasonable design, few degrees of freedom, and technical problems of inflexible robot operation. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the utility model proposes a robot joint structure, including a mounting joint for mounting an external structure and a bearing joint for bearing the mounting joint, a sleeve is fixed to the bearing joint toward the side of the mounting joint, and the sleeve is provided with a Y-axis motion component for controlling the movement of the mounting joint in the Y-axis direction and an X-axis motion component cooperating with the Y-axis motion component to enable the mounting joint to move in the X-axis direction.

[0006] To achieve the above purpose, the mounting joint is used to connect with external structures and manipulators, and the load-bearing joint supports the mounting joint. The mounting joint is controlled to move in the X-axis and Y-axis directions through the cooperation of the X-axis motion component and the Y-axis motion component, which is similar to a human arm, with improved flexibility and less space occupied.

[0007] Furthermore, the Y-axis motion assembly includes an outer tube arranged in the middle position of the inner cavity of the sleeve, a Y-axis worm gear is coaxially nested in the circumferential outer wall at one end of the outer tube, a Y-axis worm gear is rotatably connected to the inner cavity of the sleeve and is located next to the Y-axis worm gear and meshed with the Y-axis worm gear, a Y-axis motor for driving the Y-axis worm gear to rotate is fixed on the sleeve, and a support fixedly connected to the outer tube is coaxially nested in the circumferential outer wall at one end of the outer tube away from the Y-axis worm gear.

[0008] Through the above technical solution, power is provided by the Y-axis motor, and power is transmitted through the Y-axis worm and the Y-axis worm gear, thereby driving the outer tube coaxially fixed with the Y-axis worm gear and the support coaxially fixed with the outer tube to rotate.

[0009] Furthermore, the X-axis motion assembly includes an X-axis bevel gear arranged in a hollow position at the bottom of the inner cavity of the support and rotatably connected to the support, the inner cavity of the support is rotatably connected to a Y-axis bevel gear meshing with the X-axis bevel gear, the inner cavity of the support is also provided with a transmission rod, one end of the transmission rod is coaxially fixed to the Y-axis bevel gear, and the other end is rotatably connected to the inner cavity wall of the support, a connecting rod is fixed on the transmission rod, one end of the connecting rod extends out of the support, the part of the connecting rod extending out of the support is fixedly connected to the mounting joint, and the inner cavity of the sleeve is provided with a driving assembly for driving the X-axis bevel gear to rotate.

[0010] Through the above technical solution, power is provided by the driving assembly to drive the X-axis bevel gear to rotate. The rotation of the X-axis bevel gear will drive the Y-axis bevel gear meshing with the X-axis bevel gear to rotate, thereby driving the transmission rod coaxially fixed with the Y-axis bevel gear to rotate, thereby driving the connecting rod fixed to the transmission rod and the mounting joint fixed to the connecting rod to rotate in the X-axis direction.

[0011] Furthermore, the driving assembly includes an X-axis worm wheel arranged in the middle position of the inner cavity of the sleeve, and the inner cavity of the sleeve is also provided with an X-axis worm located next to the X-axis worm wheel. An X-axis motor driving the X-axis worm gear to rotate is fixed on the sleeve, and an inner tube is coaxially fixed at the middle position of the X-axis worm wheel. The inner tube passes through the outer tube and is coaxially fixed with the X-axis bevel gear.

[0012] Through the above technical solution, power is provided by the X-axis motor, and power is transmitted through the mutually meshing X-axis worm and X-axis worm wheel, thereby driving the inner tube coaxially fixed with the X-axis worm wheel and the X-axis bevel gear coaxially fixed with the inner tube to rotate.

[0013] Furthermore, the connecting rod is provided with a supporting assembly for improving the movement stability of the connecting rod.

[0014] Through the above technical solution, by setting up a support assembly, the possibility of shaking when the installation joint rotates is reduced.

[0015] Furthermore, the support assembly includes two ear plates fixed on the connecting rod and arranged opposite to each other, each of the ear plates is hingedly connected to two oppositely arranged rocker rods, the rocker rods are each provided with a waist-shaped hole, every two adjacent waist-shaped holes are penetrated by a short shaft slidably connected to the waist-shaped hole and a support plate fixedly connected to two adjacent rocker rods, and the support plate and the short shaft are arranged opposite to each other, the support plate and the short shaft are fixedly connected by a spring, a support rod located between the two adjacent rocker rods is fixed on the short shaft, and a support ball is integrated at one end of the support rod away from the short shaft and contacts the wall of the inner cavity of the support.

