CN112157674B

CN112157674B - Robot arm butt-joint structure

Info

Publication number: CN112157674B
Application number: CN202010859760.3A
Authority: CN
Inventors: 杨凯
Original assignee: Jinan Oprs Intelligent Equipment Co ltd
Current assignee: Jinan oprace Intelligent Equipment Co., Ltd
Priority date: 2020-08-24
Filing date: 2020-08-24
Publication date: 2021-12-03
Anticipated expiration: 2040-08-24
Also published as: CN112157674A

Abstract

The invention discloses a butt joint structure of a robot mechanical arm, which comprises a structure that the top end of a first connecting main body is clamped with the top end of a second connecting main body, a through hole is arranged on the outer wall surface of the second connecting main body in a penetrating mode, the inner wall of the through hole on the outer wall surface of the second connecting main body is connected with the outer portion of a moving block through a first torsion spring, and the top end of the moving block is connected with one side of a limiting block. This robot arm butt-joint structural is when using, the butt joint work between 2 arms of quick completion that can be convenient earlier stage, and after the butt joint is accomplished, can also accomplish firm installation work, it is very convenient when installing to make whole arm, can not consume a large amount of time, and when whole arm carries out the angle change, when it is rotatory, damping work can also be carried out, guarantee when the arm is working for a long time, it is too big can not appear shaking, cause the not hard up phenomenon of spare part to take place.

Description

Robot arm butt-joint structure

Technical Field

The invention relates to the technical field of robots, in particular to a butt joint structure of a mechanical arm of a robot.

Background

The robot is an intelligent machine capable of semi-automatically and fully automatically replacing manual labor, so that the labor expenditure of workers is reduced, and the production efficiency is conveniently improved;

1. the traditional robot mechanical arm is very troublesome to mount and dismount, generally, alignment work needs to be continuously carried out between the mechanical arms during mounting, and in order to ensure normal work of the mechanical arms, the clamping of the mechanical arm and an accumulation structure of the mechanical arms needs to be very firm, and in relatively tight mounting, labor is consumed during mounting of the mechanical arms, and the operation of butt joint is very complicated;

2. general robot arm when piling up and using it after accomplishing, the work of carrying out the shock attenuation that can not be fine to and after long-time use is accomplished, often can appear the position of arm butt joint and appear loosening easily, and can appear rustting seriously, the phenomenon that is difficult to carry out the rotation work of angle takes place.

We have proposed a robot arm docking structure so as to solve the problems set forth above.

Disclosure of Invention

The invention aims to provide a robot arm docking structure, which solves the problems that the existing robot arm docking structure in the market in the background art consumes labor force during installation, is troublesome to install and cannot absorb shock well during use.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a robot arm butt-joint structural, includes the top of first connecting body and the top looks block of second connecting body, and the outer wall surface of second connecting body runs through and is provided with the perforation, and the perforated inner wall on second connecting body outer wall surface is connected with the outside of movable block through first torsional spring to the top of movable block is connected with one side of stopper, the inside bearing of second stopper is connected with the screw thread post, and the outside threaded connection of screw thread post has the anchor strut, and the outside both sides position of anchor strut is connected with the second gag lever post, the top and the mutual block of spacing groove of gag lever post to the spacing inslot is inlayed in the inboard of movable block.

Preferably, the top of first connecting body sets up for convex structure, and the convex structure at first connecting body top and the mutual block of the concave structure at second connecting body top to unsmooth cooperation between first connecting body and the second connecting body is clearance fit.

Preferably, the two sides of the concave structure at the top end of the second connecting main body are symmetrically provided with limiting blocks, the limiting blocks and the threaded columns form a cross-shaped structure, and the threaded columns are in threaded connection with the reserved grooves in the reinforcing rods.

Preferably, the moving block has a moving structure on both sides of the concave structure at the top end of the second connecting body, a first limit rod is integrally mounted on the outside of the moving block, and the top end of the first limit rod is clamped in the transverse groove body.

Preferably, the bottom of the moving block is connected with the top end of the pulling rope, the pulling rope passes around the outside of the limiting wheel, the limiting wheel is integrally arranged outside the second connecting body, and the pulling rope is arranged inside a through hole penetrating through the middle of the second connecting body.

Preferably, the lateral cross section of the moving plate is arranged in an arc structure, the circumference of the arc structure of the moving plate is less than one half of the circumference of the reinforcing rod, and 2 groups of the moving plate are arranged outside the reinforcing rod.

Preferably, the movable plate is provided with 3, and is connected through rotation axis and swivel sleeve between the adjacent movable plate to be connected through the second torsional spring between rotation axis and the swivel sleeve, 3 movable plates are "Z" shape structure setting simultaneously, and the inclined to the outside the bottom of movable plate and anchor strut are installation as an organic whole, and the even distribution in top of the movable plate of inclined to the inboard has the block groove, and the inside and the mutual block of ball in block groove, with the ball outside for smooth surface.

