Multi-joint robot body structure

Abstract

The utility model discloses a multi-joint robot body structure, which relates to the technical field of robots and comprises a multi-joint robot body and an end effector, a wrist is rotatably mounted at a movable end of the multi-joint robot body, and a dismounting mechanism is arranged at one end of the wrist. According to the utility model, the end effector can be mounted and dismounted in a short time only through simple control of the telescopic rod without any additional tool, so that the replacement efficiency of the end effector is greatly improved, and different operation task requirements can be quickly met; the working efficiency and the application flexibility of the multi-joint robot body are effectively improved, meanwhile, the working intensity and the skill requirements of operators are reduced through the simplified disassembly and assembly process, the part damage risk caused by frequent disassembly and assembly is reduced, and the maintenance cost of equipment is further reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a multi-joint robot body structure. Background Technology

[0002] With the rapid development of intelligent manufacturing, multi-joint robots, with their flexible movement capabilities and wide applicability, have become indispensable automated equipment in industrial production, logistics warehousing, medical services, and other fields. On industrial production lines, multi-joint robots undertake precision operations such as welding, assembly, and painting; in the logistics field, they can efficiently complete the handling and sorting of goods; in the medical industry, surgical robots use their multi-joint structure to achieve precise minimally invasive procedures.

[0003] However, in the existing technology, there are still many problems with the structure of multi-joint robots that need to be solved. Among them, the inconvenience of disassembling the wrist and the end effector is particularly prominent. In practical applications, different tasks often require end effectors with different functions. For example, grasping operations require gripper-type end effectors, while suction operations require suction cup-type end effectors. However, the connection structure between the wrist and the end effector of traditional multi-joint robots is complex. Disassembly usually requires the use of multiple tools, and there are many screws, clips and other parts in the connection parts. The operation is cumbersome and consumes a lot of time and manpower. This not only leads to low efficiency of the robot when switching tasks and increases the production cycle, but also greatly limits its application flexibility in diverse production scenarios. Utility Model Content

[0004] The purpose of this invention is to solve the problems existing in the prior art by proposing a multi-joint robot body structure.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a multi-joint robot body structure, including a multi-joint robot body and an end effector, wherein a wrist is rotatably mounted on the movable end of the multi-joint robot body, a disassembly mechanism is provided at one end of the wrist, and a reinforcement mechanism is provided on one side of the disassembly mechanism.

[0006] The disassembly mechanism includes a fixed base with a convex groove at the upper end. A convex seat is slidably inserted into the convex groove. Two sets of hexagonal slots are provided at the upper end of the convex seat. A fixed frame plate is fixedly installed on one side of the fixed base. A movable plate is provided at the opening of the fixed base. Two sets of hexagonal blocks are fixedly installed at one end of the movable plate. A telescopic rod is fixedly installed on the inner wall of the fixed frame plate. A concave seat is fixedly installed at the extended end of the telescopic rod.

[0007] Preferably, a guide rail is fixedly installed on the inner wall of the fixed frame plate, and two sets of slide seats are slidably installed on the upper end of the guide rail. One end of the fixed seat is fixed to one end of the wrist, and one end of the convex seat is fixed to one end of the end effector.

[0008] Preferably, the lower parts of the two sets of hexagonal blocks are respectively inserted into the interior of the two sets of hexagonal slots, the lower end of the movable plate is fixed to the upper end of the concave seat, and one end of each set of slides is fixed to the lower end of the concave seat.

[0009] Preferably, the reinforcement mechanism includes a slide rail cylinder and two sets of three-axis cylinders. The outer wall of the fixed frame plate is provided with a connecting recess. Triangular blocks are fixedly installed on the extended ends of the two sets of three-axis cylinders. Multiple sets of limiting posts are fixedly installed on both sides of the recess.

[0010] Preferably, a guide recess is fixedly installed on the upper end of the slide rail cylinder, and an L-shaped guide block is slidably installed inside the guide recess. One side of the slide rail cylinder is fixed to one side of the fixed frame plate.

