Modular quick-release wrist joint for collaborative robots

Abstract

The utility model discloses a kind of modular quick-release wrist joints for collaborative robot in the technical field of collaborative robot, including the mechanical arm of robot, the one end hinged mounting of mechanical arm has connecting arm, the one end of connecting arm is hinged and is installed with joint seat through fixed shaft, the fixed shaft one end is installed with the lock catch for quick disassembly and assembly joint seat, the fixed shaft one end is installed with locking piece, the locking piece is used to prevent lock catch reverse rotation, connecting arm is hinged and is rotated with joint seat through fixed shaft, even if joint seat realizes wrist joint function, lock catch can install and lock catch to joint seat, to facilitate the overhaul replacement operation of disassembly and installation joint seat, and the locking piece of fixed shaft one end can be fixed to lock catch stop-retreating buckle, prevent loosening or disengaging between fixed shaft and joint seat, improve the stability of installation joint seat.

Description

Technical Field

[0001] This utility model relates to the field of collaborative robots, specifically a modular quick-release wrist joint for collaborative robots. Background Technology

[0002] Collaborative robots play a vital role in numerous fields such as industrial manufacturing, logistics sorting, and medical assistance. Their wrist joints, as the core component enabling flexible movement of the end effector, require high precision, high flexibility, and rapid maintenance. In practical use, because the wrist joint undertakes complex tasks such as grasping, handling, and assembly, frequent mechanical movements can easily lead to wear and aging of internal components, resulting in decreased precision, movement stagnation, and other malfunctions. Currently, most collaborative robots connect their wrist joints to the main body of the robotic arm using bolt fastening, welding, or complex integrated structural designs. Bolt fastening requires disassembling multiple bolts one by one, a cumbersome process. Repeated disassembly and reassembly can lead to bolt stripping and deformation, increasing the difficulty and time cost of disassembly. A single complete disassembly and reassembly process often takes several hours or even longer, severely impacting production efficiency. While welding or integrated structural designs offer advantages in connection strength, if the wrist joint malfunctions, it's almost impossible to quickly replace it alone. Typically, large-scale disassembly of the relevant parts of the robotic arm is required, potentially damaging the entire robotic arm structure. Repair costs are extremely high, and repair cycles are long, which is unacceptable for modern industrial production with its stringent production continuity requirements. Furthermore, while some existing technologies attempt to incorporate locking mechanisms to prevent reverse movement of the mounting structure and ensure wrist joint stability during operation, these mechanisms are often complex in design. Unlocking and locking require additional tools or cumbersome steps during wrist joint removal and installation, failing to improve convenience and instead increasing operational difficulty and reducing maintenance efficiency. Moreover, because the locking mechanisms operate under high stress and high frequency for extended periods, they are prone to wear and deformation, leading to locking failure and affecting the normal use of the mechanical wrist joint. In summary, existing collaborative robot wrist joints have many shortcomings in terms of ease of disassembly and assembly, installation stability, and maintenance efficiency, and cannot meet the growing demand for efficient and flexible production. Therefore, it is necessary to design a modular quick-release wrist joint for collaborative robots to solve the above problems. Utility Model Content

[0003] The purpose of this invention is to provide a modular quick-release wrist joint for collaborative robots to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a modular quick-release wrist joint for a collaborative robot, comprising a robotic arm, a connecting arm hinged to one end of the robotic arm, a joint seat hinged to one end of the connecting arm through a fixed shaft, a locking element for quick assembly and disassembly of the joint seat being installed at one end of the fixed shaft, and a locking element being installed at one end of the fixed shaft to prevent the locking element from rotating in the opposite direction.

[0005] Preferably, the locking component includes a fixing ring fitted on the outside of the fixing shaft, the fixing ring being rotatably connected to the washer via a connecting ring, four circumferentially arranged fixing posts being fixedly connected to one side of the washer, and four circumferentially arranged locking grooves being provided on the other side of the connecting arm.

[0006] Preferably, the locking member includes a fixing groove formed at one end of the fixing shaft, a sliding plate slidably connected to the inside of the fixing groove, a buckle block integrally formed on one side of the sliding plate, and a spring fixedly connected between the fixing groove and the sliding plate.

[0007] Preferably, a fixing plate is welded to the other end of the fixing shaft, four positioning posts arranged in a circle are welded to one side of the fixing plate, and four positioning grooves arranged in a circle are opened on the other side of the connecting arm.

[0008] Preferably, a rotating ring is rotatably connected to the outside of the fixed shaft, and a plurality of circumferentially arranged positioning strips are integrally formed on the outside of the rotating ring, and a notch is provided on the inside of the joint seat.

[0009] Preferably, four circumferentially arranged fixing strips are welded to the outside of the fixing shaft and on one side of the fixing plate, and the fixing strips are embedded in the connecting arm.

