Robot joint connecting structure

Abstract

The utility model relates to the technical field of robot connecting pieces, and provides a robot joint connecting structure which is characterized in that an upper supporting frame is fixedly installed on a connecting plate, a left driving plate and a right connecting plate are fixedly installed on the two sides of the lower side of the connecting plate, and the two ends of a rotating shaft penetrate through the left driving plate and the right connecting plate to be rotationally connected with a base; the rotating shaft can slide between the left driving plate and the right connecting plate, the rotating shaft is sleeved with the elastic pressing assembly, one side of the elastic pressing assembly abuts against the left driving plate, the other side of the elastic pressing assembly is used in cooperation with the driving end of the wedge-shaped driving assembly, and the wedge-shaped driving assembly, the stretching assembly and the rotating driving assembly are fixedly installed on the base. According to the utility model, the structure is reasonable, the use is convenient, the upper support frame can be driven to rotate, the telescopic movement can be carried out on the upper support frame, the application range is widened, and the flexibility is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot connecting piece technical field especially relates to a kind of robot joint connecting structure. BACKGROUND

[0002] Robot joint connecting piece is the key component in the process of robot manufacturing, which undertakes the important task of connecting robot joints, transmitting power and ensuring the flexibility of movement. The design and manufacture of such connecting piece need to consider the wear resistance, high strength and reliability of robot in different working environments. With the help of robot joint connecting piece, robot can smoothly complete various complex actions, such as grabbing, carrying, rotating, etc. The wide application of such connecting piece not only improves production efficiency and reduces labor cost, but also makes the application of robot more widely in production industry, construction industry and other fields. At the same time, for some dangerous working environments, such as nuclear radiation, high temperature and high pressure, the effective use of robot joint connecting piece ensures the safety of workers and realizes the efficient operation of man-machine cooperation. With the continuous development of artificial intelligence technology, the design of robot joint connecting piece will be more intelligent, providing strong support for the development of robot industry.

[0003] As application No.: CN202022960835.5 discloses a kind of robot joint connecting piece, including bottom support jacket, its characterized in that: the inside fixed connection of bottom support jacket upper part has motor one, the upper part of motor one is equipped with motor movable support sleeve, the inside movable sleeve of motor movable support sleeve upper part has motor two, the outside screw thread fixed sleeve of motor movable support sleeve has support seat, the side fixed connection of support seat upper part has telescopic rod, the upper movable sleeve of telescopic rod has telescopic rod upper movable sleeve, the side fixed connection of telescopic rod upper movable sleeve lower part has connecting piece, the inside movable sleeve of connecting piece has adjusting column, the inside fixed connection of telescopic rod upper movable sleeve inboard lower part has gyro wheel support column, the outside movable sleeve of gyro wheel support column has gear roller, the inside movable sleeve of telescopic rod upper movable sleeve one side upper part has connecting block movable pin, the outside screw thread fixed sleeve of connecting block movable pin has nut, the outside movable sleeve of connecting block movable pin inboard has nut two, the inboard movable sleeve of connecting block movable pin has inside support sleeve, the outside movable sleeve of inside support sleeve has movable roller, the outside fixed connection of movable roller has gear disc, the outside movable sleeve of connecting block movable pin has upper connecting piece, the upper fixed connection of upper connecting piece has upper support frame, the middle fixed connection of upper support frame lower part has semicircular disc.

[0004] However, the above-mentioned device can only realize the rotation of the upper support frame, and cannot realize the telescopic movement, which limits the flexibility of the joint and cannot meet the use requirements in some specific scenarios. Therefore, it is necessary to improve the device to improve its adaptability and functionality. Utility model content

[0005] In order to solve the above-mentioned problems, the utility model provides a kind of robot joint connecting structure to solve this problem.

