CN209599256U - The location structure of joint of robot intermodule - Google Patents
The location structure of joint of robot intermodule Download PDFInfo
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- CN209599256U CN209599256U CN201821551281.XU CN201821551281U CN209599256U CN 209599256 U CN209599256 U CN 209599256U CN 201821551281 U CN201821551281 U CN 201821551281U CN 209599256 U CN209599256 U CN 209599256U
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Abstract
The utility model discloses a kind of location structures of joint of robot intermodule, bolt locking end and bolt fixing end including being respectively arranged on two joint of robot module butt ends；The bolt locking end includes central axis, the concentric locating convex cylindrical being mounted at the top of central axis, and the bolt through-hole being provided on concentric locating convex cylindrical end face；The bolt fixing end includes concentric locating fluted column, and head is mounted on the bolt on concentric locating fluted column inner bottom surface, and the nut with bolt cooperation；And concentric locating convex cylindrical and concentric locating fluted column can assign cooperation；Bolt pass through corresponding bolt through-hole and with the above-mentioned bolt locking end of nut check and bolt fixing end.The location structure makes the connection between joint module more compact and succinct, not only increases installation effectiveness, and be conducive to detachable maintaining, is suitble to batch machining production.
Description
Technical field
The utility model relates to a kind of location structures of joint of robot intermodule, belong to cooperation robotic technology field.
Background technique
Currently, the connection of joint of robot intermodule mainly passes through speed reducer module and industrial robot armed lever is directly right
It connects, is positioned by a cylindrical surface, then realized with the mode that hex(agonal)screw is locked, as shown in Figure 1.
In connecting mode between above-mentioned regular industrial robot module, industrial robot armed lever (1), speed reducer (2), servo
Modularization is seemed between motor (3), but mutual coupling is too strong, lead to following several technical problems:
1, because integrated level is not high, integral module volume is caused to increase；
2, because coupling is too strong, cause corresponding connecting-piece structure design complicated；
3, because needing to comprehensively consider armed lever shape, complex structural designs are further resulted in；
4, each removal position of industrial robot armed lever is inconsistent, and professional is needed to calibrate.
Therefore, the connecting mode of existing joint of robot intermodule is urgently further researched and developed.
Summary of the invention
For above-mentioned existing technical problem, the utility model provides a kind of location structure of joint of robot intermodule,
To reduce the coupling of joint of robot intermodule, and solve the problems, such as that each removal position of industrial robot armed lever is inconsistent.
To achieve the above object, the utility model provides a kind of location structure of joint of robot intermodule, including respectively
Bolt locking end and bolt fixing end set on two joint of robot module butt ends；The bolt locking end includes center
Axis, the concentric locating convex cylindrical being mounted at the top of central axis, and the bolt through-hole being provided on concentric locating convex cylindrical end face；
The bolt fixing end includes concentric locating fluted column, and head is mounted on the bolt on concentric locating fluted column inner bottom surface, with
And the nut with bolt cooperation；And concentric locating convex cylindrical and concentric locating fluted column can assign cooperation；Bolt, which passes through, to be corresponded to
Bolt through-hole and with the above-mentioned bolt locking end of nut check and bolt fixing end.
The beneficial effect of above-mentioned technical proposal is: being mutually butted the end of two joint of robot modules of installation, i.e.,
Bolt locking end and bolt fixing end, having can guarantee that the two is in convex, the fluted column face of concentric locating, and Liang Ge robot
Joint module is locked together by bolts and nuts.
Further, the utility model further includes the anti-rotation positioning concave stations being located on concentric locating convex cylindrical side, and
The anti-rotation positioning convex platform being located on concentric locating fluted column side；And anti-rotation positioning concave stations and anti-rotation positioning convex platform can
Cooperation.
The beneficial effect of above-mentioned technical proposal is: being mutually butted the end of two joint of robot modules of installation, i.e.,
Bolt locking end and bolt fixing end have the anti-rotation convex prevented two joint modules around center line rotation, concave station
Rank, after two joint of robot modules are docked completely, anti-rotation convex, concave station rank also can mutually assign cooperation.
