Robot joint module quick disassembly limiting structure

Abstract

The utility model discloses a kind of quick disassembly limiting structure of robot joint module, the structure includes two connecting pieces, sleeve kit, fixed part and hinge connecting block, wherein sleeve kit is made of two clamps, and quick disassembly is realized by screw on fixed part, the lug of the outer ring surface of two clamps cooperates with limiting block, ensure that motor corner is limited within 360 degrees, effectively avoid internal component damage caused by excessive rotation, the device adopts clamp structure, significantly reduce axial gap, make joint module structure more compact, by screwing loose fastening screw, joint module can be quickly disassembled, greatly improve maintenance efficiency, the design of limiting block and lug, avoid motor output end directly contact limiting block, improve reliability and service life, the utility model is suitable for quick disassembly and maintenance of robot joint module, with the characteristics of simple structure, convenient operation, high reliability, with wide application prospect and practical value.

Description

Technical Field

[0001] This utility model relates to the field of robot joint connection technology, specifically a quick disassembly and limiting structure for a robot joint module. Background Technology

[0002] As a highly flexible and environmentally adaptable mobile platform, the robot's motion performance mainly relies on the coordinated control of its various joint modules. Through the rotational output drive of each joint motor, the robot can achieve various gaits and motion capabilities.

[0003] Chinese utility model patent (CN218947724U) discloses a "quadruped robot joint limiting mechanism", which specifically discloses that: in the quadruped robot joint limiting mechanism, limiting member one is connected to the motor rotor or stator housing, and has at least two limiting sides to provide a covering base for the sleeve body. The sleeve body and limiting member two form indirect contact. When the motor is working, it rotates relative to limiting member two and cooperates to achieve limiting. When in contact, it forms a pressing force on the sleeve body to prevent the sleeve body from detaching longitudinally.

[0004] Chinese utility model patent (CN219755150U) discloses a "robot transmission mechanism and a quadruped robot using the same". Specifically, the robot transmission mechanism includes a clamping member covering the outer ring of a radial extension member, which tightly fits the active protrusion of the radial extension member with the driven protrusion of the joint unit two. The fixing groove inside the clamping member cooperates with the active and driven protrusions of the conical platform to ensure a stable axial and radial connection. The clamping member is connected by quick-release ring one and quick-release ring two through circumferential fasteners, which makes the assembly, maintenance and disassembly of joint unit one and joint unit two simple and quick, saving disassembly and assembly time.

[0005] Although this integrated structural design has advantages such as simple structure, fewer parts, and lower cost, in actual testing and use, the clamping component is prone to relative sliding with the quick-release ring. Long-term use will lead to wear on the contact surface, which will affect its locking and fastening performance. Therefore, how to fix the clamping component, reduce wear, and extend the service life of the robot joint module has become an urgent technical problem to be solved. Utility Model Content

[0006] The purpose of this invention is to provide a device to solve the problems existing in existing devices.

[0007] To achieve the above objectives, this utility model provides the following device: a quick disassembly and limiting structure for robot joint modules, comprising a first connector and a second connector for circumferentially limiting two joint modules. The first connector and the second connector are radially fixed together by a kit. The first connector and the second connector are provided with a circumferential engaging portion. The kit includes a first clamp and a second clamp. The free ends of the first clamp and the second clamp are connected to each other by a fixing member. The fixing member extends into the engaging portion to achieve circumferential limiting between the kit and the first and second connectors. By setting the first connector and the second connector, a connection basis is provided for the two joint modules, enabling power transmission and relative movement between the joint modules. The engagement of the engaging portion and the fixing member restricts the relative circumferential rotation between the kit and the connector, ensuring that the connection between the joint modules will not loosen due to relative circumferential displacement during robot operation, maintaining the stability and motion accuracy of the joint modules, and ensuring the reliability of power transmission.

[0008] Clamp 1 and Clamp 2 have ear plates at their free ends. The ear plates and the fixing component have coaxial mounting holes. The fixing component and ear plates are connected by fastening screws passing through the coaxial mounting holes. The ear plates provide a convenient structure for the connection between the fixing component and the two clamps. The coaxial mounting holes ensure the coaxiality of the fastening screws during installation, making the fastening process smoother and more accurate. The connection between the ear plates and the fixing component by the fastening screws enables the quick opening and closing of the two clamps. When it is necessary to disassemble the joint module, simply unscrew the fastening screws to open the two clamps, achieving a quick disassembly function, which greatly improves the efficiency of maintaining and repairing the robot joint module.

