Rapid splicing structure for robot joint components

Abstract

A robot joint component rapid splicing structure comprises a first joint connecting base and a second joint connecting base, two inclined bayonet platform parts are arranged on the upper side of the first joint connecting base, long-strip-shaped clamping inclined faces A are arranged on the opposite sides of the two inclined bayonet platform parts, and the long-strip-shaped clamping inclined faces A are obliquely arranged in the length direction and the width direction; an inclined clamping block platform part is arranged on the lower side of the second joint connecting base, long-strip-shaped clamping inclined faces B are arranged on the two opposite sides of the inclined clamping block platform part and matched with the long-strip-shaped clamping inclined faces A. Two stable limiting side platform faces are further arranged on the two sides of the inclined clamping block platform part. The two stable limiting side platform surfaces are tightly attached to the upper surfaces of the two inclined bayonet platform parts; a pulling locking device is further arranged between the first joint connecting base and the second joint connecting base. According to the utility model, the structure is simple and convenient to splice, convenient to disassemble, assemble, maintain and expand, and high in connection strength and stability, so that the overall performance and reliability of mechanical products are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of modular design, specifically relates to a robot joint part quick splicing structure. BACKGROUND

[0002] In today's era of rapid technological development, robot technology has been widely used in industrial production, medical services, family helpers, military operations and other fields. Traditional robots mostly adopt integral design, the integration degree between parts is high, and the function is relatively fixed. This makes the robot lack enough flexibility and adaptability when facing different tasks. When the technical task changes and the robot needs to perform new operations, the whole robot often needs to be redesigned, programmed and debugged, which not only consumes time and effort, but also costs high. At the same time, due to the integral design, the maintenance and upgrading of the robot are also difficult, once a part fails, the whole robot may need to be disassembled and repaired, increasing the maintenance cost and downtime. In addition, the extensibility of traditional robots is poor, it is difficult to quickly add new functional modules according to actual needs, and it cannot meet the rapidly changing market demand.

[0003] In the prior art, the patent document with publication number CN 219633836 U discloses a splicing programming robot connecting part, which comprises a robot main body, the bottom of the robot main body is fixedly connected with a first connecting plate, the bottom of the first connecting plate is provided with a first movable plate, the first movable plate and the first connecting plate are provided with a transverse buffer mechanism and a longitudinal buffer mechanism, and the bottom of the first movable plate is provided with an intermediate plate. The longitudinal buffer mechanism can buffer and protect the longitudinal vibration of the robot main body, the vertical buffer mechanism on the top and bottom of the intermediate plate can make the robot main body have vertical buffer vibration ability, the hydraulic buffer mechanism on the bottom of the second movable plate can further buffer and protect the device vertically, and the mounting mechanism on the outer wall of the processing box can install and fix the robot main body, its connecting parts and external mechanisms. The above scheme solves the problem that the fixed connecting parts are easily loosened and damaged during the splicing process of the robot, but its operation and structure are relatively complex, cannot quickly complete the modular splicing of the robot, and are not easy to disassemble and maintain. SUMMARY

[0004] The utility model makes up for the deficiency of existing humanoid robot technology, proposes a robot joint part quick splicing structure which has simple and convenient splicing mode, is convenient to disassemble and maintain and expand, and has high connection strength and stability, thereby improving the overall performance and reliability of the mechanical product.

[0005] The specific technical scheme is as follows:

[0006] The utility model provides a kind of quick splicing structure of robot joint part, including first joint connecting seat and second joint connecting seat, the upper side of the first joint connecting seat is equipped with two inclined clamping platform parts, and the inclined clamping platform part between two is inclined clamping structure, two inclined clamping platform parts have long strip shape clamping inclined plane A in opposite side, the long strip shape clamping inclined plane A is located in the two sides of inclined clamping structure, the length direction of the long strip shape clamping inclined plane A is inclined and arranged along the opposite direction of two inclined clamping platform parts, and the width direction between the long strip shape clamping inclined plane A and the upper surface of inclined clamping platform part has the inclination angle less than 90 °.

[0007] The lower side of the second joint connecting seat is equipped with inclined clamping block platform part, which cooperates with the inclined clamping structure, and the two opposite sides of the inclined clamping block platform part have long strip shape clamping inclined plane B, which cooperates with the long strip shape clamping inclined plane A. The lower side of the second joint connecting seat also has two stable limiting side platform surfaces, which are respectively arranged on both sides of the inclined clamping block platform part, and the two stable limiting side platform surfaces are respectively closely attached to the upper surfaces of the two inclined clamping platform parts. A pulling locking device is also provided between the first joint connecting seat and the second joint connecting seat.

