Robot joint module anti-loose connecting structure

Abstract

The utility model discloses a robot joint module anti-loose connecting structure which comprises a joint module, and a plurality of first rectangular bosses or first rectangular grooves are arranged on the end face of the output end of the joint module. A driven part connected with the output end of the joint module is provided with a plurality of second rectangular grooves or second rectangular bosses which are tightly matched with the first rectangular bosses or the first rectangular grooves; a plurality of third rectangular bosses or third rectangular grooves are arranged on the end face of the fixed end of the joint module, and a plurality of fourth rectangular grooves or fourth rectangular bosses correspondingly matched with the third rectangular bosses or the third rectangular grooves are arranged on the fixed part connected with the fixed end of the joint module. The fixed end of the joint module is connected with the fixed part through a plurality of cylindrical pins and screws; according to the utility model, the connection strength between the output end of the robot joint module and the passive component is increased, unnecessary vibration between the output end of the robot joint module and the passive component is reduced, and the stability of torque transmission is ensured, so that the anti-loosening purpose is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot joint module field especially relates to a robot joint module anti -loose connection structure. BACKGROUND

[0002] The existing robot joint module output end or fixed end adopts screw and cylindrical pin cooperation and fixation during installation, and the screw and cylindrical pin are under great stress under the condition of large torque output or long time work of the joint module, which can easily cause the joint module output end or fixed end to be loose or even damaged, and the joint module output end or fixed end needs to be maintained frequently, and the repeated disassembly and installation of the cylindrical pin can cause the pin hole of the joint module output end or fixed end to be deformed or fatigue failure. SUMMARY

[0003] In order to solve the shortage of prior art, the utility model provides a robot joint module anti -loose connection structure.

[0004] The utility model discloses a robot joint module anti -loose connection structure, including joint module, the joint module output end face sets up multiple first rectangular boss or first rectangular recess, multiple first rectangular boss or first rectangular recess circumferential arrangement is set up with first rectangular boss or first rectangular recess close cooperation's second rectangular recess or second rectangular boss with the passive component that joint module output end is connected,

[0005] The utility model discloses a robot joint module anti -loose connection structure, including joint module, the joint module output end face sets up multiple first rectangular boss or first rectangular recess, multiple first rectangular boss or first rectangular recess circumferential arrangement is set up with first rectangular boss or first rectangular recess close cooperation's second rectangular recess or second rectangular boss with the passive component that joint module output end is connected,

[0006] The joint module fixed end face sets up multiple third rectangular boss or third rectangular recess, multiple third rectangular boss or third rectangular recess circumferential arrangement is set up with third rectangular boss or third rectangular recess corresponding cooperation's fourth rectangular recess or fourth rectangular boss with the fixed component that joint module fixed end is connected, and the joint module fixed end is connected with the fixed component through multiple cylindrical pins and screws.

[0007] As the preferred embodiment of the utility model, the first center boss or the first center recess is formed in the area surrounded by the multiple first rectangular bosses or the first rectangular recesses circumferentially arranged on the joint module output end, and the passive component is provided with the second center recess or the second center boss closely matched with the first center boss or the first center recess.

[0008] As the preferred embodiment of the utility model, the first center boss is integrated with the multiple first rectangular bosses, or the first center recess is in communication with the multiple first rectangular recesses, and the second center recess is in communication with the multiple second rectangular recesses, or the second center boss is integrated with the multiple second rectangular bosses.

[0009] As the preferred embodiment of the utility model, the passive component has a through hole, and the through hole is located in the area surrounded by the multiple second rectangular recesses or the second rectangular bosses.

[0010] As the preferred of the utility model, the plurality of third rectangular bosses or third rectangular grooves arranged circumferentially on the fixed end of the joint module surround the rear cover of the joint module.

[0011] As the preferred of the utility model, the fixed part is provided with a rear cover boss or rear cover groove corresponding to the rear cover of the joint module.

[0012] As the preferred of the utility model, a plurality of threaded holes one and pin holes one are arranged between the adjacent two third rectangular bosses or third rectangular grooves of the fixed end of the joint module, and the fixed part is provided with a plurality of threaded holes two and pin holes two corresponding to the threaded holes one and pin holes one.

