CN111086021A

CN111086021A - Integrated robot joint

Info

Publication number: CN111086021A
Application number: CN201911307204.9A
Authority: CN
Inventors: 李勇; 许杰兴; 王太裕
Original assignee: Nanjing Hanxiyue Automation Technology Co Ltd
Current assignee: Zhejiang Tongsida Electric Technology Co ltd
Priority date: 2019-12-18
Filing date: 2019-12-18
Publication date: 2020-05-01
Anticipated expiration: 2039-12-18
Also published as: CN111086021B

Abstract

The invention discloses an integrated robot joint which comprises a shell, wherein the right end of the shell is in a concave arc shape, a circular hole groove is formed in the middle of a concave arc-shaped surface, an elastic rod is fixedly connected in the middle of the inner wall of the left side of the shell, the right end of the elastic rod is fixedly connected with a fixed plate, a first bearing is fixedly connected onto the fixed plate, a transmission rod is fixedly connected to the inner ring of the first bearing, a second rotating wheel is arranged on the transmission rod, and a case is arranged at the upper end of the shell; the automatic hydraulic telescopic rod is an automatic hydraulic telescopic rod and can automatically extend and retract according to requirements, so that the transmission rod can swing up and down in the sliding groove of the support frame, and the spherical joint and the connecting arm can swing in the vertical direction.

Description

Integrated robot joint

Technical Field

The invention relates to the technical field of robots, in particular to an integrated robot joint.

Background

Joints are the joints between bones, and the joints connected with bones can be divided into two types because of the different functions of the bones of each part of animals. A layer of thin smooth articular cartilage is arranged on the articular surface, and the two joints are elastic, so that the friction is reduced, and the impact and the vibration during the movement are buffered; a robot joint, also called a joint arm robot or a joint mechanical arm, is one of the most common forms of industrial robots in the current industrial field, and is suitable for mechanical automation operation in various industrial fields; for example, works such as automatic assembly, painting, transportation, welding, etc., which are classified differently according to their construction.

At present, the traditional robot joint is complex in structure and high in manufacturing cost, and the structure rotation between the joints is relatively independent and does not have an integration effect, so that an integrated robot joint is provided.

Disclosure of Invention

The present invention is directed to an integrated robot joint to solve the problems of the background art.

In order to achieve the purpose, the invention provides the following technical scheme:

an integrated robot joint comprises a shell, wherein the right end of the shell is in a concave arc shape, a circular hole groove is formed in the middle of a concave arc-shaped surface, an elastic rod is fixedly connected in the middle of the inner wall of the left side of the shell, a fixing plate is fixedly connected to the right end of the elastic rod, a first bearing is fixedly connected to the fixing plate, a transmission rod is fixedly connected to the inner ring of the first bearing, a second rotating wheel is arranged on the transmission rod, a case is arranged at the upper end of the shell, a first transmission shaft is arranged on the case, a first rotating wheel is arranged on the first transmission shaft and is rotatably connected with the first rotating wheel through a transmission belt, a telescopic rod is connected to the lower side of the transmission rod, which is close to the right side of the second rotating wheel, the lower side of the telescopic rod is fixedly connected to a base, the base is fixed to the inner wall of the lower, the right end of the spherical joint is fixedly connected with a connecting arm;

as a further scheme of the invention: the support frame comprises a bottom frame and a limiting frame, the limiting frame is fixedly connected to the bottom frame, sliding grooves are formed in two sides of the limiting frame, sliding blocks are arranged in the sliding grooves in the two sides, the two sliding blocks are connected to the outer ring of the second bearing, and the transmission rod penetrates through the inner ring of the second bearing and can move in the sliding grooves along with the second bearing;

as a further scheme of the invention: the machine box comprises a motor and a speed reducer, the motor is arranged on the left side of the machine box, a second transmission shaft is connected to the right side of the motor, the speed reducer is connected to the right end of the second transmission shaft, the right end of the speed reducer is connected to a first transmission shaft, when the motor rotates, the first transmission shaft is driven to rotate, the first transmission shaft drives a first rotating wheel to rotate, the first rotating wheel drives a second rotating wheel to rotate, and therefore the transmission rod is driven to rotate, the spherical joint and the connecting arm are driven to rotate, and the connecting arm is driven to rotate in the horizontal direction;

as a further scheme of the invention: the telescopic rod electric telescopic rod can automatically stretch and retract as required, so that the transmission rod can swing up and down in the sliding groove of the support frame, and the spherical joint and the connecting arm can swing in the vertical direction;

as a further scheme of the invention: the concave arc-shaped surface of the shell is provided with an elastic pad which is made of rubber materials and can prevent friction collision between the spherical joint and the shell;

as a further scheme of the invention: the elastic rod is replaced by a spring which is a plate spring.