[0006] In order to achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0007] A kind of robot joint connecting structure, including: upper support frame, connecting plate, left drive plate, right connecting plate, pivot, elastic pressure assembly, wedge drive assembly, stretch component, rotary drive assembly and base, the upper support frame is fixedly installed on connecting plate, left drive plate and right connecting plate are fixedly installed on the lower side of connecting plate two sides, pivot both ends pass through left drive plate and right connecting plate and are rotatably connected with base, pivot can slide between left drive plate and right connecting plate, elastic pressure assembly is sleeved on pivot, one side of elastic pressure assembly and left drive plate abut, the other side of elastic pressure assembly and the driving end of wedge drive assembly are used in cooperation, wedge drive assembly, stretch component, rotary drive assembly are fixedly installed on base, the driving end of stretch component and left drive plate are used in cooperation, the driving end of rotary drive assembly and pivot are fixedly connected.

[0008] Preferably, the left drive plate is provided with arc-shaped sliding groove and long circle sliding groove, the arc-shaped sliding groove is arranged on the lower side of long circle sliding groove, the arc-shaped sliding groove is used in cooperation with the driving end of stretch component, and the end of pivot is slidably arranged in long circle sliding groove.

[0009] Preferably, the stretch component includes: stretch drive cylinder, stretch block and drive slide rod, the stretch drive cylinder is fixedly installed on base, the output end of stretch drive cylinder and stretch block are fixedly connected, one end of drive slide rod is fixedly installed on one side of stretch block, and the other end of drive slide rod passes through arc-shaped sliding groove and is slidably connected with arc-shaped sliding groove.

[0010] Preferably, the elastic pressure assembly includes: pressing plate, compression spring and conical drive plate, the pressing plate, compression spring and conical drive plate are sleeved on the pivot, one side of the pressing plate and the left drive plate abut, the other side of the pressing plate and one end of the compression spring are fixedly connected, the other end of the compression spring and one side of the conical drive plate are fixedly connected, and the other side of the conical drive plate is used in cooperation with the driving end of the wedge drive assembly.

[0011] Preferably, the wedge-shaped driving assembly comprises a wedge-shaped driving cylinder, a wedge-shaped driving connecting plate and a wedge-shaped driving plate, the wedge-shaped driving cylinder is fixedly installed on the base, the output end of the wedge-shaped driving cylinder is fixedly connected with the wedge-shaped driving connecting plate, the upper side of the wedge-shaped driving connecting plate is fixedly connected with the wedge-shaped driving plate, the wedge-shaped driving plate is used in cooperation with the conical driving plate, and the wedge-shaped driving plate is vertically and slidingly connected with the rotating shaft.

[0012] Preferably, the wedge-shaped driving plate is provided with an oblong hole, the wedge-shaped driving plate is connected with the rotating shaft through the oblong hole, the thickness of one side of the wedge-shaped driving plate at the lower end is greater than that at the upper end, the lower end and the upper end of the wedge-shaped driving plate are transitioned through a slope, one side of the wedge-shaped driving plate is used in cooperation with the conical driving plate, and the other side of the wedge-shaped driving plate is abutted with the rotating driving assembly.

[0013] Preferably, the rotating driving assembly comprises a driven gear, a driving gear, a bearing seat, a driving motor, a motor mounting seat and a spacer sleeve, the driving motor is fixedly connected with the base through the motor mounting seat, the output end of the driving motor is fixedly connected with the driving gear through the spacer sleeve, the bearing seat is arranged on the other side of the driving gear, the driven gear is fixedly installed on the rotating shaft, the driven gear is meshingly connected with the driving gear, and one side of the driven gear is abutted with the wedge-shaped driving plate.

[0014] Preferably, the base is provided with a sliding groove, and the driving sliding rod is slidingly arranged in the sliding groove.

[0015] The utility model discloses a left driving plate, a rotating driving assembly, a stretch assembly and a elastic pressing assembly are arranged on the base, the rotating driving assembly is connected with the wedge-shaped driving plate, the stretch assembly is connected with the left driving plate, and the elastic pressing assembly is connected with the left driving plate. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which form a part of this description, are included to provide a further understanding of the application, and are incorporated herein for explanation. The present application will become more fully understood from the detailed description and accompanying drawings given below.

