Robot arm wrist anti-falling supporting structure
Through the design of joint motor module and suspension bracket assembly, the interference fit and anti-disassembly structure are adopted, which solves the problem of loose wrist parts of the robot arm, and achieves the stability and durability of the robot arm.
Patent Information
- Application Number
- CN202422110361.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-29
- Publication Date
- 2025-07-08
- Estimated Expiration
- 2034-08-29
AI Technical Summary
The wrist structure of the existing mechanical arm is prone to fall off under harsh working conditions, resulting in unreliability and affecting the stable use of the mechanical arm.
The joint motor module, tie rod and suspension bracket assembly are designed to ensure a stable connection between the shaft column and the fixed collar through interference fit and anti-disassembly structure to prevent loosening.
It improves the stability and durability of the wrist of the robot arm, avoids accidental falloff of parts, and ensures the reliability of the robot arm running for a long time.
Smart Images
Figure CN223071417U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of wrist joint structures of humanoid robot arms, and more specifically, to an anti - detachment support structure for the wrist of a robot arm. Background Art
[0002] A robotic arm is a device that can imitate the movements of a human hand. By simulating the grasping or lifting actions of a human hand, it can hold and transport goods from one place to another. The robotic arm can replace employees in performing some relatively dangerous or complex tasks, thereby reducing the occurrence of work - related injuries to personnel. Moreover, the robotic arm can work continuously. Therefore, robotic arms are installed in factories to replace personnel for work.
[0003] In order to make the robotic arm as flexible as a human arm, the robotic arm usually also includes multiple joint mechanisms, such as structures of the shoulder, elbow, wrist, etc. There are still some problems in the existing wrist structures of robotic arms during use. For example, each moving part is connected by a cylindrical pin, and the connection method of interference fit between the cylindrical pin and the part has high tolerance control requirements, which cannot ensure the long - term stable use of the robotic arm. In severe working conditions, even the components may fall off, resulting in the separation of the wrist part of the arm, which is not reliable. Summary of the Utility Model
[0004] In order to solve the above - mentioned technical problems, the purpose of the utility model is to provide an anti - detachment support structure for the wrist of a robot arm, which is convenient for processing and assembly and can prevent accidental loosening between components.
[0005] In order to achieve the above - mentioned utility model purpose, the utility model adopts the following technical solutions:
[0006] An anti - detachment support structure for the wrist of a robot arm includes a joint motor module, a pull rod, and a suspension bracket assembly. One end of the suspension bracket assembly is in a ring shape and is sleeved and fixed on a joint motor module. The other end of the suspension bracket assembly is in a semi - circular ring plate shape, and another joint motor module is connected to the suspension bracket assembly through a rotating bracket assembly. The suspension bracket assembly makes the two joint motor modules perpendicular to each other. One end of the pull rod is connected to the output end of a joint motor module, and the other end is connected to the side wall of another joint motor module; the rotating bracket assembly includes a fixed collar, the fixed collar is sleeved and fixed on another joint motor module, two rotating shaft columns are arranged on the fixed collar, and the two rotating shaft columns are rotatably connected to both ends of the semi - circular ring plate; two through - holes with an angular separation of 180° are arranged on the fixed collar, and a limiting notch is formed inside the through - holes. The rotating shaft column includes a column body and an anti - detachment plate fixed at one end of the column body. The column body passes through the through - hole, and the anti - detachment plate is clamped in the limiting notch.
[0007] As a preferred solution: both the limiting notch and the anti - detachment plate are rectangular.
[0008] As a preferred solution: a connecting plate is further provided on the fixed collar, the extending direction of the connecting plate is perpendicular to the plane where the fixed collar is located, one of the rotating shaft columns is arranged on the connecting plate, and hinge columns for rotatably connecting with the pull rod are arranged on at least one side of the rotating shaft column on the connecting plate.
[0009] As a preferred solution: a stepped hole is provided on the connecting plate, the hinge column includes a shaft body and an anti - detachment block fixed at one end of the shaft body, the shaft body is inserted into the stepped hole, and the anti - detachment block abuts against the step surface.
[0010] As a preferred solution: the cross - sections of the stepped hole, the shaft body and the anti - detachment block are all circular, the outer diameter of the shaft body is the same as the inner diameter of the small hole of the stepped hole, and the outer diameter of the anti - detachment block is larger than the outer diameter of the shaft body.
[0011] As a preferred solution: the output end of a joint motor module is rotatably connected with the pull rod through a connecting ring, there are two pull rods spaced 180°, and there are also two hinge columns located on both sides of the rotating shaft column respectively.
[0012] As a preferred solution: the suspension bracket assembly includes two symmetrically arranged semi - arc hanging rings, and each semi - arc hanging ring is composed of an integrally formed fixed ring and an arc - shaped connecting plate.
[0013] As a preferred solution: a plurality of wire harness fixing part mounting holes are spaced on the arc - shaped connecting plate.
[0014] As a preferred solution: the output end of the joint motor module with the side wall connected to the pull rod is connected with a six - axis force sensor through a first connecting piece.
