Mechanical arm joint connecting mechanism

Abstract

The utility model discloses a mechanical arm joint connecting mechanism, and belongs to the technical field of mechanical arms, the mechanical arm joint connecting mechanism comprises a basic module and a connecting module, the basic module comprises two connecting pieces, a shell assembly is arranged between the two connecting pieces, and the connecting module is arranged between the shell assembly and the two connecting pieces; the connecting module comprises two angle adjusting assemblies which are arranged on the two connecting pieces respectively, the opposite ends of the two connecting pieces are each provided with a connecting assembly, and a connecting positioning assembly is arranged between the two connecting assemblies and the shell assembly. According to the mechanical arm joint angle adjusting mechanism, the angle of the mechanical arm joint can be adjusted, practicability is improved, the connecting assembly can be protected through the arrangement of the shell assembly, two connecting pieces can be connected and fixed through the arrangement of the connecting assembly, and the two connecting pieces can be positioned and connected through the arrangement of the connecting positioning assembly.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and more specifically, to a robotic arm joint connection mechanism. Background Technology

[0002] A robotic arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection and other fields. As a complex system, a robotic arm has uncertainties such as parameter perturbation, external interference and unmodeled dynamics. In order to make the use of robotic arms more flexible, corresponding joints are set for the robotic arm. These joints need to be connected by corresponding connecting mechanisms.

[0003] According to the search, Chinese patent CN212706747U discloses a robotic arm joint connection mechanism, which includes an annular flange at the connecting end of the joint, a V-shaped groove distributed along the circumference of the annular flange at the end of the annular flange, a retainer groove in the middle of the annular flange, and a fixing groove at the root of the annular flange; a connector is provided between the two joints, the connector including a retainer and rollers arranged along the circumference of the retainer, the retainer being disposed in the retainer groove, and the rollers being embedded in the V-shaped groove; a clamp is provided between the two joints, the clamp being used to connect the fixing groove to maintain the relative position of the two joints; it has the advantages of small structural size, high connection strength, simple structure, convenient disassembly and assembly, and easy maintenance.

[0004] Regarding the aforementioned technologies, the applicant believes that they only consider the issue of rotation after the two joints are connected, without considering the issue of adjusting the angle after the two joints are connected, thus lacking practicality. Therefore, we propose a robotic arm joint connection mechanism. Utility Model Content

[0005] To address the aforementioned problems, this application provides a robotic arm joint connection mechanism, employing the following technical solution:

[0006] A robotic arm joint connection mechanism includes a base module and a connection module. The base module includes two connectors, and a housing assembly is disposed between the two connectors. The connection module is disposed between the housing assembly and the two connectors. The connection module includes two angle adjustment components respectively disposed on the two connectors. A connection component is disposed at one end of each of the two connectors opposite to each other. A connection positioning component is disposed between the two connection components and the housing assembly.

[0007] By adopting the above technical solution, the angle of the robotic arm joints can be adjusted, thus improving its practicality.

[0008] Furthermore, the housing assembly includes a first housing and a second housing movably connected to opposite ends of two connectors, with the opposite ends of the first housing and the second housing abutting each other, and a limit ring fixedly connected to the inner side of both the first housing and the second housing.

[0009] By adopting the above technical solution, the limit ring can be installed.

[0010] Furthermore, the angle adjustment assembly includes a mounting bracket fixedly connected to one of the connectors, with a forward and reverse motor fixedly connected to the inner side of the mounting bracket, and the output end of the forward and reverse motor extending to the outside of the mounting bracket.

[0011] By adopting the above technical solution, it is possible to install forward and reverse motors.

[0012] Furthermore, the angle adjustment assembly also includes a first threaded component and a second threaded component that are movably inserted into one of the connectors. The first threaded component and the second threaded component are threadedly connected, and the output end of the forward and reverse motor is fixedly connected to the second threaded component.

[0013] By adopting the above technical solution, the forward and reverse motors can drive the second threaded component to rotate.

[0014] Furthermore, the connecting assembly includes two fixing blocks that are respectively fixedly connected to one end of the two connectors. The surfaces of the two fixing blocks are provided with annular grooves, and the two limiting rings are respectively slidably engaged with the inner sides of the two annular grooves.

[0015] By adopting the above technical solution, the limiting ring can be slidably engaged inside the annular groove.

[0016] Furthermore, the connection positioning component includes two U-shaped grooves, each formed on the first housing, and a set of sliding grooves is formed on the inner side of each of the two U-shaped grooves.

[0017] By adopting the above technical solution, it is easy to open the chute.

[0018] Furthermore, the connection positioning component also includes two U-shaped blocks that are fixedly connected to the second housing. Each of the two U-shaped blocks is fixedly connected to a set of sliders, and each set of sliders is slidably connected to the inner side of one set of slide grooves.

[0019] By adopting the above technical solution, the stability of the U-shaped block when it is engaged inside the U-shaped groove can be increased.

[0020] Furthermore, the connection positioning assembly also includes a third threaded component fixedly connected to one side of one of the fixing blocks, wherein a fourth threaded component is fixedly connected to one side of the other fixing block, and the fourth threaded component is threadedly connected to the third threaded component.

