CN115648277B - Wear-resisting firm industrial robot arm connection structure - Google Patents
Wear-resisting firm industrial robot arm connection structure Download PDFInfo
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- CN115648277B CN115648277B CN202211297505.XA CN202211297505A CN115648277B CN 115648277 B CN115648277 B CN 115648277B CN 202211297505 A CN202211297505 A CN 202211297505A CN 115648277 B CN115648277 B CN 115648277B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 77
- 238000001125 extrusion Methods 0.000 claims abstract description 63
- 230000000694 effects Effects 0.000 claims description 5
- 238000005299 abrasion Methods 0.000 abstract description 5
- 238000003860 storage Methods 0.000 description 11
- 230000009471 action Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 8
- 239000002699 waste material Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention relates to the technical field of intelligent machinery, and discloses an industrial robot arm connecting structure with wear resistance and stability, which comprises a mechanical arm I and a mechanical arm II positioned on one side of the mechanical arm I, wherein a transmission device is arranged in the mechanical arm I, the output end of the transmission device is fixedly connected with a transmission rod, a connecting structure is movably sleeved on the transmission rod, and a transmission structure is arranged in the connecting structure. When the flange plate is fastened with the mechanical arm I through the bolts, the mechanical arm I pushes the extrusion block to move to one side of the mechanical arm II, so that the extrusion block extrudes the engagement block, the bottom of the engagement block is pressed into the assembly groove on the transmission rod, and therefore when the transmission rod drives the mechanical arm II to rotate, the engagement block can be extruded through the assembly groove, the flange pipe can synchronously rotate along with the transmission rod, the flange pipe and the mechanical arm II can synchronously rotate, the stress of the bolts connecting the flange pipe and the mechanical arm II is reduced, and the problem of abrasion, deformation and looseness caused by overlarge long-time stress of the bolts is avoided.
Description
Technical Field
The invention relates to the technical field of intelligent machinery, in particular to an industrial robot arm connecting structure with wear resistance and stability.
Background
Industrial robot arm is a robot capable of simulating hand and arm movements, and can replace manual work to complete operation, and in order to make the robot stress flexible, multi-axis robot arms, such as four-axis, five-axis and six-axis robot arms, are designed, meanwhile, the degree of freedom of the robot arm needs to be ensured through multiple joints, and the robot arms at all joints need to be connected through a connecting structure, wherein one connecting structure is flange connection.
The flange at the joint of the existing robot arm still adopts the traditional bolts to fasten the flange and the mechanical arm, but when the mechanical arm performs quick operation, the mechanical arm applies force on the bolts at the joint in the moving direction under the actions of static-moving-static, acceleration, scram and the like, then the bolts can transmit the force to the flange, so that the bolts are subjected to shearing force, the bolts deform and wear in the long-term stressing process, the bolts are loose, the connecting structure is unstable, the movement of the mechanical arm is deviated, and the movement accuracy of the mechanical arm is affected, which is a serious problem in industrial high-precision production.
Disclosure of Invention
Aiming at the defects of the prior mechanical arm joint connecting flange in the use process, the invention provides a wear-resistant and stable industrial robot arm connecting structure, which has the advantages that the mechanical arm I pushes the extrusion block to extrude the meshing block, the meshing block is pressed down and inserted into the assembly groove to form a meshing state, the transmission rod rotates to drive the flange pipe to synchronously rotate through the meshing block, the stress at the bolt is reduced, the mechanical arm II pushes the pull rod to pull the pull rope, the pull rope pulls the spring to store the pull rope, the energy storage spring pulls the extrusion block to obtain additional compensation force, the extrusion block is enabled to be in a meshing state with the assembly groove all the time when the meshing block and the assembly groove are loosened under the abrasion deformation, and the sweeps are collected into the storage hole, so that the technical problems of abrasion, deformation and looseness caused by the stress of the bolt in the prior art are solved.
