Robot wrist connecting assembly

Abstract

The utility model relates to the technical field of robot assemblies, and discloses a robot wrist connecting assembly which comprises a supporting assembly, an outer cylinder is fixedly assembled on the side face of the supporting assembly, a sliding cylinder is slidably connected to the inner wall of the outer cylinder in a sleeved mode, a circular plate is fixedly assembled on the side face of the sliding cylinder, and a fixing plate is fixedly assembled on the side face of the circular plate. A motor is fixedly assembled on the side face of the fixing plate, an output shaft of the motor is fixedly sleeved with a driving gear, a rotating gear is rotationally connected to the side face of the fixing plate, and convex teeth on the outer edge of the rotating gear are meshed with convex teeth on the outer edge of the driving gear. Through cooperative use of the motor and the driving gear, the motor is used for driving the driving gear to rotate, the driving gear is used for driving the rotating gear to rotate, the rotating gear is used for driving the replacement part to rotate, the air cylinder is used for pushing the auxiliary plate to move on the side face of the rotating gear, and therefore the auxiliary plate is used for driving the replacement part to conduct small-amplitude adjustment.

Description

Technical Field

[0001] This utility model relates to the field of robot component technology, specifically a robot wrist connection component. Background Technology

[0002] The robot wrist connector is the part that connects the robot arm and the end effector, often referred to as a joint. These joints play a crucial role in robots, not only supporting and connecting the hand and arm, but also allowing the robot's end effector to perform a variety of complex movements and posture adjustments.

[0003] Traditional robot wrist connectors use motors to drive the end effector to rotate on the side of the arm, assisting in the adjustment of the end effector. However, traditional devices can only adjust the end effector laterally, making it difficult to make small-scale fine adjustments. Furthermore, during the adjustment process of the end effector along with the arm, the end effector is easily shaken by the arm, which affects the operating accuracy of the end effector. Utility Model Content

[0004] In view of the shortcomings of the prior art, the present invention provides a robot wrist connection component to solve the problems mentioned in the background art.

[0005] This utility model provides the following technical solution: a robot wrist connection assembly, including a support assembly, an outer cylinder fixedly mounted on the side of the support assembly, a slide cylinder slidably sleeved on the inner wall of the outer cylinder, a circular plate fixedly mounted on the side of the slide cylinder, a fixing plate fixedly mounted on the side of the circular plate, a motor fixedly mounted on the side of the fixing plate, a drive gear fixedly sleeved on the output shaft of the motor, a rotating gear rotatably connected to the side of the fixing plate, and the protruding teeth on the outer edge of the rotating gear meshing with the protruding teeth on the outer edge of the drive gear, a fixing seat fixedly mounted on the side of the rotating gear, a ball joint movably sleeved on the inner wall of the fixing seat, an auxiliary plate fixedly mounted on the side of the ball joint, a connecting seat fixedly mounted on the side of the auxiliary plate, and a replacement part slidably sleeved on the inner wall of the connecting seat.

[0006] As a preferred embodiment of this utility model, a cylinder is fixedly mounted on the side of the rotating gear, and the output end of the cylinder is rotatably connected to the side of the auxiliary plate.

[0007] As a preferred embodiment of the present invention, an inner cylinder is fixedly mounted on the side of the support component, a slide cylinder is slidably sleeved on the outer edge of the inner cylinder, the side of the slide cylinder is fixedly mounted on the side of the circular plate, and a slide rod is fixedly sleeved on the inner wall of the slide cylinder, with the outer edge of the slide rod slidably sleeved on the inner wall of the inner cylinder.

[0008] As a preferred embodiment of this utility model, a magnet ring is fixedly mounted on the side of the slide cylinder, a coil is fixedly sleeved on the inner wall of the outer cylinder, and the inner wall of the coil is slidably sleeved with the outer edge of the magnet ring. A spring is fixedly connected to the side of the outer cylinder, and the end of the spring away from the outer cylinder is fixedly mounted to the side of the circular plate.

[0009] As a preferred embodiment of this utility model, a limiting rod is slidably connected to the inner wall of the connecting seat, a limiting groove is formed on the outer edge of the replacement part, the outer edge of the limiting rod is slidably sleeved with the inner wall of the limiting groove, a second spring is fixedly connected to the side of the limiting rod, and the end of the second spring away from the limiting rod is fixedly connected to the side of the inner wall of the connecting seat, and a pull rod is fixedly mounted on the side of the limiting rod, and the outer edge of the pull rod is slidably sleeved with the inner wall of the connecting seat.