Preferably, run through each other between vertical groove body and the horizontal groove body, and vertical groove body and horizontal groove body's size of a dimension the same to vertical groove body and horizontal groove body's inside and first gag lever post are transition fit's block mounting structure.

Compared with the prior art, the invention has the beneficial effects that: when the butt joint structure of the mechanical arm of the robot is used, the butt joint work among 2 mechanical arms can be conveniently and rapidly completed in the early stage, and after the butt joint is completed, the stable installation work can be completed, so that the whole mechanical arm is very convenient to install, a large amount of time can not be consumed, and when the angle of the whole mechanical arm is changed, the shock absorption work can be performed when the whole mechanical arm rotates, and the phenomenon that parts are loosened due to overlarge shock can not occur when the mechanical arm works for a long time;

1. when the moving block is pulled and the pull rope is matched, the other moving block on the second connecting main body can also move, when the 2 moving blocks on the second connecting main body move outwards, thereby, the inner sides of the 2 moving blocks are not contacted with the top end of the first connecting body, thereby, when no part is arranged on both sides of the first connecting body for limitation, the disassembly work between the first connecting body and the second connecting body can be flexibly completed, the above work is repeated at the same time, the clamping work between the first connecting main body and the second connecting main body can be flexibly completed, and after the clamping work between the first connecting main body and the second connecting main body is completed, the effect of clamping and fastening the second connecting body can be achieved by moving the moving plate to the inner side of the second connecting body, so that the whole mechanical arm is convenient to disassemble and assemble;

2. the anchor strut can move the work along with the rotation of screw thread post, when the anchor strut moved, just can make the outside movable plate of anchor strut pop out the inboard of movable block, the arc structure setting of cooperation movable plate, alright carry out the spacing effect of extrusion in order to reach the hole to first connection main part inside, and be connected through damping spring between movable plate and the movable plate, from this alright fine absorbing effect that reaches, the work of resetting of cooperation movable plate, the effect of block is installed to the first connection main part of concrete different mounting holes that also can be nimble reaches.

Drawings

FIG. 1 is a schematic cross-sectional view of a connection according to the present invention;

FIG. 2 is an enlarged view of the structure at A in FIG. 1 according to the present invention;

FIG. 3 is a schematic side view of the connection between the moving block and the moving plate according to the present invention;

FIG. 4 is a schematic diagram of a side view structure of the moving block and the second connection of the present invention;

FIG. 5 is a schematic top view of the movable plate of the present invention;

FIG. 6 is a schematic front view of a second connecting body according to the present invention;

FIG. 7 is a schematic top view of the movable plate and movable plate connection of the present invention;

FIG. 8 is a front view of the rotating shaft and the rotating sleeve of the present invention.

In the figure: 1. a first connecting body; 2. a second connecting body; 3. a limiting block; 4. a threaded post; 5. a moving block; 6. a reinforcing rod; 7. reserving a groove; 8. a limiting wheel; 9. pulling a rope; 10. a through hole; 11. moving the plate; 12. a first torsion spring; 13. a vertical trough body; 14. a transverse groove body; 15. a first limit rod; 16. a second torsion spring; 17. a limiting groove; 18. a second limiting rod; 19. a clamping groove; 20. a ball bearing; 21. a rotating shaft; 22. a rotating sleeve.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-8, the present invention provides a technical solution: a robot arm butt joint structure comprises a first connecting main body 1, a second connecting main body 2, a limiting block 3, a threaded column 4, a moving block 5, a reinforcing rod 6, a preformed groove 7, a limiting wheel 8, a pull rope 9, a through hole 10, a moving plate 11, a first torsion spring 12, a vertical groove body 13, a transverse groove body 14, a first limiting rod 15, a second torsion spring 16, a limiting groove 17, a second limiting rod 18, a clamping groove 19, a ball 20, a rotating shaft 21 and a rotating sleeve 22, wherein the top end of the first connecting main body 1 is clamped with the top end of the second connecting main body 2, a through hole is arranged on the outer wall surface of the second connecting main body 2 in a penetrating manner, the inner wall of the through hole on the outer wall surface of the second connecting main body 2 is connected with the outer portion of the moving block 5 through the first torsion spring 12, the top end of the moving block 5 is connected with one side of the limiting block 3, the inner side bearing of the limiting block 3 is connected with the threaded column 4, and the outer portion of the threaded column 4 is connected with the reinforcing rod 6 through threads, and the outside both sides position of reinforcing rod 6 is connected with second gag lever post 18, and the top and the spacing groove 17 of second gag lever post 18 block each other to spacing groove 17 inlays at the inboard of movable block 5.

