Robot rotating joint driving device

Abstract

The utility model discloses a robot rotating joint driving device, and relates to the technical field of industrial automation. The device comprises a driving box and a hydraulic cylinder, the driving box is rotationally connected with a rotational joint driving shaft through a bearing, the end, located in the driving box, of the rotational joint driving shaft is fixedly sleeved with a rotating disc, connecting arms are arranged on the peripheral side wall of the rotating disc in a central symmetry mode, and connecting sliding columns are fixedly arranged at the tops of the connecting arms; a first guide sliding groove and a second guide sliding groove are formed in the driving box. The two driving arms can be driven by the hydraulic cylinder to move along the first guide sliding groove and the second guide sliding groove respectively, and the rotating disc and the rotating joint driving shaft can be driven to rotate together through cooperation of the connecting sliding groove and the connecting sliding column. According to the driving structure, the rotating joint of the robot fixedly connected with the rotating joint driving shaft can be driven to rotate, the occupied space can be reduced, and therefore rotation of the rotating joint of the robot can be effectively prevented from being hindered.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial automation, and particularly relates to a driving device for a rotating joint of a robot. Background Art

[0002] In the field of industrial automation, it is necessary to drive the rotation of a certain robot joint. The rotation is usually achieved through a control device and a speed reducer. However, the speed reducer is heavy, and the device installed at the end of the robot arm needs to be light in weight. In addition, the price of the speed reducer is high, resulting in too high manufacturing cost of the robot. After retrieval, the patent with the application number 201621307758.0 discloses a device for driving the rotation of a robot joint. It includes a gear rotation mechanism and a hydraulic drive mechanism for driving the gear rotation mechanism to rotate. The robot joint to be rotated is fixedly connected to the gear rotation mechanism. The hydraulic drive mechanism includes a first hydraulic cylinder, a second hydraulic cylinder, and a drive device for driving the pistons in the first hydraulic cylinder and the second hydraulic cylinder to move in opposite directions. The gear rotation mechanism includes a gear and a first rack and a second rack arranged in parallel. One end of the first rack is fixedly connected to the side of the piston in the first hydraulic cylinder facing away from the first connecting pipe, and one end of the second rack is fixedly connected to the side of the piston in the second hydraulic cylinder facing away from the second connecting pipe. The gear meshes with the first rack and the second rack respectively.

[0003] However, in the actual use process, the applicant found that it drives the first rack and the second rack to drive the gear meshing with the first rack and the second rack to rotate, and drives the shaft connected to the robot rotating joint to rotate through the gear to achieve the drive of the robot rotating joint. In this driving mode, due to the certain lengths of the first rack and the second rack, and the spatial structure at the robot rotating joint is usually small, the movement of the first rack and the second rack is likely to hinder the rotation of the robot rotating joint. In view of this, we propose a driving device for a robot rotating joint. Summary of the Utility Model

[0004] To solve the above technical problems, the utility model is realized through the following technical solutions:

[0005] The utility model relates to a driving device for a robot rotating joint, which comprises a driving box and a hydraulic cylinder. A rotating joint driving shaft is rotatably connected to the driving box through a bearing. One end of the rotating joint driving shaft located inside the driving box is sleeved and fixed with a turntable. Connecting arms are symmetrically arranged on the circumferential side wall of the turntable in a central symmetry manner. A connecting sliding column is fixedly arranged at the top of the connecting arm. A first guiding sliding groove and a second guiding sliding groove are formed inside the driving box. Driving arms are slidably connected in both the first guiding sliding groove and the second guiding sliding groove. A driving seat is arranged at the front end of the driving arm. A connecting sliding groove is formed in the driving seat. The two connecting sliding columns respectively slide along the connecting sliding grooves formed in the two driving seats. One end of the hydraulic cylinder is communicated with the first guiding sliding groove through a first connecting pipe, and the other end of the hydraulic cylinder is communicated with the second guiding sliding groove through a second connecting pipe.

[0006] Preferably, a sealing block is fixedly connected to the tail end of the driving arm, and a blocking block is movably arranged inside the hydraulic cylinder.

[0007] Preferably, hydraulic oil is filled in the first guiding sliding groove between the sealing block on one side and the first connecting pipe, the second guiding sliding groove between the sealing block on the other side and the second connecting pipe, the hydraulic cylinder, the first connecting pipe and the second connecting pipe.

