Robot wrist joint power structure

Abstract

The utility model relates to the technical field of robots, and discloses a robot wrist joint power structure which comprises a robot base, a motor is fixedly installed on the right side of the robot base, a rotating shaft is fixedly installed at the output end of the motor, and two baffle rings are fixedly installed outside the rotating shaft. Lubricating mechanisms are arranged on the left side and the right side of the robot base correspondingly, collecting mechanisms are arranged in the lubricating mechanisms, when a baffle moves upwards to leak out of a rectangular groove, lubricating oil in an oil storage tank falls out of a rotating shaft through a discharging opening for lubricating, and redundant lubricating oil falls into an oil blocking frame and flows into an oil inlet groove through an oil storage gap; the part, rotating in the robot base, of the rotating shaft is lubricated, so that friction force between the rotating shaft and the robot base is reduced, redundant lubricating liquid is collected in a collecting drawer through an oil discharging groove, an inserting column is pulled upwards to be separated from the interior of the collecting drawer, the collecting drawer is pulled out, internal lubricating oil is taken out, and after treatment, secondary utilization is conducted again, and resources are saved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a power structure of a robot wrist joint. Background Technique

[0002] An industrial robot integrates electronics, machinery, computer, control, sensors, and artificial intelligence, and is a multi-joint robot or a robot with multiple degrees of freedom applied in the industrial field. The joint is an important component unit of the robot, and the structural form, load capacity, and sensing ability of the joint directly affect the system configuration and operation ability of the robot.

[0003] In the prior art, a motor drives a rotating shaft to rotate, and the rotating shaft drives the wrist joint to rotate for use. However, in actual use, when the rotating shaft rotates, it generates friction with the wrist joint, which will cause the rotating shaft to wear quickly, resulting in damage to the robot and thus requiring repair, making the service life of the robot shorter. Therefore, it is necessary to improve a power structure of a robot wrist joint to solve the above problems. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a power structure of a robot wrist joint to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A power structure of a robot wrist joint, including a robot base, a motor is fixedly installed on the right side of the robot base, a rotating shaft is fixedly installed at the output end of the motor, two retaining rings are fixedly installed on the outside of the rotating shaft, lubricating mechanisms are arranged on both the left and right sides of the robot base, and a collecting mechanism is arranged inside the lubricating mechanism.

[0006] Preferably, the lubricating mechanism includes two oil storage tanks, the two oil storage tanks are respectively fixedly installed on the left and right of the robot base, a blanking port is fixedly installed at the bottom of the oil storage tank, oil retaining frames are fixedly installed on both the left and right of the robot base, an oil inlet groove is opened inside the robot base, two functional rings are fixedly installed on the outside of the rotating shaft, a stop oil groove is opened inside the functional ring, two spring A are fixedly installed inside the oil storage tank, lifting blocks are fixedly installed at the ends of the two spring A away from the oil storage tank, a connecting column is fixedly installed at the bottom of the lifting block on the same side away from the robot base, a roller is movably installed inside the connecting column, a sliding column is fixedly installed at the top of the lifting block, and a baffle is fixedly installed at the top of the sliding column. When the baffle blocks the rectangular groove, the lubricating oil no longer flows downward.

[0007] Preferably, a rectangular groove is provided at the corresponding position of the oil storage tank and the blanking port. The baffle is arranged directly above the rectangular groove. The sliding column is slidably installed inside the oil storage tank, and the lifting block is slidably installed inside the oil storage tank to drive the sliding column to lift and lower.

[0008] Preferably, the roller is movably installed outside the functional ring. Both of the retaining rings are arranged inside the robot base. There is an oil storage gap between the rotating shaft and the oil retaining frame. The rotating shaft is rotatably installed inside the robot base, and the oil inlet groove is arranged below the rotating shaft. When the rectangular groove is exposed, the lubricating oil inside the oil storage tank falls into the blanking port through the rectangular groove.

[0009] Preferably, the collection mechanism includes an oil drainage groove. The oil drainage groove is arranged inside the oil retaining frame. A collection drawer is slidably installed inside the oil retaining frame. A convex block is fixedly installed on the front surface of the oil retaining frame. A spring B is fixedly installed at the bottom of the convex block. One end of the spring B away from the convex block is fixedly installed with a limiting piece. An insertion post is fixedly installed inside the limiting piece to position and install the collection drawer.

