CN211729239U

CN211729239U - Robot joint assembly and robot

Info

Publication number: CN211729239U
Application number: CN201922371936.6U
Authority: CN
Inventors: 凌健杨; 冯晶晶; 钟文涛
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-10-23
Anticipated expiration: 2029-12-24

Abstract

The application relates to the technical field of robots, in particular to a robot joint assembly and a robot comprising the same. The robot joint assembly comprises a first structural part and a second structural part, wherein a first mounting plate and a second mounting plate are arranged on the first structural part in parallel, the second structural part is rotatably connected between the first mounting plate and the second mounting plate, a first mounting hole is formed in the first mounting plate to form a first annular structure, a first notch of the first annular structure is formed in the first mounting plate, and the first mounting plates on two sides of the first notch are fixedly connected through screws. The joint assembly can adopt a holding and clamping mode to fix the speed reducer so as to replace the existing flange mounting mode, so that the flange structure of the speed reducer can be removed, the size and the weight of the speed reducer are reduced, the speed reducer with larger bearing capacity can be mounted at a joint, and the structural design which is lighter, more compact and easier to mount is realized.

Description

Robot joint assembly and robot

Technical Field

The application relates to the technical field of robots, in particular to a robot joint assembly and a robot comprising the same.

Background

With the popularization and application of industrial automation and the continuous rise of labor cost, robots are widely used in various industrial environments, and the quality of products is greatly improved while the enterprise cost is reduced.

The speed reducer is usually fixed to the joint of the existing robot through a flange plate, when the robot is used in practice, the joint of the robot needs to bear large bearing, and meanwhile, the robot has the functions of compact space and weight, so that the weight is reduced, and the speed reducer bearing large cannot be installed.

SUMMERY OF THE UTILITY MODEL

In order to solve the above technical problems, the present application provides a robot joint assembly and a robot including the same, which are expected to satisfy the lightweight requirements of the robot while providing the bearing capacity of a speed reducer.

To achieve the above object, according to one aspect of the present invention, there is provided a robot joint assembly.

According to robot joint subassembly of this application embodiment, it includes first structure and second structure, parallel arrangement has first mounting panel and second mounting panel on the first structure, the second structure rotate connect in between first mounting panel and the second mounting panel, wherein, seted up first mounting hole on the first mounting panel and formed first annular structure, seted up on the first mounting panel and broken first annular structure's first breach, the first mounting panel of first breach both sides passes through screw fixed connection.

Furthermore, a second mounting hole is formed in the second mounting plate to form a second annular structure, a second notch breaking the second annular structure is formed in the second mounting plate, and the mounting plates on two sides of the second notch are fixedly connected through screws.

Furthermore, a shaft reducer is fixed in the first mounting hole, a bearing is fixed in the second mounting hole, and the second structural member is rotatably connected with the first structural member through the bearing.

Furthermore, the surfaces of two sides of the first notch or the second notch are arranged in parallel, and the screw is perpendicular to the surface of the first notch or the second notch.

Further, the gap width of the first notch is 4% -7% of the radius of the first mounting hole, and the gap width of the second notch is 4% -7% of the radius of the first mounting hole.

Furthermore, a threaded hole is formed in the first mounting plate on one side of the first notch, a through hole opposite to the threaded hole is formed in the first mounting plate on the other side of the first notch, the threaded hole is matched with the screw to be in threaded connection with the screw, and the diameter of the through hole is larger than the nominal diameter of the screw thread of the screw and smaller than the diameter of the screw cap of the screw.

Furthermore, a counter bore used for accommodating the screw and the nut is formed in the first mounting plate.

In order to achieve the above object, according to a second aspect of the present invention, there is also provided a robot.

A robot according to an embodiment of the application, comprising a robot joint assembly as provided in the first aspect of the application.

Among the joint subassembly that above-mentioned technical scheme provided, can adopt the mode of embracing the clamp to fix the speed reducer to replace current flange mounting mode, can remove the flange structure of speed reducer like this, reduce the size and the weight of speed reducer, can install the speed reducer of bigger bearing capacity in joint department, realize more lightweight, compacter and install easier structural design.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

fig. 1 schematically shows a perspective structure reference view of a robot joint assembly provided by an embodiment of the application;

FIG. 2 schematically illustrates a front view reference of a robotic joint assembly provided by an embodiment of the present application;

FIG. 3 schematically illustrates a top view reference of a robotic joint assembly provided by an embodiment of the present application;

FIG. 4 is a cross-sectional view taken along line D-D of FIG. 2; and

fig. 5 is a partially enlarged view of a cut-away portion a of fig. 2.

