Robot arm joint

Abstract

The utility model relates to a robot arm joint which comprises a first joint, a second joint, a joint shaft, a motor and a torque limiting mechanism, the torque limiting mechanism comprises a connecting hole, a mounting hole, an elastic positioning plug and a pressure adjusting assembly, one end of the joint shaft is inserted into the connecting hole, and positioning grooves are circumferentially distributed in the joint shaft; the other end of the elastic positioning plug is inserted into the positioning groove, the depth of the positioning groove is gradually increased in the axial direction, and a length adjusting assembly for adjusting the length of the joint shaft entering the connecting hole is arranged between the first joint and the second joint. Due to the design of the elastic positioning plug and the pressure adjusting assembly, the torque limiting mechanism is easy to maintain and adjust, and a user can easily change the torque limiting value according to needs; the arrangement of the length adjusting assembly allows the length of the joint shaft entering the connecting hole to be adjusted according to actual needs, so that fine adjustment of the joint movement range and flexibility is achieved, and reduction of output torsion caused by abrasion of the joint shaft and the elastic positioning plug is prevented.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robotic arm joint. Background Technology

[0002] A robot is an automated machine that performs tasks. It can be controlled by humans or run pre-programmed procedures. Its task is to assist or replace humans in jobs such as manufacturing, construction, or hazardous work. The robot arm is a component of the robot, and its operation is controlled to perform human tasks. The arm joints are the connecting axes of the robot arm, playing an indispensable role in connecting and assisting in the arm's rotation and other functions. To prevent damage to the robot arm, torque limiters are often installed at the arm joints to protect the robot arm hardware.

[0003] Existing torque limiters, such as the Chinese utility model patent with publication number CN205466302U, disclose a torque limiter for a robot arm joint. This torque limiter for a robot arm joint consists of a splined shaft, a retaining ring, a ball plunger, and an output cap. Since a spring is installed inside the thread of the ball plunger, when the rotational torque of the output cap exceeds a certain limit, the ball is compressed, which in turn compresses the spring, causing the ball to slip inward. When the rotational torque of the output cap is less than the frictional torque of the torque limiter, the torque limiter becomes a transmission mechanism. However, the slots on the splined shaft and the ball will wear after long-term use, resulting in a reduction in the output torque. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm joint to solve the problems mentioned in the background art.

[0005] The above-mentioned objective of this utility model is achieved through the following technical solution: a robot arm joint, including a first joint, a second joint, a joint shaft, and a motor. One end of the joint shaft is mounted on the first joint and connected to the motor, and the other end is connected to the second joint through a torque limiting mechanism. The torque limiting mechanism includes a connecting hole disposed on the second joint, mounting holes circumferentially distributed around the connecting hole, an elastic positioning plug disposed in the mounting hole, and a pressure adjusting component disposed at the outer end of the elastic positioning plug. One end of the joint shaft is inserted into the connecting hole, and a positioning groove is circumferentially distributed on the joint shaft. The other end of the elastic positioning plug is inserted into the positioning groove, and the depth of the positioning groove gradually increases along the axial direction. A length adjusting component for adjusting the length of the joint shaft entering the connecting hole is disposed between the first joint and the second joint.

[0006] Preferably, the mounting hole extends radially through the connecting hole from the outer side of the second joint.

[0007] Preferably, the pressure regulating assembly includes a fixed ring sleeve disposed on the outside of the second joint, a rotatable cap mounted on the fixed ring sleeve, a screw inserted into the mounting hole and connected to the rotatable cap, and a movable top sleeve connected between the elastic positioning plug and the screw.

[0008] Preferably, one end of the movable top sleeve is fixedly connected to the elastic positioning plug, and the other end is screwed to the screw rod through an internal threaded hole.

[0009] Preferably, the elastic positioning plug includes a plug body, a top pressure body movably fitted on the plug body, and a compression spring connected between the plug body and the top pressure body, wherein the plug body is slidably installed in the mounting hole.

[0010] Preferably, the joint shaft includes a first shaft mounted on the first joint and a second shaft fitted onto the end of the first shaft, the positioning groove is disposed on the second shaft, and the length adjustment component drives the second shaft to move axially relative to the first shaft.

