Stable splicing structure for mechanical modularization and robot

Abstract

A stable splicing structure for mechanical modularization comprises a first splicing piece and a second splicing piece, the first splicing piece is provided with a stable limiting plane and two inclined clamping opening parts, the two inclined clamping opening parts are oppositely arranged on the two sides of the stable limiting plane, and the opposite sides of the two inclined clamping opening parts are provided with long-strip-shaped clamping inclined faces A; an inclined angle is formed between the width direction of the long-strip-shaped clamping inclined plane A and the stable limiting plane, and the length direction of the long-strip-shaped clamping inclined plane A is inclined in the opposite direction of the two inclined bayonet parts; the first splicing piece is provided with a stable limiting plane, the second splicing piece is provided with a clamping block part, the bottom plane of the clamping block part is tightly attached to the stable limiting plane, the two opposite sides of the clamping block part are provided with long-strip-shaped clamping inclined faces B, the long-strip-shaped clamping inclined faces B are both matched with the long-strip-shaped clamping inclined faces A, and a pulling locking device is further arranged between the first splicing piece and the second splicing piece. The connecting structure is simple and convenient in splicing mode and high in connecting strength and stability, so that the overall performance and reliability of mechanical products are improved, and the connecting structure can adapt to adjustment.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of modular design, specifically relates to a stable splicing structure for mechanical modularization and robot. BACKGROUND

[0002] In modern industrial production, mechanical products have extremely wide application range, covering many fields such as aerospace, automobile manufacturing, electronic equipment manufacturing and robot intelligent manufacturing. With the continuous change of market demand and the rapid development of technology, higher requirements are put forward for the performance, function and maintainability of mechanical products.

[0003] Traditional mechanical manufacturing methods usually design and manufacture each part as a whole, which has many drawbacks. On the one hand, due to the complexity of the overall structure, the machining and assembly of parts are difficult in the production process, resulting in low production efficiency and high production cost. For example, in the manufacturing of large mechanical equipment, some complex overall structures need to be machined with high-precision machining equipment and exquisite technology, which not only increases the machining cost, but also prolongs the production cycle.

[0004] On the other hand, when mechanical products fail, due to the limitation of overall structure, maintenance personnel often need to disassemble the entire equipment to find the faulty parts for repair or replacement, which makes the maintenance work complex and time-consuming, seriously affecting the normal operation time and production efficiency of the equipment. Moreover, for some outdated functions or performance that cannot meet the demand, it is difficult to upgrade or improve individually, and only the entire equipment can be replaced, causing waste of resources, especially for products such as intelligent manufacturing that iterate quickly.

[0005] In order to solve these problems of traditional mechanical manufacturing methods, the modular design concept emerges as the times require. Mechanical modularization splicing technology divides mechanical products into multiple relatively independent modules according to their functions or structural characteristics, each module has specific functions and interfaces, and these modules are combined together through standardized splicing to form a complete mechanical product. This technology has many advantages, such as improving production efficiency, reducing production cost, facilitating maintenance and upgrading, etc. However, in terms of splicing method, some existing splicing technologies have problems such as insufficient connection strength and poor stability, which seriously affect the overall performance and reliability of mechanical products.

