An easy-to-install robot joint structure

Abstract

This utility model relates to the field of robot joint technology and discloses a robot joint structure that is easy to install. It includes a joint motor installed at the end of the upper arm near the forearm. A mounting opening is provided at the end of the upper arm near the forearm, and the joint motor is located within the mounting opening. The output shaft of the joint motor is fixedly connected to a transmission rod, the other end of which passes through the upper arm and is fixedly connected to the forearm. A truncated cone is fixedly connected to the end of the joint motor near the transmission rod. The truncated cone has the same shape as the mounting opening and is slidably connected to it. This easy-to-install robot joint structure, by providing a truncated cone matching the shape of the mounting opening at the end of the joint motor near the transmission rod, and utilizing the inclined surface structure of the truncated cone to slide with the mounting opening, allows for automatic correction of positional deviations during installation via the inclined surface guide, achieving rapid alignment of the joint motor and the upper arm mounting opening without repeated manual adjustments.

Description

Technical Field

[0001] This utility model relates to the field of robot joint technology, specifically to a robot joint structure that is easy to install. Background Technology

[0002] Robot joints are key components for enabling robots to move flexibly, and their structural design determines the robot's degrees of freedom, range of motion, accuracy, and load capacity.

[0003] The patent with publication number CN222328249U discloses a robot joint structure, including a first adjustment mechanism, a second adjustment mechanism, and a wire connection mechanism. The first adjustment mechanism includes a connecting frame, a central shaft, an adjusting rod, a hydraulic rod, and a planetary gear. The central shaft is fixedly connected to the middle of the connecting frame, and the adjusting rod is rotatably connected to the middle of the central shaft. A hydraulic rod is rotatably arranged between the adjusting rod and the connecting frame. A planetary gear is rotatably connected inside the connecting frame. By setting planetary gears and toothed belts inside the connecting frame and the mechanical sleeve, the stability during rotation is increased. When the first stepping motor adjusts the rotation of the robotic arm, the hydraulic rod adjusts the extension and retraction length according to the swing of the adjusting rod, which facilitates secondary limiting of the adjusting rod and improves stability.

[0004] However, the aforementioned joint structure still has the following problems in actual use:

[0005] When installing traditional robot joints, components (such as links, shafts, and bearing housings) need to be manually adjusted to align with holes or shafts. However, the components such as motors and bearing housings at the joints of robotic arms are not large, which makes installation time-consuming and prone to errors leading to insufficient assembly accuracy. Utility Model Content

[0006] To address the shortcomings of existing technologies, this invention provides a robot joint structure that is easy to install, allowing for easier connection of the joint motor and transmission rod to the upper arm and forearm.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a robot joint structure that is easy to install, including a joint motor installed at one end of the upper arm near the lower arm. The upper arm near the lower arm has an installation port, the joint motor is located in the installation port, the output shaft of the joint motor is fixedly connected to a transmission rod, the other end of the transmission rod passes through the upper arm and is fixedly connected to the lower arm, and a truncated cone is fixedly connected at one end of the joint motor near the transmission rod. The truncated cone has the same shape as the installation port, and the truncated cone is slidably connected to the installation port.

[0008] Furthermore, a fixed flange is fixedly connected to the end of the upper arm near the lower arm, and a movable flange is fixedly connected to the end of the joint motor away from the transmission rod. The movable flange and the fixed flange are fastened together by bolts.

[0009] Furthermore, an outer tube sleeved on the outside of the transmission rod is fixedly connected to the end of the truncated cone away from the joint motor, and the outer tube is slidably connected to the mounting port.

[0010] Furthermore, the inner wall of the mounting port near the forearm end has several circular openings, and the inner walls of these circular openings are all connected with rolling balls, which are slidably connected to the outer tube.

[0011] Furthermore, the inner wall of the outer tube and the truncated cone are both interference-fitted with bearings, and the inner rings of both bearings are interference-fitted with the outer wall of the transmission rod.

[0012] Furthermore, the surface of the cone is provided with several liquid inlets, and a liquid filling port is provided on one side of the mounting port. The liquid filling port is connected to the liquid inlets, and a sealing plug is threaded onto the inner wall of the liquid filling port at one end of the outer side of the boom.

