Elbow joint structure of robot and robot

Abstract

The utility model discloses a robot's elbow joint structure and robot, the utility model is used to connect upper arm part and forearm part, and one end of upper arm part is fixedly connected with two parallel connecting lug no.

Description

Technical Field

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

[0002] In robotics, the development of humanoid robots is a hot topic. The upper limbs of a humanoid robot include the torso and arms. The arms consist of two upper arms, forearms, and hands. Due to the need for flexible operation, the arms have multiple independently rotating joints, enabling high degrees of freedom of movement and meeting the motion requirements of a humanoid robot.

[0003] A search revealed Chinese Patent Publication No. CN221364844U, which discloses a robot elbow joint structure, a robot limb, and a robot, relating to the field of robotics. The robot's elbow joint structure includes an upper arm, a forearm, and an elastic element. The upper arm and forearm are rotatably connected. The elastic element is disposed at the connection between the upper arm and forearm, and includes a first end and a second end. The first end is connected to the upper arm, and the second end is connected to the forearm.

[0004] This patent incorporates an elastic element that deforms along with the forearm during elbow joint movement, generating a certain elastic restoring force and absorbing excess mechanical energy generated during movement to reduce movement errors. However, the elasticity of the element decreases after significant deformation, requiring replacement. This necessitates disassembling multiple bolts securing the limiting plate and the elastic element, which is time-consuming. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a robot elbow joint structure and a robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The robot's elbow joint structure connects the upper arm and forearm. One end of the upper arm is fixedly connected to two parallel connecting ears (first type), and one end of the forearm is fixedly connected to two parallel connecting ears (second type). The two connecting ears (second type) contact and engage with the inner walls of the two connecting ears (first type). The connecting ears (first type) and connecting ears (second type) are rotatably connected by a connecting shaft. Both ends of the connecting shaft are fixedly engaged with the two connecting ears (first type). One end of the connecting shaft is fixed with a limiting plate via a connecting assembly. The connecting assembly includes a connecting cavity and a connecting rod. The connecting cavity is located at one end of the connecting shaft. The connecting rod is fixedly connected to the outer wall of one side of the limiting plate. The connecting rod is inserted into the inner wall of the connecting cavity. Multiple clearance grooves are provided on the side wall of the connecting rod, arranged circumferentially around the axis of the connecting rod. A limiting groove is provided on the side wall of the clearance groove near the limiting plate. Multiple limiting blocks are fixed to the inner wall of the connecting cavity, slidingly engaging with the clearance grooves and the limiting grooves.

[0008] As a further improvement of this utility model: the distance between the two connecting ears is less than the distance between the two connecting ears, and a fixing component is provided on one side of the outer wall of one connecting ear.

[0009] As a further embodiment of this utility model: an elastic element is provided on the outer side of one end of the connecting shaft, and an insertion hole is provided on the side wall of the limiting plate for insertion into one end of the elastic element, and the other end of the elastic element is connected to the fixing component.

[0010] As a further embodiment of this utility model: the fixing component includes a fixing block and a groove, the fixing block is fixed to the two side walls of a connecting ear, and the groove is formed in the side wall of the fixing block.

[0011] As a further embodiment of this utility model: a fixing rod is slidably connected to the inner wall of one end of the fixing block, one end of the fixing rod passes through the groove, and one end of the elastic element is inserted into the groove and cooperates with the fixing rod for limiting.

[0012] As a further embodiment of this utility model: a connecting ring is fixed to the outer wall of the fixing rod, a fixing spring is fixedly connected to one side of the connecting ring, and the other end of the fixing spring is connected to the fixing block.

[0013] As a further improvement of this utility model: the inner wall of the limiting groove away from the limiting plate is provided with limiting teeth, and the limiting block on the inner wall of the connecting cavity engages with the limiting teeth for limiting.

[0014] A robot having an elbow joint structure of any of the aforementioned robots, comprising a robot torso and a robot limb, the elbow joint structure being mounted between the upper arm and forearm of the robot limb.

[0015] Compared with the prior art, this utility model provides an elbow joint structure for a robot and a robot in general, which has the following advantages:

[0016] 1. This utility model, by setting a limiting plate and connecting components, facilitates the disassembly of the limiting plate without the need to remove multiple bolts, and makes it easy to replace the elastic component.