[0006] In the prior art, the patent document with the publication number CN220369607U discloses a modular splicing part, which comprises a fixed cap, a fixed pin, a T-shaped fixed pin, a track type connecting part, a fixed part a and a fixed part b; the fixed cap is internally provided with a circular or square cap-shaped recess structure, the waist portion thereof is externally provided with two corresponding same fixed cap clamping holes and the two sides of the head portion of the fixed pin are provided with two corresponding same fixed pin clamping tips, the fixed cap clamping holes and the fixed pin clamping tips are inserted and connected, so that the fixed object can be fixed; the fixed pin is provided with two end head portions which are outwardly protruding right angle structure fixed pin clamping tips, the tail portion of the fixed cap is inserted to form a structure feature that the two ends are large and sharp in the middle and small, so that the fixed object can be connected; the T-shaped fixed pin is provided with a head portion which is a disc-shaped T-shaped cylindrical structure feature and the diameter of the head portion is greater than the diameter of the waist portion, and the other end is embedded in the fixed object to be fixedly connected with the T-shaped hollow track in the track type connecting part or the fixed part b; when the T-shaped fixed pin is embedded in the fixed object, the fixed cap and the fixed pin are used in combination, so that the fixed object can be connected; the track type connecting part is internally provided with four T-shaped hollow tracks which are inwardly extended and located on both sides of the track type connecting part, and are specially used for corresponding connection with the T-shaped fixed pin; the fixed part a is internally provided with at least two columnar through holes, one side hole is greater than the other side hole, the larger side hole is used for corresponding insertion of the fixed cap, and the smaller side hole is used for corresponding insertion of the head portion and the waist portion of the fixed pin, so that the fixed cap and the fixed pin are connected in the fixed part a, so that the fixed object can be connected; the fixed part b is welded with the fixed pin on one side to be connected with the fixed cap, and the other side is provided with two T-shaped hollow tracks which are the same as the track type connecting part on one side to be connected with the T-shaped fixed pin. The above scheme realizes mechanical splicing through various clamping pins, and the fixed part can be mechanically disassembled only when the tweezers are used in combination, the splicing mode is not simple and convenient, and there are problems of insufficient connection strength, poor stability and the like, which affect the overall performance and reliability of the mechanical product, and the mechanical modularization cannot be adjusted. Practical new type content

[0007] The utility model discloses a mechanical modularization steady type splicing structure and robot which make up simple and convenient, and the connection strength and stability are high, thereby improve the overall performance and reliability of mechanical product, and can adjust.

[0008] The specific technical scheme is as follows:

[0009] The utility model provides a kind of stable splicing structure for mechanical modularization, including first splicing piece and second splicing piece, the first splicing piece has stable limiting plane and two inclined clamping mouth parts, two inclined clamping mouth parts are fixedly arranged in stable limiting plane both sides, two inclined clamping mouth parts are oppositely arranged, and two inclined clamping mouth parts have long strip shape clamping inclined plane A in opposite side, the long strip shape clamping inclined plane A width direction has less than 90 ° inclination angle between stable limiting plane, the long strip shape clamping inclined plane A length direction is all inclinedly arranged along the opposite direction of two inclined clamping mouth parts;

[0010] The second splicing piece has a clamping block portion, the clamping block portion bottom plane is closely attached to the stable limiting plane, and the clamping block portion has long strip shape clamping inclined plane B on both opposite sides. The long strip shape clamping inclined plane B is matched with the long strip shape clamping inclined plane A, that is, the two long strip shape clamping inclined plane B also has two inclined directions, and the two inclined angles are the same as the long strip shape clamping inclined plane A. Specifically, the long strip shape clamping inclined plane B length direction is all inclinedly arranged along the opposite side, and the long strip shape clamping inclined plane B width direction has less than 90 ° inclination angle between the clamping block portion bottom plane. A pulling locking device is further arranged between the first splicing piece and the second splicing piece, which is used to pull the clamping block portion to move relative to the two inclined clamping mouth parts and lock, so that the long strip shape clamping inclined plane B is tightly attached to the long strip shape clamping inclined plane A. Since the long strip shape clamping inclined plane A and the long strip shape clamping inclined plane B both have two inclined directions, the pulling locking device causes the clamping block portion and the two inclined clamping mouth parts to generate two normal pressures simultaneously, i.e., a horizontal locking normal pressure, a vertical normal pressure caused by the close attachment of the clamping block portion bottom plane to the stable limiting plane, and the clamping block portion sides are completely limited by the two inclined clamping mouth parts. The limiting locking surface is the same on both sides, the same pulling locking device is used, so that the first splicing piece and the second splicing piece can be conveniently modularized and spliced, and the splicing has adaptive adjustment, which is tightly and stably achieved.