The invention provides the following technical scheme: the utility model provides an industrial robot arm connection structure that wear-resisting is firm, includes arm I and the arm II that is located arm I one side, is equipped with transmission in the arm I, transmission's output fixedly connected with transfer line, the other end and the arm II fixed connection of transfer line, the assembly groove of equipartition has been seted up on the transfer line, connection structure has been cup jointed to the activity on the transfer line, be equipped with transmission structure in the connection structure.
Preferably, the connecting structure comprises a flange pipe, one end of the flange pipe is movably sleeved with a flange plate, one end of the flange pipe is provided with uniformly distributed bolts, the flange pipe is fixedly connected with the mechanical arm II through bolts, uniformly distributed bolts are also arranged on the flange plate, and the flange plate is fixedly connected with the mechanical arm I through bolts.
Preferably, the transmission structure comprises a movable hole II which is uniformly distributed and is formed in a flange pipe, the opening end of the movable hole II is right opposite to the mechanical arm I, an extrusion block is movably sleeved in the movable hole II, an inclined surface is arranged at the bottom of one end of the extrusion block, a meshing block is movably sleeved in the flange pipe, the top end of the meshing block is an inclined surface, and the inclined angle value of the meshing block is the same as that of the extrusion block.
Preferably, the meshing block is opposite to the bottoms of the two sides of the mechanical arm I and the mechanical arm II, the length value of the meshing block is smaller than that of the assembly groove in the linear direction of the mechanical arm I and the mechanical arm II, the section of the meshing block in the circumferential direction is in a trapezoid shape with a large upper part and a small lower part, the section of the assembly groove in the circumferential direction is in a trapezoid shape with a large opening and a small groove bottom.
Preferably, the one end fixedly connected with spring of arm I is kept away from to the extrusion piece, the spring is in normal condition, the movable hole I of equipartition has been seted up to the intraductal movable hole of seting up of flange, the opening end of movable hole I is right to arm II, the pull rod has been cup jointed to the activity in the movable hole I, the one end fixedly connected with stay cord of arm II is kept away from to the pull rod, the one end of stay cord is close to the one end fixedly connected with of arm II with the spring, the hole of intercommunication has been seted up between movable hole I and the movable hole II, the hole of intercommunication is close to arm II, the hole of intercommunication is passed to the stay cord.
Preferably, when the engagement block is inserted into the assembly groove, a distance exists between the bottom end of the engagement block and the bottom of the assembly groove.
Preferably, the meshing block is internally provided with a reciprocating groove, the top of the reciprocating groove is conical, the reciprocating groove is movably sleeved with a valve rod, the top of the valve rod is T-shaped, the outer side wall of the valve rod is provided with storage channels uniformly distributed, the center of the valve rod is provided with a storage hole, the opening end of the storage hole is communicated with the reciprocating groove, and the opening end of the storage hole is in a round table shape.
The invention has the following beneficial effects:
1. according to the invention, when the flange plate is fastened with the mechanical arm I through the bolt, the mechanical arm I pushes the extrusion block to move to one side of the mechanical arm II, so that the inclined bottom end of the extrusion block extrudes the engagement block, and the bottom of the engagement block is pressed into the assembly groove on the transmission rod, so that when the transmission rod drives the mechanical arm II to rotate, the engagement block can be extruded through the assembly groove at the same time, the flange pipe can synchronously rotate along with the transmission rod, so that the flange pipe synchronously rotates with the mechanical arm II, the stress of the bolt connecting the flange pipe and the mechanical arm II is reduced, and the problems of abrasion and deformation loosening caused by overlarge stress of the bolt for a long time are avoided.
2. When the flange pipe is fastened with the mechanical arm II through the bolt, the mechanical arm II pushes the pull rod to move towards the mechanical arm I, so that the pull rod pulls the pull rope, the pull rope pulls the spring, the spring is gradually stretched to store energy under the limit of the meshing block, the extrusion block always has a trend of moving towards one side of the mechanical arm I under the action of the stretching spring, and when the assembly groove and the meshing block are deformed and worn for a long time to generate gaps under the extrusion friction collision, the spring can pull the extrusion block to move towards one side of the mechanical arm, so that the extrusion block extrudes the meshing block again, and the extrusion block is downwards pressed again, so that the meshing block always keeps a fit state with the assembly groove.
