Joint connecting device for robot

Abstract

The joint connecting device for the robot comprises a connecting base and a connecting piece, one end of the connecting piece is rotationally installed on the connecting base through a ball head piece, an assembling groove matched with the ball head piece is formed in the connecting base, and at least four connecting belts are evenly arranged on the periphery of the ball head piece. Limiting frames used for limiting the connecting belts are arranged on the connecting base. The end, extending into the assembling groove, of the limiting frame is provided with a concave part matched with the ball head piece, the other end of the limiting frame is rotationally installed on the connecting base, and the connecting base is provided with a driving assembly used for driving the limiting frame to rotate. Limiting holes matched with the connecting belts are formed in the limiting frame, and the limiting holes and the connecting belts are arranged in a one-to-one correspondence mode. The joint connecting device for the robot has the advantages of being simple in structure and easy to drive, can be suitable for joint connection of the robot, and is beneficial for achieving the lightweight design of the robot and ensuring the flexibility of the robot joint.

Description

Technical Field

[0001] This utility model belongs to the field of robot joint technology, and in particular relates to a joint connection device for robots. Background Technology

[0002] Currently, in robot motion joint design, a rigid connection is commonly used between the motor input shaft and the joint output mechanism. While this method offers a simple and compact structure, high positioning accuracy, and instant response, rigid drives suffer from low force control precision and poor flexibility, resulting in suboptimal human-robot interaction. Wired robots, on the other hand, are intelligent devices that use electronic signals to transmit control ropes (or cables) to drive the robot in performing various tasks. By cleverly utilizing the flexibility and high strength of ropes, robots can achieve lightweight and highly flexible structural designs. However, existing joint connection structures still suffer from structural complexity and inconvenient actuation. Utility Model Content

[0003] In view of this, the present invention aims to propose a joint connection device for robots to solve the problems of complex existing joint connection structures and inconvenient driving.

[0004] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0005] A joint connection device for a robot includes a connecting seat and a connector. One end of the connector is rotatably mounted on the connecting seat via a ball joint. The connecting seat has an assembly groove that mates with the ball joint. At least four connecting straps are evenly arranged around the ball joint. The connecting seat has a limiting frame for limiting the movement of each connecting strap. One end of the limiting frame extending into the assembly groove has a recess that mates with the ball joint, and the other end is rotatably mounted on the connecting seat. The connecting seat has a drive assembly for driving the limiting frame to rotate. The limiting frame has limiting holes that mate with the connecting straps. Each limiting hole corresponds to a connecting strap, and each limiting hole communicates with the assembly groove. One end of each connecting strap is connected to the ball joint, and the other end passes through the limiting hole.

[0006] Furthermore, the ball joint is provided with a mounting groove for assembling the connecting belt, and the connecting belt is detachably mounted on the ball joint.

[0007] Furthermore, the ball joint is provided with a self-lubricating gasket, which is detachably mounted on the ball joint.

[0008] Furthermore, the self-lubricating gaskets are provided in a one-to-one correspondence with the connecting strips, and the ball head is provided with a slot for installing the self-lubricating gaskets, and the slot is connected to the mounting slot.

[0009] Furthermore, the limiting frame is provided with a self-lubricating bushing that mates with the connecting belt at the position corresponding to the limiting hole.

[0010] Furthermore, the drive assembly includes a driver mounted on a connecting base, an output gear on the output end of the driver, and a driven gear that cooperates with the drive gear on the limiting frame.

[0011] Furthermore, the limiting frame is provided with a lifting column in the middle, and the ball head is provided with a plug groove that can cooperate with the telescopic end of the lifting column.

[0012] Compared with the prior art, the robot joint connection device described in this utility model has the following advantages:

[0013] The robot joint connection device described in this utility model has the advantages of simple structure and easy drive, and can be applied to the joint connection of robots. It is beneficial to realize the lightweight design of robots and ensure the flexibility of robot joints. The connector rotates by means of a ball joint and an assembly groove on the connector seat. The ball joint is driven to rotate by the connecting belt, and the drive component drives the limit frame and the connecting belt to rotate horizontally. This allows the connector to rotate at multiple angles and horizontally, thereby realizing more-dimensional movement of the joint and improving the flexibility of this joint connection device. Attached Figure Description

[0014] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0015] Figure 1 This is a schematic diagram of the structure of a joint connection device for a robot according to an embodiment of the present invention;

[0016] Figure 2 This is a schematic diagram of the internal structure of a robot joint connection device according to an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures:

