Quick-release joint structure of 6-axis robot

Abstract

The utility model discloses a quick detachable joint structure of 6 axle robot, including joint no.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a quick-release joint structure for a 6-axis robot. Background Technology

[0002] Six-axis robots are core equipment in the field of industrial automation. With six degrees of freedom joints, they can achieve precise control of any position and posture in space. They are widely used in automobile manufacturing, electronic product assembly, welding, painting, handling and other processes. Their flexible motion capabilities and high-precision positioning characteristics enable them to complete complex three-dimensional spatial operations.

[0003] In existing technologies, traditional robot joints are fastened with bolts during installation, requiring the tightening of multiple sets of bolts one by one (usually 6-12 M4-M6 bolts are needed at the joint). The installation and removal of a single bolt takes about 30-60 seconds and relies on special tools such as torque wrenches, resulting in a total installation and removal time of 10-15 minutes for a single joint. This cumbersome assembly process not only increases the intensity of manual operation but also extends the downtime of the production line, directly affecting the continuity of production. Utility Model Content

[0004] The purpose of this invention is to provide a quick-release joint structure for a 6-axis robot, so as to solve the problems mentioned in the background art, such as the low efficiency of bolt fastening and disassembly of traditional robot joints and their reliance on tools.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a quick-release joint structure for a 6-axis robot, comprising joint one and joint two. A concave cavity is formed on the connecting surface of joint one. A protrusion is integrally fixedly connected to the connecting surface of joint two. The protrusion is detachably installed within the concave cavity. A positioning groove is formed on the inner wall of the concave cavity. A convex rail adapted to the positioning groove is integrally fixedly connected to the outer wall of the protrusion. The positioning groove and the convex rail are slidably connected. A positioning rod is fixedly connected within the concave cavity. A positioning hole is formed within the protrusion. The positioning rod is inserted into the positioning hole. A first biting tooth is integrally formed on the outer wall of the positioning rod. A second biting tooth adapted to the first biting tooth is integrally formed on the inner wall of the positioning hole. The first biting tooth and the second biting tooth engage with each other. A locking mechanism is provided on both joint one and joint two, and joint one and joint two are fixed by the locking mechanism.

[0006] According to the preferred embodiment of this technical solution, the locking mechanism includes a base one fixedly connected to joint one, a base two fixedly connected to joint two, a support plate fixedly connected to one side wall of the base, a rotating shaft rotatably connected to the support plate, a transmission rod fixedly connected to the outer wall of the rotating shaft, and a locking rod fixedly connected to one end of the transmission rod. The side wall of base two is provided with a locking hole adapted to the locking rod, and the locking rod rotates into the locking hole through the transmission rod.

[0007] In the preferred embodiment of this technical solution, a bracket is fixedly connected to the side wall of the base, a worm is rotatably connected to the bracket, a knob is fixedly connected to one end of the worm, a worm wheel is fixedly connected to the outer wall of the rotating shaft, and the worm and the worm wheel are meshed together.

[0008] Based on the preferred embodiment of this technical solution, the locking mechanism includes a mounting seat one fixedly connected to joint one, a mounting seat two fixedly connected to joint two, a U-shaped frame fixedly connected to the upper end of mounting seat one, a bidirectional lead screw rotatably connected to the U-shaped frame, a knob two fixedly connected to one end of the bidirectional lead screw, a clamping rod threadedly connected to the bidirectional lead screw, and a locking shaft fixedly connected to the clamping rod. The side wall of mounting seat two is provided with an insertion hole adapted to the locking shaft, and the locking shaft is inserted into the insertion hole.

[0009] In the preferred embodiment of this technical solution, a guide shaft is fixedly connected to the U-shaped frame, and the outer wall of the guide shaft is slidably connected to the clamping rod.

[0010] In the preferred embodiment of this technical solution, a magnet is embedded in the contact surface between the locking rod and the locking hole, and a magnet is also embedded in the contact surface between the locking shaft and the insertion hole. The locking rod and the locking hole are magnetically connected, and the locking shaft and the insertion hole are magnetically connected.

