Robot joint module with deceleration impact-resistant structure

Abstract

The utility model relates to a robot joint module with a speed reduction anti-impact structure, belongs to the technical field of robot joint modules, can reduce the output speed of a driving motor and improve the anti-impact capacity of the robot joint module to a certain extent, and is better in comprehensive practicability. Four connecting columns I are fixedly mounted at the top of the fixed connecting plate; the working frame is fixedly mounted at the top end in the shell, and a driving motor is detachably mounted at the top end in the working frame through a pin shaft; the four sleeves and the four telescopic springs are correspondingly and fixedly installed at the two ends of the interior of the working frame respectively, one ends of the four telescopic springs are fixedly installed in the four sleeves respectively, buffer plates are fixedly installed at the other ends of the telescopic springs, the buffer plates are tightly attached to the driving motor, and the buffer plates are made of flexible anti-impact materials; and an input shaft of the harmonic reducer is fixedly connected with an output shaft of the driving motor through a flange.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robot joint modules, in particular to a robot joint module with a deceleration and impact resistance structure. BACKGROUND

[0002] It is known that a robot joint module is a key component in a robot system, responsible for realizing the movement of a mechanical arm or limb part, and the core function thereof is to complete complex action tasks by precisely controlling the angle, speed and torque of the joint, and the technical development of the robot joint module is evolving towards high precision, high reliability, light weight and intelligence.

[0003] In the related art, according to the search, the utility model with the patent publication number CN220699651U discloses a joint module of a robot, which comprises a joint module one, a joint module movable unit, a robot arm connecting unit and a connecting assembly.

[0004] For the related technology in the above, the applicant finds that although the existing device can conveniently replace the robot joint module, it still has the following defects: when the industrial robot performs high-speed grabbing and placing operation on the assembly line, the joint module will suddenly stop when reaching the target position due to the inertia effect when the robot arm moves quickly to the target position, and if the joint module does not have a deceleration and impact resistance structure, the sudden stop will generate a huge impact force, which directly acts on the precise components such as gears, motors and bearings inside the joint, thereby causing damage to the robot joint module.

[0005] Therefore, we propose a robot joint module with a deceleration and impact resistance structure. SUMMARY

[0006] The utility model aims at providing a robot joint module with a deceleration and impact resistance structure to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0008] A robot joint module with a deceleration and impact resistance structure comprises:

[0009] a shell;

[0010] a fixed connecting plate, one end of the fixed connecting plate is fixedly welded at the top of the shell, and the other end of the fixed connecting plate is fixedly installed with four connecting columns one;

[0011] a workbench, one end of the workbench is fixedly installed inside the shell, and the other end of the workbench is detachably installed with a driving motor through a pin shaft;

[0012] Four sleeves and four telescopic springs, four sleeves are fixedly installed in pairs correspondingly in the inside of the working frame, one end of the four telescopic springs is fixedly installed in the four sleeves respectively, the other end of the four telescopic springs is fixedly installed with a buffer plate, the buffer plate is closely attached to the driving motor, and the buffer plate is made of flexible impact-resistant material;

[0013] A harmonic reducer, the input shaft of the harmonic reducer is fixedly connected with the output shaft of the driving motor through a flange;

[0014] A movable connecting plate, four connecting columns two and a rotating plate, one end of the rotating plate is detachably installed on the output shaft of the harmonic reducer, and a rotating groove matched with the rotating plate is formed in the inside of the shell, one end of the movable connecting plate is detachably installed on the other end of the rotating plate, and the four connecting columns two are fixedly welded on the bottom of the movable connecting plate.

[0015] As a further scheme of the utility model: one end of the rotating plate is detachably installed with a bearing seat through bolts, a bearing is rotatably connected in the inside of the bearing seat, and the bearing is matched with the output end of the harmonic reducer.

[0016] As a further scheme of the utility model: the top edge of the shell is rounded, and the shell as a whole is streamline-shaped.

