Axial clearance eliminating structure

Abstract

The axial clearance eliminating structure is applied to the field of mechanical arms and comprises a first joint, one end of the first joint is rotationally connected with an output flange, the output flange is connected with a second joint through a connecting assembly, the connecting assembly comprises a plurality of first threaded holes formed in the outer circle of the output flange, and a plurality of counter bores are formed in the second joint; the first threaded holes and the counter bores are arranged in a staggered mode, countersunk screws are installed in the counter bores respectively, and the countersunk screws are installed in the first threaded holes. The countersunk head screw has the technical effects that due to the fact that the first threaded hole and the counter bore are arranged in the staggered mode, axial thrust is formed in the screwing process of the countersunk head screw, axial connection gaps are eliminated, installation errors are reduced, and installation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and in particular to an axial clearance elimination structure. Background Art

[0002] A robotic arm is an automated mechanical device that can imitate certain movements and functions of human hands and arms. It is an automatic operating device that grasps, moves objects or operates tools according to a fixed procedure. It is widely used in industrial manufacturing, medical treatment, entertainment services, semiconductor manufacturing and other industries.

[0003] A robotic arm is usually composed of a base, joints and arm tubes. In related technologies, the joints are connected by mounting screws, specifically as follows: a screw through hole matching the size of the end of the mounting screw is opened on the second joint, and a threaded hole matching the mounting screw is opened on the first joint, wherein the screw through hole and the threaded hole are coaxially arranged, and the mounting bolt passes through the screw through hole and is threadedly connected to the threaded hole at one end facing the threaded hole.

[0004] During use of the above-mentioned connection method of the second joint, since the screw through hole and the first threaded hole are coaxially arranged, an axial connection gap is easily generated between the screw through hole and the first threaded hole, thereby causing a gap between the second joints, resulting in the inability to seal the joint connection structure of the robotic arm, and a large error in the DH parameter of the robotic arm. Summary of the Invention

[0005] In order to help solve the problem in the related technology that axial connection gaps are generated between joints, resulting in the inability to seal at the joint connection structure of the robotic arm and large errors in the DH parameters of the robotic arm, the present application provides an axial gap elimination structure, which adopts the following technical solution: it includes a first joint, one end of the first joint is rotatably connected to an output flange, and the output flange is connected to a second joint through a connecting component, and the connecting component includes a plurality of first threaded holes opened on the outer circle of the output flange, and a plurality of countersunk holes are opened on the second joint, and a plurality of the first threaded holes and the countersunk holes are staggered respectively, and countersunk screws are respectively installed in a plurality of the countersunk holes, and a plurality of the countersunk screws are evenly distributed circumferentially in the plurality of first threaded holes.

[0006] In a specific possible implementation manner, center lines of the plurality of first threaded holes are respectively located on a side of center lines of the plurality of countersunk holes facing the first joint.

[0007] In a specific possible implementation scheme, a plurality of the countersunk holes are evenly opened on the housing of the second joint, and the output flange is installed in the inner circle stop of the housing of the second joint.

[0008] In a specific possible implementation manner, the plurality of countersunk holes are evenly distributed along the circumference of the casing.

[0009] In a specific embodiment, a countersunk groove is provided on the wall of the countersunk hole.

[0010] In a specific implementation scheme, an O-ring groove is provided on the surface of the second joint facing the first joint, an O-ring matching the groove is provided in the O-ring groove, and the O-ring is pressed between the casing and the output flange.

[0011] In a specific possible implementation manner, a chamfer is provided on the surface of the output flange facing the second joint.

[0012] In a specific implementation scheme, the outer circle of the output flange is provided with several second threaded holes, the casing is provided with several connecting holes, and connecting bolts are respectively installed in the several connecting holes, and the ends of the several connecting bolts facing the second threaded holes are respectively connected and fastened in the several second threaded holes.

[0013] In a specific possible implementation manner, the plurality of connection holes are arranged in a circular array along the casing.

[0014] In a specific possible implementation manner, a plurality of the connecting holes and a plurality of countersunk holes are arranged at intervals along the circumference of the casing.