Compared with the prior art, the invention has the following advantages:

1. the automatic hydraulic telescopic rod is an automatic hydraulic telescopic rod and can automatically extend and retract according to requirements, so that the transmission rod can swing up and down in a sliding groove of the support frame, and the spherical joint and the connecting arm can swing in the vertical direction, thereby achieving the purpose of integration;

2. the elastic pad is arranged on the concave arc-shaped surface of the shell and made of rubber materials, so that friction collision between the spherical joint and the shell can be prevented;

3. the limiting frame on the supporting frame can fix the transmission rod to swing within a certain range, so that collision caused by overlarge swing is avoided.

Drawings

FIG. 1 is a schematic structural diagram of an integrated robot joint;

FIG. 2 is a schematic structural diagram of a support frame in an integrated robot joint;

fig. 3 is a schematic structural diagram of a chassis in an integrated robot joint.

In the figure: 1. a housing; 2. an elastic rod; 3. a chassis; 4. a first drive shaft; 5. a transmission belt; 6. a first runner; 7. a second runner; 8. a hole groove; 9. an elastic pad; 10. a connecting arm; 11. a ball joint; 12. a transmission rod; 13. a support frame; 14. a telescopic rod; 15. a base; 16. a first bearing; 17. a fixing plate; 18. a chassis; 19. a second bearing; 20. a slider; 21. a limiting frame; 22. a chute; 23. a motor; 24. a second drive shaft; 25. and a speed reducer.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Example one

Referring to fig. 1-3, an integrated robot joint includes a housing 1, the right end of the housing 1 is a concave arc, a circular hole 8 is disposed in the middle of the concave arc, an elastic rod 2 is fixedly connected to the middle of the left inner wall of the housing 1, a fixing plate 17 is fixedly connected to the right end of the elastic rod 2, a first bearing 16 is fixedly connected to the fixing plate 17, a transmission rod 12 is fixedly connected to the inner ring of the first bearing 16, a second rotating wheel 7 is disposed on the transmission rod 12, a casing 3 is disposed at the upper end of the housing 1, a first transmission shaft 4 is disposed on the casing 3, a first rotating wheel 6 is disposed on the first transmission shaft 4, the first rotating wheel 6 is rotatably connected to the second rotating wheel through a transmission belt 5, a base 15 is fixed to the lower inner wall of the housing 1, a support frame 13 is disposed at the right end of the lower inner wall of the housing 1, the right end of the transmission rod 12, the right end of the spherical joint 11 is fixedly connected with a connecting arm 10; the support frame 13 comprises an underframe 18 and a limit frame 21, the limit frame 21 is fixedly connected to the underframe 18, sliding grooves 22 are formed in two sides of the limit frame 21, sliding blocks 20 are arranged in the sliding grooves 22 in the two sides, the two sliding blocks 20 are connected to an outer ring of the second bearing 19, and the transmission rod 12 penetrates through an inner ring of the second bearing 19 and can move in the sliding grooves 22 along with the second bearing 19; the chassis 3 comprises a motor 23 and a speed reducer 25, the motor 23 is arranged on the left side of the chassis 3, the right side of the motor 23 is connected with a second transmission shaft 24, the right end of the second transmission shaft 24 is connected with the speed reducer 25, the right end of the speed reducer 25 is connected to the first transmission shaft 4, when the motor 23 rotates, the first transmission shaft 4 is driven to rotate, the first transmission shaft 4 rotates to drive the first rotating wheel 6 to rotate, the first rotating wheel 6 drives the second rotating wheel to rotate, so that the transmission rod 12 is driven to rotate, the spherical joint 11 and the connecting arm 10 are driven to rotate, and the connecting arm 10 is driven to rotate in the horizontal direction;

example two: in this embodiment, the following technical solutions are added on the basis of the first embodiment:

the lower side of the right side, close to the second rotating wheel 7, of the transmission rod 12 is connected with an expansion rod 14, the lower side of the expansion rod 14 is fixedly connected to a base 15, the expansion rod 14 is an electric expansion rod and can automatically expand and contract as required, so that the transmission rod 12 can swing up and down in a sliding groove 22 of the support frame 13, and the spherical joint 11 and the connecting arm 10 can swing in the vertical direction;