[0016] Through the above technical solution, the spring provides elastic potential energy, so that the support ball always contacts the inner groove wall of the support, and the support ball plays an auxiliary supporting role for the movement of the installation joint, thereby improving the rotation stability of the installation joint.

[0017] Furthermore, a sleeve block is threadedly connected to the connecting rod, and two oppositely arranged ear seats are rotatably connected to the circumferential outer wall of the sleeve block. A push rod is hingedly connected to each ear seat, and one end of the push rod away from the ear seat is hingedly connected to the end of the rocker arm away from the ear plate.

[0018] Through the above technical solution, the sleeve block is threadedly connected to the connecting rod, and the sleeve block is manually rotated. The sleeve block moves during the rotation process. The movement of the sleeve block will drive the ear plate rotatably connected to the sleeve block to move. The movement of the ear plate will drive the push rod to move, and then promote the rocker arm to rotate, so that the support ball contacts the inner cavity groove wall of the support, and the support ball plays an auxiliary supporting role in the movement of the installation joint.

[0019] In summary, the robot joint structure has the following beneficial effects:

[0020] (1) The robot joint structure includes a mounting joint for connecting with an external structure and a manipulator, etc. The load-bearing joint supports the mounting joint, and the mounting joint is controlled to move in the X-axis and Y-axis directions through the cooperation of an X-axis motion component and a Y-axis motion component, which is similar to a human arm, has improved flexibility and occupies less space.

[0021] (2) The robot joint structure provides elastic potential energy through the spring, so that the support ball always contacts the inner groove wall of the support, and the support ball plays an auxiliary supporting role for the movement of the installation joint, thereby improving the stability of the rotation of the installation joint.

[0022] (3) The robot joint structure has a sleeve block and a connecting rod threadedly connected. The sleeve block is manually rotated and moves during the rotation process. The movement of the sleeve block drives the ear plate connected to the sleeve block to move. The movement of the ear plate drives the push rod to move, and then drives the rocker arm to rotate, so that the support ball contacts the inner cavity groove wall of the support, and the support ball plays an auxiliary supporting role in the movement of the installation joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The utility model is further described and elaborated below in conjunction with the accompanying drawings.

[0024] Figure 1 It is a schematic diagram of the overall structure of the preferred embodiment of the utility model;

[0025] Figure 2 It is a schematic diagram of the structure of the groove of the utility model;

[0026] Figure 3 It is a schematic diagram of the cross-sectional structure of the casing of the utility model;

[0027] Figure 4 It is a schematic diagram of the structure of the inner tube of the utility model;

[0028] Figure 5 The utility model Figure 4 The enlarged structural diagram at A in the middle;

[0029] Figure 6 The utility model Figure 4 Enlarged structural diagram at B in the middle.

[0030] : 1. mounting joint; 2. load-bearing joint; 3. groove; 4. sleeve; 5. outer tube; 6. Y-axis worm gear; 7. Y-axis worm; 8. support; 9. X-axis worm gear; 10. X-axis worm; 11. inner tube; 12. X-axis bevel gear; 13. Y-axis bevel gear; 14. transmission rod; 15. connecting rod; 16. ear plate; 17. rocker arm; 18. waist-shaped hole; 19. short shaft; 20. dead stop; 21. support rod; 22. support ball; 23. sleeve block; 24. ear seat; 25. push rod. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be more clearly and completely explained below by describing the preferred embodiments of the present invention in combination with the accompanying drawings.

[0032] like Figure 1-6 As shown, a robot joint structure of a preferred embodiment of the utility model includes a mounting joint 1 for mounting an external structure and a bearing joint 2 for bearing the mounting joint 1, the bearing joint 2 is provided with a groove 3 facing the mounting joint 1, a sleeve 4 adapted to the groove 3 is fixed in the groove 3, the inner cavity of the sleeve 4 is hollow and open toward the mounting joint, the inner cavity of the sleeve 4 is provided with a Y-axis motion component for controlling the movement of the mounting joint 1 in the Y-axis direction, and the inner cavity of the sleeve 4 is also provided with an X-axis motion component that cooperates with the Y-axis motion component to enable the mounting joint to move in the X-axis direction.