[0010] Preferably, the insertion post is slidably installed inside the convex block. The insertion post passes through the oil retaining frame and is inserted into the collection drawer to install the collection drawer.

[0011] Preferably, the bottom of the limiting piece is in contact with the oil retaining frame. The height of the top of the oil drainage groove is higher than the height of the bottom of the rotating shaft, so that the lubricating oil can flow into the oil inlet groove through the oil storage gap to lubricate the part of the rotating shaft rotating inside the robot base.

[0012] Compared with the prior art, the present utility model provides a power structure for a robot wrist joint, having the following beneficial effects:

[0013] 1. For this power structure of the robot wrist joint, the rotating shaft drives the functional ring to rotate, so that the roller moves away from the oil stop groove and moves on the rest of the outside of the functional ring. With the cooperation of the connecting column, the lifting block and the sliding column, the baffle moves upward to expose the rectangular groove, so that the lubricating oil in the oil storage tank falls to the outside of the rotating shaft through the blanking port for lubrication. The excess lubricating oil falls into the oil retaining frame and flows into the oil inlet groove through the oil storage gap, so that the lubricating oil can lubricate the part of the rotating shaft rotating inside the robot base, reducing the friction between the rotating shaft and the robot base, thus protecting the rotating shaft and the robot base, making the joint rotate more smoothly and improving the service life of the device.

[0014] 2. On this basis, the present utility model intercepts the lubricating oil through the retaining ring to avoid waste caused by flowing from the oil inlet groove to the inside of the robot base.

[0015] 3. On this basis, the utility model collects the excess lubricating fluid inside the collection drawer through the oil drainage groove. When the device stops running, the oil stop groove comes into contact with the roller again, so that the spring A drives the baffle to block the rectangular groove, preventing the lubricating oil from flowing downward. At this time, the insertion post can be pulled up to disengage from the inside of the collection drawer, and the collection drawer can be pulled out to take out the lubricating oil inside. After treatment, it can be reused to save resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings:

[0017] Figure 1 is a schematic diagram of the external structure of the present utility model;

[0018] Figure 2 is a schematic diagram of the sectional structure of the present utility model;

[0019] Figure 3 is a schematic diagram of the sectional structure of the rotating shaft and its connected mechanism of the present utility model;

[0020] Figure 4 is a schematic diagram of the functional ring and its connected mechanism of the present utility model;

[0021] Figure 5 is a schematic diagram of the exploded structure of the collection mechanism of the present utility model.

[0022] In the figure: 1, robot base; 2, motor; 3, rotating shaft; 4, retaining ring; 5, lubricating mechanism; 51, oil storage tank; 52, blanking port; 53, oil baffle frame; 54, oil inlet groove; 55, functional ring; 56, oil stop groove; 57, spring A; 58, lifting block; 59, connecting column; 510, roller; 511, sliding column; 512, baffle; 6, collection mechanism; 61, oil drainage groove; 62, collection drawer; 63, convex block; 64, spring B; 65, limiting piece; 66, insertion post. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the 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.

[0024] In the present utility model, unless otherwise clearly specified and defined, terms such as "installation", "connection", "linkage", "fixation" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the internal communication between two components or the interaction relationship between two components. 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.

[0025] Embodiment 1:

[0026] Please refer to Figures 1-4 , the present utility model provides a technical solution: a power structure for a robot wrist joint, including a robot base 1, a motor 2 is fixedly installed on the right side of the robot base 1, a rotating shaft 3 is fixedly installed at the output end of the motor 2, two retaining rings 4 are fixedly installed on the outside of the rotating shaft 3, lubricating mechanisms 5 are arranged on both the left and right sides of the robot base 1, and a collecting mechanism 6 is arranged inside the lubricating mechanism 5.