[0011] As a preferred embodiment, a stop limiting portion is further arranged on the stable limiting plane, and the pulling locking device is arranged between the stop limiting portion and the clamping block portion.

[0012] As a preferred embodiment, the two ends of the stop limiting portion are connected to the two inclined clamping mouth parts respectively, and the stable limiting plane, the stop limiting portion, and the two inclined clamping mouth parts are integrally formed.

[0013] As a preferred embodiment, the stop limiting portion is provided with a stop clamping inclined plane A, and the stop clamping inclined plane A has an inclination angle less than 90 ° with the stable limiting plane. The clamping block portion is provided with a stop clamping inclined plane B, and the stop clamping inclined plane A cooperates with the stop clamping inclined plane B.

[0014] As a preferred embodiment, there is a blade cutting surface between the long strip shape clamping inclined plane B, the stop clamping inclined plane B, and the clamping block portion bottom plane.

[0015] As preferred: the card block part is provided with an electrical signal plug device A, and the inclined card slot part and / or the stop limiting part is provided with an electrical signal plug device B, the electrical signal plug device A cooperates with the electrical signal plug device B, and is used for connecting power supply and / or transmitting data signals.

[0016] As preferred: the pulling locking device comprises a locking bolt structure, a nut structure and a fixed hole sleeve structure, the nut structure and the fixed hole sleeve structure are oppositely arranged, the axis lines of the two holes are coincident, and the nut structure and the fixed hole sleeve structure are fixedly arranged on the stop limiting part and the card block part respectively, and the locking bolt structure passes through the fixed hole sleeve structure and cooperates with the nut structure.

[0017] As preferred: the pulling locking device comprises a plunger head structure and a pneumatic cylinder structure, the plunger head structure cooperates with the pneumatic cylinder structure, and the plunger head structure and the pneumatic cylinder structure are fixedly arranged on the stop limiting part and the card block part respectively.

[0018] The utility model discloses still provide a kind of robot, including above-mentioned mechanical modularization with stable type splicing structure.

[0019] The utility model discloses beneficial effect is: setting up pulling locking device pulls stop limiting part and card block part mutually and locks, so that long strip shape carding inclined surface B is tightly attached on long strip shape carding inclined surface A, since long strip shape carding inclined surface A and long strip shape carding inclined surface B all have two inclined directions, so pulling locking device 3 makes pulling card block part and two inclined card slot part simultaneously generate two normal pressures, i.e. transverse locking normal pressure, the vertical normal pressure of card block part bottom plane and stable limiting plane close fitting, its card block part two sides are completely defined by two inclined card slot parts, and defined locking defined surface is same two faces, use same pulling locking device, so first splicing piece and second splicing piece can be more conveniently completed modularization splicing, and splicing has adaptive adjustability, achieve close and stable every time.

[0020] And card block part is provided with electrical signal plug device A, and inclined card slot part and / or stop limiting part is provided with electrical signal plug device B, convenient for expanding electrical signal interface, convenient for carrying out synchronous disconnection and connection of electrical signal while mechanical modularization splicing, applicable to synchronous device of mechanical structure and electrification of robot etc., so that design structure is more compact, and synchronous communication of mechanical and electrical is completed once splicing operation, more convenient and stable, and safer. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is overall application installation schematic view of the utility model.

[0022] Figure 2 It is structure schematic view of first splicing piece in the utility model.

[0023] Figure 3 It is the structural schematic view of the second splicing piece in the utility model.

[0024] Figure 4 It is the schematic view of pulling locking device in the utility model.

[0025] Figure 5 It is the schematic view of pulling locking device in the embodiment two of the utility model.

[0026] Mark explanation: first splicing piece 1;Second splicing piece 2;Pull locking device 3;Telecommunication signal plug-in device A 4;Telecommunication signal plug-in device B 5;

[0027] Stable limit plane 11;Oblique clamping mouth portion 12;Long strip clamping inclined plane A 13;Stop limit portion 14;Stop clamping inclined plane A 15;

[0028] Clamping block portion 21;Long strip clamping inclined plane B 22;Stop clamping inclined plane B 23;

[0029] Locking bolt structure 31;Nut structure 32;Fixed hole sleeve structure 33;Plunger head structure 34;Pneumatic cylinder structure 35. Specific implementation

[0030] The preferred embodiments of the utility model are described in detail below in combination with the drawings, so that the advantages and characteristics of the utility model can be more easily understood by the person skilled in the art, and the protection scope of the utility model is more clearly and explicitly defined.

