Robot joint supporting structure

Abstract

The utility model relates to the technical field of robots, in particular to a robot joint supporting structure which comprises a joint supporting assembly, the joint supporting assembly comprises a main body frame, a self-adjusting reinforcing body and a transmission part, the self-adjusting reinforcing body is connected with the main body frame in a sliding mode and located on one side of the main body frame, and the transmission part is detachably connected with the self-adjusting reinforcing body. A traditional structure is modified and replaced with the joint supporting assembly, and therefore the problems that when an existing robot joint supporting device bears a large load, deformation is prone to occurring, the joint movement precision is reduced, the operation accuracy of a robot is affected, and in the long-term running process, the robot joint supporting device is prone to being damaged are effectively solved. Due to the lack of effective buffering and damping measures, the supporting structure is prone to being abraded, and the service life of the robot is shortened.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a robot joint support structure. BACKGROUND

[0002] The humanoid robot is the advanced development stage of the robot technology, embodies the mechanism of the robot, movement and dynamics and many aspects such as research and development level. The humanoid robot is strong in obstacle crossing ability, and the moving direction can be adjusted in all directions, and the terrain adaptability is strong, and the motion flexibility is good, and the carrying capacity is high, is the best choice under the complex operation environment, has wide application prospect, and the existing joint support device cannot be conveniently and quickly maintained regularly.

[0003] In the prior art, the patent number (CN202323151671.1) mentions a robot joint support structure, including knee joint sleeve;There is a sliding block in the inner side of the sector block, the sliding block is connected and rotates, the outer wall of the middle segment of the rotating shaft is fixedly connected with the mounting side plate, the outer wall of the mounting side plate is provided with a limiting groove, the mounting ring is rotatably connected to the inner wall of the limiting groove, the upper support plate is connected to the top of the mounting ring, the outer side of the upper support plate is provided with an arc-shaped groove, the sliding block rotates in the inner wall of the arc-shaped groove, the arc-shaped sliding strip is fixedly connected to the outer wall of the lower segment of the mounting ring, the fixed arc groove is fixedly connected to the outer wall of the fixed ring, and the lower support plate is fixedly connected to the bottom of the fixed arc groove. An arc-shaped groove is formed in the inner wall of the arc-shaped sliding strip, and when the arc-shaped sliding strip rotates with the mounting ring, the arc-shaped sliding strip connected with the arc-shaped sliding strip slides in the arc-shaped groove of the fixed arc groove. Through the connecting limiting assembly, the overall assembly can be quickly replaced and maintained.

[0004] In the prior art, the original spherical or roller bearing is replaced by an arc-shaped sliding strip, which effectively solves the problem that the existing joint support device cannot be conveniently and quickly maintained regularly, but when bearing a large load, deformation occurs, which reduces the joint movement precision and affects the operation accuracy of the robot. And in the long-term operation process, due to the lack of effective buffering and shock absorption measures, the support structure is easy to be worn, which reduces the service life of the robot. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a robot joint support structure, which solves the problem that the existing robot joint support device is prone to deformation when bearing a large load, which reduces the joint movement precision and affects the operation accuracy of the robot. And in the long-term operation process, due to the lack of effective buffering and shock absorption measures, the support structure is easy to be worn, which reduces the service life of the robot.

[0006] In order to achieve the above object, the utility model discloses a kind of robot joint support structures, including joint support assembly, the joint support assembly includes main body frame, self-adjusting reinforcing body and transmission part, the self-adjusting reinforcing body is slidably connected with the main body frame, and is located at one side of the main body frame, the transmission part is detachably connected with the self-adjusting reinforcing body, and is located inside the self-adjusting reinforcing body upper side.

[0007] Wherein, the main body frame includes frame body, rotating cavity and wear ring, the frame body is arranged at one side of the self-adjusting reinforcing body, the rotating cavity is fixedly connected with the frame body, and is located inside the frame body, the wear ring is detachably connected with the frame body, and is located inside the frame body, and the wear ring is arranged inside the rotating cavity.