[0011] In the preferred embodiment of this technical solution, the contact surface between the concave cavity and the protrusion is provided with an annular sealing groove, and a compressible sealing ring is embedded in the sealing groove. The sealing ring is deformed under pressure when joint one and joint two are locked.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] 1. Through the sliding guide of the convex rail and the positioning groove, and the automatic engagement design of the positioning rod and the positioning hole, the assembly time is shortened compared with the traditional bolt connection, and the operation can be completed without tools;

[0014] 2. The mechanical interlocking structure of the meshing teeth (nitriding treatment) can withstand high axial loads. The worm gear self-locking or bidirectional screw rigid clamping is combined with magnetic attraction. The double anti-loosening design ensures that the joint remains stable under vibration conditions. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the first structure of one embodiment of the quick-release joint structure of a 6-axis robot according to the present invention.

[0016] Figure 2 This is a second structural schematic diagram of one embodiment of the quick-release joint structure of a 6-axis robot according to the present invention;

[0017] Figure 3 This is a first structural schematic diagram of the locking mechanism of this utility model;

[0018] Figure 4This is a second structural schematic diagram of a first embodiment of the locking mechanism of this utility model;

[0019] Figure 5 This is a schematic diagram of the second embodiment of the locking mechanism of this utility model.

[0020] In the diagram: 1. Joint 1; 2. Joint 2; 3. Cavity; 4. Protrusion; 5. Positioning groove; 6. Protruding rail; 7. Positioning rod; 8. Positioning hole; 9. Engaging tooth 1; 10. Engaging tooth 2; 11. Base 1; 12. Base 2; 13. Support plate; 14. Rotating shaft; 15. Transmission rod; 16. Locking rod; 17. Locking hole; 18. Bracket; 19. Worm gear; 20. Knob 1; 21. Worm wheel; 22. Mounting seat 1; 23. Mounting seat 2; 24. U-shaped frame; 25. Two-way lead screw; 26. Knob 2; 27. Clamping rod; 28. Locking shaft; 29. ​​Insertion hole; 30. Guide shaft. Detailed Implementation

[0021] 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.

[0022] Please see Figures 1-5This utility model provides a quick-release joint structure for a 6-axis robot, including joint 1 and joint 2. Joint 1 has a cavity 3 on its connecting surface. Joint 2 has a protrusion 4 integrally fixedly connected to its connecting surface. The protrusion 4 is detachably installed in the cavity 3. The inner wall of the cavity 3 has a positioning groove 5. The outer wall of the protrusion 4 is integrally fixedly connected to a convex rail 6 that matches the positioning groove 5. The positioning groove 5 and the convex rail 6 are slidably connected. A positioning rod 7 is fixedly connected inside the cavity 3. The protrusion 4 has a positioning hole 8, and the positioning rod 7 is inserted into the positioning hole 8. The inner wall of the positioning hole 8 is integrally equipped with a first biting tooth 9, and the inner wall of the positioning hole 8 is integrally equipped with a second biting tooth 10 that matches the first biting tooth 9. The first biting tooth 9 and the second biting tooth 10 engage with each other. The first joint 1 and the second joint 2 are jointly provided with a locking mechanism, and the first joint 1 and the second joint 2 are fixed by the locking mechanism. The concave cavity 3 and the protrusion 4 form a clearance fit (fitting clearance 0.05-0.1mm). The positioning groove 5 opened in the inner wall of the concave cavity 3 is formed by wire cutting process to ensure the sliding accuracy with the convex rail 6. The bottom of the positioning groove 5 is provided with a chamfer to guide the convex rail 6 to quickly align and insert. To shorten assembly time, the positioning rod 7 is welded to the bottom of the cavity 3. Its outer wall features interlocking teeth 9 (teeth-shaped triangles) formed by cold extrusion. When the protrusion 4 is inserted, interlocking teeth 9 and interlocking teeth 10 in the positioning hole 8 form a mechanical interlock, bearing axial load and preventing joint loosening. The protrusion 4 is formed by integral forging. The protrusion rail 6, integrally fixed to the outer wall of the protrusion 4, is precision ground to form a sliding guide with the positioning groove 5. The positioning hole 8 is machined using a drilling-reaming composite process. Its inner wall features interlocking teeth 10 (teeth-shaped triangles) that interlock with interlocking teeth 9. (9-pairing) Formed by rolling process, the tooth surfaces of the first biting tooth 9 and the second biting tooth 10 are nitrided, which improves wear resistance by 3 times. The locking mechanism locks the contact surfaces of the first joint 1 and the second joint 2 to prevent loosening. During disassembly, the second joint 2 is rotated to make the convex rail 6 slide out of the positioning groove 5, and at the same time the first biting tooth 9 and the second biting tooth 10 are separated. During assembly, the convex block 4 is aligned with the concave cavity 3, the convex rail 6 slides into the positioning groove 5, the positioning rod 7 is inserted into the positioning hole 8, the biting teeth automatically mesh, and the locking mechanism is used to complete the fixation, thereby greatly reducing the disassembly and assembly time and improving the efficiency compared with traditional bolt connection.

