CN216229477U

CN216229477U - Robot mechanical wrist

Info

Publication number: CN216229477U
Application number: CN202122743409.0U
Authority: CN
Inventors: 陈晓燕; 韦守造
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-11-10
Filing date: 2021-11-10
Publication date: 2022-04-08
Anticipated expiration: 2031-11-10

Abstract

The utility model belongs to the technical field of manipulators, and particularly relates to a robot mechanical wrist, aiming at the problem that two groups of limiting rods are not limited in the prior art and the limiting rods are easy to slip off after installation, the robot mechanical wrist comprises a main body and a connecting arm, wherein a connecting column is fixedly installed at the top of the main body, a contact is arranged on the top side of the connecting column, a connecting groove is formed in the bottom side of the connecting arm, the connecting column is matched with the connecting groove, a clamping groove is formed in the inner wall of the top of the connecting groove, the contact is matched with the clamping groove, an annular groove is formed in the outer side of the connecting arm, an annular plate is connected in the annular groove in a sliding mode, an annular rack is fixedly arranged on the inner side of the annular plate, two Z-shaped shafts are rotatably installed on the inner wall of the bottom of the annular groove, and gears are fixedly sleeved on the outer sides of the two Z-shaped shafts. The utility model has reasonable structural design, can conveniently and quickly mount and butt-joint the main body and the connecting arm, and has firm mounting, convenience and practicability.

Description

Robot mechanical wrist

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a mechanical wrist of a robot.

Background

Due to the development of scientific technology, more and more small robots are increasingly used in a variety of dangerous, complex and human-inaccessible environments to perform work, one needs to perform a certain task by the movement or action of the robot, this just needs to use the motion joint of robot, through the retrieval, the utility model patent that the publication number is CN214265647U discloses a robot mechanical wrist, including main part and linking arm, the main part is the cylinder type structure, the linking arm is located the main part directly behind, the rear side wall surface intermediate position of main part is provided with the spliced pole, the mounting groove has been seted up to the front side wall surface intermediate position of linking arm, the displacement groove has all been seted up to the arc lateral wall top and the below of spliced pole, the front side wall surface in two sets of displacement grooves extends forward to the position that is close to the main part front side wall surface, the spacing groove has all been seted up with one side in two sets of displacement grooves. According to the robot mechanical wrist, the two groups of limiting rods penetrate through the two groups of limiting holes to be located in the two groups of through holes, then the rotating disc is rotated, the rear side wall surfaces of the two groups of limiting rods and the front side wall surface of the rotating disc are located on the same plane, the main body can be fixed on the connecting arm, the whole installation process is simple and rapid, and the effect of rapid installation is achieved.

However, the above design has disadvantages, and the above design does not limit the two sets of position limiting rods, and the problem of the position limiting rods slipping off after installation is easily caused.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problem that two groups of limiting rods are not limited in the prior art and the limiting rods are easy to slip off after being installed, and provides a robot mechanical wrist.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a robot mechanical wrist comprises a main body and a connecting arm, wherein a connecting column is fixedly arranged at the top of the main body, a contact is arranged at the top side of the connecting column, a connecting groove is formed in the bottom side of the connecting arm, the connecting column is matched with the connecting groove, a clamping groove is formed in the inner wall of the top of the connecting groove, the contact is matched with the clamping groove, an annular groove is formed in the outer side of the connecting arm, an annular plate is connected in the annular groove in a sliding manner, an annular rack is fixedly arranged at the inner side of the annular plate, two Z-shaped shafts are rotatably arranged on the inner wall of the bottom of the annular groove, gears are fixedly sleeved on the outer sides of the two Z-shaped shafts and are meshed with the annular rack, two T-shaped inserting blocks are connected in the annular groove in a sliding manner, connecting plates are fixedly arranged on the sides, away from each other, the two connecting plates are movably sleeved on the outer sides of the corresponding Z-shaped shafts, slots are formed in the two sides of the connecting column, two T-shaped inserting blocks are movably inserted into the corresponding slots.