[0031] In the description of the utility model, it needs to be explained that the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility and simplifying the description, and is not indicative or suggestive of the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, so it cannot be understood as a limitation on the utility.

[0032] In the description of the utility model, it also needs to be explained that, unless otherwise explicitly specified and limited, the terms "set", "install", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be directly connected, or it can be connected through an intermediate medium, or it can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific situation.

[0033] Embodiment one:

[0034] As Figure 1 , Figure 2 , Figure 3 and Figure 4 shown: according to the first aspect of the utility model, provide a kind of stable type splicing structure for mechanical modularization, it is provided with first splicing piece 1 and second splicing piece 2, first splicing piece 1 has stable limiting plane 11 and two inclined clamping mouth portion 12, two inclined clamping mouth portion 12 are fixedly arranged on the both sides of stable limiting plane 11, two inclined clamping mouth portion 12 are oppositely arranged, and two inclined clamping mouth portion 12 have long strip-shaped clamping inclined plane A13 on opposite side, and the inclination angle between the width direction of long strip-shaped clamping inclined plane A13 and stable limiting plane 11 is less than 90 °, and the length direction of long strip-shaped clamping inclined plane A13 is inclinedly arranged along the opposite direction of two inclined clamping mouth portion 12;

[0035] Second splicing piece 2 has clamping block portion 21, and the bottom plane of clamping block portion 21 is closely attached to stable limiting plane 11, and clamping block portion 21 has long strip-shaped clamping inclined plane B22 on two opposite sides, long strip-shaped clamping inclined plane B22 is matched with long strip-shaped clamping inclined plane A13, i.e. two long strip-shaped clamping inclined plane B22 also have two inclination directions, and the inclination angle of two inclination directions is same with the corresponding inclination angle of long strip-shaped clamping inclined plane A13, specifically, the length direction of two long strip-shaped clamping inclined plane B22 is inclinedly arranged along opposite side, and the inclination angle between the width direction of long strip-shaped clamping inclined plane B22 and the bottom plane of clamping block portion 21 is less than 90 °, and pulling locking device 3 is further arranged between first splicing piece 1 and second splicing piece 2.

[0036] The above-mentioned pulling locking device 3 is used to pull the inclination direction of clamping block portion 21 relative to two inclined clamping mouth portion 12 and lock, so that long strip-shaped clamping inclined plane B22 is closely attached to long strip-shaped clamping inclined plane A13, since long strip-shaped clamping inclined plane A13 and long strip-shaped clamping inclined plane B22 all have two inclination directions, so that pulling locking device 3 makes clamping block portion 21 and two inclined clamping mouth portion 12 generate two normal pressures simultaneously, and the length direction of long strip-shaped clamping inclined plane B22 and long strip-shaped clamping inclined plane A13 is inclined due to the horizontal locking normal pressure generated by pulling locking of pulling locking device 3;The vertical normal pressure of the closely attached bottom plane of clamping block portion 21 and stable limiting plane 11, in addition, the two sides of clamping block portion 21 are completely limited by two inclined clamping mouth portion 12, and the limited locking surface is same two surfaces, the same pulling locking device 3 is used, so that first splicing piece 1 and second splicing piece 2 can be more conveniently completed modularization splicing, and splicing has adaptive adjustability, and close and stable is achieved.