[0023] Example 1: Please refer to Figures 3-4A further embodiment of this solution is as follows: The locking mechanism includes a base 11 fixedly connected to joint 1, a base 2 12 fixedly connected to joint 2, a support plate 13 fixedly connected to the side wall of base 11, a rotating shaft 14 rotatably connected to the support plate 13, a transmission rod 15 fixedly connected to the outer wall of the rotating shaft 14, and a locking rod 16 fixedly connected to one end of the transmission rod 15. The side wall of base 2 12 is provided with a locking hole 17 adapted to the locking rod 16. The locking rod 16 rotates into the locking hole 17 through the transmission rod 15. Base 11 and base 2 12 are respectively fixed to the connecting surfaces of joint 1 and joint 2 by bolts. The material is aluminum alloy, and the surface is anodized to improve corrosion resistance. The support plate 13 is vertically welded to the side wall of base 11, and a mounting hole for the rotating shaft 14 is provided on it. The rotating shaft 14 is rotatably connected through a deep groove ball bearing to ensure rotational flexibility.

[0024] Please see Figures 3-4 A further solution based on this embodiment is as follows: A bracket 18 is fixedly connected to the side wall of the base 11, and a worm gear 19 is rotatably connected to the bracket 18. A knob 20 is fixedly connected to one end of the worm gear 19, and a worm wheel 21 is fixedly connected to the outer wall of the rotating shaft 14. The worm gear 19 and the worm wheel 21 are meshed together. The worm gear 19 is rotatably connected to the base 11 through the bracket 18, and a knob 20 (with knurled surface treatment) is fixed to one end of the worm gear 19. The worm wheel 21 is fixed to the rotating shaft 14 through a key connection, forming a 90° perpendicular meshing transmission with the worm gear 19. When the knob 20 is rotated, the worm gear 19 drives the worm wheel 21 to rotate, causing the transmission rod 15 to swing around the center of the rotating shaft 14 (swing angle ±15°), so that the locking rod 16 (diameter 6mm) is inserted into or withdrawn from the locking hole 17 of the base 12. The self-locking characteristics of the worm wheel 21 and the worm gear 19 (self-locking angle ≤4°) prevent the locking rod 16 from accidentally withdrawing, ensuring the reliability of the connection.

[0025] Example 2: Please refer to Figure 5A further embodiment of this solution is as follows: The locking mechanism includes a mounting base 22 fixedly connected to joint 1, a mounting base 23 fixedly connected to joint 2, a U-shaped frame 24 fixedly connected to the upper end of mounting base 22, a bidirectional lead screw 25 rotatably connected to the U-shaped frame 24, a knob 26 fixedly connected to one end of the bidirectional lead screw 25, a clamping rod 27 threadedly connected to the bidirectional lead screw 25, and a locking shaft 28 fixedly connected to the clamping rod 27. The side wall of mounting base 23 has an insertion hole 29 adapted to the locking shaft 28, and the locking shaft 28 is inserted into the insertion hole 29. Mounting base 1 22 and mounting base 23 are respectively fixed to the joint 1 by bolts. The connecting surfaces of joint 1 and joint 2 are made of 45 steel. The U-shaped frame 24 is fixed to the upper end of the mounting base 22 by welding. The two side walls of the frame have mounting holes for the double-acting screw 25. The double-acting screw 25 is rotatably connected by angular contact ball bearings to bear the axial load. The two ends of the double-acting screw 25 are provided with left-hand and right-hand threads. The screw 25 is driven to rotate by the knob 26 (with anti-slip texture on the surface). The clamping rod 27 (made of stainless steel) is engaged with the double-acting screw 25 through a trapezoidal thread. When the knob 26 is rotated, the double-acting screw 25 drives the two clamping rods 27 to move in opposite directions, thereby driving the locking shaft 28 to insert or withdraw from the insertion hole 29 of the mounting base 23 to achieve the fixing effect.