[0009] Connector 1 and Connector 2 are circumferentially provided with trapezoidal bosses, and clamp 1 and Clamp 2 are symmetrically arranged semi-circular structures. The inner sidewalls of clamp 1 and Clamp 2 are provided with trapezoidal grooves that fit the trapezoidal bosses. The trapezoidal bosses on Connector 1 and Connector 2 fit the trapezoidal grooves on the inner sidewalls of the two clamps. This special trapezoidal structure design, on the one hand, can fit tightly in the radial direction, effectively limiting the relative displacement between the connector and the two clamps, enhancing the firmness of the connection, and preventing joint module instability caused by radial loosening. On the other hand, compared with ordinary planar fit, the trapezoidal structure has better anti-disengagement performance, ensuring the reliability of the connection even when the robot joint is subjected to large external impacts or complex vibrations.

[0010] Connector 1 and connector 2 are disc-shaped flange structures. Connector 1 and connector 2 have interlocking protrusions and fixing grooves on their mating sides. Connector 1 and connector 2 have fitting parts on their outer edges that are compatible with the hinge connecting block.

[0011] Connector 1 and Connector 2 adopt a disc-shaped flange structure with a large connection area, which can better transmit torque and bear load. The protrusions on the mating side and the fixing grooves mesh with each other, realizing the precise positioning of Connector 1 and Connector 2 in the circumferential and axial directions, further improving the accuracy and stability of the joint module connection. This meshing structure can effectively prevent misalignment of the two connectors when they rotate relative to each other or move axially, ensuring the accuracy of the joint module movement. The fitting part on the outer edge is adapted to the hinge connecting block, providing an accurate position and connection method for the installation of the two clamps, ensuring that the connection between the two clamps and the connectors is stable and the position is accurate. At the same time, it also facilitates the quick disassembly and installation and disassembly of the limit structure of the entire joint module, making the assembly and disassembly of the components more orderly and efficient.

[0012] The fixed ends of clamp one and clamp two are connected by a hinge connecting block. The hinge connecting block extends into the fitting part, allowing the two clamps to open and close around the hinge axis. This facilitates the installation and disassembly of the connector. The hinge connecting block extending into the fitting part further enhances the connection strength and stability between the two clamps and the connector, while also limiting the movement trajectory of the two clamps during opening and closing, preventing excessive swinging or misalignment. During installation, this connection method allows the two clamps to be accurately positioned on the connector, ensuring a tight fit between the two clamps and the connector. During disassembly, the two clamps can be easily opened, enabling quick disassembly of the joint module.

[0013] The joint module includes joint one and joint two. Connector one and connector two are connected to joint one and joint two respectively. The connection relationship between connector one and connector two and joint one and joint two is clearly defined, which enables the quick disassembly and limiting structure of the entire joint module to effectively connect the two joints together, realize the power transmission and relative movement between the joints. Through this connection method, the different joint parts of the robot can work together to complete various complex actions.

[0014] A limit block is installed on joint one. The limit block cooperates with the ear plate to limit the rotation angle of joint two. The cooperation between the limit block and the ear plate forms a mechanical limiting structure. By limiting the rotation angle of joint two, it prevents joint two from rotating excessively, which could lead to damage to internal parts or loss of robot movement control. During the operation of the robot, when joint two rotates to a certain angle, the ear plate will contact the limit block, thereby preventing joint two from continuing to rotate and ensuring that the joint module moves within a safe angle range.

[0015] The contact surfaces of the ear plate and the limiting block are mutually fitted inclined or curved surfaces. This design allows for better dispersion of impact force during contact. When joint two rotates to its limit position and the ear plate contacts the limiting block, the inclined or curved surface design avoids stress concentration caused by point or line contact, reduces wear on the ear plate and limiting block, and extends their service life. At the same time, this fitted contact surface makes the limiting process smoother, reduces joint jamming and impact during limiting, and makes the robot's movement smoother and more natural.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1. Effectively prevents relative sliding between clamp one and clamp two and the fixed flange and the output flange. The present invention achieves circumferential positioning by cooperating with the locking part and fitting part on the fixed flange with the fixing part and hinge connecting block, so that clamp one and clamp two form a stable mechanical interlock with the fixed flange and the output flange, fundamentally avoiding the problem of relative sliding.

[0018] 2. Significantly improved structural compactness: The present invention adopts a clamp one and clamp two fixing structure. Through the tight cooperation of the two semi-circular clamps one and clamp two, the axial distance is greatly shortened, making the joint module more compact. This not only optimizes the overall layout of the robot, but also reduces the weight and improves the flexibility and stability of movement.