[0017] 2. This utility model has a fixing component, which allows the limiting and fixing of one end of the elastic element to be released by pulling the fixing rod, making it easy to operate.

[0018] 3. This utility model, by setting a limiting tooth, can fix the rotation of the connecting rod, and prevent the connecting rod from displacing due to mechanical vibration or other reasons, causing the limiting block to separate from the limiting groove.

[0019] The parts of this device not covered herein are the same as or can be implemented using existing technologies. This utility model has a simple structure and is easy to operate. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the elbow joint of the robot proposed in this utility model.

[0021] Figure 2 This is a schematic diagram of the internal structure of the elbow joint of the robot proposed in this utility model.

[0022] Figure 3 This is a schematic diagram of the elbow joint connecting rod of the robot proposed in this utility model;

[0023] Figure 4 This is a schematic diagram of the elbow joint structure fixing component of the robot proposed in this utility model.

[0024] In the diagram: 1. Upper arm; 2. Forearm; 3. Connecting ear 1; 4. Connecting ear 2; 5. Connecting shaft; 6. Limiting plate; 7. Fixing assembly; 8. Connecting cavity; 9. Connecting rod; 10. Abutting plate; 11. Abutting spring; 12. Elastic element; 13. Clearance groove; 14. Limiting groove; 15. Limiting tooth; 16. Limiting block; 17. Fixing rod; 18. Groove; 19. Fixing spring. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0026] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this utility model.

[0027] Example 1

[0028] The structure of the robot's elbow joint, such as Figures 1 to 4 As shown, it is used to connect the upper arm 1 and the forearm 2. One end of the upper arm 1 is fixedly connected to two parallel connecting ears 3, and one end of the forearm 2 is fixedly connected to two parallel connecting ears 4. The distance between the two connecting ears 4 is less than the distance between the two connecting ears 3. The two connecting ears 4 are in contact with the inner walls of the two connecting ears 3. The connecting ears 3 and the connecting ears 4 are rotatably connected by a connecting shaft 5. The two ends of the connecting shaft 5 are limited and fixedly engaged with the two connecting ears 3. One end of the connecting shaft 5 is fixed with a limiting plate 6 through a connecting assembly. A fixing assembly 7 is provided on the outer wall of one side of the connecting ear 4. An elastic element 12 is provided on the outer side of one end of the connecting shaft 5. The side wall of the limiting plate 6 has an insertion hole for inserting one end of the elastic element 12. The other end of the elastic element 12 is connected to the fixing assembly 7. The elastic element 12 is preferably a torsion spring.

[0029] The fixing component 7 includes a fixing block 16 and a groove 18. The fixing block 16 is fixed to the side wall of a connecting lug 4. The groove 18 is formed in the side wall of the fixing block 16. A fixing rod 17 is slidably connected to the inner wall of one end of the fixing block 16. One end of the fixing rod 17 passes through the groove 18. One end of the elastic element 12 is inserted into the groove 18 and is limited to the fixing rod 17. A connecting ring is fixed to the outer wall of the fixing rod 17. A fixing spring 19 is fixedly connected to one side of the connecting ring. The other end of the fixing spring 19 is connected to the fixing block 16.

[0030] The connecting assembly includes a connecting cavity 8 and a connecting rod 9. The connecting cavity 8 is located at one end of the connecting shaft 5. The connecting rod 9 is fixedly connected to the outer wall of one side of the limiting plate 6. The connecting rod 9 is inserted into the inner wall of the connecting cavity 8. The side wall of the connecting rod 9 is provided with a plurality of clearance grooves 13, which are arranged circumferentially around the axis of the connecting rod 9. A limiting groove 14 is provided on the side wall of the clearance groove 13 near the limiting plate 6. A plurality of limiting blocks are fixed on the inner wall of the connecting cavity 8 and slide in cooperation with the clearance grooves 13 and the limiting grooves 14. The inner wall of the connecting cavity 8 is connected to a retaining plate 10 through a retaining spring 11, and the retaining plate 10 slides in cooperation with the inner wall of the connecting cavity 8.