[0008] Wherein, the main body frame further includes buffer sleeve, driving rod and sealing pad, the buffer sleeve is slidably connected with the wear ring, and is located at one side of the wear ring away from the frame body, and the buffer sleeve is also arranged inside the rotating cavity, the driving rod is rotatably connected with the buffer sleeve, and is located inside the buffer sleeve, and the driving rod is arranged inside the rotating cavity, one end of the driving rod away from the buffer sleeve is slidably connected with the self-adjusting reinforcing body, and is located at one side of the self-adjusting reinforcing body close to the frame body, the sealing pad is arranged on the outer surface of the driving rod, and the sealing pad is arranged at the opening of the rotating cavity.

[0009] Wherein, the self-adjusting reinforcing body includes limiting sleeve, sliding soft pad and connecting piece, the limiting sleeve is fixedly connected with the driving rod, and is located at one end of the driving rod away from the frame body, the sliding soft pad is slidably connected with the driving rod, and is located at the outer surface of one end of the driving rod away from the sealing pad, and the sliding soft pad is vertically arranged with the limiting sleeve, the connecting piece is detachably connected with the sliding soft pad, and is located at one end of the sliding soft pad away from the driving rod.

[0010] Wherein, the transmission part includes linkage, combination rod and transmission hole, the linkage is detachably connected with the connecting piece, and is located inside one end of the connecting piece away from the sliding soft pad, the combination rod is fixedly connected with the linkage, and is located at one side of the linkage away from the connecting piece, and the combination rod is vertically arranged with the connecting piece, the transmission hole is fixedly connected with the linkage and the combination rod respectively, and is located inside the linkage and the combination rod, and the transmission hole is vertically arranged with the connecting piece.

[0011] The utility model discloses a kind of robot joint support structures, including joint support assembly, the joint support assembly includes main body frame, self-adjusting reinforcing body and transmission part, the self-adjusting reinforcing body with the main body frame sliding connection, and located in the one side of the main body frame, the transmission part with the self-adjusting reinforcing body disassembly connection, and located in the inside upper of the self-adjusting reinforcing body, since traditional structure modification replaces joint support assembly, thereby effectively solve the problem that existing robot joint support device is under relatively large load, prone to deformation, resulting in joint movement precision decline, influence robot's operation accuracy, and in long-term operation process, due to lack of effective buffering and shock-absorbing measures, support structure is susceptible to wear, reduce the service life of robot. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical scheme in the embodiments of the present utility model or prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present utility model, and other drawings can also be obtained according to these drawings without creative labor for those skilled in the art.

[0013] Fig. 1 is the overall structure schematic view of the utility model.

[0014] Fig. 2 is the front view of the overall structure of the utility model.

[0015] Fig. 3 is the internal structure sectional view of the overall structure of the utility model.

[0016] 1-main body frame, 101-frame body, 102-rotary cavity, 103-wear ring, 104-buffer sleeve, 105-driving rod, 106-sealing pad, 2-self-adjusting reinforcing body, 201-limiting sleeve, 202-sliding soft pad, 203-connecting piece, 3-transmission part, 301-linkage, 302-combination rod, 303-transmission hole. DETAILED DESCRIPTION

[0017] The embodiments of the present utility model will be described in detail below, and the examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present utility model, and cannot be understood as a limitation of the present utility model.

[0018] Please refer to Figs. 1-3 , Fig. 1 is the overall structure schematic view of the utility model, Fig. 2 is the front view of the overall structure of the utility model,Fig. 3 is the internal structure of the whole of the present utility model sectional view.

