Rotary joint mechanism of manipulator

Abstract

The utility model provides a mechanical arm rotary joint mechanism which comprises a supporting disc, a bearing is installed in the middle of the supporting disc, a connecting shaft is installed in the bearing, a disc is arranged on the lower side of the supporting disc, and the disc is arranged on the connecting shaft in a sleeved mode and fixedly connected with the connecting shaft. Three detachable L-shaped plates are annularly installed on the annular side face of the disc at equal intervals, bull eyeballs are installed on the lower surfaces of the horizontal portions of the L-shaped plates, the edge of the upper surface of the supporting disc is sunken downwards to form an annular groove, and two semi-circular plates are inserted into the annular groove and connected with the supporting disc through connecting screws. Two inserting holes are formed in the upper surface of the semicircular plate, column heads are inserted into the inserting holes, and the column heads are installed at the bottom in the annular groove. The bearing has the advantages that gravity generated by objects is prevented from acting on the connecting portion of the bearing and the connecting shaft, and the stability of the structure is improved.

Description

Technical Field

[0001] The utility model relates to a rotary joint mechanism of a manipulator, belonging to the field of manipulators. Background Art

[0002] The manipulator rotary joint includes a support plate, in which a connecting shaft is rotatably installed in the support plate, a manipulator clamp is installed at one end of the connecting shaft, and a servo motor is installed at the other end of the connecting shaft. When the servo motor is working, the manipulator clamp is driven to rotate through the connecting shaft, and the reciprocating rotation of the manipulator clamp is achieved by changing the rotation direction of the servo motor output shaft. Using bearings to connect the support plate and the connecting shaft is one of the common ways to connect the connecting shaft and the support plate. When the manipulator clamp picks up an object, the weight of the object will act on the connection between the connecting shaft and the bearing through the connecting shaft, causing the connection between the bearing and the connecting shaft to bear a larger load. On the one hand, the installation stability of the bearing is required to be high. On the other hand, the bearing is easily damaged due to long-term stress, which affects the service life of the bearing. Therefore, it is necessary to design a manipulator rotary joint mechanism that prevents the gravity generated by the object from acting on the connection between the bearing and the connecting shaft. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a robot arm rotary joint mechanism to solve the problems raised in the above background technology. The utility model prevents the gravity generated by the object from acting on the connection between the bearing and the connecting shaft, thereby improving the stability of the structure.

[0004] In order to achieve the above-mentioned purpose, the present invention is realized through the following technical solutions: a manipulator rotary joint mechanism, comprising a support plate, a bearing installed in the middle position of the support plate, a connecting shaft installed in the bearing, a circular plate provided on the lower side of the support plate, the circular plate is sleeved on the connecting shaft and fixedly connected to the connecting shaft, three detachable L-shaped plates are installed in a circular shape and equidistantly on the annular side surface of the circular plate, a bull's eye is installed on the lower surface of the horizontal part of the L-shaped plate, the edge of the upper surface of the support plate is recessed downward to form an annular groove, two semicircular ring plates are inserted in the annular groove, and the two semicircular ring plates are connected to the support plate by connecting screws, two holes are provided on the upper surface of the semicircular ring plate, a column head is inserted in the hole, the column head is installed at the bottom of the annular groove, and the ball part of the bull's eye is in rolling contact with the surface of the semicircular ring plate.

[0005] Furthermore, a connecting plate is installed in the middle of the annular side of the semicircular ring plate, and a small hole is opened at the lower position of one side of the connecting plate. One end of the connecting screw passes through the small hole and is threadedly connected to the support plate.

[0006] Furthermore, two rectangular grooves are symmetrically formed on the lower surface of the support disk. A rectangular frame is inserted into the rectangular groove. Two circular holes aligned with the small holes are symmetrically formed on the circumferential side surface of the support disk. The circular holes communicate with the rectangular grooves. A through hole aligned with the circular hole is formed on one side surface of the rectangular frame. A threaded hole aligned with the through hole is formed on one side surface inside the rectangular frame. One end of the connecting screw sequentially passes through the small hole, the circular hole, the through hole and is threadedly connected in the threaded hole.

[0007] Furthermore, a second flange for connecting a manipulator clamp is installed at one end of the connecting shaft close to the disk, and a first flange for connecting the output shaft of the servo motor is installed at the other end of the connecting shaft away from the second flange.