[0011] Preferably, the two protruding ends of the upper end of the connecting recess are fixed to the lower end of the three-axis cylinder, and one end of one set of three-axis cylinders is fixed to the other side of the slide rail cylinder.

[0012] Preferably, the other end of the L-shaped guide block is slidably disposed with the three axes of one set of three-axis cylinders, and one side of the other set of three-axis cylinders is in contact with the other side of the fixed frame plate.

[0013] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0014] 1. In this utility model, by setting up a disassembly mechanism, this structure can complete the installation and disassembly of the end effector in a short time without the need for any additional tools, simply by controlling the telescopic rod. This design greatly improves the replacement efficiency of the end effector, reduces the downtime of the multi-joint robot body during task switching, and can quickly adapt to different work task requirements, effectively improving the working efficiency and application flexibility of the multi-joint robot body. At the same time, the simplified disassembly and assembly process also reduces the workload and skill requirements of operators, reduces the risk of parts damage caused by frequent disassembly and assembly, and further reduces the maintenance cost of the equipment.

[0015] 2. In this utility model, by setting a reinforcement mechanism, the triangular block and the limiting post can be tightly fitted to form a mechanical limiting structure. At this time, the movement of the concave seat in both the horizontal and vertical directions is restricted, thereby achieving effective limiting of the concave seat, further preventing the concave seat from moving, and ensuring the stability of the end effector connected to the concave seat during robot operation. Attached Figure Description

[0016] Figure 1 This utility model provides a three-dimensional structural diagram of a multi-joint robot body structure;

[0017] Figure 2This utility model provides a partially exploded structural diagram of the disassembly mechanism in the body structure of a multi-joint robot.

[0018] Figure 3 This utility model provides a structural diagram of the disassembly mechanism and the reinforcement mechanism in the body structure of a multi-joint robot;

[0019] Figure 4 This invention provides a structural diagram of a reinforcement mechanism in the body structure of a multi-joint robot.

[0020] Legend: 1. Multi-joint robot body; 11. Wrist; 12. End effector; 2. Disassembly mechanism; 21. Fixed seat; 22. Convex seat; 23. Convex groove; 24. Hexagonal groove; 25. Fixed frame plate; 26. Movable plate; 27. Hexagonal block; 28. Telescopic rod; 29. ​​Concave seat; 210. Guide rail; 211. Slide seat; 3. Reinforcing mechanism; 31. Slide rail cylinder; 32. Connecting concave seat; 33. Three-axis cylinder; 34. Triangular block; 35. Limiting post; 36. Guide concave seat; 37. L-shaped guide block. Detailed Implementation

[0021] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0023] Example 1: As Figure 1 - Figure 4 As shown, this utility model provides a multi-joint robot body structure, including a multi-joint robot body 1 and an end effector 12. The movable end of the multi-joint robot body 1 is rotatably mounted with a wrist 11. One end of the wrist 11 is provided with a disassembly mechanism 2, and one side of the disassembly mechanism 2 is provided with a reinforcement mechanism 3.

[0024] The disassembly mechanism 2 includes a fixed base 21. A convex groove 23 is formed at the upper end of the fixed base 21. A convex seat 22 is slidably inserted into the convex groove 23. Two sets of hexagonal slots 24 are formed at the upper end of the convex seat 22. A fixed frame plate 25 is fixedly installed on one side of the fixed base 21. A movable plate 26 is provided at the opening of the fixed base 21. Two sets of hexagonal blocks 27 are fixedly installed at one end of the movable plate 26. A telescopic rod 28 is fixedly installed on the inner wall of the fixed frame plate 25. A protruding end of the telescopic rod 28 is fixedly installed with… The inner wall of the concave seat 29 and the fixed frame plate 25 is fixedly installed with a guide rail 210. Two sets of slide blocks 211 are slidably installed on the upper end of the guide rail 210. One end of the fixed seat 21 is fixed to one end of the wrist 11. One end of the convex seat 22 is fixed to one end of the end effector 12. The lower parts of the two sets of hexagonal blocks 27 are respectively inserted into the interior of the two sets of hexagonal slots 24. The lower end of the movable plate 26 is fixed to the upper end of the concave seat 29. One end of each set of slide blocks 211 is fixed to the lower end of the concave seat 29.