[0008] Preferably, the sealing blocks at the tail ends of the two driving arms slide along the inner side walls of the first guiding sliding groove and the second guiding sliding groove respectively.

[0009] Preferably, the contact area between the blocking block and the hydraulic oil and the contact areas between the two sealing blocks and the hydraulic oil are fixed values.

[0010] Preferably, one end of the rotating joint driving shaft located inside the driving box is flush with the end face of the turntable close to the driving arm.

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

[0012] The driving device for a robot rotating joint of the utility model can drive two driving arms to move along the first guiding sliding groove and the second guiding sliding groove respectively through the hydraulic cylinder, and can drive the turntable together with the rotating joint driving shaft to rotate through the cooperation of the connecting sliding groove and the connecting sliding column, so as to drive the robot rotating joint fixedly connected with the rotating joint driving shaft to rotate. This driving structure can reduce the space occupation and effectively avoid hindering the rotation of the robot rotating joint. Description of the Drawings

[0013] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0014] Figure 1 The left view structural schematic diagram of a driving device for a robot rotating joint of the present utility model;

[0015] Figure 2 The right view structural schematic diagram of a driving device for a robot rotating joint of the present utility model;

[0016] Figure 3 The internal structural schematic diagram of a driving device for a robot rotating joint of the present utility model.

[0017] In the accompanying drawings, the list of components represented by each reference numeral is as follows:

[0018] 1. Driving box; 11. First guiding chute; 12. Second guiding chute; 2. Rotating joint driving shaft; 3. Hydraulic cylinder; 31. Plug; 4. First connecting pipe; 5. Second connecting pipe; 6. Turntable; 61. Connecting arm; 62. Connecting sliding column; 7. Driving arm; 71. Driving seat; 72. Connecting chute; 8. Sealing block. Specific embodiments

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0020] Please refer to Figures 1-3 As shown, the present utility model provides a technical solution:

[0021] A driving device for a robot rotating joint, comprising a driving box 1 and a hydraulic cylinder 3. A rotating joint driving shaft 2 is rotatably connected to the driving box 1 through a bearing. One end of the rotating joint driving shaft 2 located inside the driving box 1 is sleeved and fixed with a turntable 6. One end of the rotating joint driving shaft 2 located inside the driving box 1 is flush with the end face of the turntable 6 close to the driving arm 7. Connecting arms 61 are symmetrically arranged on the circumferential side wall of the turntable 6. A connecting sliding column 62 is fixedly arranged at the top of the connecting arm 61. A first guiding chute 11 and a second guiding chute 12 are opened inside the driving box 1. Driving arms 7 are slidably connected in both the first guiding chute 11 and the second guiding chute 12. A driving seat 71 is arranged at the front end of the driving arm 7. A connecting chute 72 is opened on the driving seat 71. The two connecting sliding columns 62 slide along the connecting chutes 72 opened on the two driving seats 71 respectively. A sealing block 8 is fixedly connected to the tail end of the driving arm 7. The sealing blocks 8 at the tail ends of the two driving arms 7 slide along the inner side walls of the first guiding chute 11 and the second guiding chute 12 respectively. A blocking block 31 is movably arranged inside the hydraulic cylinder 3. The hydraulic cylinder 3 can drive the two driving arms 7 to move along the first guiding chute 11 and the second guiding chute 12 respectively, and can drive the turntable 6 together with the rotating joint driving shaft 2 to rotate through the cooperation of the connecting chute 72 and the connecting sliding column 62, so as to drive the robot rotating joint fixedly connected to the rotating joint driving shaft 2 to rotate. This driving structure can reduce the space occupation, thus effectively avoiding hindering the rotation of the robot rotating joint. One end of the hydraulic cylinder 3 is communicated with the first guiding chute 11 through a first connecting pipe 4, and the other end of the hydraulic cylinder 3 is communicated with the second guiding chute 12 through a second connecting pipe 5. Hydraulic oil is filled in the first guiding chute 11 between the sealing block 8 on one side and the first connecting pipe 4, in the second guiding chute 12 between the sealing block 8 on the other side and the second connecting pipe 5, in the hydraulic cylinder 3, in the first connecting pipe 4 and in the second connecting pipe 5. The contact area between the blocking block 31 and the hydraulic oil and the contact areas between the two sealing blocks 8 and the hydraulic oil are fixed values, so that when the blocking block 31 moves downward, it can drive the driving arm 7 on one side to move upward along the second guiding chute 12 by a corresponding distance, and when the blocking block 31 moves upward, it can drive the driving arm 7 on the other side to move upward along the first guiding chute 11 by a corresponding distance.

