Elbow joint structure of robot

Abstract

The utility model discloses an elbow joint structure of a robot, which relates to the technical field of robots and comprises a first connecting arm and a second connecting arm, the outer walls of the first connecting arm and the second connecting arm are respectively provided with two mounting grooves with different sizes, and reinforcing plates with the same size as the two mounting grooves are respectively and fixedly mounted in the two mounting grooves. A storage groove and two notches are formed in one end of the first connecting arm, an air cylinder is fixedly installed in the storage groove, the output end of the air cylinder is fixedly connected with a sliding block, and the sliding block is in sliding fit with the storage groove; through mutual cooperation of an air cylinder, a sliding block, a sliding groove, a notch, a guide rod, a limiting block, a second connecting arm and a first connecting arm, the second connecting arm can be fully supported when the distance between the first connecting arm and the second connecting arm is adjusted, the limiting effect on the second connecting arm is improved, then the stability of the structure is improved, and the probability that equipment is damaged during working is reduced; and the applicability is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to an elbow joint structure of a robot. Background Art

[0002] Handling tasks cover multiple industries including manufacturing, construction, service, military, medical care, and disaster relief. Long-term and high-intensity handling work is extremely likely to cause muscle fatigue and induce musculoskeletal injuries, thereby affecting the physical health and quality of life of handlers. In order to save the physical effort of handlers, with the development of technology, more and more handling robots have emerged on the market. Most of the structures of handling robots are provided with elbow joint structures, and the elbow joint mechanism is used to splice multiple components.

[0003] The elbow joint structures of robots in the prior art are mostly integral structures. When the object is far from the grasping mechanism of the robot, it will cause the device to be unable to grasp the object, the grasping range is narrow, and the limitation is large. At the same time, when the device is adjusted, it is easy to damage the device due to poor structural stability during adjustment, thereby affecting the applicability of the device. Content of the Utility Model

[0004] Aiming at the deficiencies of the prior art, the utility model provides an elbow joint structure of a robot to overcome the above-mentioned technical problems existing in the related prior art.

[0005] An elbow joint structure of a robot includes a first connecting arm and a second connecting arm. The outer walls of the first connecting arm and the second connecting arm are respectively provided with two mounting grooves of different sizes. Reinforcement plates of the same size as the mounting grooves are respectively fixedly installed in the two mounting grooves. One end of the first connecting arm is provided with a receiving groove and two notches. A cylinder is fixedly installed in the receiving groove. The output end of the cylinder is fixedly connected with a slider. The slider is slidably matched with the receiving groove and fixedly connected with one end of the second connecting arm. Slide grooves are respectively provided on the inner walls of the two notches. Two guide rods are fixedly installed at one end of the second connecting arm. A limiting block is fixedly installed at one end of the guide rod. Fixed seats are respectively fixedly installed at one ends of the first connecting arm and the second connecting arm. One end of the fixed seat is threadedly connected with a knob through a threaded groove. An installation hole is provided at one end of the knob.

[0006] Preferably, the two guide rods are respectively slidably matched with the two notches, and the two limiting blocks are respectively slidably matched with the two slide grooves.

[0007] Preferably, a number of docking holes are further provided at one end of the knob. The two knobs are respectively connected with a support mechanism and an arm mechanism through the number of docking holes and the installation hole. A grasping mechanism is provided at one end of the arm mechanism. A bearing plate is fixedly installed at one end of the support mechanism.

[0008] Preferably, an installation plate is fixedly installed at the bottom of the bearing plate, a support plate is fixedly installed at the bottom of the installation plate, a rotating shaft is fixedly connected to the bottom of the support plate, and a driving motor is fixedly installed at the other end of the rotating shaft.

[0009] Preferably, a plurality of connection holes are formed in the top of the support plate.

[0010] Preferably, a base is fixedly installed at the bottom of the driving motor, a protective housing is fixedly installed at the top of the base, and the driving motor is arranged inside the protective housing.

[0011] Preferably, a plurality of screw rods are threadedly connected to the top of the base, and nuts are threadedly sleeved on the screw rods.