[0018] 1. Connecting seat; 2. Connecting piece; 3. Connecting belt; 4. Limiting bracket; 5. Drive assembly; 6. Self-lubricating bushing; 7. Ball joint; 8. Self-lubricating gasket; 9. Lifting column; 10. Insertion slot; 11. Upper mounting seat; 12. Lower ball joint seat; 13. Limiting ring; 14. Driver; 15. Drive gear; 16. Driven gear. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0020] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0021] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] A joint connection device for robots, such as Figure 1 and Figure 2 As shown, the device includes a connecting seat 1 and a connecting member 2. One end of the connecting member 2 is rotatably mounted on the connecting seat 1 via a ball joint 7. The connecting seat 1 has an assembly groove that mates with the ball joint 7. At least four connecting strips 3 are evenly arranged around the ball joint 7. The connecting seat 1 has a limiting frame 4 for limiting the position of each connecting strip 3. One end of the limiting frame 4 that extends into the assembly groove has a recess that mates with the ball joint 7, and the other end is rotatably mounted on the connecting seat 1. The connecting seat 1 has a driving assembly 5 for driving the limiting frame 4 to rotate. The limiting frame 4 has limiting holes that mate with the connecting strips 3. The limiting holes are arranged one-to-one with the connecting strips 3. Each limiting hole communicates with the assembly groove. One end of each connecting strip 3 is connected to the ball joint 7, and the other end passes through the limiting hole.

[0024] For example, the ball head 7 is fixed on the connector 2. In order to realize the assembly of the ball head 7 and the limit bracket 4, the connector 1 can adopt a split structure, for example, it can be divided into two or more parts, and the parts are connected by conventional methods such as bolts.

[0025] In practical applications, the connecting seat 1 can be divided into two parts. One part is the lower ball head seat 12, which mates with the ball head component 7. A limiting ring 13 can be installed on the lower ball head seat 12 via screws to ensure that the ball head component 7 can rotate stably on the connecting seat 1, enabling multi-angle movement of the connecting component 2. The other part of the connecting seat 1 is the upper mounting seat 11, which is used to mount the limiting frame 4 and the drive assembly 5. The upper mounting seat 11 has mounting holes for mounting the limiting frame 4. The limiting frame 4 can be rotatably mounted on the upper mounting seat 11 via bearings or other conventional means. The upper mounting seat 11 and the lower ball head seat 12 can be connected via bolts or other conventional means. Those skilled in the art can also further disassemble the connecting seat 1 according to actual needs to facilitate the assembly of each component, which will not be elaborated here.

[0026] Preferably, the ball joint 7 is provided with a mounting groove for assembling the connecting strip 3, which is detachably mounted on the ball joint 7. For example, four, six, or more connecting strips 3 can be evenly arranged, and each connecting strip 3 can be fixed to the ball joint 7 by conventional methods such as screws, with sufficient length to be pulled into the limiting hole. By providing a mounting groove on the ball joint 7, the connecting strip 3 can be installed within the mounting groove. This not only ensures the smoothness of the surface of the ball joint 7, allowing it to always stably cooperate with the mounting groove for rotation, but also provides good guidance and limiting for the connecting strip 3, facilitating subsequent movement of the connecting strip 3 and ensuring that the connecting strip 3 can drive the ball joint 7 to rotate under the action of the limiting frame 4.

[0027] In practical applications, the connecting belt 3 can be the drive rope used on existing wire-controlled robots and directly connected to the drive device on the wire-controlled robot to achieve the pulling of the connecting belt 3. By setting multiple connecting belts 3 and utilizing their flexible connection characteristics, the operator can control the multi-dimensional rotation of the ball head component 7 by driving one or more connecting belts 3, and cooperate with the drive assembly 5 to drive the limit frame 4 to rotate, thereby achieving horizontal rotation compensation for the ball head component 7.

[0028] In an optional embodiment, a drive device (not shown in the figure) for pulling the connecting belt 3 can also be installed on the limiting frame 4, such as a reel or telescopic rod, and connected by conventional methods such as screws, so as to pull the connecting belt 3 and thereby rotate the ball head 7. By integrating the drive device onto the limiting frame 4, it is also beneficial to reduce the restriction of the connecting belt 3 on the rotation of the limiting frame 4, thereby improving the horizontal rotational freedom of the ball head 7. By using conductive slip rings or wireless power supply to power the drive device on the limiting frame 4, the limiting frame 4 can also be continuously rotated horizontally, thereby driving the ball head 7 and the connecting member 2 to achieve horizontal rotation, further improving the freedom and flexibility of the connecting member 2's movement. Those skilled in the art can also choose other drive devices and their power supply methods according to actual needs. The drive devices can all be installed on the limiting frame 4 by conventional methods such as screws, which will not be described in detail here.

