A robot joint mechanism with self-locking function

Abstract

This utility model relates to the field of robotics technology and discloses a robot joint mechanism with a self-locking function. It includes a support column, two knobs detachably connected to the outer wall of the support column, a connecting ring fixedly connected to the bottom end of each knob, and multiple inclined blocks fixedly connected to the outer wall of the connecting ring. Two protective discs are detachably connected to the outer wall of the support column, multiple dampers fixedly connected to the inner wall of each protective disc, and inclined blocks fixedly connected to the outer wall of each damper. A limit plate is fixedly connected to the top of each inclined block, and a spring is sleeved on the outside of each damper. A self-locking component for joint self-locking is provided on the outer wall of the support column. This utility model enables rapid disassembly and installation of the joint, improving the efficiency of robot maintenance, module replacement, or function upgrades, significantly reducing robot downtime, and lowering labor and time costs.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robot joint mechanism with a self-locking function. Background Technology

[0002] A self-locking robot joint mechanism is a device in the connection part of a robot limb that can achieve autonomous locking through a specific mechanical structure or control method. It enables the robot to maintain its current posture when it stops driving, preventing accidental movement due to external force or its own weight. This not only improves the stability and safety of robot operation, but also reduces power consumption. It is suitable for various scenarios such as industrial assembly, rehabilitation assistance, and precision operation, ensuring the reliability of the robot when performing tasks such as grasping and supporting.

[0003] A robot joint mechanism with self-locking function typically consists of a drive component such as a motor or hydraulic device, a transmission structure such as a gear rack or lead screw nut, a self-locking actuator such as a ratchet, pawl or wedge, a sensing element such as a position or force sensor, and a control module. The drive component provides power, the transmission structure transmits motion, the self-locking actuator triggers a locking action under specific conditions, the sensing element monitors the joint status in real time, and the control module coordinates the work of each part according to the signals to achieve precise locking and unlocking.

[0004] In existing technologies, self-locking structures are often deeply coupled with core functions such as joint power transmission and positioning accuracy. For example, when using an integrated complex bolt group for fastening, multiple related components need to be loosened step by step during disassembly. This requires not only specialized tools but also precise alignment to avoid damaging the self-locking accuracy, which greatly restricts the efficiency of robots during maintenance, module replacement, or function upgrades. Therefore, a robot joint mechanism with self-locking function is proposed to solve the above problems. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a robot joint mechanism with a self-locking function, which aims to improve the problem that the joints in the prior art are difficult to disassemble and install quickly, thus restricting the efficiency of the robot during maintenance, module replacement or function upgrade.

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

[0007] A robot joint mechanism with a self-locking function includes a support column. Two knobs are detachably connected to the outer wall of the support column. A connecting ring is fixedly connected to the bottom end of each knob. Multiple inclined blocks are fixedly connected to the outer wall of the connecting ring. Two protective discs are detachably connected to the outer wall of the support column. Multiple dampers are fixedly connected to the inner wall of each protective disc. An inclined block is fixedly connected to the outer wall of each damper. A limit plate is fixedly connected to the top of each inclined block. A spring is sleeved on the outside of each damper. A self-locking component for joint self-locking is provided on the outer wall of the support column.

[0008] As a further description of the above technical solution:

[0009] The self-locking assembly includes two connecting rings. The inner walls of both connecting rings can be detachably connected to the outer wall of the support column. A motor is fixedly connected to the inner wall of the connecting ring. A small gear is fixedly connected to the drive end of the motor. A large gear is rotatably connected to the outer wall of the support column.

[0010] As a further description of the above technical solution:

[0011] The outer walls of multiple limiting plates are slidably connected to the inner wall of the protective disc, and the outer walls of multiple inclined blocks are slidably connected to the inner wall of the protective disc.

[0012] As a further description of the above technical solution:

[0013] The front side of the first spring is fixedly connected to the inner wall of the protective disc, the rear side of the first spring is fixedly connected to the outer wall of the second inclined block, and the outer wall of the second inclined block is slidably connected to the outer wall of the first inclined block.

[0014] As a further description of the above technical solution:

[0015] The outer side of the small gear is meshed with the outer side of the large gear, and a support ring is fixedly connected to the bottom end of the large gear. Multiple connecting blocks are fixedly connected to the outer wall of the support ring.

[0016] As a further description of the above technical solution:

[0017] Multiple springs are fixedly connected to the inner wall of the connecting ring 2, and a limit block is fixedly connected to the top of the spring 2.