[0012] Due to the adoption of the above technical solutions, the technical progress achieved by the present utility model compared with the prior art is as follows:

[0013] 1. The present utility model provides an elbow joint structure of a robot. Through the mutual cooperation among the first connecting arm, the second connecting arm, the knob, the installation hole, the docking hole, the air cylinder, the storage groove, the slider and the fixed seat, the distance between the first connecting arm and the second connecting arm can be directly increased, thereby increasing the grasping range of the robot during the use of the device and improving the applicability.

[0014] 2. The present utility model provides an elbow joint structure of a robot. Through the mutual cooperation among the air cylinder, the slider, the sliding groove, the notch, the guide rod, the limiting block, the second connecting arm and the first connecting arm, the second connecting arm can be fully supported when adjusting the distance between the first connecting arm and the second connecting arm, the limiting effect on the second connecting arm is improved, thereby improving the stability of the structure, reducing the probability of damage to the device during operation, and further improving the applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a three-dimensional structure schematic diagram of the robot in the present utility model;

[0016] Figure 2 is a partial structure schematic diagram of the present utility model;

[0017] Figure 3 is a partial structure schematic diagram of the present utility model;

[0018] Figure 4 is a partial structure schematic diagram of the present utility model;

[0019] Figure 5 is a sectional structure schematic diagram of the present utility model;

[0020] Figure 6 is a three-dimensional structure schematic diagram of the present utility model.

[0021] In the figure:

[0022] 1. First connecting arm; 101. Receiving groove; 102. Sliding groove; 103. Notch; 104. Cylinder; 2. Second connecting arm; 200. Installation groove; 203. Guide rod; 204. Limit block; 205. Slide block; 3. Fixed seat; 301. Threaded groove; 4. Knob; 401. Installation hole; 402. Docking hole; 5. Reinforcement plate; 6. Support disc; 600. Connecting hole; 7. Installation plate; 8. Driving motor; 9. Base; 10. Protective housing; 11. Screw; 12. Nut; 13. Support mechanism; 14. Bearing plate; 15. Arm mechanism; 16. Gripping mechanism. Detailed implementation manners

[0023] In order to make the technical means, creative features, achieved purposes and functions of the present utility model easy to understand, the present utility model will be further described below in conjunction with specific implementation manners:

[0024] As Figure 1-6 shown, the present utility model provides an elbow joint structure of a robot, including a first connecting arm 1 and a second connecting arm 2. The outer walls of the first connecting arm 1 and the second connecting arm 2 are respectively provided with two installation grooves 200 of different sizes. Reinforcement plates 5 of the same size as the installation grooves 200 are respectively fixedly installed in the two installation grooves 200. One end of the first connecting arm 1 is provided with a receiving groove 101 and two notches 103. A cylinder 104 is fixedly installed in the receiving groove 101. The output end of the cylinder 104 is fixedly connected with a slide block 205. The slide block 205 is slidably matched with the receiving groove 101 and is fixedly connected with one end of the second connecting arm 2. The inner walls of the two notches 103 are respectively provided with sliding grooves 102. Two guide rods 203 are fixedly installed at one end of the second connecting arm 2. A limit block 204 is fixedly installed at one end of the guide rod 203. Fixed seats 3 are fixedly installed at one ends of the first connecting arm 1 and the second connecting arm 2. One end of the fixed seat 3 is threadedly connected with a knob 4 through a threaded groove 301. An installation hole 401 is provided at one end of the knob 4. The two guide rods 203 are respectively slidably matched with the two notches 103, and the two limit blocks 204 are respectively slidably matched with the two sliding grooves 102.

[0025] When the grasping length of the spliced device is insufficient, the staff starts the cylinder 104. After the output end of the cylinder 104 operates, it pushes the slide block 205 to slide in the receiving groove 101. When the slide block 205 moves, it drives the second connecting arm 2 to move, thereby increasing the distance between the first connecting arm 1 and the second connecting arm 2, enabling the spliced device to grasp items in a farther range and improving applicability;

[0026] When the second connecting arm 2 moves, the second connecting arm 2 can drive the two guide rods 203 to move. At this time, the two guide rods 203 can slide in the corresponding sliding grooves 102 and drive the two limit blocks 204 to move. When the output end of the cylinder 104 extends to the maximum limit, the two limit blocks 204 abut against the sliding grooves 102 and the notch 103. At this time, the two guide rods 203 and the two limit blocks 204 can further limit the second connecting arm 2, improve the structural stability, reduce the probability of damage during the operation of the equipment, and thus improve the applicability of the equipment.