[0017] Figure 1 It is the structural schematic diagram of the utility model;

[0018] Figure 2 It is the front view of the utility model;

[0019] Figure 3 It is the side view of the left driving plate of the utility model;

[0020] Figure 4is a structure schematic view of the stretching assembly of the utility model;

[0021] Figure 5 is a structure schematic view of the elastic pressing assembly of the utility model;

[0022] Figure 6 is a structure schematic view of the wedge-shaped driving assembly of the utility model;

[0023] Figure 7 is a structure schematic view of the wedge-shaped driving plate of the utility model;

[0024] Figure 8 is a side view of the rotary driving assembly of the utility model;

[0025] Figure 9 is a structure schematic view of the inside of the base of the utility model.

[0026] Mark explanation:

[0027] 1, upper support frame; 2, connecting plate; 3, left driving plate; 4, right connecting plate; 5, rotating shaft; 6, elastic pressing assembly; 7, wedge-shaped driving assembly; 8, stretching assembly; 9, rotary driving assembly; 10, base; 31, arc-shaped sliding groove; 32, long circular sliding groove; 81, stretching driving cylinder; 82, stretching block; 83, driving sliding rod; 61, pressing plate; 62, compression spring; 63, conical driving plate; 71, wedge-shaped driving cylinder; 72, wedge-shaped driving connecting plate; 73, wedge-shaped driving plate; 731, long circular hole; 91, driven gear; 92, driving gear; 93, bearing seat; 94, driving motor; 95, motor mounting seat; 96, spacer sleeve; 101, sliding groove. Specific implementation

[0028] It should be noted that the embodiments in the utility model and the features in the embodiments can be combined with each other without conflict.

[0029] In the description of the utility model, it needs to be understood that, the orientation or position relation indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relation shown based on the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the utility model, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0030] In the description of the utility model, it needs to be understood that, the orientation or position relation indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relation shown based on the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the utility model, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0031] Embodiment one, in combination Figure 1 And Figure 2 It is illustrated that:

[0032] A robot joint connecting structure, comprising: an upper support frame 1, a connecting plate 2, a left drive plate 3, a right connecting plate 4, a rotating shaft 5, a spring pressing assembly 6, a wedge-shaped drive assembly 7, a stretching assembly 8, a rotating drive assembly 9 and a base 10, the upper support frame 1 is fixedly installed on the connecting plate 2, the left drive plate 3 and the right connecting plate 4 are fixedly installed on the lower side of the connecting plate 2 on both sides, the rotating shaft 5 is rotatably connected with the base 10 by penetrating through the left drive plate 3 and the right connecting plate 4 at both ends, the rotating shaft 5 can slide between the left drive plate 3 and the right connecting plate 4, the spring pressing assembly 6 is sleeved on the rotating shaft 5, one side of the spring pressing assembly 6 abuts against the left drive plate 3, the other side of the spring pressing assembly 6 cooperates with the driving end of the wedge-shaped drive assembly 7, the wedge-shaped drive assembly 7, the stretching assembly 8 and the rotating drive assembly 9 are fixedly installed on the base 10, the driving end of the stretching assembly 8 cooperates with the left drive plate 3, and the driving end of the rotating drive assembly 9 is fixedly connected with the rotating shaft 5.

[0033] By setting the tension component 8, the upper support frame 1 can be extended and retracted. By setting the rotation drive component 9, the upper support frame 1 can be rotated. By setting the spring pressure component 6 in conjunction with the wedge drive component 7, the rotation drive component 9 can be controlled to drive the rotating shaft 5 to rotate, thereby effectively utilizing the internal space. By setting the left drive plate 3, it can effectively cooperate with the spring pressure component 6 and the tension component 8 to drive the upper support frame 1 to rotate and extend, improving the flexibility of the joint and thus meeting the usage requirements of specific scenarios.