In the figure:

1. a first structural member; 2. a second structural member; 3. a first mounting plate; 4. a second mounting plate; 5. a first notch; 6. a screw; 7. a second notch; 8. a shaft reducer; 9. a bearing; 10. a threaded hole; 11. a through hole; 12. a counterbore.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.

It is noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of this application and the above-described drawings are intended to cover non-exclusive inclusions, such that a system, product or apparatus that comprises a list of elements is not necessarily limited to those elements explicitly listed, but may include other elements not expressly listed or inherent to such product or apparatus.

In this application, the terms "upper", "lower", "inner", "middle", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The speed reducer is usually fixed to the joint of the existing robot through a flange plate, when the robot is used in practice, the joint of the robot needs to bear large bearing, and meanwhile, the robot has the functions of compact space and weight, so that the weight is reduced, and the speed reducer bearing large cannot be installed. In order to solve the problem, the embodiments of the present application provide a robot joint assembly as shown in fig. 1 to 5, which is used for being mounted on a robot, and is particularly suitable for a fifth axis joint of a six-axis robot because the fifth axis joint of the six-axis robot needs to bear a large load during actual use, and simultaneously has the requirements of space compactness and light weight, and a speed reducer with a large load cannot be mounted on the fifth axis joint of the six-axis robot. As shown in the figure, the robot joint assembly comprises a first structural member 1 and a second structural member 2, a first mounting plate 3 and a second mounting plate 4 are arranged on the first structural member 1 in parallel, the second structural member 2 is rotatably connected between the first mounting plate 3 and the second mounting plate 4, a first mounting hole is formed in the first mounting plate 3 to form a first annular structure, a first notch 5 which is used for breaking the first annular structure is formed in the first mounting plate 3, and the first mounting plates on two sides of the first notch 5 are fixedly connected through a screw 6. First mounting hole is used for fixed speed reducer, the speed reducer specifically is the shaft reduction gear 8 that the robot field is commonly used, its structure is cylindricly, in specific use, can remove the flange structure of speed reducer, alleviate the dead weight of speed reducer, directly arrange the speed reducer body in first mounting hole, then screw 6 with the screw, first breach 5 is died to the lock, thereby realized adopting the mode fixed shaft reduction gear 8 of locking clamp through first mounting panel 3, in order to replace current flange mounting mode, can remove the flange structure of shaft reduction gear 8 like this, reduce the size and the weight of shaft reduction gear 8, can install the shaft reduction gear 8 of bigger bearing capacity in joint department, realize more lightweight, compacter and install easier structural design. The diameter of the first mounting hole in the embodiment of the present application should be slightly larger than the diameter of the shaft speed reducer 8 in the state that the first notch 5 is not locked, so that the shaft speed reducer 8 can be conveniently placed into the first mounting hole, and the first annular structure can gradually lock and fix the shaft speed reducer 8 in the process of screwing the screw 6.

In some embodiments, a second mounting hole is formed in the second mounting plate 4 to form a second annular structure, a second notch 7 is formed in the second mounting plate 4 to break the second annular structure, and the second mounting plates on two sides of the second notch 7 are fixedly connected through a screw 6. The second mounting plate is used for fixing a bearing 9, namely the bearing 9 is fixed in the second mounting hole, and the second structural member 2 is rotatably connected with the first structural member 1 through the bearing 9. When the bearing locking device is used specifically, the bearing 9 is directly arranged in the second mounting hole, then the screw 6 is screwed, and the second notch 7 is locked, so that the bearing 9 is fixed by adopting a locking clamping mode through the second mounting plate 4, and the bearing 9 is quickly and simply mounted. Similarly, the diameter of the second mounting hole in the embodiment of the present application should be slightly larger than the outer diameter of the bearing 9 when the second notch 7 is not locked, so that the bearing 9 can be conveniently placed in the second mounting hole, and the second annular structure can gradually lock and fix the bearing 9 in the process of screwing the screw 6.

In some embodiments, the surfaces on both sides of the first or

second gap

5, 7 are arranged in parallel, and the screw 6 is perpendicular to the surface of the first or

second gap

5, 7. The surfaces of the two sides of the first gap 5 or the second gap 7 are arranged in parallel, so that the two sides of the gap can be matched and butted in the process of screwing the screw 6, the plane contact of the two sides can reduce the mutual extrusion pressure under the condition that the gap is completely locked, and the surface of the screw 6 perpendicular to the first gap 5 or the second gap 7 can provide larger locking component force, so that the connection is more stable. The gap width of the first gap 5 or the second gap 7 in the embodiment of the present application may be specifically set as required, and the diameters of the first mounting hole and the second mounting hole, the deformation characteristics of the material, and the like need to be considered, preferably, the gap width of the first gap 5 is 4% to 7% of the radius of the first mounting hole, and the gap width of the second gap 7 is 4% to 7% of the radius of the first mounting hole.