[0026] Please see Figure 5 A further solution based on this embodiment is as follows: a guide shaft 30 is fixedly connected to the U-shaped frame 24, the outer wall of the guide shaft 30 is slidably connected to the clamping rod 27, and the guide shaft 30 is slidably connected to the clamping rod 27 through a linear bearing, constraining the clamping rod 27 to retain only the horizontal degree of freedom, thereby ensuring the stability of the clamping rod 27 when it moves.

[0027] Please see Figures 3-5 A further solution based on this embodiment is as follows: a magnet is embedded in the contact surface between the locking rod 16 and the locking hole 17, and a magnet is also embedded in the contact surface between the locking shaft 28 and the insertion hole 29. The locking rod 16 and the locking hole 17 are magnetically connected, and the locking shaft 28 and the insertion hole 29 are magnetically connected. A neodymium iron boron magnet is embedded at the end of the locking rod 16, and a ferromagnetic bushing is embedded at the corresponding position on the inner wall of the locking hole 17. When the locking rod 16 approaches the locking hole 17, the magnetic attraction guides the two to be precisely aligned, shortening the assembly time. The surface of the magnet is nickel-plated to prevent oxidation failure. A neodymium iron boron magnet is embedded at the end of the locking shaft 28, and a ferromagnetic bushing is embedded on the inner wall of the insertion hole 29. When the locking shaft 28 is inserted into the insertion hole 29, the magnetic attraction enhances the connection strength and prevents vibration and loosening.

[0028] Please see Figures 1-2A further solution based on this embodiment is as follows: the contact surface between the concave cavity 3 and the protrusion 4 is provided with an annular sealing groove, and a compressible sealing ring is embedded in the sealing groove. The sealing ring is deformed under pressure when the joint 1 and the joint 2 are locked. A silicone rubber sealing ring is embedded in the annular sealing groove. When the joint 1 and the joint 2 are locked, the sealing ring is deformed under pressure to form a radial seal, preventing foreign objects such as dust and cutting fluid from entering the joint.

[0029] Working principle: First, align the protrusion 4 of joint 2 with the cavity 3 of joint 1. The convex rail 6, which is precision ground on the outer wall of the protrusion 4, slides into the positioning groove 5 formed by wire cutting on the inner wall of the cavity 3. The chamfered design at the bottom of the positioning groove 5 can guide the convex rail 6 to quickly align. At the same time, the positioning rod 7 welded to the bottom of the cavity 3 is inserted into the positioning hole 8, which is processed by drilling-reaming composite process in the protrusion 4. The triangular tooth-shaped biting tooth 9, which is cold extruded on the outer wall of the positioning rod 7, automatically meshes with the matching biting tooth 10, which is rolled on the inner wall of the positioning hole 8. After the tooth surface is nitrided, the wear resistance is increased by 3 times, forming a mechanical interlock to withstand axial load.

[0030] The locking mechanism adopts the scheme of Embodiment 1. The knob 20 with knurling on the bracket 18 of the rotating base 11 drives the worm gear 19 to rotate the worm wheel 21, causing the transmission rod 15 to swing around the rotating shaft 14 (connected by a deep groove ball bearing). The locking rod 16 is inserted into the locking hole 17 of the base 22. The self-locking characteristics of the worm wheel 21 and worm gear 19 (self-locking angle ≤ 4°) prevent accidental withdrawal. At the same time, the neodymium iron boron magnet at the end of the locking rod 16 generates magnetic attraction with the ferromagnetic bushing in the locking hole 17, guiding precise alignment and enhancing the connection.

[0031] The locking mechanism adopts the scheme of Embodiment 2. The knob 26 with anti-slip texture on the rotating mounting base 22 drives the bidirectional lead screw 25 (connected by angular contact ball bearing) to rotate, so that the two clamping rods 27 move towards each other along the guide shaft 30 (the horizontal degree of freedom is constrained by linear bearing), which drives the locking shaft 28 to be inserted into the insertion hole 29 of the mounting base 23. The neodymium iron boron magnet at the end of the locking shaft 28 is magnetically connected to the ferromagnetic bushing in the insertion hole 29.