[0033] like Figure 1 and Figure 2The mounting joint 1 is used to connect with external structures and manipulators, and the load-bearing joint 2 supports and connects the mounting joint 1. The mounting joint 1 is controlled to move in the X-axis and Y-axis directions through the cooperation of the X-axis motion component and the Y-axis motion component, which is similar to a human arm, and has improved flexibility while occupying a small space.

[0034] like Figure 3 and Figure 4 and Figure 5 The Y-axis motion component includes an outer tube 5 arranged in the middle position of the inner cavity of the sleeve 4. The inner cavity of the outer tube 5 is hollow and open at both ends. A Y-axis worm gear 6 fixed to the outer tube 5 is coaxially nested on the circumferential outer wall at one end of the outer tube 5. The inner cavity of the sleeve 4 is rotatably connected to a Y-axis worm 7 located beside the Y-axis worm gear 6 and meshing with the Y-axis worm gear 6. A Y-axis motor for driving the Y-axis worm 7 to rotate is fixed on the sleeve 4. A support 8 fixedly connected to the outer tube 5 is coaxially nested on the circumferential outer wall at one end of the outer tube 5 away from the Y-axis worm gear 6. The support 8 is rotatably connected to the sleeve 4. The inner cavity of the support 8 is hollow and open toward one side of the mounting joint. The inner cavity of the outer tube 5 and the inner cavity of the support 8 are connected to each other.

[0035] like Figure 3 and Figure 4 and Figure 5 The power is provided by the Y-axis motor, and the power is transmitted through the Y-axis worm 7 and the Y-axis worm gear 6, thereby driving the outer tube 5 coaxially fixed with the Y-axis worm gear 6 and the support 8 coaxially fixed with the outer tube 5 to rotate.

[0036] like Figure 3 and Figure 4 and Figure 5 and Figure 6 The X-axis motion assembly includes an X-axis worm wheel 9 arranged in the middle position of the inner cavity of the sleeve 4. The inner cavity of the sleeve 4 is also provided with an X-axis worm 10 located beside the X-axis worm wheel 9. An X-axis motor for driving the X-axis worm 10 to rotate is fixed on the sleeve 4. An inner tube 11 is coaxially fixed to the middle position of the X-axis worm wheel 9. The inner tube 11 penetrates into the outer tube 5 and is rotatably connected with the outer tube 5. The inner tube 11 penetrates out of the outer tube 5. The part of the inner tube 11 that penetrates out of the outer tube 5 penetrates into the inner cavity of the support 8. The part of the inner tube 11 that penetrates into the inner cavity of the support 8 is coaxially fixed. There is an X-axis bevel gear 12, which is rotatably connected to the middle position of the inner cavity of the support 8. The inner cavity of the support 8 is rotatably connected to a Y-axis bevel gear 13 that meshes with the X-axis bevel gear 12. The inner cavity of the support 8 is also provided with a transmission rod 14, one end of the transmission rod 14 is coaxially fixed to the Y-axis bevel gear 13, and the other end is rotatably connected to the inner cavity groove wall of the support 8. A connecting rod 15 is fixed on the transmission rod 14, one end of the connecting rod 15 extends out of the support 8, and the part of the connecting rod 15 extending out of the support 8 is fixedly connected to the mounting joint 1.

[0037] like Figure 3 and Figure 4 and Figure 5 and Figure 6The center lines of the connecting rod 15, the support 8, the X-axis bevel gear 12, the outer tube 5, the inner tube 11, the X-axis gear, the Y-axis gear and the sleeve 4 all coincide.

[0038] like Figure 3 and Figure 4 and Figure 5 and Figure 6 The X-axis motor provides power, and the power is transmitted through the mutually meshing X-axis worm 10 and X-axis worm wheel 9, driving the inner tube 11 coaxially fixed with the X-axis worm wheel 9 and the X-axis bevel gear 12 coaxially fixed with the inner tube 11 to rotate. The rotation of the X-axis bevel gear 12 will drive the Y-axis bevel gear 13 meshing with the X-axis bevel gear 12 to rotate, and then drive the transmission rod 14 coaxially fixed with the Y-axis bevel gear 13 to rotate, thereby driving the connecting rod 15 fixed with the transmission rod 14 and the mounting joint 1 fixed with the connecting rod 15 to rotate in the X-axis direction.

[0039] like Figure 3 and Figure 4 and Figure 5 and Figure 6 In order to reduce the possibility of shaking when the mounting joint rotates, a supporting component is provided on the connecting rod 15 to improve the movement stability of the connecting rod 15.

