CN109227594A - A kind of snap ring-type robot connection component - Google Patents
A kind of snap ring-type robot connection component Download PDFInfo
- Publication number
- CN109227594A CN109227594A CN201811095591.XA CN201811095591A CN109227594A CN 109227594 A CN109227594 A CN 109227594A CN 201811095591 A CN201811095591 A CN 201811095591A CN 109227594 A CN109227594 A CN 109227594A
- Authority
- CN
- China
- Prior art keywords
- joint
- connection
- snap ring
- boss
- ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention discloses a kind of snap ring-type robot connection components, including the first joint, second joint, snap ring, positioning pin and screw.First joint and the connecting pin of second joint are equipped with location hole and connection boss；Snap ring is the endless member with a notch on the whole, is set in indentation, there there are two boss is locked, snap ring inner surface is equipped with connection card slot.First joint and the connecting pin of second joint are interarticular circumferentially positioned by two positioning pins realizations, then realize that interarticular locking can realize the connection between joint of robot using snap ring and screw.Quick, the reliable and high-precision connection between joint of robot need to only can be realized in the present invention by two positioning pins, snap ring and screw, therefore can be very good to meet the requirement that fast assembling-disassembling is needed between joint of robot.The present invention also has the advantages that structure is simple and convenient to operate, is easy to implement.
Description
Technical field
The present invention relates to robot field more particularly to a kind of snap ring-type robot connection components.
Background technique
In existing joint of robot interconnection technique, the connection between joint of robot and joint usually uses screw
Circumferentially fixed connection.This just needs to be equipped with connecting flange at joint of robot, however since the presence of flange will seriously affect
The appearance of robot；Another way is the inside that joint of robot is arranged in connecting flange, but this will lead to dismounting not side again
Just.
In this connection type by uniformly distributed screw, it will usually guarantee the intensity of connection using more screw.
Multiple screws are all disassembled again in disassembly, were being dismounted by the pretightning force for therefore needing to consider each screw during installation
It requires to expend a great deal of time in journey.
With the development of the society, robot using more and more, the requirement to robot is also higher and higher.For example it requires
Robot energy fast assembling-disassembling, quickly reparation, restructural etc..Therefore, the prior art requires further improvement and perfect.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of simple snap ring-type robot connections of structure
Component.
The purpose of the invention is achieved by the following technical solution:
A kind of snap ring-type robot connection component, the connection component mainly include the snap ring that joint junction is arranged in, determine
Position pin, locking boss, screw, connection ring and connection boss.
Specifically, the connection ring is fixed on the end face in joint, outer diameter is less than joint outer diameter, and with joint one
It is body formed.The connection boss is arranged on the outer surface of connection ring, and radially protruding is in the outer surface of connection ring.The positioning pin
It is arranged on the end face of connection ring, is fixedly connected with connection ring.The end face of the connection ring is additionally provided with location hole, the location hole
Setting is equidistantly spaced with positioning pin.
Specifically, the snap ring is equipped with a notch, the locking boss is arranged in notch two sides, integrally sets with snap ring
Meter.One locking boss is equipped with the through-hole for connection, another locking boss is equipped with threaded hole.The screw is worn
It is fastenedly connected after crossing through-hole with threaded hole.The snap ring inner wall is additionally provided with the card slot for locking connection boss.The card slot
Groove width is not less than twice of connection ring width.The snap ring is set in the connection ring in joint, will connect boss lock by card slot
Tightly, the radial rotary that joint is limited by the cooperation of positioning pin and location hole, realizes the connection and fixation between joint.
As a preferred solution of the present invention, in order to improve the bonding strength between joint, make to connect between joint it is stronger,
The cross section of connection boss of the present invention uses ladder structure of right angle, and the face that bevel edge is constituted is set as the first inclined-plane.It is described
The two sides of card slot are inclined outwardly and are set as the second inclined-plane.Second inclined-plane compresses the first inclined-plane, realizes between joint
Positioning and locking.
