CN211682202U - Joint connection mode of cooperative robot - Google Patents
Joint connection mode of cooperative robot Download PDFInfo
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- CN211682202U CN211682202U CN202020219985.8U CN202020219985U CN211682202U CN 211682202 U CN211682202 U CN 211682202U CN 202020219985 U CN202020219985 U CN 202020219985U CN 211682202 U CN211682202 U CN 211682202U
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 18
- 238000003754 machining Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 241000219122 Cucurbita Species 0.000 description 1
- 235000009852 Cucurbita pepo Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model discloses a joint connection mode of cooperation robot belongs to cooperation robotechnology field. The end face of the end cover connecting end of the harmonic reducer is provided with a plurality of mounting holes corresponding to the threaded holes, and each mounting hole is provided with an arc-shaped limiting groove for limiting the inner hexagonal screw; when two joint modules are connected, the mounting hole of the end cover connecting end of the harmonic speed reducer of one joint module penetrates through the hexagon socket head cap screw fixed in the threaded hole of the other joint module, and then one of the joint modules rotates relative to the other joint module, so that the hexagon socket head cap screw is clamped by the arc-shaped limiting groove. The utility model discloses when can avoiding joint module axial connecting screw, after the operation of cooperation robot a period, the not hard up condition of screw appears.
Description
Technical Field
The utility model relates to a collaboration robot technical field, more specifically the utility model relates to a collaboration robot joint connected mode that says so.
Background
The cooperative robot needs to be miniaturized and quickly installed. When the traditional industrial robot is installed, the traditional industrial robot is connected by screws and does not directly connect the joints together. Thus, installation is time consuming. The convenience of installation is also much worse.
One way of connecting a cooperative robot is to axially connect the robot to a reducer through a joint module and lock a socket head cap screw. Due to the design, after the robot moves for a period of time, the screw of the joint of the cooperative robot can be loosened to a certain extent, and even if the screw is screwed, the situation can also occur. Therefore, it is necessary to design a new connection method to avoid such a situation.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a joint connected mode of cooperation robot, wherein, when joint module axial connecting screw can be avoided in this design, cooperation robot operation a period back, the not hard up condition of screw appears.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a joint connecting mode of a cooperative robot comprises a joint module, wherein the joint module is provided with two connecting ends which are respectively a shell connecting end of the joint module and a harmonic reducer end cover connecting end of the joint module, a plurality of threaded holes distributed on the same circumference are formed in the end face of the shell connecting end of the joint module, socket head cap screws are screwed in the threaded holes, a plurality of mounting holes corresponding to the threaded holes are formed in the end face of the harmonic reducer end cover connecting end of the joint module, the diameter of each mounting hole is larger than that of a nut end of each socket head cap screw, and each mounting hole is provided with an arc-shaped limiting groove which is communicated with the corresponding mounting hole and used for limiting the socket head cap screws; when two joint modules are connected, the mounting hole of the end cover connecting end of the harmonic speed reducer of one joint module penetrates through the hexagon socket head cap screw fixed in the threaded hole of the other joint module, and then one of the joint modules rotates relative to the other joint module, so that the hexagon socket head cap screw is clamped by the arc-shaped limiting groove.
The utility model discloses novel structure, the practicality is strong. Through the utility model discloses a joint module for two joint modules are when connecting, and connection efficiency is very high, and it is good to connect back stability. Specifically, when two joint modules are connected, the mounting hole of the harmonic speed reducer end cover connecting end of one joint module penetrates through the hexagon socket head cap screw fixed in the threaded hole of the other joint module, and due to the relative arrangement, each mounting hole is sleeved on the hexagon socket cap screw, then one joint module rotates relative to the other joint module, so that the hexagon socket head cap screw is clamped in each arc-shaped limiting groove communicated with the mounting hole, and the hexagon socket head cap screw is locked to complete fastening. The utility model discloses a joint connected mode of cooperation robot can be simultaneously will connect two required screws of joint module and fasten in advance, block promptly and advance the arc spacing inslot, improved assembly efficiency, simultaneously, owing to have a plurality of mounting holes and screw hole, if the simple adoption two hole relatively fixed (the connected mode who adopts among the prior art promptly), owing to there is machining error, can be very troublesome when leading to the installation, has two hole pairs to lead to the condition that the screw can't pass even. And through the utility model discloses a connected mode that mounting hole and arc spacing groove are the same comes chucking allen key through the arc spacing groove, can avoid because the inconvenient problem of assembly that machining error brought.
Furthermore, be equipped with the draw-in groove on the terminal surface of the casing link of joint module, be equipped with on the terminal surface of the harmonic speed reducer end cover link of joint module with draw-in groove matched with boss, when two joint modules rotate to connect and make arc spacing groove chucking allen screw, the boss card advances the draw-in groove internal fixation.
Furthermore, the arc-shaped limiting grooves are distributed on the same circumference.