[0010] Preferably, a guide rod is fixedly installed inside the fixing groove, and the guide rod passes through the sliding plate and is slidably connected to it.

[0011] Compared with the prior art, the beneficial effects of this utility model are: 1. The robotic arm and the connecting arm are hinged together. The connecting arm rotates hingedly to the joint seat via a fixed shaft. This enables the joint seat to function as a wrist joint. The locking mechanism can install and lock the joint seat, facilitating the disassembly and installation of the joint seat for maintenance and replacement. The locking component at one end of the fixed shaft can lock and fix the locking mechanism to prevent loosening or separation between the fixed shaft and the joint seat, thus improving the stability of the installed joint seat.

[0012] 2. The fixed shaft is inserted through the connecting arm and the joint seat, and then the fixed ring is screwed to the fixed shaft and rotated. That is, the fixed ring drives the washer to move through the connecting ring, so that the four fixed posts on one side of the washer are inserted into the locking groove to lock and fix the joint seat. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a left-side sectional perspective view of the overall structure of this utility model; Figure 3 The overall structure of this utility model Figure 2 Enlarged view of point A in the middle; Figure 4 This is a structural diagram of the fixed shaft, fixed ring, gasket, fixed column, fixed plate, positioning column, rotating ring, positioning strip, and fixing strip in the overall structure of this utility model; Figure 5 In the overall structure of this utility model Figure 4 Left-side sectional stereoscopic view.

[0014] In the diagram: 1. Robotic arm; 2. Connecting arm; 3. Fixed shaft; 4. Joint seat; 5. Fixed ring; 6. Connecting ring; 7. Washer; 8. Fixed post; 9. Locking groove; 10. Fixed groove; 11. Sliding plate; 12. Buckle block; 13. Spring; 14. Fixed plate; 15. Positioning post; 16. Positioning groove; 17. Rotating ring; 18. Positioning strip; 19. Notch; 20. Fixed strip; 21. Guide rod. Detailed Implementation

[0015] 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.

[0016] Example 1 Please refer to Figure 1-5 As shown, this utility model provides a modular quick-release wrist joint for a collaborative robot, including a robotic arm 1. A connecting arm 2 is hinged to one end of the robotic arm 1. A joint seat 4 is hinged to one end of the connecting arm 2 through a fixed shaft 3. A locking element for quick assembly and disassembly of the joint seat 4 is installed at one end of the fixed shaft 3. A locking element is installed at the other end of the fixed shaft 3 to prevent the locking element from rotating in the opposite direction. A rotating ring 17 is rotatably connected to the outside of the fixed shaft 3. A plurality of circumferentially arranged positioning strips 18 are integrally formed on the outside of the rotating ring 17. A notch 19 is opened on the inside of the joint seat 4. Four circumferentially arranged fixing strips 20 are welded to the outside of the fixed shaft 3 and on one side of the fixing plate 14. The fixing strips 20 are embedded in the connecting arm 2.

[0017] It should be added that the robotic arm 1 and the connecting arm 2 are hinged together. The connecting arm 2 is hinged to the joint seat 4 through the fixed shaft 3. Even if the joint seat 4 realizes the wrist joint function, the locking device can install and lock the joint seat 4 to facilitate the disassembly and installation of the joint seat 4 for maintenance and replacement. The locking device at one end of the fixed shaft 3 can lock the locking device to prevent it from loosening or separating from the joint seat 4, thereby improving the stability of the joint seat 4.

[0018] Furthermore, the fixed shaft 3 is inserted into the inner side of the joint seat 4, and the four positioning strips 18 on the outer side of the rotating ring 17 are embedded in the notch 19 on the inner side of the joint seat 4. When the joint seat 4 rotates, the positioning strips 18 drive the rotating ring 17 to rotate on the outer side of the fixed shaft 3. The multiple fixing strips 20 on the outer side of the fixed shaft 3 are embedded in the inner side of the connecting arm 2, increasing the fixing strength of the fixed shaft 3 and the connecting arm 2 during the plug-in installation.

[0019] Specifically, the locking component includes a fixing ring 5 fitted on the outside of the fixing shaft 3. The fixing ring 5 is rotatably connected to the washer 7 through the connecting ring 6. Four fixing posts 8 arranged in a circle are fixedly connected to one side of the washer 7. Four locking grooves 9 arranged in a circle are opened on the other side of the connecting arm 2. A fixing plate 14 is welded to the other end of the fixing shaft 3. Four positioning posts 15 arranged in a circle are welded to one side of the fixing plate 14. Four positioning grooves 16 arranged in a circle are opened on the other side of the connecting arm 2.

[0020] The fixed shaft 3 is inserted through the connecting arm 2 and the joint seat 4, and then the fixed ring 5 is screwed to the fixed shaft 3 and rotated. That is, the fixed ring 5 drives the pad 7 to move through the connecting ring 6, so that the four fixed posts 8 on one side of the pad 7 are inserted into the locking groove 9 to lock and fix the joint seat 4. The fixed shaft 3 drives the positioning post 15 to move through the fixed plate 14, so that the positioning post 15 is inserted into the positioning groove 16 to embed and position the fixed shaft 3, preventing the fixed shaft 3 from shifting or shaking.