[0015] As a preferred solution: the first connecting piece is L - shaped and includes two mutually perpendicular fixing plates, and wire harness fixing part mounting holes are provided on the fixing plates.
[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows:
[0017] Between the rotating shaft column and the fixed collar of the present utility model, not only interference fit is adopted, but also an anti - detachment plate is provided at one end of the rotating shaft column to cooperate with the limiting notch on the fixed collar, ensuring that the rotating shaft column does not fall off, and further ensuring the durability of the operation of the robotic arm. Description of the Drawings
[0018] The specification drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation to this application.
[0019] Figure 1It is a schematic diagram of the wrist structure of the robot arm adopting the present utility model;
[0020] Figure 2 It is a schematic diagram of the exploded structure of the wrist of the robot arm of the present utility model;
[0021] Figure 3 and Figure 4 are schematic diagrams of the fixed collar and the connecting plate of the present utility model at two different angles;
[0022] Figure 5 It is a schematic diagram of the exploded structure of the fixed collar, the connecting plate, the hinge column and the rotating shaft column of the present utility model;
[0023] Figure 6 It is a schematic diagram of the sectional structure of the fixed collar, the connecting plate, the hinge column and the rotating shaft column of the present utility model.
[0024] The reference numerals are: 100, joint motor module; 200, semi-circular hanging ring; 201, fixed ring; 202, arc-shaped connecting plate; 203, wiring harness fixing part mounting hole; 300, connecting ring; 400, pull rod; 1, fixed collar; 11, limit notch;
[0025] 2, connecting plate; 21, stepped hole; 3, rotating shaft column; 31, column body; 32, anti-disengagement plate; 33, annular groove; 4, hinge column;
[0026] 41, shaft body; 42, anti-disengagement block; 5, first connecting piece; 6, six-axis force sensor. Detailed implementation manners
[0027] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.
[0028] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.
[0029] In addition, in the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.
[0030] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality of" is two or more, unless otherwise clearly defined.
[0031] In the present utility model, unless otherwise clearly specified and defined, the terms such as "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.
[0032] In the present utility model, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "under" and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.
[0033] The present utility model will be further described below with reference to the drawings and embodiments:
[0034] As Figures 1 to 6A robot arm wrist anti-detachment support structure shown includes a joint motor module 100, a pull rod 400 and a suspension bracket assembly, one end of the suspension bracket assembly is ring-shaped and is mounted and fixed on a joint motor module 100, the other end of the suspension bracket assembly is a semicircular ring plate, and the other joint motor module 100 is connected to the suspension bracket assembly through a rotating bracket assembly. The suspension bracket assembly makes the two joint motor modules 100 perpendicular to each other, one end of the pull rod 400 is connected to the output end of the joint motor module 100, and the other end is connected to the side wall of the other joint motor module 100.
[0035] The rotating bracket assembly includes a fixed collar 1, which is sleeved and fixed on another joint motor module 100. The fixed collar 1 is provided with two rotating shaft columns 3, and the two rotating shaft columns 3 are rotatably connected to the two ends of the semicircular ring plate; the fixed collar 1 is provided with two through holes spaced 180° apart, and a limiting notch 11 is formed on the inner side of the through hole. The rotating shaft column 3 includes a column 31 and an anti-slip plate 32 fixed at one end of the column 31, the column 31 is penetrated in the through hole, and the anti-slip plate 32 is clamped in the limiting notch 11. The limiting notch 11 and the anti-slip plate 32 are both rectangular. The rectangular anti-slip design can meet the machining requirements and is more convenient to assemble. An annular groove 33 is also provided on the end of the rotating shaft column 3 away from the anti-slip plate 32, and a limiting structure such as a retaining spring can be set in the annular groove 33 for easy installation.
[0036] The fixing collar 1 is also provided with a connecting plate 2, the extension direction of which is perpendicular to the plane where the fixing collar 1 is located, a rotating shaft column 3 is arranged on the connecting plate 2, and a hinge column 4 is also provided on at least one side of the rotating shaft column 3 on the connecting plate 2 to be rotatably connected to the pull rod 400. The connecting plate 2 is provided with a stepped hole 21, and the hinge column 4 includes a shaft body 41 and an anti-slip block 42 fixed at one end of the shaft body 41, the shaft body 41 is inserted into the stepped hole 21, and the anti-slip block 42 abuts against the step surface. The cross-sections of the stepped hole 21, the shaft body 41 and the anti-slip block 42 are all circular, the outer diameter of the shaft body 41 is the same as the inner diameter of the small hole of the stepped hole 21, and the outer diameter of the anti-slip block 42 is larger than the outer diameter of the shaft body 41.
[0037] The hinged column 4 rotatably connected to the pull rod 400 also adopts an anti-drop structure, and cooperates with the stepped holes on the connecting plate to prevent the hinged column from loosening or falling off after long-term use, thereby further improving the structural stability.