[0021] By adopting the above technical solution, the two connectors can be connected and fixed.

[0022] In summary, this application includes the following beneficial technical effects:

[0023] (1) By setting the angle adjustment component, the mechanism can adjust the angle of the robotic arm joint, which improves its practicality. By setting the connection positioning component, the two connecting parts can be positioned and connected. By setting the connection component, the two connecting parts can be connected and fixed.

[0024] (2) The mounting bracket facilitates the installation of the forward and reverse motors. The forward and reverse motors enable the second threaded component to rotate. The first and second threaded components can be connected and combined.

[0025] (3) By setting the annular groove and the limiting ring, rotating the fixed block can drive the limiting ring to slide inside the annular groove. By setting the U-shaped groove, the U-shaped block can be snapped. By setting the slider and the sliding groove, the stability of the U-shaped block when snapped inside the U-shaped groove can be increased. By setting the fourth threaded part and the third threaded part, the two fixed blocks can be connected and fixed. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of this application;

[0027] Figure 2 This is a schematic diagram of the exploded structure of this application;

[0028] Figure 3 This is an exploded view of the angle adjustment component of this application;

[0029] Figure 4 This is an exploded structural diagram of the joint assembly, connection positioning assembly, and connection assembly of this application.

[0030] Explanation of the labels in the diagram:

[0031] 100. Basic module; 110. Connector; 120. Housing assembly; 121. First housing; 122. Second housing; 123. Limiting ring;

[0032] 200. Connecting module; 210. Angle adjustment component; 211. Mounting bracket; 212. Forward and reverse motor; 213. First threaded component; 214. Second threaded component; 220. Connecting and positioning component; 221. U-shaped groove; 222. Slide groove; 223. U-shaped block; 224. Slider; 225. Third threaded component; 226. Fourth threaded component; 230. Connecting component; 231. Fixing block; 232. Annular groove. Detailed Implementation

[0033] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0034] In the description of this application, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0037] Please see Figure 1-4 A robotic arm joint connection mechanism includes a base module 100 and a connection module 200. The base module 100 includes two connectors 110, and a housing assembly 120 is disposed between the two connectors 110. The connection module 200 is disposed between the housing assembly 120 and the two connectors 110. The connection module 200 includes two angle adjustment components 210 respectively disposed on the two connectors 110. A connection component 230 is disposed at one opposite end of each of the two connectors 110. A connection positioning component 220 is disposed between the two connection components 230 and the housing assembly 120.

[0038] The angle adjustment component 210 enables the mechanism to adjust the angle of the robotic arm joint, improving its practicality. The outer shell component 120 protects the connecting component 230. The connecting component 230 connects and fixes the two connecting parts 110. The connection positioning component 220 positions and connects the two connecting parts 110.

[0039] The housing assembly 120 includes a first housing 121 and a second housing 122 movably connected to opposite ends of two connectors 110. The opposite ends of the first housing 121 and the second housing 122 abut against each other. Limiting rings 123 are fixedly connected to the inner sides of both the first housing 121 and the second housing 122. The angle adjustment assembly 210 includes a mounting bracket 211 fixedly connected to one of the connectors 110. A forward and reverse motor 212 is fixedly connected to the inner side of the mounting bracket 211, and the output end of the forward and reverse motor 212 extends to the outside of the mounting bracket 211. The angle adjustment assembly 210 also includes a first threaded component 213 and a second threaded component 214 movably inserted into the interior of one of the connectors 110. The first threaded component 213 and the second threaded component 214 are threadedly connected, and the output end of the forward and reverse motor 212 is fixedly connected to the second threaded component 214.

[0040] By inserting the first threaded component 213 and the second threaded component 214 into the inside of the connector 110, and making the opposite ends of the first threaded component 213 and the second threaded component 214 abut against each other, and then rotating the first threaded component 213 and the second threaded component 214 to make them threadedly connected, the robotic arm joint can then be fixedly connected between the surfaces of the first threaded component 213 and the second threaded component 214 by welding or other means as needed. At this time, the forward and reverse motor 212 is started, and the forward and reverse motor 212 can drive the second threaded component 214 to rotate the robotic arm joint to adjust the angle, which improves the practicality of this mechanism.

[0041] The connecting component 230 includes two fixing blocks 231 that are fixedly connected to one end of the two connecting members 110 respectively. The surface of each fixing block 231 is provided with an annular groove 232. Two limiting rings 123 are slidably engaged with the inner side of the two annular grooves 232 respectively. The connecting positioning component 220 includes two U-shaped grooves 221 that are both opened on the first housing 121. The inner side of each U-shaped groove 221 is provided with a set of sliding grooves 222. The connecting positioning component 220 also includes two U-shaped blocks 223 that are fixedly connected to the second housing 122. A set of sliders 224 are fixedly connected to each U-shaped block 223. Each set of sliders 224 is slidably connected to the inner side of one set of sliding grooves 222 respectively. The connecting positioning component 220 also includes a third threaded member 225 that is fixedly connected to one side of one of the fixing blocks 231. A fourth threaded member 226 is fixedly connected to one side of the other fixing block 231. The fourth threaded member 226 is threadedly connected to the third threaded member 225.

