Joint driving device of robot

Abstract

The utility model relates to the technical field of robots, and discloses a joint driving device of a robot, which comprises a driving end, a protection mechanism is arranged outside the driving end, a support ring is fixedly connected to the top of the driving end, a fixed shaft is rotatably connected to the inside of the support ring, a quick release mechanism is arranged inside the fixed shaft, and the quick release mechanism is fixedly connected to the top of the driving end. An extension assembly used for being driven is rotatably connected to the interior of the supporting ring, the quick release mechanism comprises connecting pipes, the close sides of the two connecting pipes are rotatably connected to the interior of the fixing shaft, and the farther sides of the two connecting pipes are fixedly connected with supporting plates. According to the utility model, the connecting pipe is inserted into the fixing shaft, so that the fixing column 6 on the supporting plate is aligned with the corresponding holes in the supporting ring and the bearing, and then the connecting piece is inserted into the connecting pipe, so that the whole device can be quickly disassembled, and the maintenance of the device and the replacement of parts are facilitated.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a joint drive device for a robot. Background Technology

[0002] A robot is a machine device that can perform various tasks through programming and automatic control. It usually has a certain perception, decision-making and action capabilities. In modern industrial production, scientific research and exploration and daily life services, the application of robots is becoming more and more widespread. On industrial production lines, such as automobile manufacturing and electronic product assembly, robots need to accurately complete operations such as grasping, handling and assembly. The joints of the robot are the key components that enable it to move flexibly and perform complex operations, while the joint drive device is the core component that gives the joint the ability to move.

[0003] The existing joint drive device consists of a drive end, an extension arm, and a bearing device. The drive end converts electrical energy and other forms of energy into mechanical energy through a power source such as a motor, providing power output for the entire device and thus driving the movement of the joint. The bearing device is installed in the key rotating parts of the joint drive device, fixing the drive end and the extension arm together. The extension arm plays the role of transmitting and adjusting the driving force in the device. One end of it is connected to the drive end and receives the power transmitted from the drive end.

[0004] In the existing technology, some devices are difficult to disassemble. The connection between the components is complicated and lacks convenient disassembly design. As a result, when the device needs to be thoroughly inspected and repaired, the staff needs to spend a lot of time and energy to disassemble the device. In fact, the disassembly difficulty may even cause additional damage to the device. To solve the above problems, a robot joint drive device is proposed. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a joint drive device for a robot, which aims to improve the problem that some devices in the prior art are difficult to disassemble and require a long time for maintenance and replacement of parts.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a joint driving device for a robot, comprising a driving end, a protective mechanism provided on the outside of the driving end, a support ring fixedly connected to the top of the driving end, a fixed shaft rotatably connected inside the support ring, a quick-release mechanism provided inside the fixed shaft, an extension component for being driven rotatably connected inside the support ring, the quick-release mechanism comprising a connecting tube, two adjacent sides of the connecting tubes rotatably connected inside the fixed shaft, a support plate fixedly connected to the more distant sides of the two connecting tubes, multiple fixed posts fixedly connected to adjacent sides of the support plates, a slot provided on the outside of the connecting tube, and a fixing component fixedly connected inside the connecting tube for fixing;

[0007] As a further description of the above technical solution: the protection mechanism includes a main retaining ring one, the inside of which is fixedly connected to the top of the drive end, and a main retaining ring two is rotatably connected to the front side of the main retaining ring one. Scrapers are fixedly connected to the top of both the main retaining ring two and the main retaining ring one.

[0008] As a further description of the above technical solution: both the top of the main retaining ring 2 and the main retaining ring 1 are fixedly connected to a protective cover, and both protective covers are provided with observation slots on their outer surfaces. The top of the protective cover is fixedly connected to a secondary retaining ring 1, and the front side of the secondary retaining ring 1 is rotatably connected to a secondary retaining ring 2.

[0009] As a further description of the above technical solution: the extension component includes a bearing, the outer side of the bearing is rotatably connected to the inside of the support ring, the outer wall of the bearing is rotatably connected to a connecting groove, the outer side of the connecting groove is fixedly connected to a rotating ring, the outer side of the rotating ring is fixedly connected to a connecting end, the top of the second secondary retaining ring is fixedly connected to the outside of the connecting end, and the inner side of the scraper is slidably connected to the outside of the rotating ring.

[0010] As a further description of the above technical solution: the fixing component includes a connector, the outside of which is fixedly connected to the inside of the connecting tube, the outside of which is threaded with a knob, and the side of the connector away from the knob is fixedly connected with a locking pin.