[0010] As a preferred embodiment of this utility model, there are two limiting rods, and the outer edges of the two limiting rods are slidably sleeved with the inner walls on both sides of the connecting seat, and the connection structures on both sides of the two limiting rods are completely identical.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. The robot wrist connection assembly uses a motor and a drive gear to rotate the drive gear, which in turn drives a rotating gear to rotate. The rotating gear then drives the replacement part to rotate. A cylinder pushes an auxiliary plate on the side of the rotating gear to move, allowing the auxiliary plate to make small adjustments to the replacement part.

[0013] 2. The robot wrist connection component, through the cooperation of the support component and the replacement component, when the support component drives the replacement component to move, the replacement component drives the slide rod and the slide cylinder to move. The outer edge of the slide rod slides on the inner wall of the inner cylinder, the outer edge of the slide cylinder slides on the inner wall of the outer cylinder, and the inner wall of the slide cylinder slides on the outer edge of the inner cylinder. In turn, the slide cylinder drives the magnet ring to slide on the inner wall of the coil, and the coil generates electromagnetic damping on the magnet ring to reduce vibration.

[0014] 3. The robot wrist connection assembly uses a pull rod and a limiting rod in combination. The pull rod drives the limiting rod to move away from the inner wall of the limiting groove, thereby moving the replacement part away from the connecting seat. This facilitates the replacement of the part and places it on the inner wall of the connecting seat. Spring 2 pushes the limiting rod to move on the inner wall of the connecting seat, thereby helping the outer edge of the limiting rod to align with the inner wall of the limiting groove. This helps to help the replacement part be fixedly mounted in the inner wall of the connecting seat. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is a schematic diagram of the front section of the connector of this utility model;

[0017] Figure 3 This utility model Figure 2 Enlarged structural diagram at point A in the middle;

[0018] Figure 4 This is a side sectional view of the connector of this utility model;

[0019] Figure 5 This is a schematic diagram of the replacement part of this utility model.

[0020] In the diagram: 1. Support assembly; 2. Outer cylinder; 3. Circular plate; 4. Fixing plate; 5. Motor; 6. Drive gear; 7. Rotating gear; 8. Cylinder; 9. Auxiliary plate; 10. Fixing seat; 11. Ball joint; 12. Connecting seat; 13. Replacement part; 14. Inner cylinder; 15. Slide rod; 16. Coil; 17. Magnet ring; 18. Spring 1; 19. Pull rod; 20. Spring 2; 21. Limiting rod; 22. Limiting groove; 23. Slide cylinder. Detailed Implementation

[0021] 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.

[0022] Please see Figures 1-5 A robot wrist connection assembly includes a support assembly 1, an outer cylinder 2 fixedly mounted on the side of the support assembly 1, a slide cylinder 23 slidably sleeved on the inner wall of the outer cylinder 2, a circular plate 3 fixedly mounted on the side of the slide cylinder 23, a fixing plate 4 fixedly mounted on the side of the circular plate 3, a motor 5 fixedly mounted on the side of the fixing plate 4, a drive gear 6 fixedly sleeved on the output shaft of the motor 5, a rotating gear 7 rotatably connected to the side of the fixing plate 4, and the protruding teeth on the outer edge of the rotating gear 7 meshing with the protruding teeth on the outer edge of the drive gear 6, and a fixing seat 10 fixedly mounted on the side of the rotating gear 7. A ball joint 11 is movably sleeved on the inner wall of the 0. An auxiliary plate 9 is fixedly mounted on the side of the ball joint 11. A connecting seat 12 is fixedly mounted on the side of the auxiliary plate 9. A replacement part 13 is slidably sleeved on the inner wall of the connecting seat 12. Through the cooperation of the motor 5 and the drive gear 6, the motor 5 drives the drive gear 6 to rotate, and then the drive gear 6 drives the rotating gear 7 to rotate. This assists the rotating gear 7 in driving the replacement part 13 to rotate through the fixed seat 10. With the addition of the ball joint 11, the ball joint 11 assists the connecting seat 12 in driving the replacement part 13 to rotate for adjustment.