[0008] As a preferred, the upper side of the first joint connecting seat is also provided with a stop limiting part, the two ends of the stop limiting part are respectively connected to one end of the two inclined clamping platform parts, and the pulling locking device is arranged between the stop limiting part and the inclined clamping block platform part.

[0009] As a preferred, the upper side of the first joint connecting seat also has a closed stable plane, which is located at the bottom of the inclined clamping structure, and the bottom plane of the inclined clamping block platform part cooperates with the closed stable plane.

[0010] As a preferred, the closed stable plane of the first joint connecting seat, the stop limiting part and the two inclined clamping platform parts are integrally formed.

[0011] As a preferred, the stop limiting part is provided with a stop clamping inclined plane A, the inclined clamping block platform part is provided with a stop clamping inclined plane B, the stop clamping inclined plane B has an inclination angle less than 90 ° with the bottom plane of the inclined clamping block platform part, and the stop clamping inclined plane A cooperates with the stop clamping inclined plane B.

[0012] As a preferred, there is a blade cutting surface between the long strip shape clamping inclined plane A and the upper surface of the inclined clamping platform part.

[0013] As a preferred, the pulling locking device includes 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 and respectively fixed on the first joint connecting seat and the second joint connecting seat, and the locking bolt structure passes through the fixed hole sleeve structure and cooperates with the nut structure.

[0014] 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 is fixedly arranged on the stop limiting part and the inclined block platform part respectively.

[0015] As preferred: an electrical signal plug device A is arranged on the side of the second joint connecting seat, and an electrical signal plug device B is arranged on the corresponding side of the inclined block platform part, 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 electrical signal plug device B is arranged on the inner side of the stop limiting part, and the electrical signal plug device A is arranged on the corresponding outer side of the inclined block platform part, 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.

[0017] The beneficial effects of the utility model are as follows: the pulling locking device is arranged to pull the stop limiting part and the inclined block platform part to approach each other and lock, so that the long strip-shaped clamping inclined surface B is tightly attached to the long strip-shaped clamping inclined surface A, the long strip-shaped clamping inclined surface A and the long strip-shaped clamping inclined surface B both have two inclined directions, the pulling locking device 3 generates two normal pressures on the pulling inclined block platform part and the two inclined block platform parts, the length direction of the long strip-shaped clamping inclined surface B and the long strip-shaped clamping inclined surface A is inclined due to the horizontal locking normal pressure generated by the pulling locking of the pulling locking device 3, the two stable limiting side platform surfaces are tightly attached to the upper surfaces of the two inclined block platform parts to generate vertical normal pressure, the two sides of the inclined block platform part are completely limited by the two inclined block platform parts, the limiting locking surfaces are the same two surfaces, the same pulling locking device is used, so that the first joint connecting seat and the second joint connecting seat can be conveniently and modularly spliced, and are convenient to disassemble, maintain and splice.

[0018] The electrical signal plug device A and the electrical signal plug device B are arranged at the splicing position of the first joint connecting seat and the second joint connecting seat, the electrical signal interface is conveniently expanded, the synchronous disconnection and connection of electrical signals can be conveniently realized while the mechanical modular splicing is performed, the device is suitable for the synchronous electrical connection of mechanical structures such as robots, the design structure is more compact, the synchronous connection of the mechanical structure and the electrical structure is realized through one-time splicing operation, the device is more convenient, stable and safe. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic view of the utility model.

[0020] Figure 2 It is a structural schematic view of the second joint connecting seat in the utility model.

[0021] Figure 3 It is the structural schematic view of the first joint connecting seat in the utility model.

[0022] Figure 4 It is the schematic view of pulling locking device in the second embodiment of the utility model.

[0023] Mark explanation: first joint connecting seat 1, second joint connecting seat 2, pulling locking device 3, electric signal plug-in device A 4, electric signal plug-in device B 5,

[0024] Closure stable plane 11, inclined clamping platform part 12, long strip-shaped clamping inclined surface A 13, stop limiting part 14, stop clamping inclined surface A 15,

[0025] Inclined clamping block platform part 21, long strip-shaped clamping inclined surface B 22, stop clamping inclined surface B 23, stable limiting side platform surface 24,

[0026] Locking bolt structure 31, nut structure 32, fixed hole sleeve structure 33, plunger head structure 34, pneumatic cylinder structure 35. Specific implementation

[0027] 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.