3. According to the invention, when the engagement block is inserted into the assembly groove, the bottom of the assembly groove is always in a vacant state, when the assembly groove and the engagement block deform and wear, scraps of the assembly groove and the engagement block fall into the bottom space of the assembly groove, when the transmission rod rotates, the valve rod reciprocates in the reciprocating groove under the action of centrifugal force and gravity, so that the valve rod performs suction action, and the bottom end of the engagement block is matched with the design of inclining towards the center, so that the scraps enter the reciprocating groove through the storage channel under the negative pressure formed by gravity and the suction action of the valve rod, finally fall into the storage hole to be collected, and the problems that the scraps remain in the assembly groove for a long time, the wear is increased due to the fact that more scraps fall into the gap between the assembly groove and the engagement block in rotation, and the gap cannot be completely closed are avoided.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of a flange pipe according to the present invention;
FIG. 3 is a schematic view of a driving rod structure of the present invention;
FIG. 4 is a schematic view of the internal structure of a flanged pipe according to the invention;
FIG. 5 is a schematic view of the structure of the extrusion block of the present invention;
FIG. 6 is a schematic view of the structure of the engagement block of the present invention;
FIG. 7 is a schematic illustration of a valve stem structure of the present invention;
fig. 8 is a schematic view showing the distribution of the engagement blocks and the fitting grooves of the present invention.
In the figure: 1. a mechanical arm I; 2. a mechanical arm II; 3. a transmission rod; 301. an assembly groove; 4. a flange pipe; 5. a flange plate; 6. a bolt; 7. a movable hole I; 8. a pull rod; 9. a pull rope; 10. a movable hole II; 11. extruding a block; 12. a spring; 13. a meshing block; 14. a reciprocating groove; 15. a valve stem; 16. a receiving channel; 17. and a storage hole.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 3, an industrial robot arm connection structure with wear resistance and stability comprises a mechanical arm i 1 and a mechanical arm ii 2 positioned on one side of the mechanical arm i 1, wherein a transmission device is arranged in the mechanical arm i 1, an output end of the transmission device is fixedly connected with a transmission rod 3, the other end of the transmission rod 3 is fixedly connected with the mechanical arm ii 2, the transmission device in the mechanical arm i 1 can drive the mechanical arm ii 2 to rotate through the transmission rod 3, uniformly distributed assembly grooves 301 are formed in the transmission rod 3, the cross section of the assembly grooves 301 in the circumferential direction is in a trapezoid shape with large openings and small groove bottoms.
Referring to fig. 2 to 3, the transmission rod 3 is movably sleeved with the flange pipe 4, one end of the flange pipe 4 is movably sleeved with the flange plate 5, one end of the flange pipe 4 is provided with uniformly distributed bolts 6, the flange pipe 4 is fixedly connected with the mechanical arm ii 2 through the bolts 6, the flange plate 5 is also provided with uniformly distributed bolts 6, the flange plate 5 is fixedly connected with the mechanical arm i 1 through the bolts 6, so that the flange plate 5 can keep a static state along with the mechanical arm i 1 when the flange pipe 4 synchronously rotates along with the mechanical arm ii 2, and the connection between the mechanical arm i 1 and the mechanical arm ii 2 is still kept under the state.
Referring to fig. 3 to 4, a uniformly distributed movable hole ii 10 is formed in the flange pipe 4, the opening end of the movable hole ii 10 is aligned to the mechanical arm i 1, an extrusion block 11 is movably sleeved in the movable hole ii 10, an inclined surface is formed at one end bottom of the extrusion block 11, so that when the flange plate 5 is fastened with the mechanical arm i 1 through the bolt 6, the mechanical arm i 1 can gradually push the extrusion block 11 to move towards the direction of the mechanical arm ii 2, and the inclined surface of the extrusion block can extrude the top inclined surface of the engagement block 13, so that the engagement block 13 is pressed down under force.