[0008] Furthermore, four connecting columns are equidistantly installed on the upper surface of the support disk in a ring shape. A threaded hole for matching and restricting the position of the bolt of the servo motor is formed on the surface of the connecting column facing away from the support disk.

[0009] Furthermore, a connecting arm is fixedly connected to the upper end of the connecting column. The connecting arm is arranged along the radial direction of the support disk. A fixing hole is formed at the end of the connecting arm away from the connecting column.

[0010] Furthermore, a plurality of strip-shaped openings are evenly formed on one side surface of the disk. The strip-shaped openings are arranged along the radial direction of the disk.

[0011] The beneficial effects of the utility model are as follows:

[0012] 1. A disk is installed on the connecting shaft, and the rolling ball part of the bull's eye on the L-shaped plate is in rolling contact with the semi-circular ring plate. Furthermore, after the manipulator clamp installed at one end of the connecting shaft clamps an article, the gravity generated by the article acts on the support disk through the connecting shaft, the disk, the L-shaped plate and the bull's eye, thereby preventing the gravity generated by the article from acting on the connection part between the bearing and the connecting shaft, improving the structural stability, and preventing the bearing from being damaged due to being in a loaded state.

[0013] 2. When the servo motor drives the connecting shaft to rotate, the connecting shaft drives the rolling ball part of the bull's eye to roll along the semi-circular ring plate through the disk and the L-shaped plate. When indentations are generated in the area where the semi-circular ring plate contacts the rolling ball part of the bull's eye, only the damaged semi-circular ring plate needs to be replaced, and there is no need to use high-strength materials to manufacture the support disk, reducing the production cost of the support disk and reducing the cost of replacing the damaged part.

[0014] 3. When the semi-circular ring plate is installed in the annular groove, the column head in the annular groove is inserted into the jack on the semi-circular ring plate, and then the support disk and the connecting plate are connected by the connecting screw to complete the assembly of the semi-circular ring plate and the support disk. The column head and the jack cooperate with each other, which is beneficial to reducing the number of connecting screws for restricting the position of the semi-circular ring plate.

[0015] 4. Insert the rectangular frame into the rectangular groove, and then insert one end of the connecting screw through the small hole, round hole and through hole and screw it into the screw hole. At this time, the part of the connecting screw inside the rectangular frame is in a bare state. When the connecting screw cannot be normally removed due to corrosion or other reasons, the space inside the rectangular frame can be used to cut off the connecting screw. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present utility model will become more apparent from the following detailed description of non - restrictive embodiments with reference to the accompanying drawings:

[0017] Figure 1 is a schematic structural diagram of a rotary joint mechanism of a manipulator according to the present utility model;

[0018] Figure 2 is a perspective view of another angle of a rotary joint mechanism of a manipulator according to the present utility model;

[0019] Figure 3 is Figure 2 an enlarged view of part A in

[0020] Figure 4 is an assembly diagram of a column head, a connecting column, a connecting arm and a support disk in a rotary joint mechanism of a manipulator according to the present utility model;

[0021] Figure 5 is an assembly diagram of a connecting plate and a semi - circular ring plate in a rotary joint mechanism of a manipulator according to the present utility model;

[0022] Figure 6 is an assembly diagram of an eyeball, an L - shaped plate and a disk in a rotary joint mechanism of a manipulator according to the present utility model;

[0023] Figure 7 is a perspective view of a rectangular frame in a rotary joint mechanism of a manipulator according to the present utility model;

[0024] In the figure: 1 - support disk, 2 - disk, 3 - L - shaped plate, 4 - bearing, 5 - connecting screw, 6 - connecting plate, 7 - semi - circular ring plate, 8 - connecting arm, 9 - first flange, 10 - connecting shaft, 11 - connecting column, 12 - eyeball, 13 - threaded hole, 14 - second flange, 15 - strip - shaped opening, 16 - rectangular frame, 17 - annular groove, 18 - column head, 19 - round hole, 20 - jack, 21 - small hole, 22 - screw hole, 23 - through hole. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] 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 embodiments.