As a preferred solution of the present invention, in order to further increase the connection effect between joint, of the present invention first
The tilt angle on inclined-plane and the second inclined-plane is consistent, and value range is between 15 degree to 60 degree.
As a preferred solution of the present invention, in order to limit moving radially between joint and rotate, positioning of the present invention
It sells consistent with the quantity of location hole, and 2 and interval setting is at least set.
As a preferred solution of the present invention, more attractive after connecting between joint in order to make, appearance profile is smoother, this hair
The consistency of thickness of height and snap ring of the bright connection ring apart from joint outer surface.
Further, closer in order to make to connect between joint, connection component of the present invention further includes reinforcing retaining ring lock
The reinforcing rib of tight effect.The cross section of the reinforcing rib is designed using right angled triangle, plane that one right-angle side is constituted with
It locks the boss back side to be integrally formed, the plane and snap ring lateral surface that another right-angle side is constituted are integrally formed.
Working process and principle of the invention are: in joint of robot connection, choosing the machine for needing to connect first
Then person joint is inserted into two positioning pins, is then sleeved on snap ring in the location hole of one of them joint connecting end surface
It is inserted at the connection boss of the joint of robot of positioning pin, then by the connecting end surface of another joint of robot and is inserted with positioning pin
The joint connecting end surface location hole that both docks and guarantee positioning pin insertion in, while guaranteeing that two joints connection boss are all located
It is the locking of two joint of robot to realize by snap ring locking at snap ring locking boss finally by screw in the card slot of snap ring
Connection between joint of robot.Execution need to only be started from afterwards by the sequence of installation when such as needing to carry out disassembly operation can be light
Complete disassembly.The present invention also has the advantages that structure is simple and convenient to operate, is easy to implement.
Compared with prior art, it also have the advantage that
(1) snap ring-type robot provided by the present invention connection component need to only use snap ring and screw can be by two bands
There is the joint of robot of corresponding connection boss to fix up, greatly simplifie structure, connects so as to reduce joint of robot
The cost of connected components improves the stability of structure.
(2) snap ring-type robot provided by the present invention connection component only need to can be by two machines by a screw
Person joint firmly connects, and joint of robot can be removed by unclamping screw, therefore robot may be implemented in the present invention
Quickly, it easily dismounts.
(3) snap ring-type robot provided by the present invention connection component due to joint junction design symmetry,
Various ways are combined between joint of robot, this also increases the adaptability of connection component to improve weighing for robot
Structure.
Detailed description of the invention
Fig. 1 is the overall structure diagram of snap ring-type robot provided by the present invention connection component.
Fig. 2 is the catenation principle schematic diagram of snap ring-type robot provided by the present invention connection component.
Fig. 3 is the partial structural diagram of snap ring-type robot provided by the present invention connection component.
Fig. 4 is the Snap ring structure schematic diagram of snap ring-type robot provided by the present invention connection component.
Label declaration in above-mentioned attached drawing:
The first joint 1-, 2- second joint, 3- snap ring, 4- positioning pin, 5- lock boss, 6- screw, 7- through-hole, 8- screw thread
Hole, 9- card slot, 10- location hole, 11- connection boss.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is described further.
Embodiment 1:
As shown in Figures 1 to 4, present embodiment discloses a kind of snap ring-type robot connection component, including the first joint 1,
Second joint 2, snap ring 3, positioning pin 4 and screw 6.First joint 1 and the connecting pin of second joint 2 be equipped with location hole 10 and
Connect boss 11；The snap ring 3 on the whole be the endless member with a notch, indentation, there set there are two lock boss 5,
There are through-hole 7 and threaded hole 8 at two locking boss 5.First joint 1 and the connecting end surface of second joint 2 are affixed；It is described fixed
Position pin 4 is fixed in joint end face location hole 10；The snap ring 3 is fixed in joint end face by screw 6 and connects boss 11.
Further, first joint 1 and the connecting pin of second joint 2 are equipped with connection boss 11, the section shape of boss
Shape is the right-angled trapezium in monocline face, entire to connect boss 11 in joint connecting end surface into circumferential distribution composition connection bulge loop.?