Referring to fig. 3 to 6, a meshing block 13 is movably sleeved in the flange pipe 4, the top end of the meshing block 13 is an inclined surface, the inclined angle value of the meshing block is the same as the inclined angle value of the inclined surface of the extrusion block 11, so that the meshing block 13 can extrude the extrusion force generated when the extrusion block 11 moves towards the mechanical arm ii 2, the meshing block 13 is extruded to be pressed down into the assembly groove 301 to form a matching state similar to teeth and tooth grooves, the bottoms of the two surfaces of the mechanical arm i 1 and the mechanical arm ii 2 are opposite to each other by the meshing block 13, when the flange pipe 4 moves on the transmission rod 3, the transmission rod 3 can apply force to the inclined surface of the bottom of the meshing block 13, the meshing block 13 is retracted into the flange pipe 4, the meshing block 13 can not obstruct the normal movement of the flange pipe 4 on the transmission rod 3, and the length value of the meshing block 13 is smaller than the length value of the assembly groove 301 in the linear direction of the mechanical arm i 1 and the mechanical arm ii 2, the relative position of the assembly groove 301 and the engagement block 13 is continuously changed in the process of fastening the flange 5 and the mechanical arm I1 through the bolt 6, the engagement block 13 is always positioned in the range of the assembly groove 301, the engagement block 13 can be pressed down into the assembly groove 301 when being extruded by the extrusion block 11, the problem that the engagement block 13 cannot be pressed down continuously due to the fact that the transmission rod 3 is pressed down by the engagement block 13, the extrusion block 11 cannot move continuously, the flange 5 and the mechanical arm I1 are blocked by the extrusion block 11, the cross section of the engagement block 13 in the circumferential direction is in a trapezoid shape with a large upper part and a small lower part, after the engagement block 13 is inserted into the assembly groove 301, two side walls on the circumference of the engagement block 13 are attached to two side walls on the circumference of the assembly groove 301, so that the engagement block 13 can be extruded through the assembly groove 301 when the transmission rod 3 rotates in the circumferential direction, thereby make engagement block 13 drive flange pipe 4 follow transmission pole 3 and the synchronous rotation of arm II 2 to reduce the atress of arm II 2 and flange pipe 4 bolted connection department bolt 6, slow down the speed that bolt 6 becomes flexible, prolong the time of its fastening effect.
The bottom end of the engagement block 13 is spaced from the bottom of the fitting groove 301 when the engagement block 13 is inserted into the fitting groove 301.
Example two
On the basis of the first embodiment.
Referring to fig. 3 to 5, a spring 12 is fixedly connected to one end of the extrusion block 11 away from the mechanical arm i 1, and the spring 12 is in a normal state, so that the spring 12 does not compress or stretch to store energy when the extrusion block 11 is pushed by the mechanical arm i 1 to move.
Referring to fig. 3 to 5, a uniformly distributed movable hole i 7 is formed in the flange pipe 4, the opening end of the movable hole i 7 is aligned with the mechanical arm ii 2, a pull rod 8 is movably sleeved in the movable hole i 7, one end of the pull rod 8, which is far away from the mechanical arm ii 2, is fixedly connected with a pull rope 9, one end of the pull rope 9 is fixedly connected with one end of the spring 12, which is close to the mechanical arm ii 2, a communicated hole is formed between the movable hole i 7 and the movable hole ii 10, the communicated hole is close to the mechanical arm ii 2, and the pull rope 9 penetrates through the communicated hole.