[0026] Please refer to Figure 1 、 Figure 2and Figure 4 ,the present utility model provides a technical solution: a manipulator rotary joint mechanism, including a support disk 1, a bearing 4 is installed at the middle position of the support disk 1, a connecting shaft 10 is installed inside the bearing 4, a second flange 14 for connecting a manipulator fixture is installed at one end of the connecting shaft 10 close to the disk 2, a first flange 9 for connecting the output shaft of a servo motor is installed at the other end of the connecting shaft 10 away from the second flange 14, four connecting columns 11 are equidistantly installed in a ring shape on the upper surface of the support disk 1, a threaded hole 13 for matching and restricting the position of a bolt of the servo motor is opened on the side of the connecting column 11 facing away from the support disk 1, the upper end of the connecting column 11 is fixedly connected with a connecting arm 8, the connecting arm 8 is arranged along the radial direction of the support disk 1, a fixing hole is opened at the end of the connecting arm 8 away from the connecting column 11, so that the connecting arm 8 is installed at the required position, and at this time, the connecting arm 8 and the connecting column 11 jointly realize the restriction of the position of the support disk 1.

[0027] Refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 , a disk 2 is arranged on the lower side of the support disk 1, the disk 2 is sleeved on the connecting shaft 10 and fixedly connected with the connecting shaft 10, a plurality of strip-shaped openings 15 are evenly opened on one side surface of the disk 2, wherein the strip-shaped openings 15 are arranged along the radial direction of the disk 2, the strip-shaped openings 15 reduce the production material consumption of the disk 2, three detachable L-shaped plates 3 are equidistantly installed in a ring shape on the annular side surface of the disk 2, a bull's eye ball 12 is installed on the lower surface of the horizontal part of the L-shaped plate 3, an annular groove 17 is formed by downward depression at the edge of the upper surface of the support disk 1, two semi-circular ring plates 7 are inserted into the annular groove 17, and the rolling part of the bull's eye ball 12 is in rolling contact with the surface of the semi-circular ring plate 7. After the disk 2 is installed on the connecting shaft 10 and the rolling part of the bull's eye ball 12 on the L-shaped plate 3 is in rolling contact with the semi-circular ring plate 7, when the manipulator fixture installed at one end of the connecting shaft 10 picks up an object, the gravity generated by the object acts on the support disk 1 through the connecting shaft 10, the disk 2, the L-shaped plate 3 and the bull's eye ball 12, thereby avoiding the gravity of the object acting on the connection part between the bearing 4 and the connecting shaft 10, improving the structural stability, and preventing the bearing 4 from being damaged due to being in a loaded state.

[0028] Refer to Figures 1-5, connecting plates 6 are fixedly connected to the middle positions of the annular sides of both semi-circular ring plates 7. A small hole 21 is provided at the lower position of one side surface of the connecting plate 6. One end of the connecting screw 5 passes through the small hole 21 and is threadedly connected to the support disc 1. Two jacks 20 are provided on the upper surface of the semi-circular ring plate 7. A stud 18 is inserted into the jack 20. The stud 18 is installed at the bottom of the annular groove 17. When the servo motor drives the connecting shaft 10 to rotate, the connecting shaft 10 drives the ball part of the bull's eye 12 to roll along the semi-circular ring plate 7 through the disc 2 and the L-shaped plate 3. When indentations are generated in the area where the semi-circular ring plate 7 contacts the ball part of the bull's eye 12, the damaged semi-circular ring plate 7 can be replaced. There is no need to use high-strength materials to manufacture the support disc 1, which reduces the production cost of the support disc 1 and the cost of replacing the damaged part. When installing the semi-circular ring plate 7 into the annular groove 17, insert the stud 18 in the annular groove 17 into the jack 20 on the semi-circular ring plate 7, and then use the connecting screw 5 to connect the support disc 1 and the connecting plate 6 to complete the assembly of the semi-circular ring plate 7 and the support disc 1. The cooperation between the stud 18 and the jack 20 helps to reduce the number of connecting screws 5 that limit the position of the semi-circular ring plate 7.