example three: in this embodiment, the following technical solutions are added on the basis of the second embodiment:

an elastic pad 9 is arranged on the concave arc-shaped surface of the shell 1, the elastic pad 9 is fixedly adhered to the shell 1, and the elastic pad 9 is made of rubber materials and can prevent friction collision between the spherical joint 11 and the shell 1;

the working principle of the invention is as follows: according to the invention, when the motor 23 rotates, the first transmission shaft 4 is driven to rotate, the first transmission shaft 4 rotates to drive the first rotating wheel 6 to rotate, the first rotating wheel 6 drives the second rotating wheel to rotate, so that the transmission rod 12 is driven to rotate, the spherical joint 11 and the connecting arm 10 are driven to rotate, and the connecting arm 10 rotates in the horizontal direction, the telescopic rod 14 is an automatic hydraulic telescopic rod 14, and can automatically stretch and retract according to requirements, so that the transmission rod 12 swings up and down in the chute 22 of the support frame 13, and the spherical joint 11 and the connecting arm 10 swing in the vertical direction; an elastic pad 9 is arranged on the concave arc-shaped surface of the shell 1, and the elastic pad 9 is made of rubber materials and can prevent the friction collision between the spherical joint 11 and the shell 1; the limit frame 21 on the support frame 13 can fix the transmission rod 12 to swing within a certain range, so that collision caused by too large swing is avoided.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. An integrated robot joint comprises a shell (1) and is characterized in that the right end of the shell (1) is in a concave arc shape, a circular hole groove (8) is formed in the middle of a concave arc-shaped surface, an elastic rod (2) is fixedly connected in the middle of the inner wall of the left side of the shell (1), a fixing plate (17) is fixedly connected to the right end of the elastic rod (2), a first bearing (16) is fixedly connected to the fixing plate (17), a transmission rod (12) is fixedly connected to the inner ring of the first bearing (16), a second rotating wheel (7) is arranged on the transmission rod (12), a case (3) is arranged at the upper end of the shell (1), a first transmission shaft (4) is arranged on the case (3), a first rotating wheel (6) is arranged on the first transmission shaft (4), the first rotating wheel (6) is rotatably connected with the second rotating wheel through a transmission belt (5), a support frame (13) is arranged, the right end of the transmission rod (12) penetrates through the support frame (13) and the hole groove (8) to be fixedly connected onto the spherical joint (11), and the right end of the spherical joint (11) is fixedly connected with the connecting arm (10).

2. The integrated robot joint as claimed in claim 1, wherein a warping mechanism for driving the outer end of the transmission rod (12) to rotate is arranged in the housing (1), the warping mechanism comprises a telescopic rod (14), the telescopic rod (14) is arranged on the lower right side of the transmission rod (12) close to the second rotating wheel (7) and is fixedly connected with the transmission rod (12), the lower side of the telescopic rod (14) is fixedly connected to the base (15), and the base (15) is fixed on the inner wall of the lower side of the housing (1).

3. The integrated robot joint according to claim 2, characterized in that the telescopic rod (14) is an electric telescopic rod (14).

4. The integrated robot joint according to claim 1, wherein the support frame (13) comprises a base frame (18) and a limiting frame (21), the limiting frame (21) is fixedly connected to the base frame (18), sliding grooves (22) are formed in two sides of the limiting frame (21), sliding blocks (20) are arranged in the sliding grooves (22) in the two sides, the two sliding blocks (20) are connected to an outer ring of the second bearing (19), and the transmission rod (12) penetrates through an inner ring of the second bearing (19).

5. The integrated robot joint according to claim 1, wherein a motor (23) and a speed reducer (25) are arranged in the case (3), the motor (23) is arranged on the left side of the case (3), the right side of the motor (23) is connected with a second transmission shaft (24), the right end of the second transmission shaft (24) is connected with the speed reducer (25), and the right end of the speed reducer (25) is connected to the first transmission shaft (4).

6. An integrated robot joint according to claim 1, characterized in that the drive belt (5) is an elastic drive belt.

7. The integrated robot joint according to claims 1-7, wherein the concave arc surface of the shell (1) is provided with an elastic pad (9), and the elastic pad (9) is made of rubber.

8. An integrated robot joint according to claim 8, characterized in that the elastic rod (2) is replaced by a spring.