[0040] like Figure 3 and Figure 4 and Figure 5 and Figure 6 The supporting assembly includes two ear plates 16 fixed on the connecting rod 15 and arranged oppositely, each ear plate 16 is hingedly connected to two swing rods 17 arranged oppositely, each swing rod 17 is provided with a waist-shaped hole 18, and each two adjacent waist-shaped holes 18 are penetrated with a short shaft 19 slidably connected to the waist-shaped hole 18 and a support plate fixedly connected to the two adjacent swing rods 17, the support plate and the short shaft 19 are arranged oppositely, the support plate is close to the ear plate 16, the support plate and the short shaft 19 are fixedly connected by a spring, and the part of the short shaft 19 passing through the waist-shaped hole 18 is fixed with a dead stop 20, the dead stop 20 The size is larger than that of the waist-shaped hole 18, which reduces the possibility of the short shaft 19 escaping from the rocker 17. A support rod 21 located between two adjacent rockers 17 is fixed on the short shaft 19, and the end of the support rod 21 away from the short shaft 19 is integrated with a supporting ball 22 that contacts the inner groove wall of the support 8. A sleeve block 23 is also threadedly connected to the connecting rod 15, and two oppositely arranged ear seats 24 are rotatably connected to the circumferential outer wall of the sleeve block 23. A push rod 25 is hingedly connected to each ear seat 24, and the end of the push rod 25 away from the ear seat 24 is hingedly connected to the end of the rocker 17 away from the ear plate 16.

[0041] like Figure 3 and Figure 4 and Figure 5 and Figure 6According to the inner diameter of the support 8, the sleeve block 23 is manually rotated. The sleeve block 23 is threadedly connected to the connecting rod 15. The sleeve block 23 moves during the rotation process. The movement of the sleeve block 23 will drive the ear plate 16 rotatably connected to the sleeve block 23 to move. The movement of the ear plate 16 will drive the push rod 25 to move, and then push the rocker rod 17 to rotate, so that the support ball 22 contacts the inner cavity groove wall of the support 8, and the support ball 22 plays an auxiliary supporting role in the movement of the installation joint 1.

[0042] When in use, turn on the power supply and turn on the switch. When the joint 1 needs to be installed to move in the X-axis direction, turn on the X-axis motor, which will drive the X-axis worm 10 coaxially fixed with the output shaft of the X-axis motor to rotate. The rotation of the X-axis worm 10 will drive the X-axis worm gear 9 meshing with the X-axis worm 10 to rotate. The rotation of the X-axis worm gear 9 will drive the inner tube 11 coaxially fixed with the X-axis worm gear 9 to rotate. The rotation of the inner tube 11 will drive the X-axis bevel gear 12 coaxially fixed with the inner tube 11 to rotate. The rotation of the X-axis bevel gear 12 will drive the Y-axis bevel gear 13 meshing with the X-axis bevel gear 12 to rotate, and then drive the transmission rod 14 coaxially fixed with the Y-axis bevel gear 13 to rotate. The rotation of the transmission rod 14 will drive the connecting rod 15 fixed with the transmission rod 14 to rotate. The rotation of the connecting rod 15 will cause the installation joint 1 fixed with the connecting rod 15 to rotate, thereby realizing the rotation in the X-axis direction.

[0043] When the installation joint 1 needs to move in the Y-axis direction, turn on the Y-axis motor, and provide power through the Y-axis motor to drive the Y-axis worm 7 coaxially fixed with the output shaft of the Y-axis motor to rotate. The rotation of the Y-axis worm 7 will drive the Y-axis worm wheel 6 meshing with the Y-axis worm 7 to rotate. The rotation of the Y-axis worm wheel 6 will drive the outer tube 5 coaxially fixed with the Y-axis worm wheel 6 to rotate. The rotation of the outer tube 5 will drive the support 8 coaxially fixed with the outer tube 5 to rotate, and then drive the transmission rod 14 and the connecting rod 15 in the support 8 to rotate, thereby driving the installation joint 1 to move in the Y-axis direction;

[0044] The mounting joint 1 moves in the Y-axis direction and the X-axis direction, the flexibility is effectively improved, and the space occupied is small;

[0045] During the rotation of the mounting joint 1 , the spring provides power, and the support ball 22 always contacts the inner groove wall of the support 8 , thereby providing auxiliary support for the movement of the mounting joint 1 and improving the rotation stability of the mounting joint 1 .