[0034] Example 2, based on Example 1, combined with... Figure 3 Explanation:

[0035] The left drive plate 3 is provided with an arc-shaped sliding groove 31 and an oblong sliding groove 32. The arc-shaped sliding groove 31 is located below the oblong sliding groove 32 and is used in conjunction with the drive end of the tensioning assembly 8. The end of the rotating shaft 5 is slidably disposed within the oblong sliding groove 32. The oblong sliding groove 32 provides a rotation path for the rotating shaft 5, and the arc-shaped sliding groove 31 provides a rotation path for the drive end of the tensioning assembly 8.

[0036] Example 3, based on Example 2, combined with Figure 4 Explanation:

[0037] The stretching assembly 8 includes a stretching drive cylinder 81, a stretching block 82, and a drive slide rod 83. The stretching drive cylinder 81 is fixedly installed on the base 10. The output end of the stretching drive cylinder 81 is fixedly connected to the stretching block 82. One end of the drive slide rod 83 is fixedly installed on one side of the stretching block 82, and the other end of the drive slide rod 83 passes through the arc-shaped sliding groove 31 and is slidably connected to the arc-shaped sliding groove 31.

[0038] With this configuration, the tension drive cylinder 81 can drive the drive slide rod 83 to make vertical movements through the tension block 82.

[0039] Example 4, based on Example 3, combined with Figure 5 Explanation:

[0040] The spring-loaded assembly 6 includes a pressure plate 61, a compression spring 62, and a conical drive plate 63. The pressure plate 61, the compression spring 62, and the conical drive plate 63 are mounted on the rotating shaft 5. The pressure plate 61 can slide along the axis of the rotating shaft 5 and rotates together with the rotating shaft 5. The pressure plate 61 and the rotating shaft 5 are connected by a key.

[0041] One side of the pressure plate 61 abuts against the left drive plate 3, and the other side of the pressure plate 61 is fixedly connected to one end of the compression spring 62. The other end of the compression spring 62 is fixedly connected to one side of the conical drive plate 63, and the other side of the conical drive plate 63 is used in conjunction with the drive end of the wedge drive assembly 7.

[0042] In this way, the tapered driving plate 63 can be pressed against the compression spring 62 under the action of the wedge-shaped driving assembly 7, so that the compression spring 62 presses the pressing plate 61, and then the pressing plate presses the left driving plate 3, thereby driving the left driving plate 3 to rotate through the rotating shaft 5.

[0043] In the embodiment four, in combination with Figure 6 and Figure 7 are described as follows:

[0044] The wedge-shaped driving assembly 7 comprises a wedge-shaped driving cylinder 71, a wedge-shaped driving connecting plate 72 and a wedge-shaped driving plate 73. The wedge-shaped driving cylinder 71 is fixedly installed on the base 10. The output end of the wedge-shaped driving cylinder 71 is fixedly connected with the wedge-shaped driving connecting plate 72. The upper side of the wedge-shaped driving connecting plate 72 is fixedly connected with the wedge-shaped driving plate 73. The wedge-shaped driving plate 73 is used in cooperation with the tapered driving plate 63. The wedge-shaped driving plate 73 is vertically slidably connected with the rotating shaft 5.

[0045] The wedge-shaped driving cylinder 71 can drive the wedge-shaped driving plate 73 to move vertically through the wedge-shaped driving connecting plate 72, so as to drive the tapered driving plate 63 to press or not to press the compression spring 62.

[0046] The wedge-shaped driving plate 73 is provided with an oblong hole 731. The wedge-shaped driving plate 73 is connected with the rotating shaft 5 through the oblong hole 731. The thickness of one side of the lower end of the wedge-shaped driving plate 73 is greater than that of the upper end. The lower end and the upper end of the wedge-shaped driving plate 73 are connected through a slope. One side of the wedge-shaped driving plate 73 is used in cooperation with the tapered driving plate 63. The other side of the wedge-shaped driving plate 73 is abutted against the rotating driving assembly 9.