[0019] The utility model provides a kind of robot joint support structure, including joint support assembly, the joint support assembly includes main body frame 1, self-adjusting reinforcing body 2 and transmission piece 3, the main body frame 1 includes frame body 101, rotating cavity 102, wear ring 103, buffer sleeve 104, driving rod 105 and sealing pad 106, the self-adjusting reinforcing body 2 includes limit sleeve 201, sliding soft pad 202 and connecting piece 203, the transmission piece 3 includes linkage 301, combination rod 302 and transmission hole 303, the preceding scheme has solved the problem that existing robot joint support device is prone to deformation when bearing larger load, resulting in joint movement precision decline, influence robot's operation accuracy, and in long-term operation process, support structure is prone to wear due to lack of effective buffering and shock-absorbing measures, reduce the service life of robot, it can be understood that the preceding scheme can connect the transmission connecting device of robot with the transmission hole 303, so that power is conducted to the connecting piece 203 by the combination rod 302 and the linkage rod when driving, and the pressure borne will be decompressed by the sliding soft pad 202 first time, and the sliding soft pad 202 is mainly made of rubber, so that self-adaptive adjustment will be carried out, and the limit sleeve 201 will prevent the sliding soft pad 202 from separating from the driving rod 105, and the driving rod 105 will rotate when receiving power, to complete the rotation between robot joints, and the frame body 101 is compared to traditional cylindrical, mainly adopts alloy steel to design with triangular stable frame, to ensure that pressure can be effectively dispersed when bearing larger load, avoid deformation caused by concentrated stress, and the wear ring 103 and the buffer sleeve 104 increase the service life of the driving rod 105 to some extent, and also further strengthen the overall rigidity of the frame body 101, so that the problem that existing robot joint support device is prone to deformation when bearing larger load, resulting in joint movement precision decline, influence robot's operation accuracy, and in long-term operation process, support structure is prone to wear due to lack of effective buffering and shock-absorbing measures, reduce the service life of robot is effectively solved.

[0020] For this specific embodiment, the self-adjusting reinforcing body 2 is slidably connected with the main body frame 1 and located on one side of the main body frame 1, and the transmission piece 3 is detachably connected with the self-adjusting reinforcing body 2 and located inside and above the self-adjusting reinforcing body 2.

[0021] The frame body 101 is arranged on one side of the self-adjusting reinforcing body 2, the rotating cavity 102 is fixedly connected with the frame body 101 and located in the interior of the frame body 101, the wear-resistant ring 103 is detachably connected with the frame body 101 and located in the interior of the frame body 101, and the wear-resistant ring 103 is arranged in the interior of the rotating cavity 102, and the frame body 101 is mainly designed in a triangular stable frame by using alloy steel compared with a traditional cylindrical shape, so that the pressure can be effectively dispersed when a larger load is borne, and deformation caused by concentrated stress is avoided.

[0022] Secondly, the buffer sleeve 104 is slidably connected with the wear-resistant ring 103 and located on the side, away from the frame body 101, of the wear-resistant ring 103, the buffer sleeve 104 is also arranged in the interior of the rotating cavity 102, the driving rod 105 is rotatably connected with the buffer sleeve 104 and located in the interior of the buffer sleeve 104, one end of the driving rod 105, away from the buffer sleeve 104, is slidably connected with the self-adjusting reinforcing body 2 and located on the side, close to the frame body 101, of the self-adjusting reinforcing body 2, the sealing pad 106 is arranged on the outer surface of the driving rod 105 and located at the opening of the rotating cavity 102, and the wear-resistant ring 103 and the buffer sleeve 104 increase the service life of the driving rod 105 to a certain extent and further strengthen the overall rigidity of the frame body 101.

[0023] Meanwhile, the limiting sleeve 201 is fixedly connected with the driving rod 105 and located at one end of the driving rod 105, away from the frame body 101, the sliding soft pad 202 is slidably connected with the driving rod 105 and located on the outer surface of one end of the driving rod 105, away from the sealing pad 106, and the sliding soft pad 202 is arranged vertically with the limiting sleeve 201, the connecting piece 203 is detachably connected with the sliding soft pad 202 and located at one end of the sliding soft pad 202, away from the driving rod 105, the pressure is first reduced by the sliding soft pad 202, the sliding soft pad 202 is mainly made of rubber, so that self-adaptive adjustment is realized, the limiting sleeve 201 prevents the sliding soft pad 202 from being separated from the driving rod 105, and the driving rod 105 rotates when receiving power, so that the rotation between robot joints is completed.

[0024] In addition, the linkage 301 is detachably connected with the connecting piece 203, and is located inside an end of the connecting piece 203 away from the sliding soft pad 202; the combined rod 302 is fixedly connected with the linkage 301, and is located on a side of the linkage 301 away from the connecting piece 203; the combined rod 302 is vertically arranged with the connecting piece 203; the transmission hole 303 is fixedly connected with the linkage 301 and the combined rod 302, and is located inside the linkage 301 and the combined rod 302; the transmission hole 303 is vertically arranged with the connecting piece 203; the transmission connecting device of the robot is connected with the transmission hole 303, so that when driving, power is conducted to the connecting piece 203 by the combined rod 302 and the linkage rod.