[0028] 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" is the orientation or position relationship based on the drawings shown, and is only for the convenience of describing the utility and simplifying the description, and is not to indicate or imply that 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.

[0029] In the description of the utility model, it also needs to be explained that, unless otherwise explicitly specified and limited, the terms "setting", "mounting", "connecting", "connecting" 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 circumstances. Embodiment

[0030] As Figure 1 , Figure 2 and Figure 3The robot joint part quick splicing structure is provided with a first joint connecting seat 1 and a second joint connecting seat 2. The first joint connecting seat 1 is provided with two inclined clamping platform portions 12 on the upper side. The two inclined clamping platform portions 12 are provided with an inclined clamping structure therebetween. The two inclined clamping platform portions 12 are provided with long strip-shaped clamping inclined surfaces A13 on the opposite sides. The long strip-shaped clamping inclined surfaces A13 are located on the two sides of the inclined clamping structure. The long strip-shaped clamping inclined surfaces A13 are inclined in the length direction along the opposite directions of the two inclined clamping platform portions 12. The long strip-shaped clamping inclined surfaces A13 are provided with an inclined angle smaller than 90° between the width direction and the upper surface of the inclined clamping platform portion 12.

[0031] The second joint connecting seat 2 is provided with an inclined clamping block platform portion 21 on the lower side. The inclined clamping block platform portion 21 is matched with the inclined clamping structure. The inclined clamping block platform portion 21 is provided with long strip-shaped clamping inclined surfaces B22 on the opposite sides. The long strip-shaped clamping inclined surfaces B22 are matched with the long strip-shaped clamping inclined surfaces A13. That is, the two long strip-shaped clamping inclined surfaces B22 are also provided with two inclined directions. The two inclined angles are the same as the corresponding inclined angles of the long strip-shaped clamping inclined surfaces A13. Specifically, the long strip-shaped clamping inclined surfaces B22 are inclined in the length direction along the opposite sides. The long strip-shaped clamping inclined surfaces B22 are provided with an inclined angle smaller than 90° between the width direction and the bottom plane of the inclined clamping block platform portion 21. The second joint connecting seat 2 is also provided with two stable limiting side platform surfaces 24. The two stable limiting side platform surfaces 24 are respectively arranged on the two sides of the inclined clamping block platform portion 21. The two stable limiting side platform surfaces 24 are respectively tightly matched with the upper surfaces of the two inclined clamping platform portions 12. The pulling locking device 3 is arranged between the first joint connecting seat 1 and the second joint connecting seat 2.

[0032] The pulling locking device 3 is used for pulling and locking the inclined clamping block platform portion 21 to move relative to the two inclined clamping platform portions 12. The long strip-shaped clamping inclined surfaces B22 are tightly matched with the long strip-shaped clamping inclined surfaces A13. Since the long strip-shaped clamping inclined surfaces A13 and the long strip-shaped clamping inclined surfaces B22 are both provided with two inclined directions, the pulling locking device 3 causes the pulling and locking of the inclined clamping block platform portion 21 and the two inclined clamping platform portions 12 to generate two normal pressures. The length direction inclination of the long strip-shaped clamping inclined surfaces B22 and the long strip-shaped clamping inclined surfaces A13 causes the pulling locking device 3 to generate a horizontal locking normal pressure. The two stable limiting side platform surfaces 24 are tightly matched with the upper surfaces of the two inclined clamping platform portions 12 to generate a vertical normal pressure. In addition, the two sides of the inclined clamping block platform portion 21 are completely limited by the two inclined clamping platform portions 12. The limiting locking limiting surfaces are the same two surfaces. The same pulling locking device 3 is used. Therefore, the first joint connecting seat 1 and the second joint connecting seat 2 can be conveniently and modularly spliced. The splicing has adaptive adjustability and is tightly and stably achieved.