[0013] Furthermore, the two bearings are located on either side of the liquid inlet.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. This easy-to-install robot joint structure has a truncated cone that matches the shape of the mounting opening at one end of the joint motor near the transmission rod. The truncated cone slides with the mounting opening using its inclined structure. During installation, the inclined guide can automatically correct positional deviations, achieving quick alignment between the joint motor and the upper arm mounting opening without the need for repeated manual adjustments.

[0016] 2. This easy-to-install robot joint structure has a circular opening on the inner wall near the forearm end of the mounting port, with built-in ball bearings. The ball bearings slide in contact with the outer tube, further reducing the need for manual adjustment during installation, ensuring the coaxiality of the joint motor, transmission rod and upper arm, and improving installation accuracy.

[0017] 3. This easy-to-install robot joint structure has a liquid inlet on the surface of the truncated cone and a liquid filling port on the side of the mounting port. The two are connected to form a lubricating oil channel, and the liquid filling port is equipped with a threaded sealing plug. Maintenance can be completed without disassembling the joint structure, simplifying the lubrication process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall appearance of the present utility model;

[0019] Figure 2 This is a detailed connection diagram of the components of this utility model, including the boom, joint motor, and transmission rod.

[0020] Figure 3 This utility model Figure 2 Explosion diagrams of various components;

[0021] Figure 4 This is an exploded view of the components of this utility model, including the joint motor, the frustum of cones, and the bearings.

[0022] Figure 5 This is a front view of the upper arm joint of this utility model.

[0023] In the diagram: 1. Boom; 2. Arm; 3. Movable flange; 4. Sealing plug; 5. Joint motor; 6. Frustum; 7. Outer tube; 8. Bearing; 9. Drive rod; 10. Ball bearing; 11. Fixed flange; 101. Filling port; 102. Mounting port; 103. Round port; 601. Liquid inlet. Detailed Implementation

[0024] 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.

[0025] Please see Figures 1-5 A robot joint structure that is easy to install includes a joint motor 5 installed at one end of the upper arm 1 near the lower arm 2. The upper arm 1 near the lower arm 2 has a mounting port 102. The joint motor 5 is located in the mounting port 102. The output shaft of the joint motor 5 is fixedly connected to a transmission rod 9. The other end of the transmission rod 9 passes through the upper arm 1 and is fixedly connected to the lower arm 2. A truncated cone 6 is fixedly connected at one end of the joint motor 5 near the transmission rod 9. The truncated cone 6 has the same shape as the mounting port 102 and is slidably connected to the mounting port 102.

[0026] like Figures 1 to 5 As shown, the robot joint structure of this utility model is easy to install. During installation, simply align the joint motor 5, the truncated cone 6 and the transmission rod 9 with the mounting port 102 at the end of the upper arm 1 near the lower arm 2. Because of the inclined surface of the truncated cone 6, even if the size of the mounting port 102 is small, as long as the truncated cone 6 is roughly aligned with the opening of the mounting port 102, the truncated cone 6 can be inserted into the mounting port 102 to achieve quick alignment, which facilitates subsequent fixing and saves installation time.

[0027] It should be noted that the upper arm 1 and the lower arm 2 are mature technologies of existing robots, and the robot also includes a base, wrist and end effector (gripper), etc. In this utility model, only the disclosed patent structure is partially improved. Structures not mentioned, such as the base and end effector, are not modified in any way and retain their original functions and effects.

[0028] As a preferred embodiment of this utility model, a fixed flange 11 is fixedly connected to the end of the upper arm 1 near the lower arm 2, and a movable flange 3 is fixedly connected to the end of the joint motor 5 away from the transmission rod 9. The movable flange 3 and the fixed flange 11 are fastened together by bolts.

[0029] More specifically, by setting the movable flange 3 and the fixed flange 11, the connection stability between the articulated motor 5 and the boom 1 can be improved.

[0030] As a preferred embodiment of this utility model, the end of the truncated cone 6 away from the joint motor 5 is fixedly connected to an outer tube 7 sleeved outside the transmission rod 9, and the outer tube 7 is slidably connected to the mounting port 102.

[0031] More specifically, by setting the outer tube 7, the connection stability between the truncated cone 6 and the mounting port 102 near the forearm 2 can be improved.