Further, the bolt through-hole is Pear-Shaped, including nut through hole and stud through-hole in communication；Nut is logical
Bore dia is greater than nut maximum outside diameter, and stud through-hole diameter is greater than bolt stud maximum outside diameter and is less than nut maximum outside diameter.
The beneficial effect of above-mentioned technical proposal is: installing in order to facilitate the locking of nut, nut is pre-installed in bolt
On stud, the clamping screw again after nut passes through nut through hole, then bolt stud enters stud through-hole.
Further, the nut of the same bolt through-hole, stud through-hole are along being provided with concentric locating dome styletable
On the same circumference in face.
The beneficial effect of above-mentioned technical proposal is: for convenience when rotation bolt fixing end, so that bolt is logical from nut
Hole enters stud through-hole, and nut, stud through-hole are opened up along the same circumference of concentric locating convex cylindrical end face.
Further, the bolt through-hole is provided on the same circumference of concentric locating convex cylindrical end face.
The beneficial effect of above-mentioned technical proposal is: in order to facilitate the operation of locking nut, by bolt through-hole along concentric
The same circumference of convex cylinder end face opens up, while also more smoothly entering stud through-hole from nut through hole using bolt.
The working principle of the utility model is: when the bolt locking end and bolt fixing end of two joint of robot modules
When abutting joint, is cooperated first by concentric locating protruding cylinder surface and concentric locating fluted column face, it is same to limit two joint modules
The heart；When then two joint modules mutually being promoted along cylindrical surface central axis, nut needs to pass completely through bolt through-hole, Zhi Houxiang
To two joint modules of rotation, enter bolt in stud through-hole；Concentric locating protruding cylinder surface is pushed to determine to concentric again at this time
The most bottom position in position fluted column face, completes the docking of two joint modules；Finally from bolt locking end face and concentric locating convex cylindrical
Medial surface between gap in locking nut, completely lock two joint modules, so far two joint modules are completed.
To sum up, the utility model uses pin location structure at joint of robot, has and guarantees two abutting joints
Joint module is in concentric locating cylindrical surface, it may have prevents two joint modules from surrounding the anti-rotation positioning table of center line rotation
Rank.Compared with prior art, there is following technical advantage:
1, joint module connection is more compact and succinct.Connection between two joint modules only has end face with the connection of end face
And locking position position, installation personnel do not have to consider joint installation whether speed reducer top can be arrived, without go consider installation not
The problems such as whether will lead to speed reducer oil leak in place.Spatial design is more compact simultaneously, and installation personnel only considers connection peace
Dress, without the concern for other, to improve installation effectiveness.
2, it is conducive to detachable maintaining.Conventional robotic's dismounting is very inconvenient, not only needs to dismantle lid, unclamps other spiral shells
Silk, or even hanging device also to be looked for lift machine (because too heavy), it is time-consuming and laborious.The design makes the installation of robot and tears open
Unload more convenient simple, while module is light, and a people can be completed at the same time maintenance task that previous two or three of talents can complete simultaneously
And the set-up time is also very short, average six joints installation only needs half an hour, and efficiency is higher by more than ten times than Conventional robotic.
3, it is suitble to batch machining production.Done by joint of robot modularization more independent, succinctly, integrated level is also higher,
Such product is also more suitable volume production.
Detailed description of the invention
Fig. 1 is the connecting mode schematic diagram of existing joint of robot intermodule；
Fig. 2 is the structural schematic diagram of bolt locking end in the utility model；
Fig. 3 is the schematic diagram of bolt locking position in the utility model；
Fig. 4 is the structural schematic diagram of bolt fixing end in the utility model；
Fig. 5 is one installation process schematic diagram of the utility model；
Fig. 6 is another installation process schematic diagram of the utility model；
Fig. 7 is that two joint of robot modules are installed schematic diagram；
In figure: 1, industrial robot armed lever, 2, speed reducer, 3, servo motor, 4, concentric locating convex cylindrical, 5, bolt mistake
Hole, 6, anti-rotation positioning concave stations, 7, concentric locating fluted column face, 8, bolt, 9, anti-rotation positioning convex platform.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For
For those skilled in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As shown in Figure 2 and Figure 4, the utility model include be capable of abutting joint joint of robot module bolt locking end and
Joint of robot module bolt fixing end.Wherein, the bolt locking end includes central axis, is mounted on same at the top of central axis
The heart positions convex cylindrical 4, and the bolt through-hole 5 being provided on 4 end face of concentric locating convex cylindrical.The bolt fixing end includes
Concentric locating fluted column 7, head are connected to the bolt 8 on 7 inner bottom surface of concentric locating fluted column, and the spiral shell with bolt cooperation
It is female.