[0013] The utility model has the advantages of:

[0014] (1) the output end and passive component of the robot joint module are tightly matched through the side surface of the rectangular structure boss and groove to transmit torque, the connecting strength between the output end and passive component of the robot joint module is increased, unnecessary vibration between the output end and passive component of the robot joint module is reduced, the stability of torque transmission is ensured, so that the purpose of preventing loosening is achieved.

[0015] (2) the axis of the output end and passive component of the robot joint module is ensured to be on the same straight line, the effective transmission of torque and the normal operation of the mechanical system are ensured, and maintenance is reduced.

[0016] (3) the correct installation of the fixed end of the robot joint module and the firmness after installation are ensured.

[0017] (4) the rectangular structure boss and groove are convenient to measure and easy to process, the processing difficulty is reduced, and the processing precision can be further improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the output end structure schematic view of example one joint module.

[0019] Figure 2 It is the passive component structure schematic view of example one.

[0020] Figure 3 It is the schematic view of the joint module output end and passive component when about to be connected.

[0021] Figure 4 It is the fixed end structure schematic view of example one joint module.

[0022] Figure 5 It is the fixed part structure schematic view of example one.

[0023] Figure 6is the schematic diagram of the joint module fixed end and the fixed component about to be connected in example one;

[0024] Figure 7 is the schematic diagram of the joint module output end structure in example two;

[0025] Figure 8 is the schematic diagram of the passive component structure in example two;

[0026] Figure 9 is the schematic diagram of the joint module output end and the passive component about to be connected in example two;

[0027] Figure 10 is the schematic diagram of the joint module fixed end structure in example two;

[0028] Figure 11 is the schematic diagram of the fixed component structure in example two;

[0029] Figure 12 is the schematic diagram of the joint module fixed end and the fixed component about to be connected in example two;

[0030] Figure 13 is the schematic diagram of the joint module output end structure in another embodiment.

[0031] Meaning of the reference signs in the figure:

[0032] 1-joint module output end, 2-passive component, 3-joint module fixed end, 4-fixed component, 5-through hole;

[0033] 6-joint module rear cover, 7-rear cover groove, 9-cylindrical pin, 10-screw;

[0034] 91-pin hole one, 92-pin hole two, 101-thread hole one, 102-thread hole two;

[0035] 11-first rectangular boss, 12-second rectangular groove, 13-third rectangular boss, 14-fourth rectangular groove;

[0036] 15-first center boss, 16-second center groove;

[0037] 21-first rectangular groove, 22-second rectangular boss, 23-third rectangular groove, 24-fourth rectangular boss;

[0038] 25-first center groove, 26-second center boss. DETAILED DESCRIPTION

[0039] The utility model will be specifically introduced below in combination with the drawings and specific embodiments.

[0040] Example one

[0041] As Figures 1-6 shown, the embodiment is a robot joint module anti-loose connection structure, comprising a joint module, a plurality of first rectangular bosses 11 are arranged on the end face of the output end 1 of the joint module, and a plurality of second rectangular grooves 12 matched with the first rectangular bosses 11 are arranged on the passive component 2 connected with the output end 1 of the joint module; a plurality of third rectangular bosses 13 are arranged on the end face of the fixed end 3 of the joint module, and a plurality of fourth rectangular grooves 14 matched with the third rectangular bosses 13 are arranged on the fixed component 4 connected with the fixed end 3 of the joint module, and the fixed end 3 of the joint module is connected with the fixed component 4 through a plurality of cylindrical pins 9 and screws 10.

[0042] In the embodiment, a first central boss 15 is formed in the area surrounded by the plurality of first rectangular bosses 11 arranged circumferentially on the output end 1 of the joint module, and the first central boss 15 is integrated with the plurality of first rectangular bosses 11; the passive component 2 is provided with a second central groove 16 matched with the first central boss 15, and the second central groove 16 is in communication with the plurality of second rectangular grooves 12; the passive component 2 has a through hole 5, which is located in the area surrounded by the plurality of second rectangular grooves 12.