[0018] As a further description of the above technical solution:

[0019] The outer wall of the connecting block is slidably connected to the outer wall of the limiting block, and the outer walls of the multiple limiting blocks are all slidably connected to the inner wall of the connecting ring two.

[0020] As a further description of the above technical solution:

[0021] The outer wall of the support column is detachably connected to two fixing rings, and the inner wall of the fixing rings is fixedly connected to a limit ring.

[0022] As a further description of the above technical solution:

[0023] A support block is fixedly connected to the outer wall of each of the two fixed rings, and a robotic arm is fixedly connected to the right side of the support block.

[0024] As a further description of the above technical solution:

[0025] The outer wall of the support column is detachably connected to a second fixing ring, the outer wall of the second fixing ring is fixedly connected to a second support block, and the left side of the second support block is fixedly connected to a second robotic arm.

[0026] This utility model has the following beneficial effects:

[0027] 1. In this utility model, the connecting ring 1 and the inclined block 1 are driven to work by the knob. The inclined block 1 squeezes the inclined block 2 to move and compresses the spring 1. When operating in the reverse direction, the spring 1 resets and pushes the inclined block 2 and the inclined block 1 to move in the opposite direction, thereby realizing the quick disassembly and installation of the joint and improving the efficiency of the robot in maintenance, module replacement or function upgrade.

[0028] 2. In this utility model, with the cooperation of the motor, gear, connecting block, limiting block and spring 2, the self-locking component can accurately lock and unlock the joint, so as to improve the problem of complex operation caused by the deep coupling between the self-locking structure and the core function of the joint in the prior art, and ensure the stability and reliability of the robot joint operation. Attached Figure Description

[0029] Figure 1 This is a three-dimensional schematic diagram of a robot joint mechanism with a self-locking function proposed in this utility model;

[0030] Figure 2 This is a schematic diagram of the protective disc of a robot joint mechanism with self-locking function proposed in this utility model;

[0031] Figure 3 This is a schematic diagram of the connecting ring of a robot joint mechanism with self-locking function proposed in this utility model.

[0032] Figure 4 This is a schematic diagram of the connecting ring of a robot joint mechanism with a self-locking function proposed in this utility model.

[0033] Legend:

[0034] 1. Support column; 2. Knob; 3. Connecting ring one; 4. Inclined block one; 5. Protective plate; 6. Damper; 7. Inclined block two; 8. Limiting plate; 9. Spring one; 10. Connecting ring two; 11. Motor; 12. Pinion; 13. Gear; 14. Support ring; 15. Connecting block; 16. Spring two; 17. Limiting block; 18. Fixing ring one; 19. Limiting ring; 20. Supporting block one; 21. Robotic arm one; 22. Fixing ring two; 23. Supporting block two; 24. Robotic arm two. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0036] Reference Figures 1 to 3 This utility model provides an embodiment of a robot joint mechanism with a self-locking function, including a support column 1, which is the basic support component of the mechanism for bearing and connecting other components. Two knobs 2 are detachably connected to the outer wall of the support column 1. The knobs 2 can be rotated to detach from the support column 1 for easy operation. A connecting ring 3 is fixedly connected to the bottom end of the knobs 2. The connecting ring 3 is used to fix and drive a wedge block 4. Multiple wedge blocks 4 are fixedly connected to the outer wall of the connecting ring 3. The wedge blocks 4 achieve locking or unlocking functions by cooperating with wedge blocks 7. Two protective discs 5 are detachably connected to the outer wall of the support column 1. The protective discs 5 protect the internal... The damper 6, spring 9 and other components play a protective role. Multiple dampers 6 are fixedly connected to the inner wall of the protective plate 5. The damper 6 can slow down the movement speed of the second inclined block 7 and play a buffering role. The second inclined block 7 is fixedly connected to the outer wall of the damper 6. The second inclined block 7 interacts with the first inclined block 4 to achieve locking. The top of the second inclined block 7 is fixedly connected to the limit plate 8, which limits the sliding range of the second inclined block 7 in the protective plate 5. The damper 6 is sleeved with a spring 9, which provides elastic restoring force for the second inclined block 7. The outer wall of the support column 1 is provided with a self-locking component for joint self-locking. The self-locking component is the core structure for realizing the joint self-locking function.

[0037] Reference Figure 2 and Figure 4The self-locking assembly includes a second connecting ring 10, which is the basic mounting component of the self-locking assembly. The inner walls of both connecting rings 10 can be detachably connected to the outer wall of the support column 1. This connection method facilitates the disassembly, assembly, and position adjustment of the connecting rings 10. A motor 11 is fixedly connected to the inner wall of the connecting ring 10. The motor 11 provides power to the self-locking assembly. A small gear 12 is fixedly connected to the drive end of the motor 11. The motor 11 drives the small gear 12 to rotate. A large gear 13 is rotatably connected to the outer wall of the support column 1. The large gear 13 can rotate on the support column 1 and cooperates with the small gear 12 to transmit power.