[0032] As a preferred embodiment of this utility model, the inner wall of the mounting port 102 near the forearm 2 is provided with a plurality of circular openings 103, and the inner walls of the plurality of circular openings 103 are all rolled with balls 10, which are slidably connected to the outer tube 7.

[0033] More specifically, by setting the circular opening 103 and the ball bearing 10, when the outer tube 7 is inserted into the mounting opening 102, the ball bearing 10 can work together to quickly straighten the outer tube 7 and the truncated cone 6.

[0034] As a preferred embodiment of this utility model, the inner wall of the outer tube 7 and the truncated cone 6 are both interference-fitted with bearings 8, and the inner rings of the two bearings 8 are interference-fitted with the outer wall of the transmission rod 9.

[0035] More specifically, by setting bearing 8, the transmission rod 9 can be supported while reducing wear between the transmission rod 9 and the outer tube 7 and the truncated cone 6.

[0036] As a preferred embodiment of this utility model, the surface of the cone 6 is provided with a plurality of liquid inlets 601, and the side of the mounting port 102 is provided with a liquid filling port 101. The liquid filling port 101 is connected to the liquid inlets 601, and the inner wall of the liquid filling port 101 located at the outer end of the upper arm 1 is threaded with a sealing plug 4.

[0037] More specifically, by setting the inlet 601 and the filling port 101, lubricating oil can be added at regular intervals, thereby reducing the wear of the two bearings 8; in addition, by setting the sealing plug 4, lubricating oil can be prevented from flowing out when no oil is added.

[0038] It should be noted that the sealing plug 4 can be made of rubber or other materials, or multiple layers of PTFE tape can be wrapped around the end of the sealing plug 4 that is inserted into the liquid filling port 101 to improve the sealing effect. No specific limitation is made.

[0039] As a preferred embodiment of this utility model, the two bearings 8 are located on both sides of the liquid inlet 601.

[0040] More specifically, by placing the bearings 8 on both sides of the inlet 601, the first burst of lubricating oil can lubricate both bearings 8; in addition, it can reduce the probability of lubricating oil leakage.

[0041] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot joint structure that is easy to install, characterized in that: The device includes a joint motor (5) installed on the upper arm (1) near the lower arm (2). The upper arm (1) near the lower arm (2) has an installation port (102). The joint motor (5) is located inside the installation port (102). The output shaft of the joint motor (5) is fixedly connected to a transmission rod (9). The other end of the transmission rod (9) passes through the upper arm (1) and is fixedly connected to the lower arm (2). The joint motor (5) near the transmission rod (9) is fixedly connected to a truncated cone (6). The truncated cone (6) has the same shape as the installation port (102), and the truncated cone (6) is slidably connected to the installation port (102).

2. The robot joint structure for easy installation according to claim 1, characterized in that: The upper arm (1) is fixedly connected to a fixed flange (11) at one end near the lower arm (2), and the joint motor (5) is fixedly connected to a movable flange (3) at one end away from the transmission rod (9). The movable flange (3) and the fixed flange (11) are fastened together by bolts.

3. The robot joint structure for easy installation according to claim 2, characterized in that: The conical truncated cone (6) has an outer tube (7) fixedly connected to the end away from the joint motor (5), which is sleeved on the outside of the transmission rod (9). The outer tube (7) is slidably connected to the mounting port (102).

4. The robot joint structure for easy installation according to claim 3, characterized in that: The mounting port (102) has several round openings (103) on the inner wall near the forearm (2). The inner walls of the round openings (103) are all connected with rolling balls (10), and the rolling balls (10) are slidably connected to the outer tube (7).

5. The robot joint structure for easy installation according to claim 4, characterized in that: The inner wall of the outer tube (7) and the truncated cone (6) are both fitted with bearings (8), and the inner rings of the two bearings (8) are fitted with the outer wall of the transmission rod (9).

6. The robot joint structure for easy installation according to claim 5, characterized in that: The surface of the truncated cone (6) is provided with several liquid inlets (601), and a liquid filling port (101) is provided on one side of the mounting port (102). The liquid filling port (101) is connected to the liquid inlet (601), and a sealing plug (4) is threaded on the inner wall of the liquid filling port (101) at the outer end of the upper arm (1).

7. The robot joint structure for easy installation according to claim 6, characterized in that: The two bearings (8) are located on both sides of the liquid inlet (601).

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