[0015] To sum up, the present application has at least the following beneficial technical effects: when it is necessary to connect the first joint with the second joint, the operator passes several countersunk screws through the countersunk holes respectively and threads the ends of the countersunk screws facing the first threaded holes into several first threaded holes respectively. Since the first threaded holes and the countersunk holes are staggered, axial thrust is generated during the tightening of the countersunk screws, eliminating the axial connection gap, eliminating the problems of the inability to seal the joint connection structure of the robotic arm, and large errors in the DH parameters of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0017] Figure 2 yes Figure 1 Enlarged schematic diagram of point A in the middle.

[0018] Figure 3 It is a cross-sectional schematic diagram used to illustrate the countersunk screw in the embodiment of the present application.

[0019] Figure 4 It is a cross-sectional schematic diagram used to illustrate the countersunk groove in the embodiment of the present application.

[0020] Figure numerals: 1. first joint; 2. output flange; 3. first threaded hole; 4. countersunk hole; 5. countersunk screw; 6. housing; 7. countersunk groove; 8. O-ring groove; 9. O-ring; 10. chamfer; 11. second joint; 12. connecting bolt. DETAILED DESCRIPTION

[0021] The following is combined with Figure 1-3 This application is described in further detail.

[0022] The embodiment of the present application discloses an axial clearance eliminating structure.

[0023] Reference Figure 1 、 Figure 2 and Figure 3 The axial clearance elimination structure includes a first joint 1, an output flange 2 is provided at one end of the first joint 1, and a chamfer 10 is provided on the surface of the output flange 2 facing the second joint 11. The output flange 2 is connected to the second joint 11 through a connecting component. The chamfer 10 can remove the sharp angles and burrs on the edge of the output flange 2, making the edge smoother, reducing the possibility of scratching the operator and knocking the second joint 11 during assembly or use. The contact position between the second joint 11 and the chamfer 10 of the output flange 2 can also be provided with an avoidance groove according to actual conditions, further reducing the possibility of interference due to processing or assembly errors during the connection between the second joint 11 and the first joint 1.

[0024] Reference Figure 1 、 Figure 3 and Figure 4 The connection assembly includes a plurality of first threaded holes 3 formed on the outer circumference of the output flange 2. The plurality of first threaded holes 3 are arranged in an array along the outer circumference of the output flange 2. A plurality of countersunk holes 4 are formed on the second joint 11. The plurality of first threaded holes 3 and the countersunk holes 4 are staggered. In the embodiment of the present application, the centerlines of the plurality of first threaded holes 3 are located on the side of the centerline of the plurality of countersunk holes 4 facing the first joint 1. Countersunk screws 5 are respectively passed through the plurality of countersunk holes 4. The ends of the plurality of countersunk screws 5 facing the first threaded holes 3 are respectively threadedly connected to the plurality of first threaded holes 3. In the embodiment of the present application, the ends of the countersunk screws 5 are entirely located in the countersunk grooves 7, thereby generating axial thrust.

[0025] Therefore, when it is necessary to connect the first joint 1 with the second joint 11, the operator passes several countersunk screws 5 through the countersunk holes 4 respectively and threads the ends of the countersunk screws 5 facing the first threaded holes 3 into the several first threaded holes 3 respectively. Since the center lines of the several first threaded holes 3 are respectively located on the side of the center lines of the several countersunk holes 4 facing the first joint 1, an axial thrust is generated during the tightening of the countersunk screws 5, so that the end face of the output flange 2 facing the second joint 11 is tightly fitted with the second joint 11, eliminating the axial connection gap, eliminating the problem that the joint connection structure of the robot arm cannot be sealed, and the robot arm DH parameter error is large.

[0026] Reference Figure 2 and Figure 3 , the casing 6 on the second joint 11, several countersunk holes 4 are respectively opened on the outer circle of the casing 6, the output flange 2 is installed in the stopper of the joint casing 6 and contacts the end face of the joint casing 6, and several countersunk holes 4 are arranged in a circular array along the casing 6 to evenly distribute the load, reduce stress concentration, and ensure that the gap can be eliminated around the joint circumference.