[0029] Refer to Figure 2 , Figure 3 , Figure 5 and Figure 7 , two rectangular grooves are symmetrically provided on the lower surface of the support disc 1. A rectangular frame 16 is inserted into the rectangular groove. Two circular holes 19 aligned with the small hole 21 are symmetrically provided on the annular side surface of the support disc 1. The circular hole 19 communicates with the rectangular groove. A through hole 23 aligned with the circular hole 19 is provided on one side surface of the rectangular frame 16. A threaded hole 22 aligned with the through hole 23 is provided on one side surface inside the rectangular frame 16. One end of the connecting screw 5 sequentially passes through the small hole 21, the circular hole 19, and the through hole 23 and is threadedly connected in the threaded hole 22. The rectangular frame 16 is inserted into the rectangular groove, and then one end of the connecting screw 5 passes through the small hole 21, the circular hole 19, and the through hole 23 and is screwed into the threaded hole 22. At this time, the part of the connecting screw 5 inside the rectangular frame 16 is in an exposed state. When the connecting screw 5 cannot be normally removed due to corrosion or other reasons, the connecting screw 5 can be cut off using the space inside the rectangular frame 16.

[0030] Although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A manipulator rotary joint mechanism, comprising a support disk (1), characterized in that: A bearing (4) is installed at the middle position of the support disk (1). A connecting shaft (10) is installed inside the bearing (4). A disk (2) is provided below the support disk (1). The disk (2) is sleeved on the connecting shaft (10) and fixedly connected to the connecting shaft (10). Three detachable L-shaped plates (3) are installed on the circumferential side of the disk (2) at equal circumferential intervals. A bull's eye (12) is installed on the lower surface of the horizontal part of the L-shaped plate (3). An annular groove (17) is formed by downward depression at the edge of the upper surface of the support disk (1). Two semi-circular ring plates (7) are inserted into the annular groove (17). Both of the two semi-circular ring plates (7) are connected to the support disk (1) by connecting screws (5). Two jacks (20) are opened on the upper surface of the semi-circular ring plate (7). A stud (18) is inserted into the jack (20). The stud (18) is installed at the inner bottom of the annular groove (17). The ball part of the bull's eye (12) is in rolling contact with the surface of the semi-circular ring plate (7).

2. The robotic arm slewing joint mechanism according to claim 1, characterized in that: A connecting plate (6) is installed at the middle position of the circumferential side of the semi-circular ring plate (7). A small hole (21) is opened at the lower position of one side surface of the connecting plate (6). One end of the connecting screw (5) passes through the small hole (21) and is threadedly connected to the support disk (1).

3. The robotic arm slewing joint mechanism according to claim 2, characterized in that: Two rectangular grooves are symmetrically opened on the lower surface of the support disk (1). A rectangular frame (16) is inserted into the rectangular groove. Two round holes (19) which are aligned with the small holes (21) are symmetrically opened on the circumferential side of the support disk (1). The round holes (19) communicate with the rectangular groove. A through hole (23) which is aligned with the round hole (19) is opened on one side surface of the rectangular frame (16). A threaded hole (22) which is aligned with the through hole (23) is opened on one side surface inside the rectangular frame (16). One end of the connecting screw (5) sequentially passes through the small hole (21), the round hole (19), the through hole (23) and is threadedly connected in the threaded hole (22).

4. A robotic manipulator rotary joint mechanism according to claim 1, characterized in that: A second flange (14) for connecting a manipulator fixture is installed at one end of the connecting shaft (10) close to the disk (2). A first flange (9) for connecting the output shaft of a servo motor is installed at the other end of the connecting shaft (10) away from the second flange (14).

5. A robotic arm rotary joint mechanism according to claim 1, characterized in that: Four connecting columns (11) are installed on the upper surface of the support disk (1) at equal circumferential intervals. A threaded hole (13) for matching and restricting the position of a bolt of the servo motor is opened on the surface of the connecting column (11) facing away from the support disk (1).

6. The robotic arm slewing joint mechanism according to claim 5, wherein: The upper end of the connecting column (11) is fixedly connected to a connecting arm (8). The connecting arm (8) is arranged along the radial direction of the support disk (1). A fixing hole is opened at the end of the connecting arm (8) away from the connecting column (11).

7. A manipulator rotary joint mechanism according to claim 1, characterized in that: A plurality of strip-shaped openings (15) are evenly opened on one side surface of the disk (2). The strip-shaped openings (15) are arranged along the radial direction of the disk (2).

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