[0011] Preferably, the second shaft is fitted onto the first shaft through a spline hole, and a return spring is provided in the connecting hole, pressing against the end of the second shaft.

[0012] Preferably, the length adjustment assembly includes an adjustment collar rotatably connected between the first joint and the second joint, and the second shaft is provided with an external thread, wherein the adjustment collar is screwed into the external thread of the second shaft.

[0013] The beneficial effects of this utility model are:

[0014] 1. The design of the elastic positioning plug and pressure adjustment component in this utility model makes the torque limiting mechanism easy to maintain and adjust. Users can easily change the torque limiting value as needed, which improves the maintainability and flexibility of the robot.

[0015] 2. The length adjustment component allows for adjustment of the length of the joint shaft entering the connection hole according to actual needs, thereby enabling fine adjustment of the joint's range of motion and flexibility. This enhances the robot arm's adaptability to different working environments and tasks, and prevents wear on the joint shaft and elastic positioning plug from causing a reduction in output torque. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the arm joint in an embodiment of this utility model;

[0017] Figure 2 This is an exploded view of the arm joint in an embodiment of this utility model;

[0018] Figure 3 This is a cross-sectional view of the arm joint in an embodiment of this utility model;

[0019] Figure 4 This is a cross-sectional view of the elastic positioning plug in an embodiment of this utility model;

[0020] Figure 5 This is an exploded view of the joint axis in an embodiment of this utility model;

[0021] In the diagram: 1-First joint, 2-Second joint, 201-Connecting hole, 202-Mounting hole, 3-Joint shaft, 301-First shaft body, 302-Second shaft body, 303-Positioning groove, 304-Spline hole, 4-Motor, 5-Elastic positioning plug, 501-Plug body, 502-Top pressure body, 503-Compression spring, 6-Pressure adjustment assembly, 601-Fixing ring, 602-Screw cap, 603-Screw, 604-Movable top sleeve, 7-Adjusting collar, 8-Reset spring. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to the accompanying drawings.

[0023] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of the present utility model.

[0024] Example: Figure 1-5 As shown, a robot arm joint includes a first joint 1, a second joint 2, a joint shaft 3, and a motor 4. One end of the joint shaft 3 is rotatably mounted on the first joint 1 via a bearing and connected to the motor 4, while the other end is connected to the second joint 2 via a torque limiting mechanism.

[0025] The torque limiting mechanism includes a connecting hole 201 on the second joint 2, a plurality of mounting holes 202 circumferentially distributed around the outer periphery of the connecting hole 201, an elastic positioning plug 5 disposed within the mounting hole 202, and a pressure adjusting component 6 disposed at the outer end of the elastic positioning plug 5. The mounting hole 202 radially penetrates the connecting hole 201 from the outer side of the second joint 2. One end of the joint shaft 3 is inserted into the connecting hole 201, and a positioning groove 3023 is circumferentially distributed on the joint shaft 3. The other end of the elastic positioning plug 5 is inserted into the positioning groove 3023.

[0026] like Figure 4As shown, the elastic positioning plug 5 includes a plug body 501, a pressing body 502 movably fitted onto the plug body 501, and a compression spring 503 connecting the plug body 501 and the pressing body 502. The plug body 501 is slidably installed in the mounting hole 202. In this embodiment, the plug body 501 has a regular hexagonal cross-sectional shape, and the mounting hole 202 is a corresponding regular hexagonal hole.

[0027] like Figure 3 As shown, the pressure regulating assembly 6 includes a fixed ring 601 fixedly installed on the outside of the second joint 2, a swivel cap 602 rotatably installed on the fixed ring 601, a screw 603 inserted into the mounting hole 202 and connected to the swivel cap 602, and a movable top sleeve 604 connected between the elastic positioning plug 5 and the screw 603.

[0028] One end of the movable top sleeve 604 is fixedly connected to the elastic positioning plug 5, and the other end is screwed to the screw rod 603 through the internal thread hole.

[0029] When the nut 602 is rotated, the nut 602 drives the screw 603 to rotate. The screw 603 drives the movable top sleeve 604 to move through the threaded engagement, thereby controlling the pressure of the elastic positioning plug 5 on the joint shaft 3 and controlling the maximum torque output of the joint.