[0029] Preferably, the ball joint 7 is provided with a self-lubricating gasket 8, which is detachably mounted on the ball joint 7. For example, the self-lubricating gasket 8 can adopt an arc-shaped plate structure or an annular structure to ensure that the surface of the ball joint 7 remains smooth after the self-lubricating gasket 8 is installed, and to avoid the self-lubricating gasket 8 affecting the rotation of the ball joint 7.

[0030] In practical applications, the self-lubricating gasket 8 can be an existing gasket such as a graphite copper gasket, and is installed on the ball joint 7 using conventional methods such as screws. By installing the self-lubricating gasket 8 on the ball joint 7, the stability of the ball joint 7's rotation is improved, the friction between the ball joint 7 and the connecting seat 1 is reduced, and the connecting belt 3 is able to drive the ball joint 7 to rotate accurately, which helps to improve the accuracy of the connecting part 2's movement.

[0031] Preferably, the self-lubricating gaskets 8 and connecting bands 3 are arranged in a one-to-one correspondence. The ball joint 7 has a slot for installing the self-lubricating gaskets 8, and the slot communicates with the mounting slot. For example, the self-lubricating gaskets 8 need to be arc-shaped plate-like structures and installed along the length of the connecting band 3. The width of the slot can be larger than the width of the mounting slot, so that the self-lubricating gaskets 8 can further limit the connection band 3 after installation, which helps to reduce the possibility of the connecting band 3 loosening and falling off, and ensures that the connecting band 3 can continuously and stably drive the ball joint 7 to rotate.

[0032] In practical applications, by installing the self-lubricating gasket 8 on the corresponding connecting belt 3, when the connecting belt 3 drives the ball head 7 to rotate, the self-lubricating gasket 8 can provide key lubrication to the inner wall of the assembly groove at the connecting belt 3, thereby reducing the friction between the connecting belt 3 and the inner wall of the assembly groove, which is beneficial to improving the reliability and service life of the connecting belt 3.

[0033] Preferably, a self-lubricating bushing 6 is provided on the limiting frame 4 at the position corresponding to the limiting hole, which mates with the connecting belt 3. Exemplarily, the self-lubricating bushing 6 can also be an existing bushing such as a graphite copper bushing, and is installed and fixed on the limiting frame 4 by conventional methods such as screws. By providing the self-lubricating bushing 6 in the limiting hole, it is also beneficial to reduce the friction between the connecting belt 3 and the inner wall of the limiting hole, which is beneficial to further improve the reliability and service life of the connecting belt 3.

[0034] Preferably, the drive assembly 5 includes a driver 14 mounted on the connecting base 1, with a drive gear 15 at the output end of the driver 14, and a driven gear 16 cooperating with the drive gear 15 on the limiting frame 4. Exemplarily, the driver 14 can be an existing motor, such as a servo motor, a brushless DC motor, or a frameless torque motor. Those skilled in the art can choose according to actual needs, as long as it can ensure precise rotation of the limiting frame 4; further details are omitted here. The installation and power supply control methods of the driver 14 are existing technologies and will not be described further here either.

[0035] In practical applications, the driven gear 16 is fixed to the outside of the limiting frame 4. The connecting seat 1 has an opening corresponding to the driven gear 16 to facilitate the engagement of the driven gear 16 and the driving gear 15. The fixed end of the driver 14 is mounted on the connecting seat 1 using conventional methods such as screws. The output end is fixed with the driving gear 15, and one end of the driving gear 15, extending into the opening, meshes with the driven gear 16. By installing the driving gear 15 at the output end of the driver 14, the engagement of the driving gear 15 and the driven gear 16 can drive the limiting frame 4 to rotate.

[0036] Preferably, the limiting frame 4 has a lifting column 9 in the middle, and the ball joint 7 has a plug-in groove 10 that can cooperate with the telescopic end of the lifting column 9. For example, the lifting column 9 can be an existing electric push rod or electric lifting column. The fixed end of the lifting column 9 can be installed and fixed on the limiting frame 4 by conventional methods such as screws, and the telescopic end faces the ball joint 7. By installing the lifting column 9 on the limiting frame 4 and providing a plug-in groove 10 on the ball joint 7 that can cooperate with the telescopic end of the lifting column 9, the ball joint 7 can be limited and fixed by utilizing the cooperation between the telescopic end of the lifting column 9 and the plug-in groove 10. This ensures that the ball joint 7 and the connecting member 2 remain stable when needed, thereby achieving stable support of the connecting member 2 for the connecting seat 1 and improving the stability of the connecting member 2 when supporting the connecting seat 1.