[0047] In the embodiment five, in combination with Figure 8 are described as follows:

[0048] The rotating driving assembly 9 comprises a driven gear 91, a driving gear 92, a bearing seat 93, a driving motor 94, a motor mounting seat 95 and a spacer 96. The driving motor 94 is fixedly connected with the base 10 through the motor mounting seat 95. The output end of the driving motor 94 is fixedly connected with the driving gear 92 through the spacer 96. The bearing seat 93 is arranged on the other side of the driving gear 92. The driven gear 91 is fixedly installed on the rotating shaft 5. The driven gear 91 is meshingly connected with the driving gear 92. One side of the driven gear 91 is abutted against the wedge-shaped driving plate 73.

[0049] In this way, the driving motor 94 can drive the driving gear 92 to rotate, so as to drive the driven gear 91 to rotate. The driven gear 91 drives the rotating shaft 5 to rotate through a key.

[0050] In the embodiment six, in combination with Figure 9 are described as follows:

[0051] The base 10 is provided with a sliding groove 101, and the driving slide rod 83 is slidingly arranged in the sliding groove 101. In this way, the sliding groove 101 provides guidance for the driving slide rod 83, thereby improving stability.

[0052] The working principle of the utility model is: when the device is used, the wedge-shaped driving cylinder 71 pushes the wedge-shaped driving plate 73 upward, the wedge-shaped driving plate 73 extrudes the conical driving plate 63, the conical driving plate 63 moves close to the pressing plate 61, thereby compressing the compression spring 62, the compression spring 62 presses against the pressing plate 61, the pressing plate 61 is tightly attached to the left driving plate 3, thereby when the rotating shaft 5 rotates, the rotating shaft 5 drives the pressing plate 61 to rotate, the pressing plate 61 drives the left driving plate 3 to rotate, thereby realizing the rotation of the upper supporting frame 1, when it is needed to make the upper supporting frame 1 do the stretching movement, the wedge-shaped driving cylinder 71 resets, the pressing plate 61 no longer presses the left driving plate 3, at this time, the stretching driving cylinder 81 can drive the left driving plate 3 to do the stretching movement through the driving slide rod 83, the utility model has the advantages of reasonable structure and convenient use, can drive the upper supporting frame to rotate and make it do the stretching movement, improves the application range and flexibility.

[0053] For those skilled in the art, the utility model is not limited to the details of the above exemplary embodiments, and can be realized in other specific forms without departing from the spirit or basic characteristics of the utility model; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the utility model is defined by the appended claims rather than the above description, therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the utility model. Any figure reference in the claims should not be regarded as limiting the involved claims.

[0054] The above is only the preferred embodiment of the utility model, and does not limit the utility model, any slight modification, equivalent replacement and improvement according to the technical essence of the utility model on the above embodiment should be included in the protection scope of the utility model technical scheme.

Claims

1. A robot joint connection structure, characterized in that, Include: Upper support frame (1), connecting plate (2), left drive plate (3), right connecting plate (4), shaft (5), elastic pressure assembly (6), wedge drive assembly (7), stretching assembly (8), rotating drive assembly (9) and base (10), the upper support frame (1) is fixedly installed on the connecting plate (2), the left drive plate (3) and the right connecting plate (4) are fixedly installed on the lower side of the connecting plate (2), the both ends of the rotating shaft (5) pass through the left drive plate (3) and the right connecting plate (4) and are rotatably connected with the base (10), the rotating shaft (5) can slide between the left drive plate (3) and the right connecting plate (4), the elastic pressure assembly (6) is sleeved on the rotating shaft (5), one side of the elastic pressure assembly (6) abuts against the left drive plate (3), the other side of the elastic pressure assembly (6) is used in cooperation with the driving end of the wedge drive assembly (7), the wedge drive assembly (7), the stretching assembly (8) and the rotating drive assembly (9) are fixedly installed on the base (10), the driving end of the stretching assembly (8) is used in cooperation with the left drive plate (3), and the driving end of the rotating drive assembly (9) is fixedly connected with the rotating shaft (5).