[0027] As Figure 1 shown, in one embodiment, a plurality of docking holes 402 are further formed at one end of the knob 4. The two knobs 4 are respectively connected to the support mechanism 13 and the arm mechanism 15 through a plurality of docking holes 402 and the mounting holes 401. A grasping mechanism 16 is arranged at one end of the arm mechanism 15. A bearing plate 14 is fixedly installed at one end of the support mechanism 13.

[0028] The staff first splices the arm mechanism 15 and the grasping mechanism 16, and then fixedly connects the first connecting arm 1 to the output end of the support mechanism 13 through the connected fixing seat 3 and the knob 4, so that the motor built in the support mechanism 13 can drive the first connecting arm 1 to rotate when it operates. Then, according to the type of the arm mechanism 15, the knob 4 on the other side of the second connecting arm 2 is replaced, so that the mounting hole 401 of the replaced knob 4 can be aligned with the arm mechanism 15. Immediately, the arm mechanism 15 is installed at one end of the other knob 4. At this time, the grasping mechanism 16, the arm mechanism 15, the support mechanism 13, the first connecting arm 1 and the second connecting arm 2 are completed for splicing.

[0029] As Figure 6 shown, in one embodiment, a mounting plate 7 is fixedly installed at the bottom of the bearing plate 14. A support disc 6 is fixedly installed at the bottom of the mounting plate 7. A rotating shaft is fixedly connected to the bottom of the support disc 6. The other end of the rotating shaft is fixedly installed with a driving motor 8. A plurality of connecting holes 600 are formed at the top of the support disc 6. A base 9 is fixedly installed at the bottom of the driving motor 8. A protective housing 10 is fixedly installed at the top of the base 9. The driving motor 8 is arranged inside the protective housing 10. A plurality of screw rods 11 are threadedly connected to the top of the base 9. Nuts 12 are threadedly sleeved on the screw rods 11.

[0030] Then, place the carrier plate 14 on the support disk 6 and fixedly connect the carrier plate 14, the mounting plate 7, and the support disk 6 with a number of bolts. Then, conduct precise control over the entire device. When the device grabs an item, start the driving motor 8 by controlling the device. When the output end of the driving motor 8 rotates, it drives the rotating shaft. When the rotating shaft rotates, it drives the support disk 6 to rotate. Further, the support disk 6 drives the grasping mechanism 16 to rotate through the support mechanism 13, the arm mechanism 15, the first connecting arm 1, and the second connecting arm 2, so that the grasping orientation of the grasping mechanism 16 changes, increasing the grasping orientation and applicable range of the device and improving the applicability.

[0031] Next, specifically describe the working principle of the elbow joint structure of the robot:

[0032] The staff first splices the arm mechanism 15 and the grasping mechanism 16, and then fixedly connects the first connecting arm 1 with the output end of the support mechanism 13 through the connected fixing seat 3 and knob 4, so that the motor built in the support mechanism 13 can drive the first connecting arm 1 to rotate when it operates. Then, according to the type of the arm mechanism 15, replace the knob 4 on the other side of the second connecting arm 2, so that the mounting hole 401 of the replaced knob 4 can fit with the arm mechanism 15. Immediately install the arm mechanism 15 at one end of another knob 4. At this time, the grasping mechanism 16, the arm mechanism 15, the support mechanism 13, the first connecting arm 1, and the second connecting arm 2 are spliced.

[0033] Then, place the carrier plate 14 on the support disk 6 and fixedly connect the carrier plate 14, the mounting plate 7, and the support disk 6 with a number of bolts. Then, conduct precise control over the entire device. When the device grabs an item, start the driving motor 8 by controlling the device. When the output end of the driving motor 8 rotates, it drives the rotating shaft. When the rotating shaft rotates, it drives the support disk 6 to rotate. Further, the support disk 6 drives the grasping mechanism 16 to rotate through the support mechanism 13, the arm mechanism 15, the first connecting arm 1, and the second connecting arm 2, so that the grasping orientation of the grasping mechanism 16 changes, increasing the grasping orientation and applicable range of the device and improving the applicability.