[0031] When replacing the elastic element 12, pull the fixing rod 17 towards one end of the fixing block 16. One end of the fixing rod 17 separates from the elastic element 12, and the fixing spring 19 is compressed and deformed. Hold the limiting plate 6 and drive the connecting rod 9 to rotate. The elastic element 12 rotates with the limiting plate 6, causing the limiting block inside the connecting cavity 8 to move from the limiting groove 14 to the clearance groove 13. At this time, the connecting rod 9 can move out of the connecting cavity 8, and the limiting block moves along the clearance groove 13. Remove the limiting plate 6. At this time, the limiting fixation of the elastic element 12 is completely released. Remove the elastic element 12 from one end of the connecting shaft 5, and then put the new elastic element 12 on one end of the connecting shaft 5. Then insert the connecting rod 9 into the connecting cavity 8, and the limiting block enters the clearance groove 13. When one end of the elastic element 12 is inserted into the insertion hole and the connecting rod 9 is fully inserted into the connecting cavity 8, the limiting block and the limiting groove 14 are aligned. At this time, the limiting plate 6 can be rotated to allow the limiting block to enter the limiting groove 14 and limit the connecting rod 9. During the process of the connecting rod 9 entering the connecting cavity 8, one end of the connecting rod 9 will press against the clamping plate 10, and the clamping spring 11 will be compressed and deformed. The reaction force of the clamping spring 11 will cause the inner wall of the limiting groove 14 to press against the limiting block. During the installation of the limiting plate 6, the fixing rod 17 is always located on one side of the groove 18. The other end of the elastic element 12 can enter the groove 18. Then the fixing rod 17 is released, and the fixing spring 19 pushes the fixing rod 17 through the elastic element 12 and the groove 18 to fix one end of the elastic element 12.

[0032] By setting up a limiting plate 6 and a connecting assembly, the limiting plate 6 can be easily disassembled without removing multiple bolts, making it easy to replace the elastic element 12.

[0033] With the fixed component 7 installed, pulling the fixed rod 17 can release the limiting fixation of one end of the elastic element 12, making the operation convenient.

[0034] Example 2

[0035] Regarding the elbow joint structure of the robot, this embodiment makes the following improvements based on embodiment 1, such as... Figure 3 As shown, the inner wall of the limiting groove 14 away from the limiting plate 6 is provided with limiting teeth 15, and the limiting block on the inner wall of the connecting cavity 8 engages with the limiting teeth 15 for limiting.

[0036] When the limiting block enters the limiting groove 14, the abutting plate 10 and the abutting spring 11 push the connecting rod 9 to move, so that the limiting tooth 15 engages with the limiting block to limit the rotation of the connecting rod 9. The limiting plate 6 is then removed by pressing the limiting plate 6 against the abutting plate 10 to disengage the limiting block from the limiting tooth 15.

[0037] By setting the limiting tooth 15, the rotation of the connecting rod 9 can be fixed, preventing the connecting rod 9 from being displaced due to mechanical vibration or other reasons, which would cause the limiting block to detach from the limiting groove 14.

[0038] Example 3

[0039] The robot, equipped with the elbow joint structure of the robot in the above embodiments, includes a robot torso and a robot limb. The elbow joint structure of the robot is installed between the upper arm 1 and the forearm 2 of the robot limb. Both the robot torso and the robot limb are existing mature technologies. This embodiment has the elbow joint structure of the robot in the above embodiments. Therefore, it has all the beneficial effects of the elbow joint structure of the robot in any of the above embodiments, which will not be described in detail here.