[0046] The above specific implementations are only descriptions of the preferred implementations of the utility model, and do not limit the protection scope of the utility model. Under the premise of not departing from the design concept and spirit of the utility model, various deformations, substitutions and improvements made by ordinary technicians in this field to the technical solution of the utility model based on the text description and drawings provided by the utility model should all fall within the protection scope of the utility model. The protection scope of the utility model is determined by the claims.

Claims

1. A robot joint structure, characterized in that: The invention comprises a mounting joint (1) for mounting an external structure and a bearing joint (2) for bearing the mounting joint (1); a sleeve (4) is fixed to the bearing joint (2) on the side facing the mounting joint (1); a Y-axis motion component for controlling the movement of the mounting joint (1) in the Y-axis direction and an X-axis motion component cooperating with the Y-axis motion component to enable the mounting joint to move in the X-axis direction are provided on the sleeve (4).

2. A robot joint structure according to claim 1, characterized in that: The Y-axis motion assembly comprises an outer tube (5) arranged in the middle position of the inner cavity of the sleeve (4); a Y-axis worm gear (6) is coaxially embedded in the circumferential outer wall at one end of the outer tube (5); a Y-axis worm (7) located beside the Y-axis worm gear (6) and meshing with the Y-axis worm gear (6) is rotatably connected to the inner cavity of the sleeve (4); a Y-axis motor for driving the Y-axis worm gear (7) to rotate is fixed on the sleeve (4); and a support (8) fixedly connected to the outer tube (5) is coaxially embedded in the circumferential outer wall at one end of the outer tube (5) away from the Y-axis worm gear (6).

3. A robot joint structure according to claim 2, characterized in that: The X-axis motion assembly comprises an X-axis bevel gear (12) which is arranged at a hollow position at the bottom of the inner cavity groove of the support (8) and is rotatably connected to the support (8); the inner cavity of the support (8) is rotatably connected to a Y-axis bevel gear (13) which meshes with the X-axis bevel gear (12); the inner cavity of the support (8) is also provided with a transmission rod (14); one end of the transmission rod (14) is coaxially fixed to the Y-axis bevel gear (13), and the other end is rotatably connected to the inner cavity groove wall of the support (8); a connecting rod (15) is fixed to the transmission rod (14); one end of the connecting rod (15) extends out of the support (8); the part of the connecting rod (15) extending out of the support (8) is fixedly connected to the mounting joint (1); and the inner cavity of the sleeve (4) is provided with a driving assembly which drives the X-axis bevel gear (12) to rotate.

4. A robot joint structure according to claim 3, characterized in that: The driving assembly comprises an X-axis worm wheel (9) arranged in the middle position of the inner cavity of the sleeve (4); the inner cavity of the sleeve (4) is also provided with an X-axis worm (10) located beside the X-axis worm wheel (9); an X-axis motor for driving the X-axis worm (10) to rotate is fixed on the sleeve (4); an inner tube (11) is coaxially fixed at the middle position of the X-axis worm wheel (9); the inner tube (11) passes through the outer tube (5) and is coaxially fixed with the X-axis bevel gear (12).

5. A robot joint structure according to claim 3, characterized in that: The connecting rod (15) is provided with a supporting assembly for improving the movement stability of the connecting rod (15).

6. A robot joint structure according to claim 5, characterized in that: The support assembly comprises two ear plates (16) fixed on the connecting rod (15) and arranged oppositely, each ear plate (16) is hingedly connected to two oppositely arranged swing rods (17), each swing rod (17) is provided with a waist-shaped hole (18), each two adjacent waist-shaped holes (18) are penetrated by a short shaft (19) slidably connected to the waist-shaped hole (18) and a support plate fixedly connected to two adjacent swing rods (17), and the support plate and the short shaft (19) are arranged oppositely, the support plate and the short shaft (19) are fixedly connected by a spring, and a support rod (21) located between the two adjacent swing rods (17) is fixed on the short shaft (19), and one end of the support rod (21) away from the short shaft (19) is integrated with a support ball (22) that contacts the inner cavity groove wall of the support seat (8).

7. A robot joint structure according to claim 6, characterized in that: The connecting rod (15) is also threadedly connected to a sleeve block (23), and two oppositely arranged ear seats (24) are rotatably connected to the circumferential outer wall of the sleeve block (23). Each ear seat (24) is hingedly connected to a push rod (25), and one end of the push rod (25) away from the ear seat (24) is hingedly connected to one end of the swing rod (17) away from the ear plate (16).

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