[0037] In practical applications, those skilled in the art can also set multiple insertion slots 10 on the ball joint 7 according to actual needs, so that after the ball joint 7 rotates to a specific position, the operator can drive the telescopic end of the lifting column 9 to insert into the insertion slot 10, thereby limiting and fixing the ball joint 7 and the connector 2, so that the connector 2 and the connector seat 1 are rigidly connected at this time, which meets the various usage requirements of the robot joint and improves the applicability of this joint connection device.

[0038] This joint connection device can serve as a robot joint. The connector 2 can rotate through the ball joint 7 and the mounting groove on the connector seat 1, enabling multi-angle rotation and small-range horizontal rotation. This allows for more dimensional joint movement and improves the flexibility of the joint connection device. Specifically, when vertical rotation of the connector 2 is required, the connecting band 3 at the corresponding rotation position can be pulled. The connecting band 3 pulls the ball joint 7 to rotate, thus moving the connector 2 closer to that position, achieving vertical angle adjustment. Simultaneously, the operator can pull multiple corresponding connecting bands 3 to achieve further angle adjustments as needed. Furthermore, the operator can use the drive assembly 5 to rotate the limiting frame 4. The limiting frame 4 then drives each connecting band 3 to pull the ball joint 7 horizontally by a certain angle to compensate for the horizontal rotation angle of the connector 2, further improving the rotation range and flexibility of the connector 2. This allows the joint connection device to provide greater flexibility for robot joints based on a simple structure.

[0039] The robot joint connection device described in this utility model has the advantages of simple structure and easy drive, and can be applied to the joint connection of robots. It is beneficial to realize the lightweight design of robots and ensure the flexibility of robot joints. The connector rotates by means of a ball joint and an assembly groove on the connector seat. The ball joint is driven to rotate by the connecting belt, and the drive component drives the limit frame and the connecting belt to rotate horizontally. This allows the connector to rotate at multiple angles and horizontally, thereby realizing more-dimensional movement of the joint and improving the flexibility of this joint connection device.

[0040] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A joint connection device for a robot, characterized in that: The assembly includes a connecting seat (1) and a connecting member (2). One end of the connecting member (2) is rotatably mounted on the connecting seat (1) via a ball joint (7). The connecting seat (1) is provided with an assembly groove that mates with the ball joint (7). At least four connecting strips (3) are evenly arranged around the ball joint (7). The connecting seat (1) is provided with a limiting frame (4) for limiting each connecting strip (3). One end of the limiting frame (4) that extends into the assembly groove is provided with a recess that mates with the ball joint (7). The other end is rotatably mounted on the connecting seat (1). The connecting seat (1) is provided with a driving assembly (5) for driving the limiting frame (4) to rotate. The limiting frame (4) is provided with a limiting hole that mates with the connecting strip (3). The limiting hole is provided one-to-one with the connecting strip (3). Each limiting hole is connected to the assembly groove. One end of each connecting strip (3) is connected to the ball joint (7), and the other end passes through the limiting hole.

2. The robot joint connection device according to claim 1, characterized in that: The ball head (7) is provided with a mounting groove for assembling the connecting strip (3), and the connecting strip (3) is detachably mounted on the ball head (7).

3. The joint connection device for a robot according to claim 2, characterized in that: The ball head (7) is provided with a self-lubricating gasket (8), which is detachably installed on the ball head (7).

4. A joint connection device for a robot according to claim 3, characterized in that: The self-lubricating gasket (8) and the connecting strip (3) are arranged in a one-to-one correspondence. The ball head (7) is provided with a slot for installing the self-lubricating gasket (8), and the slot is connected to the mounting slot.

5. A joint connection device for a robot according to claim 1, characterized in that: The limiting frame (4) is provided with a self-lubricating bushing (6) that cooperates with the connecting belt (3) at the position corresponding to the limiting hole.

6. A joint connection device for a robot according to claim 1, characterized in that: The drive assembly (5) includes a driver (14) provided on the connecting seat (1), the output end of the driver (14) is provided with a drive gear (15), and the limit frame (4) is provided with a driven gear (16) that cooperates with the drive gear (15).

7. A joint connection device for a robot according to claim 1, characterized in that: The limiting frame (4) is provided with a lifting column (9) in the middle, and the ball head (7) is provided with a plug groove (10) that can cooperate with the telescopic end of the lifting column (9).

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