[0011] As a further description of the above technical solution: the inner wall of the bearing is rotatably connected to the outside of the fixed shaft, and the outer side of the rotating ring is rotatably connected to the inside of the support ring;

[0012] As a further description of the above technical solution: the external fixed connection of the fixed column is to the inner wall of the support ring, and the external fixed connection of the fixed column is to the inside of the bearing;

[0013] As a further description of the above technical solution: the inner wall of the knob is rotatably connected to the outside of the connecting tube, and the outside of the locking pin is fixedly connected to the inside of the locking groove.

[0014] This utility model has the following beneficial effects:

[0015] 1. In this utility model, the connecting tube is inserted into the fixed shaft to align the fixed column 6 on the support plate with the corresponding holes on the support ring and bearing. Then, the connecting piece is inserted into the connecting tube to connect the connecting tubes on both sides together. When disassembly is required, the connecting tube can be separated by reversing the operation, thereby realizing the quick disassembly of the entire device and facilitating the maintenance and replacement of parts.

[0016] 2. In this utility model, with the cooperation of main retaining ring one and main retaining ring two, one end of the protective cover is fixed to the outside of the drive end, and with the cooperation of secondary retaining ring one and secondary retaining ring two, the other end of the protective cover is fixed to the outside of the connection end, thus protecting the entire device. With the cooperation of scraper and rotating ring, the surface is cleaned during operation to solve the problem of external impurities entering the joint and causing wear and failure of the joint. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of a joint drive device for a robot proposed in this utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the fixed shaft of a robot joint drive device proposed in this utility model;

[0019] Figure 3 This is a schematic diagram of the structure of a connector for a robot joint drive device proposed in this utility model;

[0020] Figure 4 This is a schematic diagram of the structure of the fixing column of the joint drive device of a robot proposed in this utility model;

[0021] Figure 5 This is a schematic diagram of the scraper structure of a robot joint drive device proposed in this utility model.

[0022] Legend:

[0023] 1. Drive end; 2. Support ring; 3. Fixed shaft; 4. Connecting pipe; 5. Support plate; 6. Fixed column; 7. Slot; 8. Connector; 9. Knob; 10. Locking post; 11. Bearing; 12. Connecting groove; 13. Rotating ring; 14. Connecting end; 15. Main locking ring one; 16. Main locking ring two; 17. Scraper; 18. Protective cover; 19. Observation slot; 20. Secondary locking ring one; 21. Secondary locking ring two. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Reference Figures 2 to 4 This utility model provides an embodiment of a robot joint drive device, including a drive end 1. The drive end 1 provides power to the entire robot joint drive device and is the power source for the operation of the device. It drives other components to perform corresponding movements to realize the rotation, flexion and extension of the robot joints. The drive end 1 is provided with a protective mechanism on its exterior. A support ring 2 is fixedly connected to the top of the drive end 1. The support ring 2 is made of stainless steel. Stainless steel has good wear resistance, corrosion resistance and high strength. It can work stably for a long time in complex working environments to ensure the structural stability of the support ring 2. Multiple holes are opened inside the support ring 2. A fixed shaft 3 is rotatably connected inside the support ring 2. The fixed shaft 3 is used for connection and transmission. It is made of stainless steel and has high strength and good comprehensive mechanical properties. After appropriate heat treatment, it can meet the strength and wear resistance requirements of the fixed shaft 3 during operation. A quick release mechanism is provided inside the fixed shaft 3. An extension component for being driven is rotatably connected inside the support ring 2.

[0026] The quick-release mechanism includes connecting tubes 4, which are made of engineering plastics. Engineering plastics have good mechanical properties, insulation and corrosion resistance, and are lightweight, which can reduce the weight of the device while meeting the structural strength requirements. The adjacent sides of the two connecting tubes 4 are rotatably connected to the inside of the fixed shaft 3. The far sides of the two connecting tubes 4 are fixedly connected to support plates 5, which are made of aluminum alloy. Aluminum alloy is lightweight and high-strength, which can reduce the weight of the entire quick-release mechanism while ensuring the strength of the support plates 5. The adjacent sides of the support plates 5 are fixedly connected to multiple fixing posts 6, which are made of stainless steel. The high strength and corrosion resistance of stainless steel can ensure that the fixing posts 6 are not easily damaged during long-term use and ensure the stability of the connection. The outside of the connecting tubes 4 is provided with a slot 7, which is made of the same material as the connecting tubes 4, namely engineering plastic. This can reduce wear and extend the service life while ensuring the connection strength. The inside of the connecting tubes 4 is fixedly connected to a fixing component for fixing.