The connecting end surface in joint is set there are four equally distributed location hole 10.
Further, the snap ring 3 is the endless member with a notch on the whole, is set in indentation, there convex there are two locking
Platform 5, there is through-hole 7 and threaded hole 8 at two locking boss 5, and 3 inner surface of snap ring is equipped with connection card slot 9.The snap ring 3 has
There is a notch, there is a little gap between this notch.It is protruded outward in two locking boss 5 of indentation, there, one of boss is equipped with
Through-hole 7 and another boss are equipped with threaded hole 8.3 inner surface of snap ring is equipped with connection card slot 9, and the two sides of card slot 9 are oblique
Face.
Further, circumferentially positioned, institute is realized by positioning pin 4 and location hole 10 with second joint 2 in first joint 1
It states the card slot 9 in snap ring 3 and connect boss 11 with joint connecting end surface and realize interarticular locking with merga pass screw 6.
Embodiment 2:
As shown in Figures 1 to 4, present embodiment discloses a kind of snap ring-type robot connection component, including the first joint 1,
Second joint 2, snap ring 3, positioning pin 4 and screw 6.First joint 1 and the connecting pin of second joint 2 be equipped with location hole 10 and
Boss 11 is connected, first joint 1 and the connecting pin of second joint 2 are actually duplicate, special for the ease of statement
Divide into the first joint 1 and second joint 2.The snap ring 3 is on the whole the endless member with a notch, is equipped in indentation, there
Two locking boss 5 have through-hole 7 and threaded hole 8 at two locking boss 5.The company in first joint 1 and second joint 2
Contact surface is affixed, and the positioning pin 4 is fixed in joint end face location hole 10, and the snap ring 3 is fixed in joint end face by screw 6
Connect boss 11.
In the specific technical solution of the present invention, the connecting pin of first joint 1 and second joint 2 is equipped with connection boss
11, the cross sectional shape of connection boss 11 is the right-angled trapezium in monocline face, entire to connect boss 11 in joint connecting end surface into circumference
Shape distribution composition connection bulge loop.By using inclined design, the adaptivity that can use structure is realized between joint and snap ring 3
Automatic aligning.Round connecting interface is not only agreed with rounded knuckle to the full extent, while also utilizing circular adaptivity
Guarantee that snap ring 3 can adaptively can lock entire connection bulge loop in opening.There are four being set in the connecting end surface in joint
Equally distributed location hole 10 need to only select wherein opposite two that can realize that interarticular circumferential direction is fixed in actual use
Position.In view of there are four types of connection orientations between two joints of the invention, therefore design has four uniformly distributed location holes 10 can be according to reality
Border needs to select to use two of them.
In the specific technical solution of the present invention, the snap ring 3 is on the whole the endless member with a notch, in notch
Place is set there are two boss 5 is locked, and has through-hole 7 and threaded hole 8 at two locking boss 5, and 3 inner surface of snap ring is equipped with connection card
Slot 9.The snap ring 3 has a notch, has a little gap between this notch.Allow snap ring 3 one by the design of this notch
Determine to deform in degree, during installation first by 3 notch of snap ring toward between extending out so that snap ring 3 is sleeved on two joint connection boss 11,
It can be deformed inward again when locking so that snap ring 3 firmly locks two joints.Indentation, there two locking boss 5 toward evagination
Out, one of boss is equipped with through-hole 7 and another boss is equipped with threaded hole 8.3 inner surface of snap ring is equipped with connection card slot
9, the two sides of card slot 9 are inclined-plane, and the inclined-plane of card slot 9 just cooperates with 11 inclined-plane of connection boss of joint connecting pin.By adopting
The interarticular axial force of locking is converted by the radial force that screw 6 is supplied to snap ring 3 with inclined design.The locking boss 5 is set
There is threaded hole 8, can not only reduce the quantity of part, but also structure can be made more compact.