[0038] The output end of a joint motor module 100 is rotatably connected to a pull rod 400 via a connecting ring 300 . There are two pull rods 400 , which are spaced 180° apart. There are also two hinged columns 4 , which are located on both sides of the rotating shaft column 3 .
[0039] The suspension bracket assembly includes two symmetrically arranged semi-circular hanging rings, and each semi-circular hanging ring is composed of an integrally formed fixing ring 201 and an arc-shaped connecting plate 202. A plurality of wire harness fixing part mounting holes 203 are arranged at intervals on the arc-shaped connecting plate 202.
[0040] The output end of the joint motor module 100 whose side wall is connected to the pull rod 400 is connected with a six-axis force sensor 6 through a first connecting piece 5. The first connecting piece 5 is L-shaped and includes two mutually perpendicular fixing plates, and the fixing plates are provided with wire harness fixing part mounting holes 203.
[0041] Between the rotating shaft column and the fixed collar of the present utility model, not only interference fit is adopted, but also an anti-detachment plate is provided at one end of the rotating shaft column to cooperate with the limit notch on the fixed collar, ensuring that the rotating shaft column does not fall off, and further ensuring the durability of the operation of the robotic arm.
[0042] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 representations 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.
[0043] Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present utility model without departing from the principle and purpose of the present utility model. Any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present utility model still fall within the scope of the technical solution of the present utility model.
Claims
1. A wrist anti - detachment support structure for a robotic arm, characterized in that: It includes a joint motor module (100), a pull rod (400), and a suspension bracket assembly. One end of the suspension bracket assembly is in a ring shape and is sleeved and fixed on a joint motor module (100). The other end of the suspension bracket assembly is in a semi-circular plate shape. Another joint motor module (100) is connected to the suspension bracket assembly through a rotating bracket assembly. The suspension bracket assembly makes the two joint motor modules (100) perpendicular to each other. One end of the pull rod (400) is connected to the output end of the joint motor module (100), and the other end is connected to the side wall of another joint motor module (100). The rotating bracket assembly includes a fixed collar (1). The fixed collar (1) is sleeved and fixed on another joint motor module (100). Two rotating shafts (3) are provided on the fixed collar (1), and the two rotating shafts (3) are rotatably connected to both ends of the semi-circular plate. Two through holes with an interval of 180° are provided on the fixed collar (1), and a limiting notch (11) is formed inside the through holes. The rotating shaft (3) includes a column body (31) and an anti-disengagement plate (32) fixed at one end of the column body (31). The column body (31) is inserted into the through hole, and the anti-disengagement plate (32) is clamped in the limiting notch (11).
2. The wrist anti - detachment support structure of a robot arm according to claim 1, characterized in that: Both the limiting notch (11) and the anti-disengagement plate (32) are rectangular.
3. The anti - detachment support structure for the wrist of a robotic arm according to claim 1, characterized in that: A connecting plate (2) is further provided on the fixed collar (1). The extending direction of the connecting plate (2) is perpendicular to the plane where the fixed collar (1) is located. One of the rotating shafts (3) is arranged on the connecting plate (2), and an articulated column (4) rotatably connected to the pull rod (400) is provided on at least one side of the connecting plate (2) where the rotating shaft (3) is located.
4. A wrist anti - detachment support structure for a robot arm according to claim 3, characterized in that: A stepped hole (21) is provided on the connecting plate (2). The articulated column (4) includes a shaft body (41) and an anti-disengagement block (42) fixed at one end of the shaft body (41). The shaft body (41) is inserted into the stepped hole (21), and the anti-disengagement block (42) abuts against the step surface.
5. The wrist anti - detachment support structure of a robot arm according to claim 4, characterized in that: The cross-sections of the stepped hole (21), the shaft body (41), and the anti-disengagement block (42) are all circular. The outer diameter of the shaft body (41) is the same as the inner diameter of the small hole of the stepped hole (21), and the outer diameter of the anti-disengagement block (42) is larger than the outer diameter of the shaft body (41).
6. The anti - detachment support structure for the wrist of a robotic arm according to claim 3, characterized in that: The output end of one joint motor module (100) is rotatably connected to the pull rod (400) through a connecting ring (300). There are two pull rods (400) with an interval of 180°, and there are also two articulated columns (4) located on both sides of the rotating shaft (3).
7. The anti - detachment support structure for the wrist of a robotic arm according to claim 1, characterized in that: The suspension bracket assembly includes two symmetrically arranged semi-circular hanging rings. Each semi-circular hanging ring is composed of a fixed ring (201) and an arc-shaped connecting plate (202) formed integrally.
8. A wrist anti - detachment support structure for a robot arm according to claim 7, characterized in that: A plurality of wire harness fixing part mounting holes (203) are provided at intervals on the arc-shaped connecting plate (202).
9. The wrist anti - detachment support structure of a robotic arm according to claim 1, characterized in that: The output end of the joint motor module (100) whose side wall is connected to the pull rod (400) is connected with a six-axis force sensor (6) through a first connector (5).