[0017] As a further scheme of the utility model: a wire arranging plate is detachably installed in the inside of the shell, recesses are uniformly formed in one end of the wire arranging plate, and two wire pressing plates are slidably connected to one end of the wire arranging plate.

[0018] As a further scheme of the utility model: dustproof nets are detachably installed between the working frames.

[0019] As a further scheme of the utility model: heat dissipation fans are detachably installed on the two sides of the working frame, and heat dissipation holes are uniformly formed in the relative positions of the shell and the heat dissipation fans.

[0020] As a further scheme of the utility model: an inspection door is rotatably connected to the shell through a hinge, and a handle is fixedly installed on one end of the inspection door.

[0021] As a further scheme of the utility model: a rubber sleeve is fixedly sleeved on the outside of the handle.

[0022] Compared with the prior art, the utility model has the advantages that:

[0023] When the driving motor is started, vibration occurs, a certain impact force is generated, the impact force is transmitted to the telescopic spring through the buffer plate, the telescopic spring and the sleeve are used to relieve the impact force, and the purpose of speed reduction and impact resistance is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is the whole structure schematic view of the utility model;

[0025] Figure 2 It is the structure schematic view after the utility model hides the shell;

[0026] Figure 3 It is the structure schematic view of the cooperation of the utility model work frame, drive motor and harmonic reducer etc.;

[0027] Figure 4 It is the exploded structure schematic view of the cooperation of the utility model shell, fixed connecting plate and rotating plate etc.;

[0028] Figure 5 It is the exploded structure schematic view of the cooperation of the utility model work frame, drive motor and harmonic reducer etc.;

[0029] Figure 6 It is the structure schematic view of the cooperation of the utility model shell, work frame, wire arranging plate and wire pressing plate;

[0030] Figure 7 It is the structure schematic view of the utility model Figure 6 The local enlarged structure schematic view of A place in it.

[0031] In the drawing: 1, shell; 2, fixed connecting plate; 3, connecting column one; 4, work frame; 5, drive motor; 6, sleeve; 7, extension spring; 8, buffer plate; 9, harmonic reducer; 10, movable connecting plate; 11, connecting column two; 12, rotating plate; 13, bearing seat; 14, bearing; 15, wire arranging plate; 16, wire pressing plate; 17, dust screen; 18, heat dissipation fan; 19, hinge; 20, inspection door; 21, handle; 22, rubber sleeve. DETAILED DESCRIPTION

[0032] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor fall within the protection scope of the utility model.

[0033] The application will be further described in detail below in conjunction with the drawings in the specification.

[0034] Please refer to Figures 1-7 In the embodiments of the utility model, a robot joint module with a deceleration impact resistance structure comprises:

[0035] Shell 1;

[0036] The fixed connecting plate 2 is fixedly welded at one end of the shell 1, and four connecting columns one 3 are fixedly installed at the other end of the fixed connecting plate 2;

[0037] The workbench 4 is fixedly installed at one end in the shell 1, and a driving motor 5 is detachably installed at the other end of the workbench 4 through a pin shaft;

[0038] Four sleeves 6 and four extension springs 7, the four sleeves 6 are fixedly installed in the workbench 4 in pairs, one end of the four extension springs 7 is fixedly installed in the four sleeves 6, and the other end of the four extension springs 7 is fixedly installed with a buffer plate 8, the buffer plate 8 is closely attached to the driving motor 5, and the buffer plate 8 is made of flexible and impact-resistant material;

[0039] The harmonic reducer 9 is fixedly connected with the output shaft of the driving motor 5 through a flange;

[0040] The movable connecting plate 10, four connecting columns two 11 and the rotating plate 12, one end of the rotating plate 12 is detachably installed on the output shaft of the harmonic reducer 9, and a rotating groove matched with the rotating plate 12 is formed in the inside of the shell 1, one end of the movable connecting plate 10 is detachably installed at the other end of the rotating plate 12, and the four connecting columns two 11 are fixedly welded at the bottom of the movable connecting plate 10.