[0027] Reference Figure 1 and Figure 2 , the outer circle of the output flange 2 is also provided with a plurality of second threaded holes, and the casing 6 is also provided with a plurality of connecting holes. The plurality of second threaded holes and the plurality of connecting holes are respectively coaxially arranged, and the plurality of connecting holes are respectively arranged in a circumferential array along the casing 6. Connecting bolts 12 matching the size of the connecting holes are respectively passed through the plurality of connecting holes, and the ends of the plurality of connecting bolts 12 facing the second threaded holes are respectively threadedly connected to the plurality of second threaded holes. The plurality of connecting holes and the plurality of countersunk holes 4 are arranged at intervals along the circumference of the casing 6. The operator first tightens the countersunk screws 5 to eliminate the axial clearance of the joint, and then passes the plurality of connecting bolts 12 through the connecting holes to tighten the first joint 1 and the second joint 11.

[0028] Reference Figure 1 and Figure 3 An O-ring groove 8 is provided on the surface of the second joint 11 facing the first joint 1, and a sealing ring 9 is installed in the sealing groove 8. The sealing ring 9 serves to seal the internal structure of the first joint 1 and the second joint 11 from the outside world.

[0029] The implementation principle of the embodiment of the present application is: when it is necessary to connect the first joint 1 with the second joint 11, the operator inserts several countersunk screws 5 through the countersunk holes 4 respectively. Since the center lines of the several first threaded holes 3 are respectively located on the side of the center lines of the several countersunk holes 4 facing the first joint 1, an axial thrust is generated during the tightening of the countersunk screws 5, and the end face of the output flange 2 facing the second joint 11 is tightly fitted with the second joint 11, eliminating the axial connection gap.

[0030] This specific embodiment is merely an explanation of the present invention and is not intended to limit the present invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed. However, as long as such modifications are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. An axial clearance elimination structure, characterized in that: The invention comprises a first joint (1), one end of the first joint (1) is rotatably connected to an output flange (2), the output flange (2) is connected to a second joint (11) through a connecting assembly, the connecting assembly comprises a plurality of first threaded holes (3) provided on the outer circle of the output flange (2), a plurality of countersunk holes (4) are provided on the second joint (11), a plurality of the first threaded holes (3) and the countersunk holes (4) are respectively staggered, a plurality of countersunk screws (5) are respectively installed in the plurality of the countersunk holes (4), and a plurality of the countersunk screws (5) are evenly distributed around the circumference and installed in the plurality of first threaded holes (3).

2. The axial clearance elimination structure according to claim 1, characterized in that: The center lines of the plurality of first threaded holes (3) are respectively located on the side of the center lines of the plurality of countersunk holes (4) facing the first joint (1).

3. The axial clearance elimination structure according to claim 1, characterized in that: A plurality of the countersunk holes (4) are evenly arranged on the housing (6) of the second joint (11), and the output flange (2) is installed in the inner circle stop of the housing (6) of the second joint (11).

4. The axial clearance elimination structure according to claim 3, characterized in that: The plurality of countersunk holes (4) are evenly distributed along the circumference of the casing (6).

5. The axial clearance elimination structure according to claim 1, characterized in that: A countersunk groove (7) is provided on the wall of the countersunk hole (4).

6. The axial clearance elimination structure according to claim 1, characterized in that: An O-ring groove (8) is provided on the surface of the second joint (11) facing the first joint (1), an O-ring (9) matching the O-ring groove (8) is provided in the O-ring groove (8), and the O-ring (9) is pressed between the housing (6) and the output flange (2).

7. The axial clearance elimination structure according to claim 1, characterized in that: The output flange (2) is provided with a chamfer (10) on the surface facing the second joint (11).

8. The axial clearance eliminating structure according to claim 3, characterized in that: The outer circle of the output flange (2) is provided with a plurality of second threaded holes, the housing (6) is provided with a plurality of connection holes, and connection bolts (12) are respectively installed in the plurality of connection holes, and the ends of the plurality of connection bolts (12) facing the second threaded holes are respectively connected and fastened in the plurality of second threaded holes.

9. The axial clearance eliminating structure according to claim 8, characterized in that: The plurality of connection holes are arranged in a circular array along the casing (6).

10. The axial clearance eliminating structure according to claim 9, characterized in that: The plurality of connecting holes and the plurality of countersunk holes (4) are arranged at intervals along the circumference of the casing (6).

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