[0043] In the embodiment, the plurality of third rectangular bosses 13 arranged circumferentially on the fixed end 3 of the joint module surround the joint module rear cover 6, and the joint module rear cover 6 is in a protruding shape in the embodiment, and the fixed component 4 is provided with a rear cover groove 7 matched with the joint module rear cover 6 to accommodate the protruding joint module rear cover 6; in actual application, if the joint module rear cover 6 is in a groove shape, the fixed component 4 is provided with a rear cover protrusion matched with the joint module rear cover 6 to fill the groove-shaped joint module rear cover 6; a plurality of threaded holes 101 and pin holes 91 are arranged between the adjacent two third rectangular bosses 13 of the fixed end 3 of the joint module, and the fixed component 4 is provided with a plurality of threaded holes 102 and pin holes 92 matched with the threaded holes 101 and pin holes 91; the threaded holes 101 and threaded holes 102 are used to install the screws 10 correspondingly, and the pin holes 91 and pin holes 92 are used to install the cylindrical pins 9 correspondingly.

[0044] In the embodiment, the fixed end 3 of the joint module is provided with two third rectangular bosses 13 arranged circumferentially, and in actual application, the number of the third rectangular bosses 13 can also be appropriately increased according to requirements.

[0045] Embodiment two

[0046] As Figures 7-12As shown, the embodiment is a robot joint module anti-loose connection structure, which comprises a joint module, a plurality of first rectangular grooves 21 are arranged on the end face of the output end 1 of the joint module, the plurality of first rectangular grooves 21 are arranged circumferentially, a plurality of second rectangular bosses 22 that are tightly matched with the first rectangular grooves 21 are arranged on the passive component 2 connected with the output end 1 of the joint module; a plurality of third rectangular grooves 23 are arranged on the end face of the fixed end 3 of the joint module, the plurality of third rectangular grooves 23 are arranged circumferentially, a plurality of fourth rectangular bosses 24 that are correspondingly matched with the third rectangular grooves 23 are arranged on the fixed component 4 connected with the fixed end 3 of the joint module, and the fixed end 3 of the joint module is connected with the fixed component 4 through a plurality of cylindrical pins 9 and screws 10.

[0047] In the embodiment, a first central groove 25 is formed in the area surrounded by the plurality of first rectangular grooves 21 arranged circumferentially on the output end 1 of the joint module, and the first central groove 25 is in communication with the plurality of first rectangular grooves 21; the passive component 2 is provided with a second central boss 26 that is tightly matched with the first central groove 25, and the second central boss 26 is integrated with the plurality of second rectangular bosses 22; the passive component 2 has a through hole 5, and the through hole 5 is located in the area surrounded by the plurality of second rectangular bosses 22.

[0048] In the embodiment, the plurality of third rectangular grooves 23 arranged circumferentially on the fixed end 3 of the joint module surround a joint module rear cover 6, and in the embodiment, the joint module rear cover 6 is in a protruding shape, and a rear cover groove 7 that is correspondingly matched with the joint module rear cover 6 is arranged on the fixed component 4, so as to accommodate the protruding joint module rear cover 6; in actual application, if the joint module rear cover 6 is in a groove shape, a rear cover protrusion that is correspondingly matched with the joint module rear cover 6 is arranged on the fixed component 4, so as to fill the joint module rear cover 6 in the groove shape; a plurality of threaded holes one 101 and pin holes one 91 are arranged between the adjacent two third rectangular grooves 23 of the fixed end 3 of the joint module, and the fixed component 4 is provided with a plurality of threaded holes two 102 and pin holes two 92 that are correspondingly matched with the threaded holes one 101 and the pin holes one 91; the threaded holes one 101 and the threaded holes two 102 are correspondingly used for mounting the screws 10, and the pin holes one 91 and the pin holes two 92 are correspondingly used for mounting the cylindrical pins 9.

[0049] In the embodiment, the fixed end 3 of the joint module is provided with two third rectangular grooves 23 arranged circumferentially, and in actual application, the number of the third rectangular grooves 23 can also be appropriately increased according to requirements.