[0021] More specifically, the locking component includes a fixing groove 10 opened at one end of the fixing shaft 3, a sliding plate 11 slidably connected to the inside of the fixing groove 10, a buckle block 12 integrally formed on one side of the sliding plate 11, a spring 13 fixedly connected between the fixing groove 10 and the sliding plate 11, and a guide rod 21 fixedly installed inside the fixing groove 10, the guide rod 21 passing through the sliding plate 11 and slidably connected to it.

[0022] Furthermore, the guide rod 21 inside the fixing groove 10 can guide and limit the sliding plate 11, and the spring 13 outside the guide rod 21 can squeeze and push the sliding plate 11 so that the buckle block 12 on one side of the sliding plate 11 can lock and fix the fixing ring 5, which can effectively prevent the fixing ring 5 from rotating in the opposite direction.

[0023] Working principle: First, the fixed shaft 3 is inserted through the connecting arm 2 and the joint seat 4. At this time, the four positioning strips 18 on the outside of the rotating ring 17 are embedded in the notch 19 on the inside of the joint seat 4. When the joint seat 4 rotates, the positioning strips 18 drive the rotating ring 17 to rotate on the outside of the fixed shaft 3. At the same time, the multiple fixing strips 20 on the outside of the fixed shaft 3 are embedded in the inside of the connecting arm 2. Then, the fixed ring 5 is screwed to the fixed shaft 3 and rotated. That is, the fixed ring 5 drives the washer 7 to move through the connecting ring 6. Then, the four fixing posts 8 on one side of the washer 7 are inserted into the locking groove 9 to lock and fix the joint seat 4. At the same time, the fixed shaft 3 drives the positioning post 15 to move through the fixing plate 14. That is, the positioning post 15 is inserted into the positioning groove 16 to embed and position the fixed shaft 3. Then, the sliding plate 11 is slowly released. At this time, the spring 13 on the outside of the guide rod 21 squeezes and pushes the sliding plate 11. At the same time, the latch block 12 on one side of the sliding plate 11 locks and fixes the fixed ring 5.

[0024] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0025] Although the present invention 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 invention should be included within the protection scope of the present invention.

Claims

1. A modular quick-release wrist joint for a collaborative robot, comprising a robot arm (1), characterized in that: One end of the robotic arm (1) is hinged to a connecting arm (2), and one end of the connecting arm (2) is hinged to a joint seat (4) through a fixed shaft (3). One end of the fixed shaft (3) is fitted with a locking element for quick assembly and disassembly of the joint seat (4), and one end of the fixed shaft (3) is fitted with a locking element to prevent the locking element from rotating in the opposite direction.

2. The modular quick-release wrist joint for a collaborative robot according to claim 1, characterized in that: The locking component includes a fixing ring (5) fitted on the outside of the fixing shaft (3). The fixing ring (5) is rotatably connected to the gasket (7) through the connecting ring (6). Four fixing posts (8) arranged in a circle are fixedly connected on one side of the gasket (7), and four locking grooves (9) arranged in a circle are opened on the other side of the connecting arm (2).

3. A modular quick-release wrist joint for a collaborative robot according to claim 2, characterized in that: The locking component includes a fixing groove (10) opened at one end of the fixing shaft (3), a sliding plate (11) is slidably connected to the inside of the fixing groove (10), a buckle block (12) is integrally formed on one side of the sliding plate (11), and a spring (13) is fixedly connected between the fixing groove (10) and the sliding plate (11).

4. A modular quick-release wrist joint for a collaborative robot according to claim 3, characterized in that: A fixing plate (14) is welded to the other end of the fixing shaft (3). Four positioning posts (15) arranged in a circle are welded to one side of the fixing plate (14), and four positioning grooves (16) arranged in a circle are opened on the other side of the connecting arm (2).

5. A modular quick-release wrist joint for a collaborative robot according to claim 4, characterized in that: The fixed shaft (3) is rotatably connected to a rotating ring (17) on its outer side. The rotating ring (17) has a plurality of circumferentially arranged positioning strips (18) on its outer side. The joint seat (4) has a notch (19) on its inner side.

6. A modular quick-release wrist joint for a collaborative robot according to claim 5, characterized in that: Four fixing strips (20) arranged in a circle are welded on the outside of the fixing shaft (3) and on one side of the fixing plate (14), and the fixing strips (20) are embedded in the connecting arm (2).

7. A modular quick-release wrist joint for a collaborative robot according to claim 4, characterized in that: A guide rod (21) is fixedly installed inside the fixed groove (10), and the guide rod (21) passes through the sliding plate (11) and is slidably connected to it.

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