Also, cooperation is assigned by concentric locating convex cylindrical 4 and concentric locating fluted column 7, can be realized two joints
The butt junction location of intermodule.Meanwhile corresponding bolt through-hole 5 is passed through by bolt 8 and is cooperated with nut, it can be realized two joints
The locking of intermodule connects.As shown in figure 3, the operation of spanner tightening nut for convenience, concentric locating convex cylindrical 4 and spiral shell
There are gaps for bolt locking end bottom, and provide activity space for nut spanner.
In another embodiment of the utility model, remaining is identical as above embodiment, the difference is that, this is practical
Novel further includes the anti-rotation positioning concave stations 6 being located on 4 side of concentric locating convex cylindrical, and is located at concentric locating fluted column side
Anti-rotation positioning convex platform 9 on face 7；And anti-rotation positioning concave stations 6 can cooperate with anti-rotation positioning convex platform 9.As shown in figure 5,
Anti-rotation positioning concave, convex platform 6,9 be located at convex concentric locating, fluted column 4,7 intersecting planes outermost.
In the further embodiment of the utility model, remaining is identical as above embodiment, the difference is that, it is described
Bolt through-hole 5 is Pear-Shaped, including nut through hole and stud through-hole in communication；It is maximum outer that nut through hole diameter is greater than nut
Diameter, stud through-hole diameter are greater than 8 stud maximum outside diameter of bolt and are less than nut maximum outside diameter.As shown in figure 3, when nut passes through
After nut through hole, bolt 8 is able to enter stud through-hole and enters nut check position after bolt 8 enters stud through-hole.
In the other embodiments of the utility model, the nut of the same bolt through-hole, stud through-hole are along opening up
On the same circumference of concentric locating convex cylindrical end face.As shown in Fig. 2, in all Pear-Shaped bolt through-holes 5, nut, stud
Through-hole relative position is identical, facilitates each bolt while screwing in corresponding stud through-hole.
In the other embodiments of the utility model, the bolt through-hole is provided with the same of concentric locating convex cylindrical end face
On one circumference.As shown in Fig. 2,4,6,7, the position of bolt 8 and bolt through-hole 5 is corresponded, and is all distributed on the same circumference.
The utility model is as follows in installation process: first checking for the bolt lock of the joint of robot module of two docking
Whether in the same direction tight end and the anti-rotation of fixing end position concave, convex platform 6,9, and error cannot be excessive.
Then, eight hex nuts are locked in advance on the correspondence bolt of bolt fixing end, pays attention to lock too much, in order to avoid
Beyond stroke, while the requirement for height of each nut is consistent.
Then, eight hex nuts are each passed through corresponding bolt through-hole；When all nuts all pass through corresponding via hole
Afterwards, then by two joint of robot module relative rotation, so that each bolt enters corresponding stud through-hole, i.e. nut to locking
Position.
Axial further along concentric locating concave, convex cylinder 7,4 promotes two joint module relative motions, until hearing anti-rotation
The sound that dynamic positioning concave stations 6 are worked good with anti-rotation positioning convex platform 9, observing does not have between the end face and end face of two joint modules
Gap then shows that two joint modules have been mounted to position.
As shown in figure 5, when demonstrating two joint module abutting joints, concentric locating is convex, fluted column 4,7 concentric locating
In face of the process of good position.It is installed in place as shown in fig. 6, demonstrating hex bolts, rotary machine person joint's module bolt is fixed
It, is shifted onto the process at bottom by end.