[0025] In use of the robot, the transmission connecting device of the robot is connected with the transmission hole 303, so that when driving, power is conducted to the connecting piece 203 by the combined rod 302 and the linkage rod, and the pressure is first reduced by the sliding soft pad 202; the sliding soft pad 202 is mainly made of rubber, so as to be self-adaptively adjusted; the limiting sleeve 201 prevents the sliding soft pad 202 from being separated from the driving rod 105; the driving rod 105 rotates when receiving power, so as to complete rotation between joints of the robot; compared with a traditional cylindrical shape, the frame body 101 is mainly made of alloy steel and designed as a triangular stable frame, so as to effectively disperse pressure when a large load is borne, and avoid deformation caused by concentrated stress; the wear-resistant ring 103 and the buffer sleeve 104 increase the service life of the driving rod 105 and further strengthen the overall rigidity of the frame body 101, so as to effectively solve the problems that the existing robot joint support device is prone to deformation when a large load is borne, joint movement precision is reduced, operation accuracy of the robot is affected, and the support structure is prone to wear and tear and the service life of the robot is reduced due to lack of effective buffering and damping measures during long-term operation.

[0026] The above only discloses a preferred embodiment of the utility model, and of course cannot limit the scope of the utility model, and those skilled in the art can understand that all or part of the above-mentioned embodiments can be implemented, and equivalent changes made according to the utility model claims still belong to the scope covered by the utility model.

Claims

1. A robot joint support structure, characterized in that, comprising a joint support assembly, the joint support assembly comprising a main frame, a self-adjusting reinforcing body and a transmission member, the self-adjusting reinforcing body being in sliding connection with the main frame and located on one side of the main frame, and the transmission member being in detachable connection with the self-adjusting reinforcing body and located above the inside of the self-adjusting reinforcing body.

2. The robot joint support structure according to claim 1, characterized in that, the main frame comprises a frame body, a rotating cavity and a wear-resistant ring, the frame body is arranged on one side of the self-adjusting reinforcing body, the rotating cavity is in fixed connection with the frame body and located in the inside of the frame body, and the wear-resistant ring is in detachable connection with the frame body and located in the inside of the frame body, and the wear-resistant ring is arranged in the inside of the rotating cavity.

3. The robot joint support structure according to claim 2, characterized in that, the main frame further comprises a buffer sleeve, a driving rod and a sealing pad, the buffer sleeve is in sliding connection with the wear-resistant ring and located on the side of the wear-resistant ring away from the frame body, and the buffer sleeve is further arranged in the inside of the rotating cavity, the driving rod is in rotating connection with the buffer sleeve and located in the inside of the buffer sleeve, and the driving rod is arranged in the inside of the rotating cavity, one end of the driving rod away from the buffer sleeve is in sliding connection with the self-adjusting reinforcing body and located on the side of the self-adjusting reinforcing body close to the frame body, and the sealing pad is arranged on the outer surface of the driving rod and at the opening of the rotating cavity.

4. The robot joint support structure according to claim 3, characterized in that, the self-adjusting reinforcing body comprises a limiting sleeve, a sliding soft pad and a connecting member, the limiting sleeve is in fixed connection with the driving rod and located at one end of the driving rod away from the frame body, the sliding soft pad is in sliding connection with the driving rod and located on the outer surface of one end of the driving rod away from the sealing pad, and the sliding soft pad is arranged vertically with the limiting sleeve, and the connecting member is in detachable connection with the sliding soft pad and located at one end of the sliding soft pad away from the driving rod.

5. The robot joint support structure according to claim 4, characterized in that, the transmission member comprises a linkage member, a combination rod and a transmission hole, the linkage member is in detachable connection with the connecting member and located in the inside of one end of the connecting member away from the sliding soft pad, the combination rod is in fixed connection with the linkage member and located on the side of the linkage member away from the connecting member, and the combination rod is arranged vertically with the connecting member, and the transmission hole is in fixed connection with the linkage member and the combination rod respectively and located in the inside of the linkage member and the combination rod, and the transmission hole is arranged vertically with the connecting member.

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