[0037] The stop limiting part 14 is connected with the two inclined clamping parts 12 at both ends, and the stable limiting plane 11, the stop limiting part 14 and the two inclined clamping parts 12 are integrally formed, so that the first splicing part 1 and the second splicing part 2 are combined into a seamless whole, which is beneficial to improve the overall performance and reliability of the mechanical product. The pulling locking device 3 is arranged between the stop limiting part 14 and the clamping block part 21, which is convenient for setting the pulling locking device 3. This is another function of the stop limiting part 14, and makes the locking force position of the pulling locking device 3 more stable.

[0038] The stop limiting part 14 is provided with a stop clamping inclined surface A15, and the stop clamping inclined surface A15 and the stable limiting plane 11 have an inclination angle less than 90°. The clamping block part 21 is provided with a stop clamping inclined surface B23, and the stop clamping inclined surface A15 cooperates with the stop clamping inclined surface B23. Similarly, the stop clamping inclined surface B23 has the same inclination angle as the stop clamping inclined surface A15, and the inclination angles of the long strip clamping inclined surface A13, the long strip clamping inclined surface B22 and the stop clamping inclined surface A15 and the stop clamping inclined surface B23 in the width direction are all the same, so that the vertical normal pressure of the clamping block part 21 bottom plane and the stable limiting plane 11 is uniform at all positions, thereby being more stable and having a longer service life.

[0039] The inclination angles between the stop clamping inclined surface A15 and the stable limiting plane 11 are all α, and the inclination angle between the long strip clamping inclined surface A13 in the width direction and the stable limiting plane 11 is β, wherein α=β, and the value range of α and β is 45°-60°.

[0040] The long strip clamping inclined surface B22 and the stop clamping inclined surface B23 have a blade cutting surface between them and the clamping block part 21 bottom plane, which can be adjusted after being repeatedly disassembled and spliced.

[0041] The clamping block part 21 is provided with a telecommunications signal plug device A4, and the inclined clamping part 12 and / or the stop limiting part 14 is provided with a telecommunications signal plug device B5. The telecommunications signal plug device A4 cooperates with the telecommunications signal plug device B5, which is used for connecting power supply and / or transmitting data signals, and is convenient for expanding the telecommunications signal interface, and is convenient for synchronous disconnection and connection of electrical signals while mechanical modular splicing. It is suitable for mechanical structures and electrical synchronization devices such as robots, so that the design structure is more compact, the synchronous connection of mechanical and electrical is completed at one time, which is more convenient and stable, and safer.

[0042] The pulling locking device 3 comprises a locking bolt structure 31, a nut structure 32 and a fixed hole sleeve structure 33, the nut structure 32 and the fixed hole sleeve structure 33 are oppositely arranged, and the axis lines of the two holes are coincident, the nut structure 32 and the fixed hole sleeve structure 33 are fixedly arranged on the stop limiting portion 14 and the clamping block portion 21 respectively, the locking bolt structure 31 passes through the fixed hole sleeve structure 33 and cooperates with the nut structure 32, so that the stop limiting portion 14 and the clamping block portion 21 are pulled to each other and locked by the locking bolt structure 31, thereby achieving the effect that the clamping inclined surfaces are closely fitted.

[0043] Embodiment two:

[0044] As shown in Figure 5 As an improved scheme, in the case of the same as other structures and embodiment one, the pulling locking device 3 comprises a plunger head structure 34 and a pneumatic cylinder structure 35, the plunger head structure 34 cooperates with the pneumatic cylinder structure 35, and is fixedly arranged on the stop limiting portion 14 and the clamping block portion 21 respectively, after the plunger head structure 34 is inserted into the pneumatic cylinder structure 35 and closely slides and cooperates, the stop limiting portion 14 and the clamping block portion 21 are pulled to each other and locked or loosened and separated by the air chamber of the pneumatic cylinder structure 35, the degree of automation of this pneumatic mode is higher, but the equipment position needs to be provided with an air valve.

[0045] According to the second aspect of the utility model, a robot is provided, which comprises the stable splicing structure for mechanical modularization in the above-mentioned embodiments. The robot is not limited to a robot, and includes an industrial robot, a wheel-foot intelligent robot, and a double (multiple) foot intelligent general robot. Due to the stable splicing structure for mechanical modularization according to the utility model embodiment, the robot according to the utility model embodiment should also have corresponding technical effects.