When the flange pipe 4 and the mechanical arm II 2 are fastened by the bolt 6, the mechanical arm II 2 extrudes the pull rod 8, the pull rod 8 moves towards the direction of the mechanical arm I1, the pull rod 8 pulls the pull rope 9, the pull rope 9 pulls the spring 12 in a normal state, one end of the spring 12 is fixed by the extrusion block 11, the other end of the spring is pulled by the pull rope 9 to be stretched, the spring 12 is used for accumulating energy, the extrusion block 11 always keeps the trend of moving towards the direction of the mechanical arm II 2 under the action of the energy accumulating spring 12, the bottom inclined edge of the extrusion block 11 always extrudes on the engagement block 13, when the assembly groove 301 and the engagement block 13 are worn and deformed under the long-time movement, a gap is formed between the assembly groove 301 and the engagement block 13, and the changed looseness is caused, and at the moment, the spring 12 pulls the extrusion block 11 moves towards the direction of the mechanical arm II 2 again, the extrusion block 11 extrudes the engagement block 13 again, the engagement block 13 is pressed down again, and the engagement block 13 is attached to the inner wall of the assembly groove 301 again.
Example III
Based on the first embodiment and the second embodiment.
Referring to fig. 7, the bottom of the engagement block 13 is in a groove shape inclined from the outer side to the center, the engagement block 13 is internally provided with the reciprocating groove 14, the top of the reciprocating groove 14 is in a conical shape, so that scraps entering the reciprocating groove 14 can be converged at the bottom of the conical shape, most scraps fall in the range of the port of the containing hole 17 when falling back to the valve rod 15, the purpose of collecting more scraps at one time is achieved, the valve rod 15 is movably sleeved in the reciprocating groove 14, the top of the valve rod 15 is in a T shape, the outer side wall of the valve rod 15 is provided with the containing groove 16 uniformly distributed, the center of the valve rod 15 is provided with the containing hole 17, the opening end of the containing hole 17 is communicated with the reciprocating groove 14, the opening end of the containing hole 17 is in a round table shape, the valve rod 15 intermittently slides in the reciprocating groove 14, suction negative pressure is formed through the containing groove 16, so that surrounding scraps enter the reciprocating groove 14 through the containing groove 16, and when the transmission rod 3 rotates downwards, the scraps converge in the conical shape of the reciprocating groove 14, when the transmission rod 3 rotates upwards or stops, the reciprocating groove 14 partially enters the conical groove 15, the round groove 15 and the waste scraps enter the top of the reciprocating groove 15 to be in the groove, and the waste scraps 301, and the problem of excessive abrasion is avoided, and the waste scraps are finally caused, the waste scraps are assembled, and the waste scraps are formed and the waste scraps are accumulated in the groove and the groove.
The application method (working principle) of the first embodiment of the invention is as follows:
firstly, a flange pipe 4 passes through a transmission rod 3 and moves towards a mechanical arm I1, at the moment, the transmission rod 3 presses the inclined edge of the side edge of an engagement block 13, so that the engagement block 13 is retracted into the flange pipe 4, then, a bolt 6 is used for fastening a flange 5 and the mechanical arm I1, the gap between the flange 5 and the mechanical arm I1 is continuously reduced, the mechanical arm I1 pushes an extrusion block 11 to move towards one side of a spring 12, the engagement block 13 is gradually positioned in the range of an assembly groove 301, the inclined edge of the bottom end of the extrusion block 11 gradually presses the engagement block 13, the engagement block 13 is pressed downwards, the bottom of the engagement block 13 is pressed into the assembly groove 301, and after the bolt 6 is fastened, the extrusion block 11 stops moving, and the extrusion state of the engagement block 13 is kept;
then, after fixedly connecting the transmission device in the mechanical arm II 2 with one end of the transmission rod 3, fastening the flange pipe 4 and the mechanical arm II 2 through the bolt 6, finally, after the transmission device in the mechanical arm I1 is started, driving the mechanical arm II 2 through the transmission rod 3, performing rotary motion by taking the circle center of the transmission rod 3 as a basic point, simultaneously, the transmission rod 3 extruding the meshing block 13 through the assembly groove 301, so that the meshing block 13 extrudes the flange pipe 4, the flange pipe 4 synchronously rotates along with the transmission rod 3 and the mechanical arm II 2, and the flange plate 5 does not rotate.