As shown in fig. 5, a threaded hole 10 is formed in the first mounting plate on one side of the first notch 5, a through hole 11 opposite to the threaded hole 10 is formed in the first mounting plate on the other side, the threaded hole 10 is in threaded connection with the screw 6 in a matching manner, and the diameter of the through hole 11 is greater than the nominal diameter of the thread of the screw 6 and smaller than the nut diameter of the screw 6. When the locking bolt is used, the bolt 6 is screwed into the threaded hole 10 through the through hole 11, and in the process of screwing the bolt 6, the nut of the bolt 6 is in contact with the first mounting plate on the end face of the through hole 11, so that the first notch is gradually locked. Preferably, the first mounting plate 3 is formed with a counter bore 12 for receiving the nut of the screw 6, and the counter bore 12 is configured to reduce the portion of the screw 6 exposed outside the overall structure, prevent the screw from interfering with the movement of the joint assembly, and provide an aesthetic effect.

Similarly, in the embodiment of the present application, a threaded hole may also be formed in the second mounting plate on one side of the second notch 7, a through hole opposite to the threaded hole is formed in the second mounting plate on the other side, the threaded hole is in threaded connection with the screw 6 in a matching manner, and the diameter of the through hole is greater than the nominal diameter of the thread of the screw 6 and smaller than the nut diameter of the screw 6. The use mode and the achieved effect are the same as the corresponding structure at the first gap 5, and the description is omitted here.

It should be noted that other configurations and operations of the robot joint assembly of the present application are known to those skilled in the art, and reference may be made to the structure of the related devices in the prior art, and will not be described in detail herein.

The embodiment of the application also provides a robot, which comprises the robot joint assembly provided by the embodiment of the application. The robot is preferably a six-axis robot, and the robot joint assembly is arranged at a fifth axis joint of the robot.

The robot disclosed in the embodiment of the present application includes the robot joint assembly provided in the above embodiment, so that the robot having the joint assembly also has all the above technical effects, and details are not repeated herein. Other configurations (e.g., servo-actuated mechanisms, control systems, and limit stops, etc.) and operations of the robot will be known to those of ordinary skill in the art and will not be described in detail herein.

Some embodiments in this specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The above description is only exemplary of the invention, and is intended to enable those skilled in the art to understand and implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot joint assembly, comprising a first structural member (1) and a second structural member (2), wherein a first mounting plate (3) and a second mounting plate (4) are arranged on the first structural member (1) in parallel, the second structural member (2) is rotatably connected between the first mounting plate (3) and the second mounting plate (4),

seted up first mounting hole and formed first annular structure on first mounting panel (3), seted up on first mounting panel (3) and broken first annular structure's first breach (5), the first mounting panel of first breach (5) both sides passes through screw (6) fixed connection.

2. The robot joint assembly according to claim 1, wherein a second mounting hole is formed in the second mounting plate (4) to form a second annular structure, a second gap (7) is formed in the second mounting plate (4) to break the second annular structure, and the second mounting plates on both sides of the second gap (7) are fixedly connected by a screw (6).

3. The robot joint assembly according to claim 2, characterized in that a shaft reducer (8) is fixed in the first mounting hole, a bearing (9) is fixed in the second mounting hole, and the second structure (2) is rotatably connected with the first structure (1) through the bearing (9).

4. The robot joint assembly according to claim 2, characterized in that the surfaces on both sides of the first (5) or second (7) indentation are arranged in parallel, the screw (6) being perpendicular to the surfaces of the first (5) or second (7) indentation.

5. Robot joint assembly according to claim 4, characterized in that the gap width of the first gap (5) is 4-7% of the radius of the first mounting hole and the gap width of the second gap (7) is 4-7% of the radius of the first mounting hole.

6. The robot joint assembly according to claim 2, wherein the first mounting plate on one side of the first notch (5) is provided with a threaded hole (10), the first mounting plate on the other side is provided with a through hole (11) opposite to the threaded hole (10), the threaded hole (10) is in threaded connection with the screw (6) in a matching manner, and the diameter of the through hole (11) is larger than the nominal diameter of the thread of the screw (6) and smaller than the nut diameter of the screw (6).

7. The robot joint assembly according to claim 1, characterized in that the first mounting plate (3) is formed with a counter bore (12) for receiving the screw (6) nut.

8. A robot comprising a robot joint assembly according to any one of claims 1-7.