[0042] By inserting the U-shaped block 223 into the inner side of the U-shaped groove 221, the slider 224 can slide and engage with the inner side of the groove 222. At the same time, it can cause the fourth threaded part 226 to abut against the third threaded part 225. At this time, rotating the two connecting parts 110 can drive the two fixing blocks 231 to rotate, thereby driving the fourth threaded part 226 and the third threaded part 225 to form a threaded connection. This will cause the limiting ring 123 to slide inside the annular groove 232, avoiding affecting the connection between the fourth threaded part 226 and the third threaded part 225. The connection between the fourth threaded part 226 and the third threaded part 225 can realize the connection and fixation of the two connecting parts 110.

[0043] The implementation principle of this application embodiment is as follows: by inserting the first threaded part 213 and the second threaded part 214 into the interior of the connector 110 and making a threaded connection, the joint of the robotic arm is then fixedly connected between the surfaces of the first threaded part 213 and the second threaded part 214. Previously, the forward and reverse motor 212 was started. The forward and reverse motor 212 will drive the joint of the robotic arm to rotate through the first threaded part 213 and the second threaded part 214, enabling the mechanism to adjust the angle of the robotic arm joint, thus improving practicality. When the first outer shell 121 and the second outer shell 122 need to be connected, the U-shaped block 223 is first movably inserted into the interior of the U-shaped groove 221, allowing the slider 224 to slide onto the inner side of the groove 222, and the fourth... The threaded part 226 and the third threaded part 225 can abut against each other. At this time, rotating the two connecting parts 110 can drive the two fixed blocks 231 to rotate respectively, so that the fourth threaded part 226 and the third threaded part 225 can be threadedly connected. During this process, since the first outer shell 121 and the second outer shell 122 are movably connected between the two connecting parts 110, and the limiting ring 123 is slidably engaged on the inner side of the annular groove 232, when the fourth threaded part 226 and the third threaded part 225 are threadedly connected, the limiting ring 123 can slide on the inner side of the annular groove 232, thereby preventing the first outer shell 121 and the second outer shell 122 from affecting the connection between the fourth threaded part 226 and the third threaded part 225.

[0044] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A mechanical arm joint connecting mechanism comprising a base module (100) and a connecting module (200), characterized in that: The base module (100) comprises two connecting pieces (110), a shell assembly (120) is arranged between the two connecting pieces (110), and the connecting module (200) is arranged between the shell assembly (120) and the two connecting pieces (110); The connecting module (200) comprises two angle adjusting assemblies (210) arranged on the two connecting pieces (110) respectively, and the opposite ends of the two connecting pieces (110) are provided with connecting assemblies (230), and the connecting assemblies (230) and the shell assembly (120) are provided with connecting positioning assemblies (220).

2. The mechanism according to claim 1, wherein: The shell assembly (120) comprises a first shell (121) and a second shell (122) movably connected to the opposite ends of the two connecting pieces (110), the opposite ends of the first shell (121) and the second shell (122) abut, and the inner sides of the first shell (121) and the second shell (122) are fixedly connected with limiting rings (123).

3. A mechanism according to claim 2, wherein: The angle adjusting assembly (210) comprises a mounting frame (211) fixedly connected to one of the connecting pieces (110), the inner side of the mounting frame (211) is fixedly connected with a reversible motor (212), and the output end of the reversible motor (212) extends to the outside of the mounting frame (211).

4. The mechanism according to claim 3, wherein: The angle adjusting assembly (210) further comprises a first threaded part (213) and a second threaded part (214) movably inserted into one of the connecting pieces (110), the first threaded part (213) and the second threaded part (214) are threadedly connected, and the output end of the reversible motor (212) is fixedly connected with the second threaded part (214).

5. A mechanism according to claim 4, wherein: The connecting assembly (230) comprises two fixed blocks (231) fixedly connected to the opposite ends of the two connecting pieces (110) respectively, the surfaces of the two fixed blocks (231) are provided with annular grooves (232), and the two limiting rings (123) are slidably connected to the inner sides of the two annular grooves (232).

6. A mechanism according to claim 5, wherein: The connecting positioning assembly (220) comprises two U-shaped grooves (221) formed in the first shell (121), and a group of sliding grooves (222) are formed in the inner sides of the two U-shaped grooves (221).

7. A mechanism according to claim 6, wherein: The connecting positioning assembly (220) further comprises two U-shaped blocks (223) fixedly connected to the second shell (122), a group of sliding blocks (224) are fixedly connected to the two U-shaped blocks (223), and each group of sliding blocks (224) is slidably connected to the inner side of one of the groups of sliding grooves (222).

8. A mechanism according to claim 7, wherein: The connecting positioning assembly (220) further comprises a third threaded part (225) fixedly connected to one side of one of the fixed blocks (231), and a fourth threaded part (226) is fixedly connected to the other side of the other fixed block (231), and the fourth threaded part (226) is threadedly connected with the third threaded part (225).

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