Finally, when the mechanical arm I1 and the mechanical arm II 2 need to be disassembled, the bolts 6 are disassembled, then the mechanical arm II 2 is disassembled firstly to be separated from the transmission rod 3, then the flange pipe 4 is pulled to move in the direction away from the mechanical arm I1, at the moment, the side wall of the assembly groove 301 is used for extruding the side wall inclined edge of the engagement block 13, the engagement block 13 is retracted into the flange pipe 4 again, the flange pipe 4 is taken out smoothly, and at the moment, the extrusion block 11 can slide out from the movable hole II 10.
The application method (working principle) of the second embodiment of the invention is as follows:
firstly, a flange pipe 4 passes through a transmission rod 3 and moves towards a mechanical arm I1, at the moment, the transmission rod 3 presses the inclined edge of the side edge of an engagement block 13, so that the engagement block 13 is retracted into the flange pipe 4, then, a bolt 6 is used for fastening a flange 5 and the mechanical arm I1, the gap between the flange 5 and the mechanical arm I1 is continuously reduced, the mechanical arm I1 pushes an extrusion block 11 to move towards one side of a spring 12, the engagement block 13 is gradually positioned in the range of an assembly groove 301, the inclined edge of the bottom end of the extrusion block 11 gradually presses the engagement block 13, the engagement block 13 is pressed downwards, the bottom of the engagement block 13 is pressed into the assembly groove 301, after the bolt 6 is fastened, the extrusion block 11 stops moving, the extrusion state of the engagement block 13 is kept, and the spring 12 is in a normal state at the moment;
then, after fixedly connecting a transmission device in the mechanical arm II 2 with one end of the transmission rod 3, fastening the flange pipe 4 and the mechanical arm II 2 through the bolt 6, at the moment, the mechanical arm II 2 extrudes the pull rod 8, so that the pull rod 8 moves towards the mechanical arm I1, the pull rod 8 pulls the pull rope 9, the pull rope 9 pulls the spring 12 in a normal state, one end of the spring 12 is fixed by the extrusion block 11, the other end of the spring 12 is pulled by the pull rope 9 to be stretched, the spring 12 stores energy, the extrusion block 11 always keeps a trend of moving towards the mechanical arm II 2 under the action of the energy storage spring 12, and the inclined edge at the bottom end of the extrusion block 11 is always extruded on the meshing block 13;
finally, when the transmission device in the mechanical arm I1 is started, the mechanical arm II 2 is driven by the transmission rod 3, the transmission rod 3 rotates by taking the circle center of the transmission rod 3 as a basic point, meanwhile, the transmission rod 3 extrudes the meshing block 13 through the assembly groove 301, so that the meshing block 13 extrudes the flange pipe 4, the flange pipe 4 synchronously rotates along with the transmission rod 3 and the mechanical arm II 2, at the moment, the flange plate 5 does not rotate, then, when the assembly groove 301 and the meshing block 13 are worn and deformed under the long-time movement, gaps are formed between the assembly groove 301 and the meshing block 13, the gaps become loose, scraps of the assembly groove 301 fall into an empty space at the bottom of the assembly groove 301, at the moment, the spring 12 pulls the extrusion block 11 to move towards the mechanical arm II 2 again, the extrusion block 11 is used for extruding the engagement block 13 again, the engagement block 13 is used for pressing down again, the engagement block 13 is used for being attached to the inner wall of the assembly groove 301 again, when the mechanical arm I1 and the mechanical arm II 2 are required to be disassembled, the bolt 6 is detached, then the mechanical arm II 2 is detached firstly to be separated from the transmission rod 3, then the flange pipe 4 is pulled to move in the direction away from the mechanical arm I1, at the moment, the side wall of the assembly groove 301 is used for extruding the side wall inclined edge of the engagement block 13, the engagement block 13 is retracted into the flange pipe 4 again, the flange pipe 4 is smoothly taken out, at the moment, the pull rod 8 can slide out from the movable hole I7, the pull rope 9 is loosened, and the extrusion block 11 can slide out from the movable hole II 10.