[0033] The first joint connecting seat 1 is further provided with a stop limiting part 14 on the upper side, the two ends of the stop limiting part 14 are connected integrally with the two inclined clamping platform parts 12 at a close end, the pulling locking device 3 is arranged between the stop limiting part 14 and the inclined clamping block platform part 21, and the closing stable plane 11 of the first joint connecting seat 1, the stop limiting part 14 and the two inclined clamping platform parts 12 are integrally formed. The first joint connecting seat 1 is further provided with the closing stable plane 11 on the upper side, the closing stable plane 11 is located at the bottom of the inclined clamping structure, the bottom plane of the inclined clamping block platform part 21 cooperates with the closing stable plane 11, in the close cooperation, the cooperating plane and the platform surface are particularly smooth, the bottom plane of the inclined clamping block platform part 21 can also cooperate with the closing stable plane 11 in a close cooperation mode, so that the van der Waals force is generated between the smooth surfaces, the splicing stability is strengthened, and the splicing is more complete, seamless and beautiful.

[0034] The stop limiting part 14 is provided with a stop clamping inclined surface A15, the inclined clamping block platform part 21 is provided with a stop clamping inclined surface B23, the stop clamping inclined surface B23 has an inclination angle less than 90° with the bottom plane of the inclined clamping block platform part 21, the stop clamping inclined surface A15 cooperates with the stop clamping inclined surface B23, and 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 B23 in the width direction are the same, so that the vertical normal pressure of the close cooperation between the bottom plane of the inclined clamping block platform part 21 and the closing stable plane 11 is uniform at each part, thereby being more stable and having a longer service life.

[0035] The inclination angles between the stop clamping inclined surface B23 and the bottom plane of the inclined clamping block platform part 21 are all α, the inclination angle between the long strip clamping inclined surface B22 in the width direction and the bottom plane of the inclined clamping block platform part 21 is β, α=β, and the value ranges of α and β are both 45°-80°.

[0036] The blade cutting surface is arranged between the long strip clamping inclined surface A13 and the upper surface of the inclined clamping platform part 12, which can be adjusted after being worn out by being disassembled and spliced for many times.

[0037] 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 is oppositely arranged with the fixed hole sleeve structure 33, and the axis lines of the two holes are best coincident. The nut structure 32 and the fixed hole sleeve structure 33 are respectively fixedly arranged on the first joint connecting seat 1 and the second joint connecting seat 2, usually at the center position of the side surface of the stop limiting portion 14 and the corresponding inclined clamping block platform portion 21, or can be arranged at other positions. The locking bolt structure 31 penetrates through the fixed hole sleeve structure 33 and cooperates with the nut structure 32, so as to pull the stop limiting portion 14 and the inclined clamping block platform portion 21 to approach each other and be locked through the locking bolt structure 31, thereby achieving the effect that the inclined surfaces of the clamping blocks are tightly fitted.

[0038] The electric signal plug-in device B5 is arranged in the inside of the stop limiting portion 14, and the electric signal plug-in device A4 is arranged on the corresponding outside of the inclined clamping block platform portion 21. The electric signal plug-in device A4 cooperates with the electric signal plug-in device B5, is used for connecting power supply and / or transmitting data signals, is convenient for expanding the electric signal interface, is convenient for simultaneously disconnecting and connecting the electric signals in the mechanical modularization splicing, is suitable for the synchronous device of the mechanical structure and electrification of robots and the like, makes the design structure more compact, completes the synchronous connection of the mechanical and electrical at one time of splicing operation, is more convenient and stable, and is safer. Embodiment

[0039] As shown in Figure 4 : as an improved scheme, in the case of being the same as the other structures and the first embodiment, the above-mentioned 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 respectively fixedly arranged on the stop limiting portion 14 and the inclined clamping block platform portion 21. After the plunger head structure 34 is inserted into the pneumatic cylinder structure 35 and is closely and slidingly cooperated, the stop limiting portion 14 and the inclined clamping block platform portion 21 are pulled to approach each other and are locked or are loosened and are separated through the tight pressing or pressurization of the air chamber in the pneumatic cylinder structure 35. This pneumatic mode has higher automation degree, but needs the equipment position to be provided with an air valve.

[0040] The electric signal plug-in device A4 is arranged on the side portion of the second joint connecting seat 2, and the electric signal plug-in device B5 is arranged on the corresponding side portion of the inclined clamping block platform portion 12. The electric signal plug-in device A4 cooperates with the electric signal plug-in device B5, is used for connecting power supply and / or transmitting data signals, and the arrangement positions of the electric signal plug-in device A4 and the electric signal plug-in device B5 are not convenient for the height integration of the splicing module, but are suitable for use when the electric signal plug-in device is too large. Similarly, it is convenient to expand the electric signal interface and to simultaneously disconnect and connect the electric signals in the mechanical modularization splicing.