[0027] Furthermore, the lubricating mechanism 5 includes two oil storage tanks 51, the two oil storage tanks 51 are respectively fixedly installed on the left and right sides of the robot base 1, a blanking port 52 is fixedly installed at the bottom of the oil storage tank 51, oil retaining frames 53 are fixedly installed on both the left and right sides of the robot base 1, an oil inlet groove 54 is opened inside the robot base 1, two functional rings 55 are fixedly installed on the outside of the rotating shaft 3, a stop oil groove 56 is opened inside the functional ring 55, two spring A 57 are fixedly installed inside the oil storage tank 51, lifting blocks 58 are fixedly installed at the ends of the two spring A 57 away from the oil storage tank 51, a connecting column 59 is fixedly installed at the bottom of the lifting block 58 on the same side away from the robot base 1, a roller 510 is movably installed inside the connecting column 59, a sliding column 511 is fixedly installed at the top of the lifting block 58, and a baffle 512 is fixedly installed at the top of the sliding column 511. When the baffle 512 blocks the rectangular groove, the lubricating oil no longer flows downward.

[0028] Furthermore, rectangular grooves are opened at the corresponding positions of the oil storage tank 51 and the blanking port 52, the baffle 512 is arranged directly above the rectangular groove, the sliding column 511 is slidably installed inside the oil storage tank 51, and the lifting block 58 is slidably installed inside the oil storage tank 51 to drive the sliding column 511 to lift.

[0029] Furthermore, the roller 510 is movably installed on the outside of the functional ring 55, both retaining rings 4 are arranged inside the robot base 1, there is an oil storage gap between the rotating shaft 3 and the oil retaining frame 53, the rotating shaft 3 is rotatably installed inside the robot base 1, and the oil inlet groove 54 is arranged below the rotating shaft 3. When the rectangular groove is exposed, the lubricating oil inside the oil storage tank 51 falls into the blanking port 52 through the rectangular groove.

[0030] Embodiment 2:

[0031] Please refer to Figure 5 and in combination with Embodiment 1, it is further obtained that the collection mechanism 6 includes an oil drain groove 61. The oil drain groove 61 is arranged inside the oil retaining frame 53. A collection drawer 62 is slidably installed inside the oil retaining frame 53. A convex block 63 is fixedly installed on the front surface of the oil retaining frame 53. A spring B64 is fixedly installed at the bottom of the convex block 63. One end of the spring B64 away from the convex block 63 is fixedly installed with a limiting piece 65. A plug post 66 is fixedly installed inside the limiting piece 65 to position and install the collection drawer 62.

[0032] Furthermore, the plug post 66 is slidably installed inside the convex block 63. The plug post 66 passes through the oil retaining frame 53 and is inserted into the collection drawer 62 to install the collection drawer 62.

[0033] Furthermore, the bottom of the limiting piece 65 is in contact with the oil retaining frame 53. The top height of the oil drain groove 61 is higher than the bottom height of the rotating shaft 3, so that the lubricating oil can flow into the inside of the oil inlet groove 54 through the oil storage gap to lubricate the part of the rotating shaft 3 rotating inside the robot base 1.

[0034] During the actual operation process, when this device is in use, when the motor 2 is started to drive the rotation of the rotating shaft 3, thereby driving the rotation of the wrist joint, the rotating shaft 3 drives the rotation of the function ring 55, causing the roller 510 to move out of the oil stop groove 56 and move on the rest of the outside of the function ring 55, causing the connecting column 59 to rise and drive the lifting block 58 to rise, causing the sliding column 511 to drive the baffle 512 to move upward, exposing the rectangular groove. At this time, the spring A57 is compressed. The spring A57 is initially in a stretched state, causing the lubricating oil inside the oil storage tank 51 to fall into the blanking port 52 through the rectangular groove, and then fall to the outside of the rotating shaft 3 for lubrication. The excess lubricating oil falls into the inside of the oil baffle 53 and flows through the oil storage gap between the oil baffle 53 and the rotating shaft 3. Since the lubricating oil is in a fluid state, it flows into the inside of the oil inlet groove 54. Under the action of the oil inlet groove 54, the lubricating oil can lubricate the part of the rotating shaft 3 rotating inside the robot base 1, reducing the friction between the rotating shaft 3 and the robot base 1, thereby protecting the rotating shaft 3 and the robot base 1, making the joint rotate more smoothly, and increasing the service life of the device. The retaining ring 4 is arranged inside the robot base 1 to intercept the lubricating oil and prevent it from flowing into the inside of the robot base 1 from the oil inlet groove 54 and causing waste. When the device is continuously used and the lubricating oil in the oil baffle 53 accumulates more and more, the height of the oil increases until it reaches the height of the oil drain groove 61. At this time, the excess lubricating fluid flowing into the inside of the oil baffle 53 subsequently falls into the inside of the collection drawer 62 under the guiding action of the oil drain groove 61 for collection. When the device stops running, the motor 2 can be controlled to drive the oil stop groove 56 to correspond to the roller 510 again, causing the spring A57 to rebound and drive the baffle 512 to block the rectangular groove, preventing the lubricating oil from flowing downward. At this time, the insertion post 66 can be pulled up to be separated from the inside of the collection drawer 62, and the collection drawer 62 can be pulled out to take out the internal lubricating oil, which can be reused after treatment, saving resources. The spring B64 is initially in a stretched state.