[0027] The fixing components include a connector 8, which is made of copper alloy. Copper alloy has good electrical conductivity, thermal conductivity, and mechanical properties. The connector 8 is externally fixedly connected to the inside of the connecting tube 4. A knob 9 is threadedly connected to the outside of the connector 8. The knob 9 is made of high-strength plastic, which has good wear resistance and mechanical strength, and can meet the requirements of the knob 9 in the process of frequent operation. At the same time, it is lightweight and easy to operate. A locking post 10 is fixedly connected to the side of the connector 8 away from the knob 9. The locking post 10 is made of stainless steel. The high strength and corrosion resistance of stainless steel can ensure that the locking post 10 is not easily damaged during long-term use, ensuring the reliability of the connection. The inner wall of the bearing 11 is rotatably connected to the outside of the fixed shaft 3. The outside of the rotating ring 13 is rotatably connected to the inside of the support ring 2. The outside of the fixing post 6 is fixedly connected to the inner wall of the support ring 2. The outside of the fixing post 6 is fixedly connected to the inside of the bearing 11. The inner wall of the knob 9 is rotatably connected to the outside of the connecting tube 4. The outside of the locking post 10 is fixedly connected to the inside of the locking groove 7.

[0028] Reference Figure 1 , Figure 5 The protective mechanism includes a main retaining ring 15, which is made of rubber. Rubber has good flexibility, wear resistance, and cushioning properties, effectively absorbing external impact and protecting the drive end 1 from damage. The main retaining ring 15 is internally fixedly connected to the top of the drive end 1. A second main retaining ring 16 is rotatably connected to the front side of the main retaining ring 15. The second main retaining ring 16 is also made of rubber, the same material as the main retaining ring 15, to ensure consistency in performance and use. Scrapers 17 are fixedly connected to the top of both the second main retaining ring 16 and the main retaining ring 15. The scrapers 17 are made of wear-resistant rubber, which has good wear resistance and flexibility, effectively removing dust without damaging the surface of the part being cleaned. Dust and debris are removed. Protective covers 18 are fixedly connected to the top of both main retaining ring 16 and main retaining ring 15. The protective covers 18 are made of silicone, which can effectively protect the internal components without interfering with their operation. Observation slots 19 are opened on the outside of both protective covers 18, which facilitate the operator to observe the internal operation of the device. A secondary retaining ring 20 is fixedly connected to the top of the protective cover 18. The secondary retaining ring 20 is made of rubber, which protects the connection end 14 by utilizing the flexibility and cushioning properties of rubber. A secondary retaining ring 21 is rotatably connected to the front of the secondary retaining ring 20. The secondary retaining ring 21 is made of the same material as the secondary retaining ring 20, namely rubber, to ensure consistency in performance and use.

[0029] The extension assembly includes a bearing 11 with a hole inside containing balls. The bearing 11 is rotatably connected to the inside of the support ring 2. A connecting groove 12 is rotatably connected to the outer wall of the bearing 11. The connecting groove 12 is made of aluminum alloy. The lightweight and high strength of aluminum alloy can reduce the weight of the extension assembly while ensuring the structural strength of the connecting groove 12, thus improving the motion performance of the device. A rotating ring 13 is fixedly connected to the outside of the connecting groove 12. The rotating ring 13 is made of high-strength alloy steel. Alloy steel has high strength and toughness, which can ensure the stability of the structure under large torque and external force, meeting the usage requirements of the rotating ring 13 during operation. A connecting end 14 is fixedly connected to the outside of the rotating ring 13. The connecting end 14 serves as the connection point between the extension assembly and the external drive component, transmitting the rotation and power from the rotating ring 13 to the external component to drive the robot joint. The top of the secondary retaining ring 21 is fixedly connected to the outside of the connecting end 14, and the inside of the scraper 17 is slidably connected to the outside of the rotating ring 13.