The use method (working principle) of the third embodiment of the invention is as follows:
firstly, a flange pipe 4 passes through a transmission rod 3 and moves towards a mechanical arm I1, at the moment, the transmission rod 3 extrudes the inclined edge of the side edge of an engagement block 13, so that the engagement block 13 is retracted into the flange pipe 4, then, a flange plate 5 and the mechanical arm I1 are fastened through a bolt 6, a gap between the flange plate 5 and the mechanical arm I1 is continuously reduced, the mechanical arm I1 pushes an extrusion block 11 to move towards one side of a spring 12, the engagement block 13 is gradually positioned in the range of an assembly groove 301, the inclined edge at the bottom end of the extrusion block 11 gradually extrudes the engagement block 13, the engagement block 13 is pressed downwards, the bottom of the engagement block 13 is pressed into the assembly groove 301, after the fastening of the bolt 6 is completed, the extrusion block 11 stops moving, the extrusion state of the engagement block 13 is kept, at the moment, the spring 12 is in a normal state, a transmission device in the mechanical arm II 2 is fixedly connected with one end of the transmission rod 3, at the moment, the flange pipe 4 and the mechanical arm II 2 are fastened through the bolt 6, at the moment, the mechanical arm II 2 pushes the extrusion block 8 to move towards one side of the mechanical arm I1, the engagement block 13 gradually moves, the engagement block 13 is positioned in the range of the assembly groove 301, the bottom end of the assembly groove 9 is pressed into the assembly groove, the assembly groove 9 is always, the assembly groove 9 is pressed towards the direction of the assembly groove 12, and the other end of the assembly groove is always, and the assembly groove 12 is always pressed towards the normal state, and the assembly groove 12 is always pressed towards the assembly direction, which is always pressed by the assembly 12, and the assembly groove is pressed;
then, when the transmission device in the mechanical arm I1 is started, the mechanical arm II 2 is driven by the transmission rod 3, the transmission rod 3 rotates by taking the center of the transmission rod 3 as a basic point, meanwhile, the transmission rod 3 extrudes the meshing block 13 through the assembly groove 301, so that the meshing block 13 extrudes the flange pipe 4, the flange pipe 4 synchronously rotates along with the transmission rod 3 and the mechanical arm II 2, at the moment, the flange plate 5 does not rotate, then, when the assembly groove 301 and the meshing block 13 are worn and deformed under the long-time movement, gaps appear between the assembly groove 301 and the meshing block 13, the gaps become loose, scraps of the assembly groove 301 and the meshing block fall into an empty space at the bottom of the assembly groove 301, at the moment, the spring 12 pulls the extrusion block 11 to move towards the mechanical arm II 2 again, so that the extrusion block 11 extrudes the meshing block 13 again, the engagement block 13 is pressed down again, the engagement block 13 is attached to the inner wall of the assembly groove 301 again, when the transmission rod 3 rotates, under the influence of centrifugal force and gravity, scraps at the bottom of the assembly groove 301 will intermittently fall into the bottom end groove of the engagement block 13, meanwhile, the valve rod 15 will intermittently slide in the reciprocating groove 14, suction negative pressure is formed through the storage groove 16, surrounding scraps enter the reciprocating groove 14 through the storage groove 16, and when the transmission rod 3 rotates downwards, the scraps are converged into the conical shape of the reciprocating groove 14, and when the transmission rod 3 rotates upwards or stops, most scraps in the conical shape of the reciprocating groove 14 will fall into the groove at the top of the valve rod 15 and finally enter the storage hole 17;
finally, when the mechanical arm I1 and the mechanical arm II 2 need to be disassembled, the bolts 6 are disassembled, then the mechanical arm II 2 is disassembled firstly to be separated from the transmission rod 3, then the flange pipe 4 is pulled to move in the direction away from the mechanical arm I1, at the moment, the side wall of the assembly groove 301 is used for extruding the side wall inclined edge of the engagement block 13, the engagement block 13 is retracted into the flange pipe 4 again, the flange pipe 4 is smoothly taken out, at the moment, the pull rod 8 can slide out from the movable hole I7, the pull rope 9 is loosened, and the extrusion block 11 can slide out from the movable hole II 10.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