2. The robot joint connection structure according to claim 1, characterized in that, The left drive plate (3) is provided with an arc-shaped sliding groove (31) and an oblong sliding groove (32), the arc-shaped sliding groove (31) is arranged on the lower side of the oblong sliding groove (32), the arc-shaped sliding groove (31) is used in cooperation with the driving end of the stretching assembly (8), and the end of the rotating shaft (5) is slidably arranged in the oblong sliding groove (32).

3. A robot joint connection structure according to claim 2, characterized in that The stretching assembly (8) comprises a stretching drive cylinder (81), a stretching block (82) and a driving slide rod (83), the stretching drive cylinder (81) is fixedly installed on the base (10), the output end of the stretching drive cylinder (81) is fixedly connected with the stretching block (82), one end of the driving slide rod (83) is fixedly installed on one side of the stretching block (82), and the other end of the driving slide rod (83) passes through the arc-shaped sliding groove (31) and is slidably connected with the arc-shaped sliding groove (31).

4. The robot joint connection structure according to claim 1, characterized in that, The elastic pressure assembly (6) comprises a pressing plate (61), a compression spring (62) and a conical drive plate (63), the pressing plate (61), the compression spring (62) and the conical drive plate (63) are sleeved on the rotating shaft (5), one side of the pressing plate (61) abuts against the left drive plate (3), the other side of the pressing plate (61) is fixedly connected with one end of the compression spring (62), the other end of the compression spring (62) is fixedly connected with one side of the conical drive plate (63), and the other side of the conical drive plate (63) is used in cooperation with the driving end of the wedge drive assembly (7).

5. A robot joint connection structure according to claim 4, characterized in that The wedge drive assembly (7) comprises a wedge drive cylinder (71), a wedge drive connecting plate (72) and a wedge drive plate (73), the wedge drive cylinder (71) is fixedly installed on the base (10), the output end of the wedge drive cylinder (71) is fixedly connected with the wedge drive connecting plate (72), the upper side of the wedge drive connecting plate (72) is fixedly connected with the wedge drive plate (73), the wedge drive plate (73) is used in cooperation with the conical drive plate (63), and the wedge drive plate (73) is vertically and slidably connected with the rotating shaft (5).

6. A robot joint connection structure according to claim 5, characterized in that The wedge-shaped driving plate (73) is provided with an oblong hole (731), the wedge-shaped driving plate (73) is connected with the rotating shaft (5) through the oblong hole (731), the thickness of the lower end of the wedge-shaped driving plate (73) is greater than the thickness of the upper end, the lower end and the upper end of the wedge-shaped driving plate (73) are transitioned through a slope, one side of the wedge-shaped driving plate (73) is used in cooperation with the conical driving plate (63), and the other side of the wedge-shaped driving plate (73) is in abutment with the rotating driving assembly (9).

7. A robot joint connection structure according to claim 5, characterized in that The rotating driving assembly (9) comprises a driven gear (91), a driving gear (92), a bearing seat (93), a driving motor (94), a motor mounting seat (95) and a spacer sleeve (96), the driving motor (94) is fixedly connected with the base (10) through the motor mounting seat (95), the output end of the driving motor (94) is fixedly connected with the driving gear (92) through the spacer sleeve (96), the bearing seat (93) is arranged on the other side of the driving gear (92), the driven gear (91) is fixedly installed on the rotating shaft (5), the driven gear (91) is in meshing connection with the driving gear (92), and one side of the driven gear (91) is in abutment with the wedge-shaped driving plate (73).

8. The robot joint connection structure according to claim 3, characterized in that, The base (10) is provided with a sliding groove (101), and the driving sliding rod (83) is slidably arranged in the sliding groove (101).

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