[0038] Reference Figures 2 to 4 Multiple limiting plates 8 are slidably connected to the inner wall of the protective disc 5, allowing the limiting plates 8 to slide stably within the protective disc 5. Multiple inclined blocks 7 are slidably connected to the inner wall of the protective disc 5, ensuring smooth movement of the inclined blocks 7 within the protective disc 5. The front side of spring 9 is fixedly connected to the inner wall of the protective disc 5, and the rear side of spring 9 is fixedly connected to the outer wall of inclined block 7. This connection allows spring 9 to apply elastic force to inclined block 7. The outer wall of inclined block 7 is slidably connected to the outer wall of inclined block 4, achieving locking or unlocking through their sliding cooperation. The outer side of the small gear 12 is connected to the large gear. The external part of the large gear 13 is a meshing connection, which transmits power through gear meshing. A support ring 14 is fixedly connected to the bottom end of the large gear 13. The support ring 14 is used to fix the connecting block 15. Multiple connecting blocks 15 are fixedly connected to the outer wall of the support ring 14. The connecting blocks 15 cooperate with the limiting block 17 to achieve self-locking. Multiple springs 16 are fixedly connected to the inner wall of the connecting ring 10. The springs 16 provide elastic force to the limiting block 17. The inside of the springs 16 contains a limiting cylinder, which limits the movement direction of the springs 16 and the limiting block 17. The top of the springs 16 is fixedly connected to the limiting block 1. 7. Under the action of spring 16, the limiting block 17 engages with the connecting block 15 and locks. The outer wall of the connecting block 15 is slidably connected to the outer wall of the limiting block 17, allowing the connecting block 15 to interact with the limiting block 17. The outer walls of multiple limiting blocks 17 are all slidably connected to the inner wall of the connecting ring 10, ensuring that the limiting blocks 17 slide stably within the connecting ring 10. The outer wall of the support column 1 is detachably connected to two fixing rings 18. The fixing rings 18 are used to connect the support block 20. The inner wall of the fixing rings 18 is fixedly connected to a limiting ring 19, which limits the fixing rings 18. Support blocks 20 are fixedly connected to the outer walls of the two fixed rings 18. Support blocks 20 are used to connect to robotic arms 21. Robotic arms 21 are fixedly connected to the right side of support blocks 20. Robotic arms 21 are the robot's execution components. Fixed rings 22 are detachably connected to the outer walls of support columns 1. Fixed rings 22 are used to connect to support blocks 23. Support blocks 23 are fixedly connected to the outer walls of fixed rings 22. Support blocks 23 are used to connect to robotic arms 24. Robotic arms 24 are fixedly connected to the left side of support blocks 23. Robotic arms 24 are also the robot's execution components.

[0039] Working principle: When knob 2 is rotated clockwise, knob 2 drives connecting ring 3 to rotate clockwise. Connecting ring 3 then drives multiple inclined blocks 4 to rotate clockwise synchronously. The inclined surface of inclined block 4 slides along the inclined surface of inclined block 7. At the same time, inclined block 4 will squeeze inclined block 7 to move away from the center of the protective disk 5. When inclined block 7 moves, it will squeeze the spring 9 sleeved on the outside of the damper 6. The spring 9 is compressed. Inclined block 7 also drives the limiting plate 8 to slide synchronously away from the center of the protective disk 5. The limiting plate 8 slides on the inner wall of the protective disk 5 to limit the inclined block 7. Within the range of movement of 7, the damper 6 generates damping force as the inclined block 7 moves, thus buffering the movement. When the force on the knob 2 is lost, the compressed spring 9 releases its elastic force, which pushes the inclined block 7 towards the center of the protective disc 5. The inclined block 7 drives the limiting plate 8 to slide in the opposite direction. The inclined surface of the inclined block 7 slides along the inclined surface of the inclined block 4 and pushes the inclined block 4 to rotate in the opposite direction. The inclined block 4 drives the connecting ring 3 and the knob 2 to rotate in the opposite direction until all components return to their initial positions. The inclined block 4 and the inclined block 7 then re-engage in tight contact to lock and fix the components.