[0025] The specific settings and functions of this embodiment are described in detail below. The main connecting part of the structure consists of a convex seat 22 and a convex groove 23. The convex seat 22 is installed on the end effector 12, and the convex groove 23 is set on the fixed seat 21. The fixed seat 21 is fixedly installed on the end of the wrist 11. When installing the end effector 12, the convex seat 22 is precisely slidably inserted into the inside of the convex groove 23 along a specific direction. The two shapes fit each other. Through this sliding fit, the docking of the end effector 12 and the wrist 11 is initially realized.

[0026] Further fixing relies on a locking assembly consisting of a telescopic rod 28, a movable plate 26, and hexagonal blocks 27. The telescopic rod 28 is installed inside the wrist 11, and its extended end is connected to the movable plate 26. Two sets of hexagonal blocks 27 are symmetrically arranged on both sides of the movable plate 26. On the inner wall of the convex groove 23, two sets of hexagonal grooves 24 are opened at corresponding positions. When the convex seat 22 is inserted into the convex groove 23, the telescopic rod 28 is driven to move. The extended end of the telescopic rod 28 pushes the movable plate 26 forward, causing the hexagonal blocks 27 on both sides to move synchronously. This allows the two sets of hexagonal blocks 27 to be accurately inserted into the two sets of hexagonal grooves 24 on the inner wall of the convex groove 23. At this time, the hexagonal blocks 27 and the hexagonal grooves 24 are tightly engaged, forming a stable mechanical lock, which firmly fixes the convex seat 22 in the convex groove 23, thereby completing the installation process of the end effector 12 and ensuring that the end effector 12 remains stable during robot operation and will not loosen or fall off.

[0027] When it is necessary to disassemble the end effector 12, the telescopic rod 28 is reversed and the extended end of the telescopic rod 28 retracts, pulling the movable plate 26 backward, so that the two sets of hexagonal blocks 27 gradually exit from the hexagonal slot 24. When the hexagonal blocks 27 are completely disengaged from the hexagonal slot 24, the convex seat 22 is no longer locked. At this time, the convex seat 22 can be easily pulled out from the inside of the convex slot 23, realizing the quick disassembly of the end effector 12.

[0028] Compared with traditional methods of installing and removing the end effector 12, this structure has significant advantages. Traditional methods often require the use of multiple tools such as screwdrivers and wrenches to disassemble and remove the end effector 12 by removing screws, clips and other parts. The operation process is cumbersome and time-consuming. However, this structure does not require any additional tools. The installation and removal of the end effector 12 can be completed in a short time by simply controlling the telescopic rod 28. This design greatly improves the replacement efficiency of the end effector 12, reduces the downtime of the multi-joint robot body 1 during task switching, and can quickly adapt to different task requirements. It effectively improves the working efficiency and application flexibility of the multi-joint robot body 1. At the same time, the simplified disassembly and assembly process also reduces the workload and skill requirements of the operators, reduces the risk of damage to parts caused by frequent disassembly and assembly, and further reduces the maintenance cost of the equipment.

[0029] When the movable plate 26 moves, it will drive the concave seat 29 to move. The concave seat 29 will drive the two sets of slides 211 to slide inside the guide rail 210, thereby guiding the movable plate 26, improving the stability of the movable plate 26 when it moves, and preventing the movable plate 26 from shaking when it moves.

[0030] Example 2: Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the reinforcement mechanism 3 includes a slide rail cylinder 31 and two sets of three-axis cylinders 33. The outer wall of the fixed frame plate 25 is provided with a connecting recess 32. Triangular blocks 34 are fixedly installed on the extended ends of the two sets of three-axis cylinders 33. Multiple sets of limiting posts 35 are fixedly installed on both sides of the concave seat 29. A guide recess 36 is fixedly installed on the upper end of the slide rail cylinder 31. An L-shaped guide block 37 is slidably installed inside the guide recess 36. One side of the slide rail cylinder 31 is fixed to one side of the fixed frame plate 25. The two protruding ends of the upper end of the connecting recess 32 are respectively fixed to the lower end of the three-axis cylinders 33. One end of one set of three-axis cylinders 33 is fixed to the other side of the slide rail cylinder 31. The other end of the L-shaped guide block 37 is slidably arranged with the three axes of one set of three-axis cylinders 33. One side of the other set of three-axis cylinders 33 is in contact with the other side of the fixed frame plate 25.