[0030] Working principle: Insert the connecting tube 4 into the fixed shaft 3, aligning the fixed post 6 on the support plate 5 with the corresponding holes on the support ring 2 and bearing 11. Insert the connecting piece 8 into the connecting tube 4, causing the locking post 10 to engage with the slot 7. When the knob 9 is rotated, the rotational motion of the knob 9 is converted into the linear motion of the locking post 10, thus fixing the fixed shaft 3 inside the support ring 2 and the bearing 11. Rotating the knob 9 in the opposite direction causes the locking post 10 to leave the slot 7, separating the connecting tubes 4 on both sides of the fixed shaft 3. The fixed shaft 3 can then be pulled out of the support ring 2. The fixed shaft 3 is fixed inside the support ring 2, supporting the bearing 11 and the connecting groove 12. The connecting groove 12 rotates flexibly around the axis of the fixed shaft 3 and the support ring 2 through the bearing 11. The connecting groove 12 drives the rotating ring 13 to rotate, activating the drive end 1 and causing the rotating ring 13 to rotate around the bearing 11 through the connecting groove 12. The rotating ring 13 then transmits the rotation and power to the external components that need to be driven through the connecting end 14, thus driving the robot joint.

[0031] Main retaining ring 15 and main retaining ring 2 16 are locked in place at the top of the drive end 1. Scraper 17 is fixed to the top of main retaining ring 15 and main retaining ring 2 16 and is attached to the outside of rotating ring 13. When rotating ring 13 rotates, its surface can be cleaned to remove dust, debris and seepage lubricating oil. Protective cover 18 covers the joint device to prevent external objects, dust and moisture from entering. The observation slots 19 on both sides make it convenient for operators to observe the operating status of internal components. Sub-retaining ring 1 20 and sub-retaining ring 2 21 protect and fix the connecting end 14, enhancing the overall stability of the protection mechanism.

[0032] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A joint drive device for a robot, comprising a drive end (1), characterized in that: The drive end (1) is provided with a protective mechanism on the outside, and a support ring (2) is fixedly connected to the top of the drive end (1). A fixed shaft (3) is rotatably connected inside the support ring (2). A quick-release mechanism is provided inside the fixed shaft (3). An extension component for being driven is rotatably connected inside the support ring (2). The quick-release mechanism includes a connecting tube (4), with the two connecting tubes (4) rotatably connected to the inside of the fixed shaft (3) on their adjacent sides, and a support plate (5) fixedly connected to the more distant side of each of the two connecting tubes (4). Multiple fixing posts (6) are fixedly connected to the adjacent side of each support plate (5). A slot (7) is provided on the outside of the connecting tube (4), and a fixing component for fixing is fixedly connected inside the connecting tube (4).

2. The joint drive device for a robot according to claim 1, characterized in that: The protective mechanism includes a main retaining ring one (15), which is fixedly connected to the top of the drive end (1) inside. A main retaining ring two (16) is rotatably connected to the front side of the main retaining ring one (15). Scrapers (17) are fixedly connected to the top of both the main retaining ring two (16) and the main retaining ring one (15).

3. The joint drive device for a robot according to claim 2, characterized in that: The top of both the second main retaining ring (16) and the first main retaining ring (15) are fixedly connected to a protective cover (18). The outer side of both protective covers (18) is provided with an observation slot (19). The top of the protective cover (18) is fixedly connected to a secondary retaining ring (20). The front side of the secondary retaining ring (20) is rotatably connected to a secondary retaining ring (21).

4. The joint drive device for a robot according to claim 3, characterized in that: The extension assembly includes a bearing (11), the outside of which is rotatably connected to the inside of the support ring (2). The outer wall of the bearing (11) is rotatably connected to a connecting groove (12). A rotating ring (13) is fixedly connected to the outside of the connecting groove (12). A connecting end (14) is fixedly connected to the outside of the rotating ring (13). The top of the secondary retaining ring (21) is fixedly connected to the outside of the connecting end (14). The inside of the scraper (17) is slidably connected to the outside of the rotating ring (13).

5. The joint drive device for a robot according to claim 1, characterized in that: The fixing component includes a connector (8), which is externally fixedly connected to the inside of the connecting tube (4). The connector (8) is externally threaded with a knob (9), and a locking pin (10) is fixedly connected to the side of the connector (8) away from the knob (9).

6. The joint drive device for a robot according to claim 4, characterized in that: The inner wall of the bearing (11) is rotatably connected to the outside of the fixed shaft (3), and the outer side of the rotating ring (13) is rotatably connected to the inside of the support ring (2).

7. The joint drive device for a robot according to claim 4, characterized in that: The external fixed column (6) is fixedly connected to the inner wall of the support ring (2), and the external fixed column (6) is fixedly connected to the inside of the bearing (11).

8. A joint drive device for a robot according to claim 5, characterized in that: The inner wall of the knob (9) is rotatably connected to the outside of the connecting tube (4), and the outside of the locking post (10) is fixedly connected to the inside of the locking groove (7).

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