[0022] Working principle: When in use, the plug 31 in the hydraulic cylinder 3 moves downward. Under the action of the second connecting pipe 5 and the hydraulic oil, it can drive the driving arm 7 moving along the second guiding chute 12 to move upward. And through the cooperation of the connecting chute 72 and the connecting sliding column 62, it can drive the turntable 6 together with the rotating joint driving shaft 2 to rotate clockwise. The rotation of the rotating joint driving shaft 2 can further drive the rotating joint of the robot fixedly connected thereto to rotate clockwise. At the same time, the rotation of the turntable 6 can drive the driving arm 7 moving along the first guiding chute 11 to move downward through the cooperation of the connecting sliding column 62 and the connecting chute 72. When the plug 31 in the hydraulic cylinder 3 moves upward, under the action of the first connecting pipe 4 and the hydraulic oil, it can drive the driving arm 7 moving along the first guiding chute 11 to move upward. And through the cooperation of the connecting chute 72 and the connecting sliding column 62, it can drive the turntable 6 together with the rotating joint driving shaft 2 to rotate counterclockwise. The rotation of the rotating joint driving shaft 2 can further drive the rotating joint of the robot fixedly connected thereto to rotate counterclockwise. At the same time, the rotation of the turntable 6 can drive the driving arm 7 moving along the first guiding chute 11 to move downward through the cooperation of the connecting sliding column 62 and the connecting chute 72, so as to drive the rotating joint of the robot to rotate clockwise and counterclockwise.

[0023] In the description of this specification, the description referring to terms such as "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0024] The above are only the preferred embodiments of the present utility model, which do not limit the present utility model. Any modification to the technical solutions recorded in the foregoing embodiments and any equivalent replacement of some of the technical features thereof all fall within the protection scope of the present utility model.

Claims

1. A robot rotary joint driving device, characterized in that: The invention comprises a driving box (1) and a hydraulic cylinder (3), wherein the driving box (1) is rotatably connected to a rotary joint driving shaft (2) via a bearing, wherein one end of the rotary joint driving shaft (2) located inside the driving box (1) is sleeved and fixed with a rotating disk (6), wherein connecting arms (61) are centrally symmetrically arranged on the peripheral side wall of the rotating disk (6), wherein a connecting slide column (62) is fixedly arranged on the top of the connecting arm (61), wherein a first guide slide groove (11) and a second guide slide groove (12) are provided inside the driving box (1), wherein the first guide slide groove (11) ) and the second guide groove (12) are both slidably connected with a driving arm (7), a driving seat (71) is provided at the front end of the driving arm (7), a connecting groove (72) is provided on the driving seat (71), and the two connecting slides (62) slide along the connecting grooves (72) provided on the two driving seats (71), respectively. One end of the hydraulic cylinder (3) is connected to the first guide groove (11) through the first connecting pipe (4), and the other end of the hydraulic cylinder (3) is connected to the second guide groove (12) through the second connecting pipe (5).

2. A robot rotary joint driving device according to claim 1, characterized in that: The tail end of the driving arm (7) is fixedly connected to a sealing block (8), and a blocking block (31) is movably provided inside the hydraulic cylinder (3).

3. A robot rotary joint driving device according to claim 2, characterized in that: The first guide groove (11) between the sealing block (8) and the first connecting pipe (4) on one side, the second guide groove (12) between the sealing block (8) and the second connecting pipe (5) on the other side, the hydraulic cylinder (3), the first connecting pipe (4) and the second connecting pipe (5) are all filled with hydraulic oil.

4. A robot rotary joint driving device according to claim 2, characterized in that: The sealing blocks (8) at the rear ends of the two driving arms (7) slide along the inner side walls of the first guide slot (11) and the second guide slot (12), respectively.

5. A robot rotary joint driving device according to claim 2, characterized in that: The contact area between the blocking block (31) and the hydraulic oil and the contact area between the two sealing blocks (8) and the hydraulic oil are fixed values.

6. A robot rotary joint driving device according to claim 1, characterized in that: One end of the rotary joint drive shaft (2) located inside the drive box (1) is flush with the end surface of the rotary disk (6) on the side close to the drive arm (7).

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