In the specific technical solution of the present invention, first joint 1 passes through positioning pin 4 and location hole with second joint 2
10 realizations are circumferentially positioned, and the card slot 9 in the snap ring 3 connect boss 11 with joint connecting end surface and realizes with merga pass screw 6
Interarticular locking.Interarticular connection can be realized by tightening a screw 6 by one, convenient and fast connection.
Referring to figs. 1 to Fig. 4, it should be further noted that a kind of snap ring-type robot connection component, including the first joint
1, second joint 2, snap ring 3, positioning pin 4 and screw 6.First joint 1 and the connecting pin of second joint 2 are equipped with location hole 10 and connect
Connect boss 11；Snap ring 3 is the endless member with a notch on the whole, is set in indentation, there there are two locking boss 5, in snap ring 3
Surface is equipped with connection card slot 9.Interarticular week is realized by two positioning pins 4 in first joint 1 and the connecting pin of second joint 2
To positioning, then realize that interarticular locking can realize the connection between joint of robot using snap ring 3 and screw 6.This hair
Bright need ensure that the connection of high-precision, high quality between joint of robot by two positioning pins 4, snap ring 3 and screw 6,
Therefore it can be very good to meet the requirement that fast assembling-disassembling is needed between joint of robot.
In actual work, which is mainly used in joint of robot.In joint of robot connection, select first
The joint of robot for needing to connect is selected, two positioning are then inserted into the location hole 10 of one of them joint connecting end surface
Snap ring 3 is then sleeved at the connection boss 11 for being inserted with the joint of robot of positioning pin 4 by pin 4, then another robot is closed
The connecting end surface of section docks with the joint connecting end surface for being inserted with positioning pin 4 and guarantees in the location hole 10 of the insertion the two of positioning pin 4,
Guarantee that two joint connection boss 11 all in the card slot 9 of snap ring 3, lock boss 5 in snap ring 3 finally by screw 6 simultaneously
The locking of snap ring 3 is the locking of two joint of robot to realize the connection between joint of robot by place.When such as needing to carry out disassembly operation
It need to only start to execute from afterwards by the sequence of installation and can be easily accomplished disassembly.
It should be further noted that in the technical scheme of this embodiment, due to the design symmetry of joint junction,
Therefore the cooperation between joint of robot is there are four types of mode, and this also increases the adaptability of connection component to improve robot
Reconfigurability is combined into the robot of various configuration and different freedom degrees by existing joint of robot.
In design, it should be noted that, 3 shape of snap ring used herein should not be limited to circle, other arcs are also
It is feasible, it is contemplated that the stress condition and compact type of joint of robot, the circle in embodiment is proper；At this
Such as first and second etc relational terms are intended merely to an entity or operation and another entity or behaviour in text
It distinguishes, without necessarily requiring or implying between these entities or operation, there are any this actual relationships or suitable
Sequence；The present invention is also not necessarily limited to joint of robot simultaneously, and the structure connection of other tubulose classes is also applicable.
It should be noted that embodiment shown in Fig. 1 to Fig. 4 is the preferred embodiment that the present invention is introduced, this
Field technical staff on this basis, can be designed that more embodiments completely.The foregoing description of the disclosed embodiments,
It enables those skilled in the art to implement or use the present invention.Profession of the various modifications to these embodiments to this field
It will be apparent for technical staff, the general principles defined herein can not depart from spirit or model of the invention
In the case where enclosing, realize in other embodiments.Therefore, the present invention will not be limited to the embodiments shown herein,
But the widest range consistent with principles disclosed herein and novel features.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (6)
1. a kind of snap ring-type robot connection component, which is characterized in that including be arranged in the snap ring of joint junction, positioning pin,
Lock boss, screw, connection ring and connection boss；
The connection ring is fixed on the end face in joint, and outer diameter is less than joint outer diameter, and is integrally formed with joint；It is described
Connection boss is arranged on the outer surface of connection ring, and radially protruding is in the outer surface of connection ring；The positioning pin setting is connecting
On the end face of ring, it is fixedly connected with connection ring；The end face of the connection ring is additionally provided with location hole, the location hole and positioning pin etc.