[0050] In addition to the above two embodiments, the utility model also has another implementation mode, as shown in Figure 13As shown, in this embodiment, the first central recess 25 is not arranged in the region surrounded by the plurality of first rectangular recesses 21 arranged circumferentially on the joint module output end 1, and the first rectangular recess 21 is arranged at the edge of the end surface of the joint module output end 1, of course, the passive component 2 connected with the joint module output end 1 is provided with a plurality of second rectangular bosses 22 matched with the first rectangular recesses 21, and the passive component 2 is not provided with a second central boss 26.

[0051] Similarly, if the first central boss 15 is not arranged in the region surrounded by the plurality of first rectangular bosses 11 arranged circumferentially on the joint module output end 1, and the first rectangular boss 11 is arranged at the edge of the end surface of the joint module output end 1, then the passive component 2 connected with the joint module output end 1 is provided with a plurality of second rectangular recesses 12 matched with the first rectangular bosses 11, and the passive component 2 is not provided with a second central recess 16.

[0052] In the description of the present application, it should be understood that: the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application, and are not intended to indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application; in addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0053] In the description of the present application, it should be noted that: unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "matching", "setting", "forming" should be understood broadly; for example: it can be fixedly connected, set, or it can be detachably connected, or it can be an integral structure; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements; for those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0054] In the description of the present application, the terms "embodiment", "specific example" or "actual application" and the like are described as specific features, structures, materials or characteristics described in conjunction with the embodiment are included in at least one embodiment or example of the present application; the illustrative description of the above terms does not necessarily refer to the same embodiment or example, and the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0055] The above embodiments are only used to illustrate the technical solutions of the present application, and those skilled in the art should understand that the above embodiments do not limit the present application in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present application.

Claims

1. A robot joint module anti-loose connection structure, comprising a joint module, characterized in that: a plurality of first rectangular bosses or first rectangular grooves are arranged on the end face of the output end of the joint module, and a plurality of second rectangular grooves or second rectangular bosses that tightly match the first rectangular bosses or first rectangular grooves are arranged on the passive component connected to the output end of the joint module; a plurality of third rectangular bosses or third rectangular grooves are arranged on the end face of the fixed end of the joint module, and a plurality of fourth rectangular grooves or fourth rectangular bosses that correspondingly match the third rectangular bosses or third rectangular grooves are arranged on the fixed component connected to the fixed end of the joint module, and the fixed end of the joint module is connected to the fixed component through a plurality of cylindrical pins and screws.

2. The anti-loose connection structure of a robot joint module according to claim 1, characterized in that, A first central boss or a first central groove is formed in the area surrounded by the plurality of first rectangular bosses or first rectangular grooves arranged circumferentially on the output end of the joint module; and the passive component is provided with a second central groove or a second central boss that tightly matches the first central boss or the first central groove.

3. The robot joint module anti-loose connection structure according to claim 2, characterized in that, The first central boss is integrated with the plurality of first rectangular bosses, or the first central groove is in communication with the plurality of first rectangular grooves; and the second central groove is in communication with the plurality of second rectangular grooves, or the second central boss is integrated with the plurality of second rectangular bosses.

4. The anti-loose connection structure of a robot joint module according to any one of claims 1-3, characterized in that, The passive component has a through hole located in the area surrounded by the plurality of second rectangular grooves or second rectangular bosses.

5. The robot joint module anti-loose connection structure according to claim 1, characterized in that, A plurality of third rectangular bosses or third rectangular grooves arranged circumferentially on the fixed end of the joint module surround the rear cover of the joint module.

6. The robot joint module anti-loose connection structure according to claim 5, characterized in that, The fixed component is provided with a rear cover boss or a rear cover groove that correspondingly matches the rear cover of the joint module.

7. The anti-loose connection structure of a robot joint module according to any one of claims 1, 5, 6, characterized in that, A plurality of threaded holes one and pin holes one are arranged between the two adjacent third rectangular bosses or third rectangular grooves on the fixed end of the joint module, and the fixed component is provided with a plurality of threaded holes two and pin holes two that correspondingly match the threaded holes one and pin holes one.

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