[0035] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to this process, method, article or device. Without more limitations, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

Claims

1. A power structure for a robot wrist joint, comprising a robot base (1), characterized in that: A motor (2) is fixedly installed on the right side of the robot base (1). A rotating shaft (3) is fixedly installed at the output end of the motor (2). Two retaining rings (4) are fixedly installed on the outer part of the rotating shaft (3). Lubricating mechanisms (5) are arranged on both the left and right sides of the robot base (1). A collecting mechanism (6) is arranged inside the lubricating mechanism (5).

2. The power structure of a robot wrist joint according to claim 1, wherein: The lubricating mechanism (5) includes two oil storage tanks (51). The two oil storage tanks (51) are respectively fixedly installed on the left and right sides of the robot base (1). A material discharging port (52) is fixedly installed at the bottom of the oil storage tank (51). Oil retaining frames (53) are fixedly installed on both the left and right sides of the robot base (1). An oil inlet groove (54) is formed inside the robot base (1). Two functional rings (55) are fixedly installed on the outer part of the rotating shaft (3). A stop oil groove (56) is formed inside the functional ring (55). Two spring A (57) are fixedly installed inside the oil storage tank (51). The ends of the two spring A (57) far away from the oil storage tank (51) are both fixedly installed with lifting blocks (58). The bottom of the lifting block (58) on the same side far away from the robot base (1) is fixedly installed with a connecting column (59). A roller (510) is movably installed inside the connecting column (59). A sliding column (511) is fixedly installed at the top of the lifting block (58). A baffle (512) is fixedly installed at the top of the sliding column (511).

3. The power structure of a robot wrist joint according to claim 2, wherein: A rectangular groove is formed at the corresponding position of the oil storage tank (51) and the material discharging port (52). The baffle (512) is arranged directly above the rectangular groove. The sliding column (511) is slidably installed inside the oil storage tank (51). The lifting block (58) is slidably installed inside the oil storage tank (51).

4. A power structure for a robot wrist joint according to claim 2, characterized in that: The roller (510) is movably installed on the outer part of the functional ring (55). Both of the two retaining rings (4) are arranged inside the robot base (1). An oil storage gap exists between the rotating shaft (3) and the oil retaining frame (53). The rotating shaft (3) is rotatably installed inside the robot base (1), and the oil inlet groove (54) is arranged below the rotating shaft (3).

5. The power structure of a robot wrist joint according to claim 2, characterized in that: The collecting mechanism (6) includes an oil drainage groove (61). The oil drainage groove (61) is arranged inside the oil retaining frame (53). A collecting drawer (62) is slidably installed inside the oil retaining frame (53). A convex block (63) is fixedly installed on the front surface of the oil retaining frame (53). A spring B (64) is fixedly installed at the bottom of the convex block (63). The end of the spring B (64) far away from the convex block (63) is fixedly installed with a limiting piece (65). A plug post (66) is fixedly installed inside the limiting piece (65).

6. The power structure of a robot wrist joint according to claim 5, characterized in that: The plug post (66) is slidably installed inside the convex block (63). The plug post (66) passes through the oil retaining frame (53) and is inserted into the collecting drawer (62).

7. A dynamic structure of a robot wrist joint according to claim 5, characterized in that: The bottom of the limiting piece (65) is in contact with the oil retaining frame (53). The top height of the oil drainage groove (61) is higher than the bottom height of the rotating shaft (3).

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