Furthermore, the width of the arc-shaped limiting groove is equal to the width of a screw rod of the socket head cap screw.
Furthermore, the number of the threaded holes is equal to that of the mounting holes and the number of the arc-shaped limiting grooves, and the number of the threaded holes is 8-10.
Furthermore, a gasket is connected to the nut end of the socket head cap screw.
Compared with the prior art, the utility model beneficial effect who has is:
1. the utility model discloses a joint connected mode of cooperation robot can be simultaneously will connect two required screws of joint module and fasten in advance, block promptly and advance the arc spacing inslot, improved assembly efficiency, simultaneously, owing to have a plurality of mounting holes and screw hole, if the simple adoption two hole relatively fixed (the connected mode who adopts among the prior art promptly), owing to there is machining error, can be very troublesome when leading to the installation, has two hole pairs to lead to the condition that the screw can't pass even. And through the utility model discloses a connected mode that mounting hole and arc spacing groove are the same comes chucking allen key through the arc spacing groove, can avoid because the inconvenient problem of assembly that machining error brought.
Drawings
Fig. 1 is a schematic structural diagram of a joint connection mode of a cooperative robot according to the present invention;
fig. 2 is a schematic structural diagram of another view angle of a joint connection method of a cooperative robot according to the present invention.
The labels in the figure are: the method comprises the following steps of 1-joint module, 2-harmonic speed reducer end cover connecting end, 3-shell connecting end, 4-threaded hole, 5-boss, 6-clamping groove, 7-mounting hole, 8-arc limiting groove and 9-inner hexagon screw.
Detailed Description
The present invention will be further described with reference to the following examples, which are only some, but not all, of the examples of the present invention. Based on the embodiments in the present invention, other embodiments used by those skilled in the art without creative work belong to the protection scope of the present invention.
Example 1:
as shown in fig. 1, a joint connection mode of a cooperative robot includes a joint module 1, the joint module 1 has two connection ends, which are a shell connection end 3 of the joint module 1 and a harmonic reducer end cover connection end 2 of the joint module 1, a plurality of threaded holes 4 distributed on the same circumference are arranged on an end surface of the shell connection end 3 of the joint module 1, socket head cap screws 9 are screwed in the threaded holes 4, a plurality of mounting holes 7 corresponding to the threaded holes 4 are arranged on an end surface of the harmonic reducer end cover connection end 2 of the joint module 1, the diameter of each mounting hole 7 is larger than that of the socket head cap screw 9, and each mounting hole 7 is provided with an arc-shaped limiting groove 8 communicated with the mounting hole 7 and used for limiting the socket head cap screws 9; the arc-shaped limiting grooves 8 are distributed on the same circumference, and the width of each arc-shaped limiting groove 8 is equal to that of the screw of the corresponding socket head cap screw 9. In order to facilitate more convenient limiting and clamping of the inner hexagon screw 9, a chamfer can be arranged at the joint of the arc-shaped limiting groove 8 and the mounting hole 7, and the arc-shaped limiting groove 8 and the mounting hole 7 form a shape similar to a gourd.
When two joint modules 1 are connected, pass the mounting hole 7 of the harmonic speed reducer end cover connection end 2 of one joint module 1 through the hexagon socket head cap screw 9 of fixing on the screw hole 4 of another joint module 1, then make one of them joint module 1 rotate for another joint module 1 for 8 chucking hexagon socket head cap screws 9 of arc spacing groove.
The utility model discloses novel structure, the practicality is strong. Through the utility model discloses a joint module 1 for two joint modules 1 are when connecting, and connection efficiency is very high, and connects the back stability good. Specifically, when two joint modules 1 are connected, pass the mounting hole 7 of the harmonic speed reducer end cover connection end 2 of one joint module 1 through fix the hexagon socket head cap screw 9 on the screw hole 4 of another joint module 1, because relative setting, so every mounting hole 7 all overlaps and establishes on hexagon socket head cap screw 9, then make one of them joint module 1 rotate for another joint module 1 for every 8 chucking hexagon socket head cap screw 9 of arc spacing groove that are linked together with mounting hole 7, accomplish the fastening at locking hexagon socket head cap screw 9. The utility model discloses a joint connected mode of cooperation robot can be simultaneously will connect two required screws of joint module 1 and fasten in advance, block into arc spacing inslot 8 promptly, improved assembly efficiency, simultaneously, owing to have a plurality of mounting holes 7 and screw hole 4, if the simple adoption two hole relatively fixed (be the connected mode who adopts among the prior art promptly), owing to there is machining error, can be very troublesome when leading to the installation, there are two hole pairs to inaccurate condition that leads to the screw to pass even. And through the utility model discloses a mounting hole 7 and the same connected mode of arc spacing groove 8 come chucking allen key 9 through arc spacing groove 8, can avoid the inconvenient problem of assembly because machining error brings.