[0031] The overall effect of this embodiment is that when the concave seat 29 needs to be limited and fixed, the sliding rail cylinder 31 is controlled to move, and the movable end of the sliding rail cylinder 31 moves smoothly along the sliding rail direction. One set of three-axis cylinders 33 drives the connecting concave seat 32 to move synchronously. At the same time, through the linkage of the connecting concave seat 32, the other set of three-axis cylinders 33 moves synchronously. During the movement of the two sets of three-axis cylinders 33 with the sliding rail cylinder 31, the triangular block 34 is moved to the position directly below the gap formed by each pair of limiting posts 35, completing the initial positioning step. Then, by synchronously controlling the operation of the two sets of three-axis cylinders 33, the two... The three-axis cylinder 33, with its multi-directional telescopic capability, drives two sets of triangular blocks 34 to move precisely toward the gap formed by four sets of limiting posts 35. As the three-axis cylinder 33 advances, the two sets of triangular blocks 34 gradually insert into the gap formed by the four sets of limiting posts 35 until the triangular blocks 34 and the limiting posts 35 are tightly fitted together, forming a mechanical limiting structure. At this time, the movement of the concave seat 29 in both the horizontal and vertical directions is restricted, thus achieving effective limiting of the concave seat 29 and further preventing the concave seat 29 from moving, ensuring the stability of the end effector 12 connected to the concave seat 29 during the robot's operation.

[0032] When it is necessary to contact the limit of the concave seat 29, the control system controls the two sets of three-axis cylinders 33 in reverse to retract their extended ends, which drives the triangular block 34 to exit from the gap formed by the four sets of limit posts 35. After the triangular block 34 is completely out of the gap, the slide rail cylinder 31 is controlled to run in reverse to reset the two sets of three-axis cylinders 33 and the connecting concave seat 32, thereby releasing the limit on the concave seat 29 and facilitating subsequent operations on the concave seat 29.

[0033] When one of the three-axis cylinders 33 moves, it drives the L-shaped guide block 37 to move, allowing it to slide inside the guide recess 36, which can guide the three-axis cylinder 33 and improve the stability of the three-axis cylinder 33 when it moves.

[0034] The usage and working principle of this device are as follows: First, when it is necessary to disassemble the end effector 12, the telescopic rod 28 is reversed, and the extended end of the telescopic rod 28 retracts, pulling the movable plate 26 backward. This causes the two sets of hexagonal blocks 27 to gradually exit from the hexagonal slots 24. When the hexagonal blocks 27 are completely disengaged from the hexagonal slots 24, the convex seat 22 is no longer locked. At this time, the convex seat 22 can be easily pulled out from inside the convex slot 23, realizing the quick disassembly of the end effector 12. Then, by taking the end effector to be assembled... After the actuator 12 is installed on the wrist 11 and the convex seat 22 is inserted into the convex groove 23, the telescopic rod 28 is driven to move. The extended end of the telescopic rod 28 pushes the movable plate 26 forward, causing the hexagonal blocks 27 on both sides to move synchronously. This allows the two sets of hexagonal blocks 27 to accurately insert into the two sets of hexagonal grooves 24 on the inner wall of the convex groove 23. At this time, the hexagonal blocks 27 and the hexagonal grooves 24 are tightly engaged, forming a stable mechanical lock, which firmly fixes the convex seat 22 in the convex groove 23, thus completing the installation process of the end effector 12. To ensure the end effector 12 remains stable during robot operation and does not loosen or detach, the sliding rail cylinder 31 is controlled to move. The movable end of the sliding rail cylinder 31 moves smoothly along the sliding rail direction. One set of three-axis cylinders 33 drives the connecting recess 32 to move synchronously. Simultaneously, the connecting recess 32, through its linkage, drives the other set of three-axis cylinders 33 to move synchronously. As the two sets of three-axis cylinders 33 move with the sliding rail cylinder 31, the triangular block 34 is moved to the position of each pair of limit posts 35. Directly below the gap, the initial positioning step is completed. Then, the two sets of three-axis cylinders 33 are operated synchronously. With their multi-directional extension and retraction capabilities, the two sets of three-axis cylinders 33 drive the two sets of triangular blocks 34 to move precisely in the direction of the gap formed by the four sets of limiting posts 35. As the three-axis cylinders 33 advance, the two sets of triangular blocks 34 gradually insert into the gap formed by the four sets of limiting posts 35 until the triangular blocks 34 and the limiting posts 35 are tightly fitted together, forming a mechanical limiting structure. At this time, the movement of the concave seat 29 in both the horizontal and vertical directions is restricted.