[0023] In a preferred embodiment, a cylinder 8 is fixedly mounted on the side of the rotating gear 7, and the output end of the cylinder 8 is rotatably connected to the side of the auxiliary plate 9. Through the cooperation of the cylinder 8 and the auxiliary plate 9, the cylinder 8 pushes the auxiliary plate 9 on the side of the rotating gear 7, thereby facilitating the rotation adjustment of the replacement part 13 by using the auxiliary plate 9.

[0024] In a preferred embodiment, an inner cylinder 14 is fixedly mounted on the side of the support assembly 1, and a slide cylinder 23 is slidably sleeved on the outer edge of the inner cylinder 14. The side of the slide cylinder 23 is fixedly mounted on the side of the circular plate 3, and a slide rod 15 is fixedly sleeved on the inner wall of the slide cylinder 23. The outer edge of the slide rod 15 is slidably sleeved on the inner wall of the inner cylinder 14. Through the cooperation of the slide rod 15 and the inner cylinder 14, the outer edge of the slide rod 15 slides in a limited manner on the inner wall of the inner cylinder 14, the inner wall of the slide cylinder 23 slides in a limited manner on the outer edge of the inner cylinder 14, and the outer edge of the slide cylinder 23 slides in a limited manner on the inner wall of the outer cylinder 2, thereby further limiting the movement path of the slide cylinder 23 and the slide rod 15.

[0025] In a preferred embodiment, a magnet ring 17 is fixedly mounted on the side of the slide cylinder 23, and a coil 16 is fixedly sleeved on the inner wall of the outer cylinder 2. The inner wall of the coil 16 is slidably sleeved with the outer edge of the magnet ring 17. A spring 18 is fixedly connected to the side of the outer cylinder 2, and the end of the spring 18 away from the outer cylinder 2 is fixedly mounted to the side of the circular plate 3. Through the cooperation of the coil 16 and the magnet ring 17, the magnet ring 17 moves with the slide cylinder 23. When the outer edge of the magnet ring 17 slides through the inner wall of the coil 16, the coil 16 generates electromagnetic damping on the magnet ring 17, and the spring 18 assists in pushing the outer cylinder 2 to reset, thereby assisting in shock absorption of the replacement part 13.

[0026] In a preferred embodiment, a limiting rod 21 is slidably connected to the inner wall of the connecting seat 12, and a limiting groove 22 is formed on the outer edge of the replacement part 13. The outer edge of the limiting rod 21 is slidably sleeved with the inner wall of the limiting groove 22. A second spring 20 is fixedly connected to the side of the limiting rod 21, and the end of the second spring 20 away from the limiting rod 21 is fixedly connected to the side of the inner wall of the connecting seat 12. A pull rod 19 is fixedly mounted on the side of the limiting rod 21, and the outer edge of the pull rod 19 is slidably sleeved with the inner wall of the connecting seat 12. Through the cooperation of the second spring 20 and the limiting rod 21, the second spring 20 pushes the limiting rod 21 in the inner wall of the connecting seat 12, thereby limiting the positioning by the outer edge of the limiting rod 21 engaging with the inner wall of the limiting groove 22. Furthermore, by adding the pull rod 19, the limiting rod 21 can be easily moved by the pull rod 19.

[0027] In a preferred embodiment, there are two limiting rods 21, and the outer edges of the two limiting rods 21 are slidably sleeved with the inner walls on both sides of the connecting seat 12. The connection structures on both sides of the two limiting rods 21 are completely identical. By adding the two limiting rods 21, the two limiting rods 21 slide towards each other on the inner walls on both sides of the connecting seat 12, thereby assisting the replacement part 13 to be stably limited in the inner wall of the connecting seat 12.