As shown in fig. 2, in this embodiment, a clamping groove 6 is provided on the end face of the housing connecting end 3 of the joint module 1, a boss 5 matched with the clamping groove 6 is provided on the end face of the harmonic reducer end cover connecting end 2 of the joint module 1, and when the two joint modules 1 are rotatably connected to enable the arc-shaped limiting groove 8 to clamp the hexagon socket head cap screw 9, the boss 5 is clamped into the clamping groove 6 for fixation. After two joint module 1 are locked at last, can accomplish to prevent two joint module 1 mutual slip through the cooperation of boss 5 and draw-in groove 6, and then produce not hard up problem.
Preferably, the number of the threaded holes 4 is equal to the number of the mounting holes 7 and the number of the arc-shaped limiting grooves 8, and the number of the threaded holes is 8-10.
Preferably, a gasket is connected to the nut end of the socket head cap screw 9. The gasket can also pass through the mounting hole 7, and the function of gasket is play and prevents not hard up, still increases the area of nut.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A joint connecting mode of a cooperative robot comprises a joint module (1), wherein the joint module (1) is provided with two connecting ends which are respectively a shell connecting end (3) of the joint module (1) and a harmonic speed reducer end cover connecting end (2) of the joint module (1), it is characterized in that the end surface of the shell connecting end (3) of the joint module (1) is provided with a plurality of threaded holes (4) distributed on the same circumference, the threaded hole (4) is internally screwed with an inner hexagon screw (9), the end surface of the harmonic speed reducer end cover connecting end (2) of the joint module (1) is provided with a plurality of mounting holes (7) corresponding to the threaded hole (4), the diameter of each mounting hole (7) is larger than the nut end of each inner hexagon screw (9), and each mounting hole (7) is provided with an arc-shaped limiting groove (8) which is communicated with the mounting hole (7) and used for limiting the inner hexagon screw (9); when two joint modules (1) are connected, the mounting hole (7) of the end cover connecting end (2) of the harmonic speed reducer of one joint module (1) penetrates through the inner hexagon screw (9) fixed on the threaded hole (4) of the other joint module (1), and then one joint module (1) is rotated relative to the other joint module (1), so that the arc-shaped limiting groove (8) clamps the inner hexagon screw (9).
2. The joint connecting mode of the cooperative robot as claimed in claim 1, wherein a clamping groove (6) is formed in the end face of the shell connecting end (3) of the joint module (1), a boss (5) matched with the clamping groove (6) is formed in the end face of the harmonic speed reducer end cover connecting end (2) of the joint module (1), and when the two joint modules (1) are rotatably connected, the arc-shaped limiting groove (8) clamps the hexagon socket head cap screw (9), the boss (5) is clamped into the clamping groove (6) for fixation.
3. A joint connection of a co-operating robot according to claim 1 or 2, characterised in that the arc-shaped limiting grooves (8) are distributed on the same circumference.
4. A joint connection of a co-operating robot according to claim 3, characterised in that the width of the arc-shaped limiting groove (8) is equal to the width of the screw of the socket head cap screw (9).
5. A joint connection of a cooperative robot according to claim 4, characterized in that the number of the threaded holes (4) is equal to the number of the mounting holes (7) and the arc-shaped limiting grooves (8), and the number is 8-10.
6. A joint connection of a co-acting robot according to claim 4, characterized in that a washer is attached to the nut end of the socket head cap screw (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020219985.8U CN211682202U (en) | 2020-02-27 | 2020-02-27 | Joint connection mode of cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020219985.8U CN211682202U (en) | 2020-02-27 | 2020-02-27 | Joint connection mode of cooperative robot |
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| Publication Number | Publication Date |
|---|---|
| CN211682202U true CN211682202U (en) | 2020-10-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020219985.8U Active CN211682202U (en) | 2020-02-27 | 2020-02-27 | Joint connection mode of cooperative robot |
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| CN (1) | CN211682202U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720567A (en) * | 2021-02-09 | 2021-04-30 | 中山早稻田科技有限公司 | Joint and mechanical arm connecting structure |
| CN114932574A (en) * | 2022-04-11 | 2022-08-23 | 深圳市大族机器人有限公司 | Joint assembly and mechanical arm |
-
2020
- 2020-02-27 CN CN202020219985.8U patent/CN211682202U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720567A (en) * | 2021-02-09 | 2021-04-30 | 中山早稻田科技有限公司 | Joint and mechanical arm connecting structure |
| CN114932574A (en) * | 2022-04-11 | 2022-08-23 | 深圳市大族机器人有限公司 | Joint assembly and mechanical arm |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 610000 No. 42, Huatai Road, Chenghua District, Chengdu, Sichuan Patentee after: Chengdu kanop Robot Technology Co.,Ltd. Address before: No.199, Huaguan Road, Longtan Industrial Park, Chenghua District, Chengdu, Sichuan 610000 Patentee before: CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address |