The top of first connecting body 1 is the convex structure setting, and the convex structure on first connecting body 1 top and the mutual block of the concave structure on 2 tops of second connecting body to unsmooth cooperation between first connecting body 1 and the second connecting body 2 is clearance fit, conveniently carries out preliminary block spacing work to first connecting body 1 and second connecting body 2, reaches the effect of conveniently placeing.

The bilateral symmetry of 2 tops spill structures of second connecting body is provided with stopper 3, and stopper 3 and threaded post 4 constitute "ten" font structure setting to threaded post 4 is threaded connection with the preformed groove 7 of the inside of anchor strut 6, makes anchor strut 6 can remove in threaded post 4's outside, reaches to guarantee the stability of whole connection.

The movable block 5 is of a movable structure on two sides of a concave structure at the top end of the second connecting body 2, a first limiting rod 15 is integrally installed outside the movable block 5, the top end of the first limiting rod 15 is clamped inside the transverse groove 14, the bottom of the movable block 5 is connected with the top end of the pull rope 9, the pull rope 9 bypasses the outside of the limiting wheel 8, the limiting wheel 8 is integrally arranged outside the second connecting body 2, the pull rope 9 is arranged inside a through hole 10 penetrating through the middle of the second connecting body 2, the pull rope 9 on one side is conveniently moved by the movable block 5, and the pull rope 9 on the other side can drive the movable block 5 to move to the outside of the second connecting body 2.

The lateral view cross section of the moving plate 11 is arranged in an arc structure, the circumference of the arc structure of the moving plate 11 is less than one half of the circumference of the

reinforcing rod

6, 2 groups of the moving plate 11 are arranged outside the reinforcing

rod

6, 3 moving plates 11 are arranged, the adjacent moving plates 11 are connected through a rotating shaft 21 and a rotating sleeve 22, the rotating shaft 21 and the rotating sleeve 22 are connected through a second torsion spring 16, meanwhile, the 3 moving plates 11 are arranged in a Z-shaped structure, the bottom of the moving plate 11 on the outer side and the reinforcing rod 6 are integrally installed, clamping grooves 19 are uniformly distributed at the top end of the moving plate 11 on the inner side, the inside of each clamping groove 19 is clamped with the balls 20, the smooth surface is formed on the outer side of each ball 20, and the moving plate 11 on the inner side outside of the reinforcing rod 6 can be reset when the reinforcing rod 6 moves to the outside of the moving block 5, make the movable plate 11 can with the inside preformed hole of first connecting body 1 between extrude each other, the setting of the outside ball 20 of cooperation movable plate 11 alright reach and make things convenient for first connecting body 1 and second connecting body 2 to carry out the effect of angular rotation.

The vertical groove body 13 and the transverse groove body 14 are mutually penetrated, the vertical groove body 13 and the transverse groove body 14 are identical in size, the inside of the vertical groove body 13 and the transverse groove body 14 and the first limiting rod 15 are in a transition fit clamping installation structure, and the effect that the position of the moving block 5 is conveniently limited is achieved through the clamping relation between the first limiting rod 15 and the inside of the vertical groove body 13 and the transverse groove body 14.

The working principle of the embodiment is as follows: when the robot mechanical arm butt joint structure is used, firstly, a worker is required to pull the limiting block 3 on one side of the second connecting body 2 to the outside, so that the limiting block 3 can drive the moving block 5 on the top end of the limiting block 3 to move to the outside, when the moving block 5 moves to the outside, one side of the top end of the pull rope 9 at the bottom of the moving block can be pulled, so that the other side of the pull rope 9 is stressed and can move to the outside, when the pull rope 9 moves to the outside, the limiting block 3 on the other side of the whole second connecting body 2 can be driven to move to the outside, when the top end of the limiting block 3 on the whole second connecting body 2 moves to the inside of the through hole on the second connecting body 2, the first connecting body 1 and the second connecting body 2 can be clamped, and after the clamping is completed, only the worker releases the stress on the limiting block 3 on one side to work, so that the limiting block 3 can reset under the action of the first torsion spring 12 and reach the groove at the top end of the second connecting body 2 again to achieve the effect of extruding the two sides of the top end of the first connecting body 1, the limiting work on the first connecting body 1 is preliminarily completed, after the limiting is completed, the position of the first connecting body 1 needs to be fixed, when the limiting is completed, the worker only needs to rotate the threaded column 4 outside the limiting block 3, when the threaded column 4 rotates, the reinforcing rod 6 in external threaded connection can move back and forth under the action of the limiting groove 17 and the second limiting rod 18, and when the reinforcing rod 6 moves towards the outside, the moving plate 11 outside the reinforcing rod can be exposed out of the inner side of the moving block 5, since the rotating sleeve 22 at the top end of the moving plate 11 is of a rotating structure under the action of the second torsion spring 16, when the whole moving plate 11 is exposed out of the inner side of the moving block 5, the rotating sleeve can be automatically reset, so that the top end of the rotating sleeve is attached to the inner wall of the mounting hole in the middle of the first connecting main body 1, and therefore, the stability of the connection between the first connecting main body 1 and the second connecting main body 2 can be ensured, and then, a worker is required to rotate the limiting block 3, so that the limiting block 3 rotates to drive the first limiting rod 15 outside the limiting block to rotate, and when the first limiting rod 15 rotates, the first limiting rod 15 can move inside the transverse groove body 14, so that the first limiting rod 15 is limited inside the whole transverse groove body 14, and then, the connecting work between the whole first connecting main body 1 and the second connecting main body 2 can be completed only by fixing the position of the limiting block 3 under the action of an external fastening bolt, then, the telescopic cylinder can be installed outside the mechanical arm, so that the whole mechanical arm can normally operate;