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 therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides an industrial robot arm connection structure that wear-resisting is firm, includes arm I (1) and is located arm II (2) of arm I (1) one side, is equipped with transmission in arm I (1), its characterized in that: the output end of the transmission device is fixedly connected with a transmission rod (3), the other end of the transmission rod (3) is fixedly connected with a mechanical arm II (2), uniformly distributed assembly grooves (301) are formed in the transmission rod (3), a connecting structure is movably sleeved on the transmission rod (3), and a transmission structure is arranged in the connecting structure;
the connecting structure comprises a flange pipe (4), wherein one end of the flange pipe (4) is movably sleeved with a flange plate (5), the other end of the flange pipe (4) is provided with uniformly distributed bolts (6), the flange pipe (4) is fixedly connected with a mechanical arm II (2) through the bolts (6), the flange plate (5) is also provided with uniformly distributed bolts (6), and the flange plate (5) is fixedly connected with the mechanical arm I (1) through the bolts (6);
the transmission structure comprises uniformly distributed movable holes II (10) formed in a flange pipe (4), the opening ends of the movable holes II (10) are aligned to a mechanical arm I (1), an extrusion block (11) is movably sleeved in the movable holes II (10), an inclined surface is arranged at the bottom of one end of the extrusion block (11), a meshing block (13) is movably sleeved in the flange pipe (4), the top end of the meshing block (13) is an inclined surface, and the inclined angle value of the meshing block is the same as that of the inclined surface of the extrusion block (11);
the two bottoms of the two surfaces of the meshing block (13) opposite to the mechanical arm I (1) and the mechanical arm II (2) are respectively provided with an inclined surface, the length value of the meshing block (13) is smaller than that of the assembly groove (301) in the linear direction of the mechanical arm I (1) and the mechanical arm II (2), the cross section of the meshing block (13) in the circumferential direction is in a trapezoid shape with a large upper part and a small lower part, and the cross section of the assembly groove (301) in the circumferential direction is in a trapezoid shape with a large opening and a small groove bottom;
when the flange plate (5) is fastened with the mechanical arm I (1) through the bolt (6), the mechanical arm I (1) can gradually push the extrusion block (11) to move towards the mechanical arm II (2), so that the inclined surface of the extrusion block (11) extrudes the top inclined surface of the engagement block (13), and the engagement block (13) is extruded and is pressed down into the assembly groove (301).
2. The wear-resistant and stable industrial robot arm connecting structure according to claim 1, wherein: the one end fixedly connected with spring (12) of arm I (1) is kept away from to extrusion piece (11), spring (12) are in normal condition, set up movable hole I (7) of equipartition in flange pipe (4), the opening of movable hole I (7) is right to arm II (2), movable rod (8) have been cup jointed to the activity in movable hole I (7), the one end fixedly connected with stay cord (9) of arm II (2) is kept away from to stay cord (8), the one end fixedly connected with one end of stay cord (9) is close to the one end fixedly connected of arm II (2) with spring (12), the hole of intercommunication has been seted up between movable hole I (7) and the movable hole II (10), the hole of intercommunication is close to arm II (2), stay cord (9) pass the hole of intercommunication.
3. The wear-resistant and stable industrial robot arm connecting structure according to claim 1, wherein: when the engagement block (13) is inserted into the assembly groove (301), the bottom end of the engagement block (13) is spaced from the bottom of the assembly groove (301).
4. A wear-resistant and stable industrial robot arm connection structure according to claim 3, wherein: the bottom of meshing piece (13) is outside to central inclined slot form, reciprocating groove (14) have been seted up in meshing piece (13), the top of reciprocating groove (14) is circular cone form, valve rod (15) have been cup jointed to reciprocating groove (14) internal activity, the top of valve rod (15) is the T font, accomodate channel (16) of equipartition have been seted up on the lateral wall of valve rod (15), accomodate hole (17) have been seted up at the center of valve rod (15), accomodate the open end and the reciprocating groove (14) switch-on of hole (17), accomodate the open end of hole (17) and be circular platform form.
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