[0030] like Figure 5 As shown, the joint shaft 3 includes a first shaft body 301 mounted on the first joint 1 and a second shaft body 302 fitted at the end of the first shaft body 301. A positioning groove 3023 is provided on the second shaft body 302, and the depth of the positioning groove 3023 gradually increases along the axial direction.

[0031] The second shaft 302 is fitted onto the first shaft 301 through the spline hole 304, and a return spring 8 is provided in the connection hole 201, which is located at the end of the second shaft 302.

[0032] A length adjustment component is provided between the first joint 1 and the second joint 2 to adjust the length of the joint shaft 3 entering the connection hole 201. The length adjustment component drives the second shaft 302 to move axially relative to the first shaft 301.

[0033] The length adjustment assembly includes an adjustment collar 7, which is rotatably connected between the first joint 1 and the second joint 2. The second shaft 302 is provided with an external thread, and the adjustment collar 7 is screwed into the external thread of the second shaft 302.

[0034] When the adjusting ring 7 is rotated, the adjusting ring 7 drives the second shaft 302 to move axially through the threaded engagement, so that the second shaft 302 moves toward the connecting hole 201, and the end of the elastic positioning plug 5 can be inserted deeper into the positioning groove 3023 to prevent wear from long-term use and thus reduce the torque output of the joint.

Claims

1. A robotic arm joint, comprising a first joint (1), a second joint (2), a joint shaft (3), and a motor (4), wherein one end of the joint shaft (3) is mounted on the first joint (1) and connected to the motor (4), and the other end is connected to the second joint (2) via a torque limiting mechanism, characterized in that, The torque limiting mechanism includes a connecting hole (201) on the second joint (2), a mounting hole (202) circumferentially distributed around the outer periphery of the connecting hole (201), an elastic positioning plug (5) in the mounting hole (202), and a pressure adjusting component (6) at the outer end of the elastic positioning plug (5). One end of the joint shaft (3) is inserted into the connecting hole (201), and a positioning groove (3023) is circumferentially distributed on the joint shaft (3). The other end of the elastic positioning plug (5) is inserted into the positioning groove (3023). The depth of the positioning groove (3023) gradually increases along the axial direction. A length adjusting component is provided between the first joint (1) and the second joint (2) to adjust the length of the joint shaft (3) entering the connecting hole (201).

2. The robotic arm joint according to claim 1, characterized in that: The mounting hole (202) is radially through the connecting hole (201) from the outside of the second joint (2).

3. A robotic arm joint according to claim 2, characterized in that: The pressure regulating assembly (6) includes a fixed ring (601) disposed on the outside of the second joint (2), a swivel cap (602) rotatably mounted on the fixed ring (601), a screw (603) inserted into the mounting hole (202) and connected to the swivel cap (602), and a movable top sleeve (604) connected between the elastic positioning plug (5) and the screw (603).

4. A robotic arm joint according to claim 3, characterized in that: One end of the movable top sleeve (604) is fixedly connected to the elastic positioning plug (5), and the other end is screwed to the screw rod (603) through the internal thread hole.

5. A robotic arm joint according to claim 1, characterized in that: The elastic positioning plug (5) includes a plug body (501), a top pressure body (502) movably fitted on the plug body (501), and a compression spring (503) connected between the plug body (501) and the top pressure body (502). The plug body (501) is slidably installed in the mounting hole (202).

6. A robotic arm joint according to claim 1, characterized in that: The joint shaft (3) includes a first shaft (301) mounted on the first joint (1) and a second shaft (302) fitted on the end of the first shaft (301). The positioning groove (3023) is provided on the second shaft (302). The length adjustment component drives the second shaft (302) to move axially relative to the first shaft (301).

7. A robotic arm joint according to claim 6, characterized in that: The second shaft (302) is fitted onto the first shaft (301) through a spline hole (304), and a return spring (8) is provided in the connecting hole (201) that rests on the end of the second shaft (302).

8. A robotic arm joint according to claim 7, characterized in that: The length adjustment assembly includes an adjustment collar (7), which is rotatably connected between the first joint (1) and the second joint (2). The second shaft (302) is provided with an external thread, and the adjustment collar (7) is screwed to the external thread of the second shaft (302).

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