[0019] 3. The efficiency of disassembly and assembly and the convenience of maintenance are greatly improved. The quick-release structure of this invention only requires loosening the fastening screws on the fixing parts to separate the thigh motor and the calf motor. No additional tools or complicated steps are required. This design significantly reduces maintenance time and improves robot repair efficiency. It is especially suitable for application scenarios that require frequent debugging or replacement of motors.

[0020] 4. Enhanced practicality: The invention features ear plates at the free ends of clamp one and clamp two that cooperate with the limiting block, preventing the thigh motor from directly colliding with the limiting block. This non-contact limiting method reduces mechanical wear, extends motor life, and improves the accuracy and repeatability of angle control. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the disassembled structure of the robot joint module of this utility model.

[0022] Figure 2 This is a schematic diagram of the quick disassembly and limiting structure of the robot joint module of this utility model;

[0023] Figure 3 This is a schematic diagram of the fixed flange structure of this utility model;

[0024] Figure 4This is a schematic diagram of the overall structure of the fixed flange and the output flange of this utility model;

[0025] Figure 5 This is a schematic diagram of the overall structure of the kit, fastener, and hinge connecting block of this utility model;

[0026] Figure 6 This is a schematic diagram of the overall structure of the robot joint module of this utility model.

[0027] In the diagram, 1. Fixed flange; 11. Engaging part; 12. Fitting part; 13. Trapezoidal boss; 14. Protrusion; 15. Fixed groove; 2. Output flange; 31. Fastener; 32. Hinge connecting block; 33. Ear plate; 34. Clamp one; 35. Clamp two; 36. Coaxial mounting hole; 37. Trapezoidal groove; 38. Fastening screw; 4. Limit block; 5. Thigh motor; 6. Lower leg motor. Detailed Implementation

[0028] 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. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0029] Example 1: As Figure 1 As shown, this utility model provides a quick disassembly and limiting structure for a robot joint module. The joint module includes a thigh motor 5 and a lower leg motor 6. A fixing flange 1 is installed on the thigh motor 5, and an output flange 2 is installed on the lower leg motor 6. In this embodiment, the thigh motor 5 and the fixing flange 1, as well as the lower leg motor 6 and the output flange 2, are fixedly connected by bolts to ensure the coaxiality of the connection between the fixing flange 1 and the thigh motor 5, and between the output flange 2 and the lower leg motor 6, thus avoiding joint movement deviation caused by misalignment.

[0030] The fixed flange 1 is the transmission carrier for the power output of the thigh motor 5. It transmits the rotational motion of the thigh motor 5 to the subsequent structure through a rigid connection. The output flange 2 serves as the force support point for the calf motor 6, receiving the power transmission from the fixed flange 1. The linkage of the leg joint is realized through the cooperation of the fixed flange 1 and the output flange 2.

[0031] like Figures 2-6As shown, the fixed flange 1 and the output flange 2 are fastened together by clamp 1 34 and clamp 2 35. Both the fixed flange 1 and the output flange 2 have a fitting part 12 in the circumferential direction. In this embodiment, the fixed ends of clamp 1 34 and clamp 2 35 are hinged together by a hinge connecting block 32. Clamp 1 34 and clamp 2 35 are usually connected to the hinge connecting block 32 by a pin or bushing, so that the two clamps can rotate around the fixed ends to form an openable and closable annular structure. When clamp 1 34 and clamp 2 35 clamp the fixed flange 1 and the output flange 2, the hinge connecting block 32 is engaged in the fitting part 12, which initially completes the circumferential limitation of the fixed flange 1 and the output flange 2.

[0032] Both the fixed flange 1 and the output flange 2 are provided with annular trapezoidal bosses 13 in the circumference. When the fixed flange 1 and the output flange 2 are fitted together, the two trapezoidal bosses 13 are also fitted together. The inner sides of the clamps 1 and 2 are provided with trapezoidal grooves 37 that are adapted to the trapezoidal bosses 13. Through the mutual engagement of the trapezoidal bosses 13 and the trapezoidal grooves 37, the clamps 1 and 2 can be used to fasten the fixed flange 1 and the output flange 2.

[0033] Both the fixed flange 1 and the output flange 2 have engaging portions 11 on their circumference. When the fixed flange 1 and the output flange 2 are engaged by clamps 34 and 35, the free ends of clamps 34 and 35 are connected by a fastener 31, and part of the fastener 31 extends into the engaging portion 11, further limiting the circumferential movement of the fixed flange 1 and the output flange 2. In this embodiment, coaxial mounting holes 36 are provided on the free ends of clamps 34 and 35 and on the fastener 31. The fastening screws 38 pass through the coaxial mounting holes 36 to secure the free ends of clamp 34 and clamp 35 to the fixing part 31. This allows for the quick disassembly of the joint module by unscrewing the two fastening screws 38 on the fixing part 31 and opening clamp 34 and clamp 35. The connection between the fixing flange 1 and the output flange 2 and the thigh motor 5 and the calf motor 6 remains secure, thus confirming the effectiveness of the "quick disassembly" function and providing convenience for motor replacement during later maintenance.