[0046] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims.

Claims

1. A mechanically modularized stable splicing structure, characterized by: The utility model provides a first splicing piece (1) and second splicing piece (2) are included, first splicing piece (1) has steady limit plane (11) and two inclined mouth parts (12), two inclined mouth parts (12) fixedly arranged in steady limit plane (11) both sides, two inclined mouth parts (12) opposite arrangement, and two inclined mouth parts (12) opposite side has strip -shaped joint inclined plane A (13), the width direction between steady limit plane (11) has less than 90 DEG's inclination angle, the length direction of strip -shaped joint inclined plane A (13) is all along two inclined mouth parts (12) opposite direction inclination setting, Second splicing piece (2) has the block part (21), the bottom plane of block part (21) is closely combined with steady limit plane (11), two opposite sides of block part (21) have strip -shaped joint inclined plane B (22), strip -shaped joint inclined plane B (22) all cooperate with strip -shaped joint inclined plane A (13), still be provided with pull locking device (3) between first splicing piece (1) and second splicing piece (2).

2. The stable splicing structure for mechanical modularization according to claim 1, characterized in that: Still be provided with stop limit portion (14) on steady limit plane (11), pull locking device (3) is arranged between stop limit portion (14) and block part (21).

3. The stable splicing structure for mechanical modularization according to claim 2, characterized in that: The both ends of stop limit portion (14) are connected with two inclined mouth parts (12) close end respectively, and steady limit plane (11), stop limit portion (14) and two inclined mouth parts (12) are integrally formed.

4. The stable splicing structure for mechanical modularization according to claim 2 or 3, characterized in that: Stop limit portion (14) is provided with stop joint inclined plane A (15), stop joint inclined plane A (15) and steady limit plane (11) between them have less than 90 DEG's inclination angle, block part (21) is provided with stop joint inclined plane B (23), stop joint inclined plane A (15) cooperates with this stop joint inclined plane B (23).

5. The mechanical modular secure splicing structure according to claim 4, wherein: There are blade cutting surfaces between strip -shaped joint inclined plane B (22) and stop joint inclined plane B (23) and the bottom plane of block part (21).

6. The stable splicing structure for mechanical modularization according to any one of claims 2-3 or 5, characterized in that: Telecommunication signal plug device A (4) is arranged on block part (21), telecommunication signal plug device B (5) is arranged on inclined mouth part (12) and / or stop limit portion (14), telecommunication signal plug device A (4) cooperates with telecommunication signal plug device B (5), is used for the intercommunication power supply and / or transmission data signal.

7. The mechanical modular secure splicing structure as claimed in claim 4, wherein: Telecommunication signal plug device A (4) is arranged on block part (21), telecommunication signal plug device B (5) is arranged on inclined mouth part (12) and / or stop limit portion (14), telecommunication signal plug device A (4) cooperates with telecommunication signal plug device B (5), is used for the intercommunication power supply and / or transmission data signal.

8. The mechanically modular secure splicing structure of any of claims 1-3, 5, or 7, wherein: The pulling locking device (3) comprises a locking bolt structure (31), a nut structure (32) and a fixed hole sleeve structure (33), the nut structure (32) and the fixed hole sleeve structure (33) are oppositely arranged and fixed on the stop limiting part (14) and the clamping block part (21) respectively, and the locking bolt structure (31) passes through the fixed hole sleeve structure (33) and cooperates with the nut structure (32).

9. The mechanically modular secure splicing structure of any of claims 1-3, 5, or 7, wherein: The pulling locking device (3) comprises a plunger head structure (34) and a pneumatic cylinder structure (35), the plunger head structure (34) cooperates with the pneumatic cylinder structure (35) and is fixed on the stop limiting part (14) and the clamping block part (21) respectively.

10. A robot, characterized in that The stable splicing structure for mechanical modularization comprises a plurality of the mechanical modules as claimed in any one of claims 1-9.

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