[0040] When motor 11 drives pinion 12 to rotate clockwise, pinion 12 meshes with gear 13, causing gear 12 to drive gear 13 to rotate counterclockwise around the outer wall of support column 1. Gear 13 drives support ring 14 at the bottom to rotate counterclockwise synchronously. Support ring 14 then drives multiple connecting blocks 15 on the outer wall to rotate counterclockwise. When connecting block 15 contacts the outer wall of limit block 17, connecting block 15 pushes limit block 17 upward. Limit block 17 pulls spring 16 upward. Limit block 17 slides on the inner wall of connecting ring 10 to maintain stability. After the outer wall of 17 contacts the outer wall of the limiting ring 19, the two engage with each other, and the joint cannot continue to rotate, thus completing the self-locking. Conversely, when the motor 11 drives the pinion 12 to rotate counterclockwise, the pinion 12 drives the large gear 13 to rotate clockwise, and the large gear 13 drives the support ring 14 and the connecting block 15 to rotate clockwise synchronously. The connecting block 15 disengages from the limiting block 17, and the stretched spring 16 releases its elastic force to pull the limiting block 17 downward. The limiting block 17 disengages from the limiting ring 19, the joint releases its self-locking state, and the motor 11 continues to drive, which can realize the reverse movement adjustment of the joint.

[0041] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. 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 robot joint mechanism with self-locking function, comprising a support column (1), characterized in that: The outer wall of the support column (1) is detachably connected to two knobs (2). The bottom end of the knobs (2) is fixedly connected to a connecting ring (3). The outer wall of the connecting ring (3) is fixedly connected to multiple inclined blocks (4). The outer wall of the support column (1) is detachably connected to two protective discs (5). The inner wall of the protective discs (5) is fixedly connected to multiple dampers (6). The outer wall of the dampers (6) is fixedly connected to an inclined block (7). The top end of the inclined block (7) is fixedly connected to a limit plate (8). The dampers (6) are fitted with a spring (9). The outer wall of the support column (1) is provided with a self-locking component for joint self-locking.

2. The robot joint mechanism with self-locking function according to claim 1, characterized in that: The self-locking assembly includes a second connecting ring (10), the inner walls of the two second connecting rings (10) are detachably connected to the outer wall of the support column (1), the inner wall of the second connecting ring (10) is fixedly connected to a motor (11), the drive end of the motor (11) is fixedly connected to a small gear (12), and the outer wall of the support column (1) is rotatably connected to a large gear (13).

3. The robot joint mechanism with self-locking function according to claim 1, characterized in that: The outer walls of multiple limiting plates (8) are slidably connected to the inner wall of the protective disc (5), and the outer walls of multiple inclined blocks (7) are slidably connected to the inner wall of the protective disc (5).

4. The robot joint mechanism with self-locking function according to claim 1, characterized in that: The front side of the first spring (9) is fixedly connected to the inner wall of the protective disc (5), the rear side of the first spring (9) is fixedly connected to the outer wall of the second inclined block (7), and the outer wall of the second inclined block (7) is slidably connected to the outer wall of the first inclined block (4).

5. The robot joint mechanism with self-locking function according to claim 2, characterized in that: The outside of the small gear (12) is meshed with the outside of the large gear (13). A support ring (14) is fixedly connected to the bottom end of the large gear (13), and multiple connecting blocks (15) are fixedly connected to the outer wall of the support ring (14).

6. The robot joint mechanism with self-locking function according to claim 5, characterized in that: The inner wall of the connecting ring 2 (10) is fixedly connected with a plurality of spring 2 (16), and the top end of the spring 2 (16) is fixedly connected with a limit block (17).

7. The robot joint mechanism with self-locking function according to claim 6, characterized in that: The outer wall of the connecting block (15) is slidably connected to the outer wall of the limiting block (17), and the outer walls of the multiple limiting blocks (17) are slidably connected to the inner wall of the connecting ring two (10).

8. A robot joint mechanism with self-locking function according to claim 1, characterized in that: The outer wall of the support column (1) is detachably connected to two fixing rings (18), and the inner wall of the fixing rings (18) is fixedly connected to a limit ring (19).

9. A robot joint mechanism with self-locking function according to claim 8, characterized in that: The outer walls of the two fixed rings (18) are fixedly connected to a support block (20), and the right side of the support block (20) is fixedly connected to a robotic arm (21).

10. A robot joint mechanism with self-locking function according to claim 1, characterized in that: The outer wall of the support column (1) is detachably connected to a fixing ring two (22), the outer wall of the fixing ring two (22) is fixedly connected to a support block two (23), and the left side of the support block two (23) is fixedly connected to a robotic arm two (24).

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