[0034] When the grasping length of the grasping mechanism 16 is insufficient, the staff activates the air cylinder 104. After the output end of the air cylinder 104 operates, it pushes the slider 205 to slide in the storage groove 101. When the slider 205 moves, it drives the second connecting arm 2 to move. When the second connecting arm 2 moves, it drives the overall movement of the arm mechanism 15 and the grasping mechanism 16, thereby increasing the grasping distance of the grasping mechanism 16, enabling the grasping mechanism 16 to grasp items in a wider range, and improving applicability. When the second connecting arm 2 moves, the second connecting arm 2 can drive the two guide rods 203 to move. At this time, the two guide rods 203 can slide in the corresponding sliding grooves 102 and drive the two limit blocks 204 to move. When the output end of the air cylinder 104 extends to the maximum limit, the two limit blocks 204 abut against the sliding grooves 102 and the notch 103. At this time, the two guide rods 203 and the two limit blocks 204 can further limit the second connecting arm 2, improve the structural stability, reduce the probability of damage during equipment operation, and thus improve the applicability of the equipment.

[0035] The above has generally described the present utility model in detail. However, based on the present utility model, some modifications or improvements can be made, which are obvious to those of ordinary skill in the art. Therefore, modifications or improvements that do not depart from the spirit of the present utility model are within the protection scope of the present utility model.

Claims

1. An elbow joint structure of a robot, comprising a first connecting arm (1) and a second connecting arm (2), characterized in that: On the outer walls of the first connecting arm (1) and the second connecting arm (2), two mounting grooves (200) of different sizes are respectively provided. Reinforcement plates (5) of the same size as the mounting grooves (200) are respectively and fixedly installed in the two mounting grooves (200). One end of the first connecting arm (1) is provided with a receiving groove (101) and two notches (103). A cylinder (104) is fixedly installed in the receiving groove (101). The output end of the cylinder (104) is fixedly connected with a slider (205). The slider (205) is slidably matched with the receiving groove (101) and is fixedly connected with one end of the second connecting arm (2). The inner walls of the two notches (103) are respectively provided with sliding grooves (102). Two guide rods (203) are fixedly installed at one end of the second connecting arm (2). A limiting block (204) is fixedly installed at one end of the guide rod (203). Fixing seats (3) are fixedly installed at one ends of the first connecting arm (1) and the second connecting arm (2). One end of the fixing seat (3) is threadedly connected with a knob (4) through a threaded groove (301). An installation hole (401) is provided at one end of the knob (4).

2. The elbow joint structure of a robot according to claim 1, characterized in that: The two guide rods (203) are respectively slidably matched with the two notches (103), and the two limiting blocks (204) are respectively slidably matched with the two sliding grooves (102).

3. The elbow joint structure of a robot according to claim 1, characterized in that: A number of docking holes (402) are also provided at one end of the knob (4). The two knobs (4) are respectively connected with a support mechanism (13) and an arm mechanism (15) through the number of docking holes (402) and the installation hole (401). A grasping mechanism (16) is arranged at one end of the arm mechanism (15). A bearing plate (14) is fixedly installed at one end of the support mechanism (13).

4. The elbow joint structure of a robot according to claim 3, characterized in that: A mounting plate (7) is fixedly installed at the bottom of the bearing plate (14). A support disc (6) is fixedly installed at the bottom of the mounting plate (7). A rotating shaft is fixedly connected to the bottom of the support disc (6). The other end of the rotating shaft is fixedly installed with a driving motor (8).

5. The elbow joint structure of a robot according to claim 4, characterized in that: A number of connecting holes (600) are provided at the top of the support disc (6).

6. The elbow joint structure of a robot according to claim 5, characterized in that: A base (9) is fixedly installed at the bottom of the driving motor (8). A protective housing (10) is fixedly installed at the top of the base (9). The driving motor (8) is arranged inside the protective housing (10).

7. The elbow joint structure of a robot according to claim 6, characterized in that: A number of screw rods (11) are threadedly connected to the top of the base (9). Nuts (12) are threadedly sleeved on the screw rods (11).

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