[0035] The above are merely preferred embodiments of this utility model and are not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from the technical solution of this utility model shall still fall within the protection scope of this utility model.

Claims

1. A multi-joint robot body structure, comprising a multi-joint robot body (1) and an end effector (12), characterized in that: The movable end of the multi-joint robot body (1) is equipped with a wrist (11), one end of the wrist (11) is provided with a disassembly mechanism (2), and one side of the disassembly mechanism (2) is provided with a reinforcement mechanism (3). The disassembly mechanism (2) includes a fixed seat (21), a convex groove (23) is provided at the upper end of the fixed seat (21), a convex seat (22) is slidably inserted into the convex groove (23), two sets of hexagonal grooves (24) are provided at the upper end of the convex seat (22), a fixed frame plate (25) is fixedly installed on one side of the fixed seat (21), a movable plate (26) is provided at the opening of the fixed seat (21), two sets of hexagonal blocks (27) are fixedly installed at one end of the movable plate (26), a telescopic rod (28) is fixedly installed on the inner wall of the fixed frame plate (25), and a concave seat (29) is fixedly installed at the extended end of the telescopic rod (28).

2. The multi-joint robot body structure according to claim 1, characterized in that: The inner wall of the fixed frame plate (25) is fixedly installed with a guide rail (210), and two sets of slide seats (211) are slidably installed on the upper end of the guide rail (210). One end of the fixed seat (21) is fixed to one end of the wrist (11), and one end of the convex seat (22) is fixed to one end of the end effector (12).

3. The multi-joint robot body structure according to claim 2, characterized in that: The lower parts of the two sets of hexagonal blocks (27) are inserted into the interior of the two sets of hexagonal slots (24), the lower end of the movable plate (26) is fixed to the upper end of the concave seat (29), and one end of the two sets of slides (211) is fixed to the lower end of the concave seat (29).

4. The multi-joint robot body structure according to claim 1, characterized in that: The reinforcement mechanism (3) includes a slide rail cylinder (31) and two sets of three-axis cylinders (33). The outer wall of the fixed frame plate (25) is provided with a connecting recess (32). The protruding ends of the two sets of three-axis cylinders (33) are all fixedly installed with triangular blocks (34). Multiple sets of limiting posts (35) are fixedly installed on both sides of the recessed seat (29).

5. The multi-joint robot body structure according to claim 4, characterized in that: The upper end of the slide rail cylinder (31) is fixedly installed with a guide recess (36), and an L-shaped guide block (37) is slidably installed inside the guide recess (36). One side of the slide rail cylinder (31) is fixed to one side of the fixed frame plate (25).

6. The multi-joint robot body structure according to claim 5, characterized in that: The two protruding ends of the upper end of the connecting recess (32) are fixed to the lower end of the three-axis cylinder (33), and one end of one set of three-axis cylinders (33) is fixed to the other side of the slide rail cylinder (31).

7. The multi-joint robot body structure according to claim 6, characterized in that: The other end of the L-shaped guide block (37) is slidably set with the three axes of one set of three-axis cylinders (33), and one side of the other set of three-axis cylinders (33) is in contact with the other side of the fixed frame plate (25).

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