[0041] The robot joint module with the speed reduction and impact resistance structure is connected with the target robot through the connecting columns one 3 fixedly welded on the fixed connecting plate 2, then the driving motor 5 is started, and the output end of the driving motor 5 is reduced in speed and the torque is improved under the action of the harmonic reducer 9, when the driving motor 5 is started, slight vibration is generated, at this time, the impact force generated by the shaking of the driving motor 5 is transmitted to the extension spring 7 through the action of the buffer plate 8, so that the extension spring 7 is stretched and contracted, and the impact force generated when the driving motor 5 works is relieved.

[0042] In Figure 2 , Figure 5 , one end of the rotating plate 12 is detachably installed with a bearing seat 13 through a bolt, a bearing 14 is rotatably connected in the inside of the bearing seat 13, and the bearing 14 is matched with the output end of the harmonic reducer 9.

[0043] The robot joint module with the speed reduction and impact resistance structure is connected with the target robot through the connecting columns one 3 fixedly welded on the fixed connecting plate 2, then the driving motor 5 is started, and the output end of the driving motor 5 is reduced in speed and the torque is improved under the action of the harmonic reducer 9, when the driving motor 5 is started, slight vibration is generated, at this time, the impact force generated by the shaking of the driving motor 5 is transmitted to the extension spring 7 through the action of the buffer plate 8, so that the extension spring 7 is stretched and contracted, and the impact force generated when the driving motor 5 works is relieved.

[0044] In Figure 1 , the top edge of the shell 1 is rounded, and the shell 1 as a whole is streamlined.

[0045] The robot joint module with the deceleration anti-impact structure can arrange the power supply lines in the shell 1 neatly, and avoid the power supply lines from being tangled when the robot joint module works.

[0046] In Figure 6 , the shell 1 is detachably provided with a wire arranging plate 15, and the wire arranging plate 15 is uniformly provided with grooves at one end, and the wire arranging plate 15 is slidably connected with two wire pressing plates 16 at the end provided with the grooves.

[0047] The robot joint module with the deceleration anti-impact structure can arrange the power supply lines in the shell 1 neatly, and avoid the power supply lines from being tangled when the robot joint module works.

[0048] In Figure 5 , the dustproof nets 17 are detachably arranged between the working frames 4.

[0049] The robot joint module with the deceleration anti-impact structure can observe the working of the driving motor 5 and the harmonic reducer 9 in the working frame 4, prevent sundries and dust from entering the working frame 4, and avoid damaging the driving motor 5.

[0050] In Figures 1-5 , the heat dissipation fans 18 are detachably arranged at two sides of the working frame 4, and the shell 1 is uniformly provided with heat dissipation holes at positions opposite to the heat dissipation fans 18.

[0051] The robot joint module with the deceleration anti-impact structure can dissipate heat in the shell 1, and prevent the temperature in the shell 1 from being too high.

[0052] In Figures 1-5 , the shell 1 is rotatably connected with an inspection door 20 through a hinge 19, and the inspection door 20 is fixedly provided with a handle 21 at one end.

[0053] The robot joint module with the deceleration anti-impact structure can regularly open the inspection door 20 to maintain the parts in the shell 1, and find the wear of the parts in the shell 1 in time.

[0054] In Figure 1 , the handle 21 is externally provided with a rubber sleeve 22.

[0055] The robot joint module with the deceleration anti-impact structure can increase the friction between the handle 21 and the rubber sleeve 22, and make it easier to pull the handle 21.

[0056] In this embodiment, the driving motor 5, the harmonic reducer 9, the bearing 14 and the telescopic spring 7 are all the commonly known devices in the art which can be directly purchased on the market, and can be customized or selected according to actual needs. Here, we only use them and do not improve their structure and function. Therefore, we will not make a detailed description. The driving motor 5 is provided with a control switch matched therewith. The installation position of the control switch is selected according to actual use requirements, so as to facilitate the operation and control of the operator. Its technology is very mature and can be realized.