[0028] Working principle: When the device is in use, motor 5 drives drive gear 6 to rotate, which in turn drives rotating gear 7 to rotate. Rotating gear 7 then drives replacement part 13 to rotate. Cylinder 8 pushes auxiliary plate 9 to move on the side of rotating gear 7, allowing auxiliary plate 9 to make small adjustments to replacement part 13. When support assembly 1 moves replacement part 13, replacement part 13 moves slide rod 15 and slide cylinder 23. The outer edge of slide rod 15 slides on the inner wall of inner cylinder 14, the outer edge of slide cylinder 23 slides on the inner wall of outer cylinder 2, and the inner wall of slide cylinder 23 slides on the outer edge of inner cylinder 14. This, in turn, utilizes… The slide cylinder 23 drives the magnet ring 17 to slide on the inner wall of the coil 16, and the coil 16 generates electromagnetic damping on the magnet ring 17 to reduce vibration. The pull rod 19 drives the limiting rod 21 to move away from the inner wall of the limiting groove 22, thereby moving the replacement part 13 away from the connecting seat 12, so as to facilitate the replacement of the replacement part 13. The replacement part 13 is placed on the inner wall of the connecting seat 12. The spring 20 pushes the limiting rod 21 to move on the inner wall of the connecting seat 12, thereby assisting the outer edge of the limiting rod 21 to align with the inner wall of the limiting groove 22, thus facilitating the limiting mounting of the replacement part 13 in the inner wall of the connecting seat 12.

[0029] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot wrist connection assembly, comprising a support assembly (1), characterized in that: The support assembly (1) is fixedly fitted with an outer cylinder (2) on its side. The inner wall of the outer cylinder (2) is slidably fitted with a slide cylinder (23). The side of the slide cylinder (23) is fixedly fitted with a circular plate (3). The side of the circular plate (3) is fixedly fitted with a fixing plate (4). The side of the fixing plate (4) is fixedly fitted with a motor (5). The output shaft of the motor (5) is fixedly fitted with a drive gear (6). The side of the fixing plate (4) is rotatably connected with a rotating gear (7). The outer edge of the rotating gear (7) meshes with the outer edge of the drive gear (6). The side of the rotating gear (7) is fixedly fitted with a fixing seat (10). The inner wall of the fixing seat (10) is movably fitted with a ball joint (11). The side of the ball joint (11) is fixedly fitted with an auxiliary plate (9). The side of the auxiliary plate (9) is fixedly fitted with a connecting seat (12). The inner wall of the connecting seat (12) is slidably fitted with a replacement part (13).

2. The robot wrist connection assembly according to claim 1, characterized in that: A cylinder (8) is fixedly mounted on the side of the rotating gear (7), and the output end of the cylinder (8) is rotatably connected to the side of the auxiliary plate (9).

3. The robot wrist connection assembly according to claim 1, characterized in that: The support assembly (1) is fixedly fitted with an inner cylinder (14) on its side. A slide cylinder (23) is slidably sleeved on the outer edge of the inner cylinder (14). The side of the slide cylinder (23) is fixedly fitted with the side of the circular plate (3). A slide rod (15) is fixedly sleeved on the inner wall of the slide cylinder (23), and the outer edge of the slide rod (15) is slidably sleeved with the inner wall of the inner cylinder (14).

4. The robot wrist connection assembly according to claim 1, characterized in that: A magnet ring (17) is fixedly mounted on the side of the slide cylinder (23), a coil (16) is fixedly sleeved on the inner wall of the outer cylinder (2), and the inner wall of the coil (16) is slidably sleeved with the outer edge of the magnet ring (17). A spring (18) is fixedly connected to the side of the outer cylinder (2), and the end of the spring (18) away from the outer cylinder (2) is fixedly mounted to the side of the circular plate (3).

5. The robot wrist connection assembly according to claim 1, characterized in that: The inner wall of the connecting seat (12) is slidably connected to a limiting rod (21), and the outer edge of the replacement part (13) is provided with a limiting groove (22). The outer edge of the limiting rod (21) is slidably sleeved with the inner wall of the limiting groove (22). A second spring (20) is fixedly connected to the side of the limiting rod (21), and the end of the second spring (20) away from the limiting rod (21) is fixedly connected to the side of the inner wall of the connecting seat (12). A pull rod (19) is fixedly mounted on the side of the limiting rod (21), and the outer edge of the pull rod (19) is slidably sleeved with the inner wall of the connecting seat (12).

6. A robot wrist connection assembly according to claim 5, characterized in that: There are two limiting rods (21), and the outer edges of the two limiting rods (21) are slidably sleeved with the inner walls on both sides of the connecting seat (12), and the connection structures on both sides of the two limiting rods (21) are completely identical.

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