[0040] Working principle: When replacing the elastic element 12, pull the fixing rod 17 towards one end of the fixing block 16. One end of the fixing rod 17 separates from the elastic element 12, and the fixing spring 19 is compressed and deformed. Hold the limiting plate 6 and first press the limiting plate 6 against the abutting plate 10 to disengage the limiting block from the limiting tooth 15, causing the connecting rod 9 to rotate. The elastic element 12 rotates with the limiting plate 6, causing the limiting block inside the connecting cavity 8 to move from the limiting groove 14 to the clearance groove 13. At this time, the connecting rod 9 can move out of the connecting cavity 8, and the limiting block moves along the clearance groove 13. Remove the limiting plate 6. At this time, the limiting fixation of the elastic element 12 is completely released. Remove the elastic element 12 from one end of the connecting shaft 5, and then put the new elastic element 12 on one end of the connecting shaft 5. Then insert the connecting rod 9 into the connecting cavity 8, and the limiting block enters. The clearance groove 13 is inserted into the insertion hole at one end of the elastic element 12. When the connecting rod 9 is fully inserted into the connecting cavity 8, the limiting block and the limiting groove 14 are aligned. At this time, the limiting plate 6 can be rotated to allow the limiting block to enter the limiting groove 14 and limit the connecting rod 9. During the process of the connecting rod 9 entering the connecting cavity 8, one end of the connecting rod 9 will press against the pressing plate 10, and the pressing spring 11 will be compressed and deformed. The reaction force of the pressing spring 11 will push the connecting rod 9 to move, so that the limiting tooth 15 will engage with the limiting block to limit the rotation of the connecting rod 9. During the installation of the limiting plate 6, the fixing rod 17 is always located on one side of the groove 18. The other end of the elastic element 12 can enter the groove 18. Then the fixing rod 17 is released, and the fixing spring 19 pushes the fixing rod 17 through the elastic element 12 and the groove 18 to fix one end of the elastic element 12.

[0041] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An elbow joint structure for a robot, used to connect an upper arm (1) and a forearm (2), characterized in that, Two parallel connecting ears 1 (3) are fixedly connected to one end of the upper arm (1), and two parallel connecting ears 2 (4) are fixedly connected to one end of the forearm (2). The two connecting ears 2 (4) are in contact with the inner walls of the two connecting ears 1 (3). The connecting ears 1 (3) and the connecting ears 2 (4) are rotatably connected by a connecting shaft (5). The two ends of the connecting shaft (5) are fixedly engaged with the two connecting ears 1 (3). One end of the connecting shaft (5) is fixed with a limiting plate (6) through a connecting assembly. The connecting assembly includes a connecting cavity (8) and a connecting rod. (9) The connecting cavity (8) is opened at one end of the connecting shaft (5). The connecting rod (9) is fixedly connected to the outer wall of the limiting plate (6). The connecting rod (9) is inserted into the inner wall of the connecting cavity (8). The side wall of the connecting rod (9) is provided with multiple clearance grooves (13). The multiple clearance grooves (13) are arranged circumferentially around the axis of the connecting rod (9). The side wall of the clearance groove (13) near the limiting plate (6) is provided with a limiting groove (14). The inner wall of the connecting cavity (8) is fixed with multiple limiting blocks that slide with the clearance groove (13) and the limiting groove (14).

2. The elbow joint structure of the robot according to claim 1, characterized in that, The distance between the two connecting ears 2 (4) is less than the distance between the two connecting ears 1 (3), and a fixing component (7) is provided on one side of the outer wall of one connecting ear 2 (4).

3. The elbow joint structure of the robot according to claim 1, characterized in that, An elastic element (12) is provided on the outer side of one end of the connecting shaft (5), and an insertion hole is provided on the side wall of the limiting plate (6) for inserting into one end of the elastic element (12). The other end of the elastic element (12) is connected to the fixing component (7).

4. The elbow joint structure of the robot according to claim 2, characterized in that, The fixing component (7) includes a fixing block (16) and a groove (18). The fixing block (16) is fixed to the side wall of a connecting ear (4), and the groove (18) is formed on the side wall of the fixing block (16).

5. The elbow joint structure of the robot according to claim 4, characterized in that, A fixing rod (17) is slidably connected to the inner wall of one end of the fixing block (16). One end of the fixing rod (17) passes through the groove (18), and one end of the elastic element (12) is inserted into the groove (18) and engages with the fixing rod (17) for limiting.

6. The elbow joint structure of the robot according to claim 5, characterized in that, A connecting ring is fixed to the outer wall of the fixing rod (17), and a fixing spring (19) is fixedly connected to one side of the connecting ring. The other end of the fixing spring (19) is connected to the fixing block (16).

7. The elbow joint structure of the robot according to claim 1, characterized in that, The inner wall of the limiting groove (14) away from the limiting plate (6) is provided with limiting teeth (15), and the limiting block on the inner wall of the connecting cavity (8) engages with the limiting teeth (15) for limiting.

8. A robot equipped with an elbow joint structure according to any one of claims 1-7, characterized in that, The robot includes a torso and limbs, with the elbow joint structure of the robot mounted between the upper arm (1) and forearm (2) of the limbs.

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