The setting of spacing interval；
The snap ring is equipped with a notch, and the locking boss setting is integrally designed in notch two sides with snap ring；One lock
Tight boss is equipped with the through-hole for connection, another locking boss is equipped with threaded hole；The screw pass through through-hole after with spiral shell
Pit is fastenedly connected；The snap ring inner wall is additionally provided with the card slot for locking connection boss；The groove width of the card slot is not less than two
Connection ring width again；The snap ring is set in the connection ring in joint, will be connected boss locking by card slot, and be passed through positioning pin
With the radial rotary in the cooperation limitation joint of location hole, the connection and fixation between joint are realized.
2. snap ring-type robot according to claim 1 connection component, which is characterized in that the cross section of the connection boss
Using ladder structure of right angle, the face that bevel edge is constituted is set as the first inclined-plane；The two sides of the card slot are inclined outwardly and are set as
Second inclined-plane；Second inclined-plane compresses the first inclined-plane, realizes positioning and locking between joint.
3. snap ring-type robot according to claim 2 connection component, which is characterized in that first inclined-plane and second is tiltedly
The tilt angle in face is consistent, and value range is between 15 degree to 60 degree.
4. snap ring-type robot according to claim 1 connection component, which is characterized in that the positioning pin and location hole
Quantity is consistent, and 2 and interval setting is at least arranged.
5. snap ring-type robot according to claim 1 connection component, which is characterized in that the connection ring is outside joint
The height on surface and the consistency of thickness of snap ring.
6. snap ring-type robot according to claim 1 connection component, which is characterized in that the connection component further includes adding
The cross section of the reinforcing rib of strong snap ring locking effect, the reinforcing rib is designed using right angled triangle, and one right-angle side is constituted
Plane and the locking boss back side be integrally formed, plane that another right-angle side is constituted and snap ring lateral surface are integrally formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811095591.XA CN109227594B (en) | 2018-09-19 | 2018-09-19 | Clasp formula robot coupling assembling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811095591.XA CN109227594B (en) | 2018-09-19 | 2018-09-19 | Clasp formula robot coupling assembling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109227594A true CN109227594A (en) | 2019-01-18 |
| CN109227594B CN109227594B (en) | 2023-10-03 |
Family
ID=65059265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811095591.XA Active CN109227594B (en) | 2018-09-19 | 2018-09-19 | Clasp formula robot coupling assembling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109227594B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561487A (en) * | 2019-09-07 | 2019-12-13 | 埃夫特智能装备股份有限公司 | Positive and negative thread quick connecting mechanism for robot joint |
| CN111568614A (en) * | 2020-05-22 | 2020-08-25 | 上海理工大学 | Modularized multi-degree-of-freedom upper limb prosthesis |
| CN112549069A (en) * | 2020-12-08 | 2021-03-26 | 广东博智林机器人有限公司 | Arm joint structure and arm |
| CN113397711A (en) * | 2021-06-16 | 2021-09-17 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm, penetrating device assembly, surgical robot system and control method |
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| US5556433A (en) * | 1994-12-01 | 1996-09-17 | Johnson & Johnson Professional, Inc. | Modular knee prosthesis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110561487A (en) * | 2019-09-07 | 2019-12-13 | 埃夫特智能装备股份有限公司 | Positive and negative thread quick connecting mechanism for robot joint |
| CN111568614A (en) * | 2020-05-22 | 2020-08-25 | 上海理工大学 | Modularized multi-degree-of-freedom upper limb prosthesis |
| CN112549069A (en) * | 2020-12-08 | 2021-03-26 | 广东博智林机器人有限公司 | Arm joint structure and arm |
| CN113397711A (en) * | 2021-06-16 | 2021-09-17 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm, penetrating device assembly, surgical robot system and control method |
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| Publication number | Publication date |
|---|---|
| CN109227594B (en) | 2023-10-03 |
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