Eight hex nuts are finally locked, the assembling of two joint modules is completed and is mutually located, as shown in fig. 7, two
Joint module is installed in place.
To sum up, the location structure of the utility model makes the connection between joint module more compact and succinct, not only improves
Installation effectiveness, and it is conducive to detachable maintaining, it is suitble to batch machining production.
Certainly the above embodiments are only for explaining the technical ideas and features of the present invention, and its object is to allow be familiar with this
The people of technology can understand the content of the utility model and implement accordingly, and the protection model of the utility model can not be limited with this
It encloses.The equivalent transformation or modification that all Spirit Essences according to the utility model main technical schemes are done, should all cover in this reality
Within novel protection scope.
Claims (5)
1. a kind of location structure of joint of robot intermodule, which is characterized in that including being respectively arranged on two joint of robot moulds
The bolt locking end and bolt fixing end of block butt end；The bolt locking end includes central axis, is mounted at the top of central axis
Concentric locating convex cylindrical, and the bolt through-hole being provided on concentric locating convex cylindrical end face；The bolt fixing end packet
Concentric locating fluted column is included, head is mounted on the bolt on concentric locating fluted column inner bottom surface, and the nut with bolt cooperation；
And concentric locating convex cylindrical and concentric locating fluted column can assign cooperation；Bolt passes through corresponding bolt through-hole and and nut lock
Tight above-mentioned bolt locking end and bolt fixing end.
2. a kind of location structure of joint of robot intermodule according to claim 1, which is characterized in that further include connection
Anti-rotation positioning concave stations on concentric locating convex cylindrical side, and the anti-rotation being connected on concentric locating fluted column side
Positioning convex platform；And anti-rotation positioning concave stations and anti-rotation positioning convex platform can assign cooperation.
3. a kind of location structure of joint of robot intermodule according to claim 1 or 2, which is characterized in that described
Bolt through-hole is Pear-Shaped, including nut through hole and stud through-hole in communication；It is maximum outer that nut through hole diameter is greater than nut
Diameter, stud through-hole diameter are greater than bolt stud maximum outside diameter and are less than nut maximum outside diameter.
4. a kind of location structure of joint of robot intermodule according to claim 3, which is characterized in that described is same
Nut, the stud through-hole of a bolt through-hole are provided on the same circumference of concentric locating convex cylindrical end face.
5. a kind of location structure of joint of robot intermodule according to claim 3, which is characterized in that the bolt
Via hole is provided on the same circumference of concentric locating convex cylindrical end face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821551281.XU CN209599256U (en) | 2018-09-21 | 2018-09-21 | The location structure of joint of robot intermodule |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821551281.XU CN209599256U (en) | 2018-09-21 | 2018-09-21 | The location structure of joint of robot intermodule |
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| Publication Number | Publication Date |
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| CN209599256U true CN209599256U (en) | 2019-11-08 |
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ID=68393453
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821551281.XU Active CN209599256U (en) | 2018-09-21 | 2018-09-21 | The location structure of joint of robot intermodule |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021139144A1 (en) * | 2020-01-07 | 2021-07-15 | 北京可以科技有限公司 | Buckle fastening assembly and modular robot |
-
2018
- 2018-09-21 CN CN201821551281.XU patent/CN209599256U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021139144A1 (en) * | 2020-01-07 | 2021-07-15 | 北京可以科技有限公司 | Buckle fastening assembly and modular robot |
| JP7434576B2 (en) | 2020-01-07 | 2024-02-20 | 北京可以科技有限公司 | Combined fixed module and modular robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220602 Address after: 510230 room J, 16 / F, No. 308, Binjiang Middle Road, Haizhu District, Guangzhou, Guangdong Patentee after: Zhongzheng Data Technology Co.,Ltd. Address before: 510700 No. 2, Xinrui Road, Guangzhou Economic and Technological Development Zone, Guangdong Province Patentee before: GUANGZHOU START TO SAIL INDUSTRIAL ROBOT Co. |
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| TR01 | Transfer of patent right |