[0034] Both clamp 1 34 and clamp 2 35 have ear plates 33 on their free ends, and the housing of the calf motor 6 is provided with a limit block 4. When the thigh motor 5 outputs power through the fixed flange 1 and the output flange 2 to drive the calf motor 6 to rotate, the ear plates 33 and the limit block 4 can limit the rotation angle of the calf motor 6 to ensure that the rotation angle of the calf motor 6 is within 360°, and prevent excessive rotation from damaging the joint module.

[0035] Example 2: Figures 2-4As shown, in this embodiment, based on embodiment 1, a protrusion 14 is provided on the end face of the fixed flange 1 along the circumferential direction, and a fixing groove 15 is provided on the end face of the output flange 2 near the fixed flange 1 along the circumferential direction. The protrusion 14 and the fixing groove 15 are both distributed in a regular array. The shape of the protrusion 14 is adapted to the fixing groove 15 to prevent the fixed flange 1 and the output flange 2 from sliding relative to each other during the force process.

[0036] By adding a protrusion 14 and a fixing groove 15, and adjusting their structural form and matching method, the accuracy and stability of the connection between the two fixing flanges 1 and the output flange 2 are further improved, while maintaining the quick disassembly function.

[0037] The protrusion 14 of the fixed flange 1 and the fixed groove 15 of the output flange 2 are engaged one-to-one. Through this interlocking structure, the circumferential and axial positioning of the two flanges is achieved, ensuring that the two move synchronously during the movement, improving the accuracy of the output. This not only ensures the smoothness of assembly, but also eliminates excess gaps after clamp 34 and clamp 35 are tightened, preventing the robot from shaking during movement.

[0038] The embodiment optimizes the fixing structure of the two flanges, while maintaining the original solution's quick disassembly function, further improving the positioning accuracy and stability of the connection between the fixed flange 1 and the output flange 2, enhancing the reliability of the connection structure, and making it more adaptable to complex force scenarios during robot movement.

[0039] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects. The scope of this invention is defined by the appended claims rather than the foregoing description. Therefore, it is intended to encompass all variations falling within the meaning and scope of equivalents of the claims within this invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A quick-disassembly and limiting structure for robot joint modules, comprising a first connector and a second connector for circumferentially limiting two joint modules, wherein the first connector and the second connector are radially fixed together by a kit, characterized in that: Connector 1 and connector 2 are provided with engaging parts in the circumference. The kit includes clamp 1 and clamp 2. The free ends of clamp 1 and clamp 2 are connected to each other by a fastener. The fastener extends into the engaging part to achieve circumferential positioning between the kit and connector 1 and connector 2.

2. The robot joint module quick disassembly and limiting structure according to claim 1, characterized in that: Clamp 1 and Clamp 2 have ear plates at their free ends. The ear plates and the fasteners have coaxial mounting holes. The fasteners and ear plates are connected by fastening screws passing through the coaxial mounting holes.

3. The robot joint module quick disassembly and limiting structure according to claim 1, characterized in that: Connector 1 and connector 2 are provided with trapezoidal bosses in the circumference. Clamp 1 and clamp 2 are symmetrically arranged semi-circular structures. The inner sidewalls of clamp 1 and clamp 2 are provided with trapezoidal grooves that are adapted to the trapezoidal bosses.

4. The robot joint module quick disassembly and limiting structure according to claim 1, characterized in that: Connector 1 and connector 2 are disc-shaped flange structures. Connector 1 and connector 2 have interlocking protrusions and fixing grooves on their mating sides. Connector 1 and connector 2 are circumferentially fitted with fitting parts that are compatible with the hinge connecting block.

5. The robot joint module quick disassembly and limiting structure according to claim 4, characterized in that: The fixed ends of clamp one and clamp two are connected by a hinge connecting block, and the hinge connecting block extends into the fitting part.

6. The robot joint module quick disassembly and limiting structure according to claim 2, characterized in that: The joint module includes joint one and joint two, and connector one and connector two are connected to joint one and joint two, respectively.

7. The robot joint module quick disassembly and limiting structure according to claim 5, characterized in that: A limiting block is provided on joint one, which cooperates with the ear plate to limit the rotation angle of joint two.

8. The robot joint module quick disassembly and limiting structure according to claim 6, characterized in that: The contact surfaces of the ear plate and the limiting block are inclined or curved surfaces that fit together.

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