[0057] The implementation principle of the robot joint module with the speed reduction and impact resistance structure in the embodiment of the application is as follows: first, the user pulls the handle 21 to open the inspection door 20 to check and maintain the driving motor 5, the harmonic reducer 9 and the like in the housing 1. After the check and maintenance are completed, the connection column one 3 on the fixed connection plate 2 is connected with a target robot, and then the connection column two 11 is connected with another target robot. Then, the user starts the driving motor 5, and under the action of the harmonic reducer 9 connected with the output end of the driving motor 5, the output speed of the driving motor 5 is reduced and the output torque is increased. At the same time, the driving motor 5 will generate a certain vibration when it is started, thereby causing a certain impact force. At this time, the driving motor 5 hits the buffer plate 8. The impact force generated by the working of the driving motor 5 is transmitted to the telescopic spring 7 through the buffer plate 8. Then, the telescopic spring 7 does the telescopic movement in the sleeve 6 under the action of the impact force, thereby achieving the effect of reducing the impact force. At the same time when the driving motor 5 works, the cooling fan 18 starts to work and rotates, so that the heat generated by the working of the driving motor 5 is discharged through the cooling holes formed on the housing 1.

Claims

1. A robot joint module having a deceleration impact absorbing structure, characterized by, Include: The shell (1); Fixed connecting plate (2), one end of the fixed connecting plate (2) is fixedly welded on the top of the shell (1), and the other end of the fixed connecting plate (2) is fixedly installed with four connecting columns (3); Workbench (4), one end of the workbench (4) is fixedly installed inside the shell (1), and the other end of the workbench (4) is detachably installed with a driving motor (5) through a pin shaft; Four sleeves (6) and four telescopic springs (7), four sleeves (6) are fixedly installed inside the workbench (4) in pairs, one end of four telescopic springs (7) is fixedly installed in four sleeves (6), the other end of four telescopic springs (7) is fixedly installed with a buffer plate (8), the buffer plate (8) is closely attached to the driving motor (5), and the buffer plate (8) is made of flexible impact-resistant material; Harmonic reducer (9), the input shaft of the harmonic reducer (9) is fixedly connected with the output shaft of the driving motor (5) through a flange; Movable connecting plate (10), four connecting columns (11) and rotating plate (12), one end of the rotating plate (12) is detachably installed on the output shaft of the harmonic reducer (9), and the inside of the shell (1) is provided with a rotating groove matched with the rotating plate (12), one end of the movable connecting plate (10) is detachably installed on the other end of the rotating plate (12), and four connecting columns (11) are fixedly welded on the bottom of the movable connecting plate (10).

2. The robot joint module with deceleration anti-impact structure according to claim 1, characterized in that: One end of the rotating plate (12) is detachably installed with a bearing seat (13) through a bolt, the inside of the bearing seat (13) is rotatably connected with a bearing (14), and the bearing (14) is matched with the output end of the harmonic reducer (9).

3. The robot joint module with deceleration anti-impact structure according to claim 1, characterized in that: The top edge of the shell (1) is rounded, and the shell (1) is streamlined as a whole.

4. The robot joint module with deceleration anti-impact structure according to claim 1, characterized in that: The inside of the shell (1) is detachably installed with a wire arranging plate (15), the one end of the wire arranging plate (15) is uniformly provided with a groove, and the wire arranging plate (15) is slidably connected with two wire pressing plates (16) at the one end provided with the groove.

5. The robot joint module having a deceleration impact resistance structure according to claim 1, characterized by: The dustproof net (17) is detachably installed between the workbenches (4).

6. The robot joint module with deceleration anti-impact structure according to claim 1, characterized in that: The heat dissipation fans (18) are detachably installed on both sides of the workbench (4), and the shell (1) and the heat dissipation fans (18) are uniformly provided with heat dissipation holes at the opposite positions.

7. The robot joint module having a deceleration impact resistance structure according to claim 1, characterized by: The shell (1) is rotatably connected with an inspection door (20) through a hinge (19), one end of the inspection door (20) is fixedly installed with a handle (21), and the outside of the handle (21) is fixedly sleeved with a rubber sleeve (22).

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