when operating, because the even distribution in top of movable plate 11 has ball 20, when guaranteeing to take place rotation work each other between first connecting body 1 and the second connecting body 2, the phenomenon that the rotatory card is dunked can not appear taking place to also can guarantee that whole arm can not take place to rust seriously under the condition of long-time the use, influence the effect of arm normal rotation and take place, thereby accomplish a series of works.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a robot arm butt joint structure, includes first connecting body (1), second connecting body (2), spacing round (8), stay cord (9), through hole (10) and rotation axis (21), its characterized in that: the top end of the first connecting body (1) is clamped with the top end of the second connecting body (2), the outer wall surface of the second connecting body (2) is provided with a through hole in a penetrating mode, the inner wall of the through hole in the outer wall surface of the second connecting body (2) is connected with the outer portion of the moving block (5) through a first torsion spring (12), the top end of the moving block (5) is connected with one side of the limiting block (3), the inner side bearing of the limiting block (3) is connected with a threaded column (4), the outer thread of the threaded column (4) is connected with a reinforcing rod (6), the two outer side positions of the reinforcing rod (6) are connected with second limiting rods (18), the top ends of the second limiting rods (18) are clamped with limiting grooves (17), and the limiting grooves (17) are embedded in the inner side of the moving block (5);

the side-view cross section of the moving plate (11) is arranged in an arc structure, the circumference of the arc structure of the moving plate (11) is smaller than one half of the circumference of the reinforcing rod (6), and 2 groups of the moving plate (11) are arranged outside the reinforcing rod (6);

the 2 group the movable plate (11) is provided with 3, and is connected through rotation axis (21) and swivel sleeve (22) between adjacent movable plate (11), and is connected through second torsional spring (16) between rotation axis (21) and swivel sleeve (22), and 3 movable plate (11) are "Z" shape structure setting simultaneously, the inclined to the outside bottom and anchor bar (6) of movable plate (11) are installed as an organic whole between, and the even distribution in top of the movable plate (11) of inclined to the inboard has block groove (19), and the inside and the mutual block of ball (20) of block groove (19), and be smooth surface with ball (20) outside.

2. The robot arm docking structure according to claim 1, wherein: the top end of the first connecting body (1) is in a convex structure arrangement, the convex structure at the top end of the first connecting body (1) is mutually clamped with the concave structure at the top end of the second connecting body (2), and the concave-convex matching between the first connecting body (1) and the second connecting body (2) is in clearance fit.

3. The robot arm docking structure according to claim 1, wherein: the two sides of the concave structure at the top end of the second connecting main body (2) are symmetrically provided with limiting blocks (3), the limiting blocks (3) and the threaded columns (4) form a cross-shaped structure, and the threaded columns (4) are in threaded connection with the reserved grooves (7) in the reinforcing rods (6).

4. The robot arm docking structure according to claim 1, wherein: the moving block (5) is of a moving structure on two sides of a concave structure at the top end of the second connecting main body (2), a first limiting rod (15) is integrally installed on the outer portion of the moving block (5), and the top end of the first limiting rod (15) is clamped inside the transverse groove body (14).

5. The robot arm docking structure according to claim 1, wherein: the bottom of the moving block (5) is connected with the top end of a pull rope (9), the pull rope (9) bypasses the outside of the limiting wheel (8), the limiting wheel (8) is integrally arranged outside the second connecting body (2), and meanwhile the pull rope (9) is arranged inside a through hole (10) penetrating through the middle of the second connecting body (2).

6. The robot arm docking structure according to claim 4, wherein: the transverse groove body (14) and the vertical groove body (13) are mutually penetrated, the vertical groove body (13) and the transverse groove body (14) are identical in size, and the vertical groove body (13) and the transverse groove body (14) are in transition fit with the first limiting rod (15) in the clamping and mounting structure.