[0041] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims.

Claims

1. A quick assembly structure of a robot joint part, characterized by: The utility model relates to a first joint connecting seat (1) and second joint connecting seat (2) are included, the upside of first joint connecting seat (1) is equipped with two inclined clamping platform part (12), and the inclined clamping platform part (12) between is inclined clamping structure, and the opposite side of two inclined clamping platform part (12) has strip -shaped clamping inclined plane A (13), and the strip -shaped clamping inclined plane A (13) is located on both sides of inclined clamping structure, the length direction of strip -shaped clamping inclined plane A (13) is inclined and sets up along the opposite direction of two inclined clamping platform part (12), and the width direction between strip -shaped clamping inclined plane A (13) and the upper surface of inclined clamping platform part (12) has the inclination angle less than 90 DEG, The downside of second joint connecting seat (2) is equipped with inclined clamping block platform part (21), and the inclined clamping block platform part (21) is matched with inclined clamping structure, and the opposite side of inclined clamping block platform part (21) has strip -shaped clamping inclined plane B (22), and the strip -shaped clamping inclined plane B (22) is matched with strip -shaped clamping inclined plane A (13), and the downside of second joint connecting seat (2) still has two firm limiting side platform faces (24), and two firm limiting side platform faces (24) are arranged on the both sides of inclined clamping block platform part (21) respectively, and two firm limiting side platform faces (24) are tightly attached to the upper surface of two inclined clamping platform part (12) respectively, and still be provided with pulling locking device (3) between first joint connecting seat (1) and second joint connecting seat (2).

2. The quick joint structure of a robot according to claim 1, wherein: The upside of first joint connecting seat (1) is still provided with stop limiting part (14), and the both ends of stop limiting part (14) are connected integrally with the close end of two inclined clamping platform part (12), and pulling locking device (3) is arranged between stop limiting part (14) and inclined clamping block platform part (21).

3. The quick joint structure of a robot according to claim 1 or 2, characterized in that: The upside of first joint connecting seat (1) still has closed stable plane (11), and the closed stable plane (11) is located at the bottom of inclined clamping structure, and the bottom plane of inclined clamping block platform part (21) is matched with closed stable plane (11).

4. The quick joint structure of a robot according to claim 3, wherein: The closed stable plane (11) of first joint connecting seat (1), stop limiting part (14) and two inclined clamping platform part (12) are integrally formed.

5. The quick splice of a robot joint component according to claim 2 or 4, characterized in that: Stop clamping inclined plane A (15) is arranged in stop limiting part (14), and stop clamping inclined plane B (23) is arranged in inclined clamping block platform part (21), and the inclination angle between stop clamping inclined plane B (23) and the bottom plane of inclined clamping block platform part (21) is less than 90 DEG, and stop clamping inclined plane A (15) is matched with stop clamping inclined plane B (23).

6. The robotic joint component quick splice structure of claim 1, wherein: There is blade cutting surface between strip -shaped clamping inclined plane A (13) and the upper surface of inclined clamping platform part (12).

7. The quick splice robotic joint assembly of any of claims 1, 2, 4, or 6, 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 first joint connecting seat (1) and the second joint connecting seat (2) respectively, and the locking bolt structure (31) passes through the fixed hole sleeve structure (33) and cooperates with the nut structure (32).

8. The quick splice robotic joint assembly of any of claims 1, 2, 4, or 6, 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 inclined clamping block platform part (21) respectively.

9. The quick splice of a robotic joint component according to claim 1 or 2, wherein: The second joint connecting seat (2) side is provided with an electrical signal plug device A (4), and the inclined clamping block platform part (12) corresponding side is provided with an electrical signal plug device B (5), the electrical signal plug device A (4) cooperates with the electrical signal plug device B (5), for communicating power supply and / or transmitting data signal.

10. The quick splice of a robotic joint component of claim 2, wherein: The stop limiting part (14) inside is provided with an electrical signal plug device B (5), and the inclined clamping block platform part (21) corresponding outside is provided with an electrical signal plug device A (4), the electrical signal plug device A (4) cooperates with the electrical signal plug device B (5), for communicating power supply and / or transmitting data signal.

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