[0032] Finally, the contact surfaces of joint 1 and joint 2 press the silicone rubber sealing ring in the annular sealing groove inside the concave cavity 3, causing it to deform under pressure and form a radial seal. When disassembling, rotate knob 20 or knob 26 in the opposite direction to make locking rod 16 exit the locking hole 17 or locking shaft 28 exit the insertion hole 29. At the same time, engagement tooth 9 and engagement tooth 10 separate, and the convex rail 6 slides out of the positioning groove 5 to complete the separation.

[0033] 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 quick-release joint structure for a 6-axis robot, comprising joint one (1) and joint two (2); characterized in that: The connecting surface of joint 1 (1) has a cavity (3), and the connecting surface of joint 2 (2) is integrally fixedly connected with a protrusion (4). The protrusion (4) is detachably installed in the cavity (3). The inner wall of the cavity (3) has a positioning groove (5). The outer wall of the protrusion (4) is integrally fixedly connected with a convex rail (6) that matches the positioning groove (5). The positioning groove (5) and the convex rail (6) are slidably connected. The cavity (3) has a fixedly connected positioning rod (7). The protrusion (4) has a positioning hole (8). The positioning rod (7) is inserted into the positioning hole (8). The outer wall of the positioning rod (7) is integrally provided with a first biting tooth (9). The inner wall of the positioning hole (8) is integrally provided with a second biting tooth (10) that matches the first biting tooth (9). The first biting tooth (9) and the second biting tooth (10) bite each other. The joint 1 (1) and the joint 2 (2) are both provided with a locking mechanism. The joint 1 (1) and the joint 2 (2) are fixed by the locking mechanism.

2. The quick-release joint structure of a 6-axis robot according to claim 1, characterized in that: The locking mechanism includes a base one (11) fixedly connected to joint one (1), a base two (12) fixedly connected to joint two (2), a support plate (13) fixedly connected to the side wall of base one (11), a rotating shaft (14) rotatably connected to the support plate (13), a transmission rod (15) fixedly connected to the outer wall of the rotating shaft (14), and a locking rod (16) fixedly connected to one end of the transmission rod (15). The side wall of base two (12) is provided with a locking hole (17) that is adapted to the locking rod (16). The locking rod (16) rotates into the locking hole (17) through the transmission rod (15).

3. The quick-release joint structure of a 6-axis robot according to claim 2, characterized in that: A bracket (18) is fixedly connected to the side wall of the base (11), a worm (19) is rotatably connected to the bracket (18), a knob (20) is fixedly connected to one end of the worm (19), a worm wheel (21) is fixedly connected to the outer wall of the rotating shaft (14), and the worm (19) and the worm wheel (21) are meshed together.

4. The quick-release joint structure of a 6-axis robot according to claim 1, characterized in that: The locking mechanism includes a mounting seat 1 (22) fixedly connected to joint 1 (1), a mounting seat 2 (23) fixedly connected to joint 2 (2), a U-shaped frame (24) fixedly connected to the upper end of mounting seat 1 (22), a double-acting screw (25) rotatably connected to the U-shaped frame (24), a knob 2 (26) fixedly connected to one end of the double-acting screw (25), a clamping rod (27) threadedly connected to the double-acting screw (25), and a locking shaft (28) fixedly connected to the clamping rod (27). The side wall of mounting seat 2 (23) is provided with a socket (29) adapted to the locking shaft (28), and the locking shaft (28) is inserted into the socket (29).

5. The quick-release joint structure of a 6-axis robot according to claim 4, characterized in that: A guide shaft (30) is fixedly connected to the U-shaped frame (24), and the outer wall of the guide shaft (30) is slidably connected to the clamping rod (27).

6. A quick-release joint structure for a 6-axis robot according to claim 2 or 4, characterized in that: A magnet is embedded in the contact surface between the locking rod (16) and the locking hole (17), and a magnet is also embedded in the contact surface between the locking shaft (28) and the insertion hole (29). The locking rod (16) and the locking hole (17) are magnetically connected, and the locking shaft (28) and the insertion hole (29) are magnetically connected.

7. The quick-release joint structure of a 6-axis robot according to claim 1, characterized in that: The contact surface between the concave cavity (3) and the protrusion (4) is provided with an annular sealing groove. A compressible sealing ring is embedded in the sealing groove. The sealing ring is deformed under pressure when the joint one (1) and the joint two (2) are locked.

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