Preferably, two limiting blocks are fixedly mounted on the top side of the annular plate, two arc-shaped grooves are formed in the inner wall of the top of the annular groove, and the two limiting blocks are connected in the corresponding arc-shaped grooves in a sliding mode.

Preferably, the springs are fixedly connected to one sides of the two limiting blocks, and one ends, far away from the corresponding limiting blocks, of the two springs are fixedly connected to the inner walls of the corresponding arc-shaped grooves.

Preferably, two mounting grooves are formed in the inner wall of the bottom of the annular groove, outer rings of bearings are fixedly mounted in the two mounting grooves, and the two Z-shaped shafts are fixedly sleeved with the inner rings of the corresponding bearings.

Preferably, two limiting grooves are formed in the inner wall of the top of the annular groove and the inner wall of the bottom of the annular groove, and the two T-shaped inserting blocks are connected in the corresponding limiting grooves in a sliding mode.

Preferably, slide holes are formed in the inner walls of the two sides of the annular groove, and the two T-shaped inserting blocks are connected in the corresponding slide holes in a sliding mode.

According to the robot mechanical wrist, the annular plate, the two arc-shaped grooves, the two limiting blocks, the elastic deformation of the two springs, the meshing transmission of the annular rack and the two gears, the common matching of the two Z-shaped shafts and the corresponding connecting plates, and the common matching of the two T-shaped inserting blocks and the corresponding inserting grooves facilitate the rapid installation and butt joint of the main body and the connecting arms, and the robot mechanical wrist is firm in installation, convenient and practical;

the utility model has reasonable structural design, can conveniently and quickly mount and butt-joint the main body and the connecting arm, and has firm mounting, convenience and practicability.

Drawings

Fig. 1 is a schematic perspective view of a robot wrist according to the present invention;

FIG. 2 is a schematic cross-sectional view of a robotic wrist according to the present invention;

FIG. 3 is a schematic view of the cross section A-A in FIG. 2;

FIG. 4 is a partial enlarged view of portion B of FIG. 2;

fig. 5 is a schematic top view of a connecting plate of a robot wrist according to the present invention.

In the figure: 1. a main body; 2. a connecting arm; 3. connecting columns; 4. a contact; 5. an annular groove; 6. an annular plate; 7. an arc-shaped slot; 8. a limiting block; 9. a spring; 10. an annular rack; 11. a Z-shaped shaft; 12. a gear; 13. a T-shaped insert block; 14. a limiting groove; 15. a connecting plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-5, a robot wrist comprises a main body 1 and a connecting arm 2, a connecting post 3 is fixedly installed at the top of the main body 1, a contact 4 is arranged at the top side of the connecting post 3, a connecting groove is formed at the bottom side of the connecting arm 2, the connecting post 3 is matched with the connecting groove, a clamping groove is formed on the inner wall of the top of the connecting groove, the contact 4 is matched with the clamping groove, an annular groove 5 is formed at the outer side of the connecting arm 2, an annular plate 6 is connected in the annular groove 5 in a sliding manner, an annular rack 10 is fixedly arranged at the inner side of the annular plate 6, two Z-shaped shafts 11 are rotatably installed on the inner wall of the bottom of the annular groove 5, gears 12 are fixedly sleeved at the outer sides of the two Z-shaped shafts 11, the two gears 12 are respectively meshed with the annular rack 10, two T-shaped inserting blocks 13 are slidably connected in the annular groove 5, and a connecting plate 15 is fixedly installed at the side, which is far away from each other of the two T-shaped inserting blocks 13, the two connecting plates 15 are movably sleeved on the outer sides of the corresponding Z-shaped shafts 11, slots are formed in the two sides of the connecting column 3, and the two T-shaped inserting blocks 13 are movably inserted into the corresponding slots.

In the utility model, two limiting blocks 8 are fixedly arranged on the top side of the annular plate 6, two arc-shaped grooves 7 are formed in the inner wall of the top of the annular groove 5, and the two limiting blocks 8 are connected in the corresponding arc-shaped grooves 7 in a sliding manner to limit the annular plate 6.

In the utility model, one side of each of the two limiting blocks 8 is fixedly connected with a spring 9, and one end of each spring 9, which is far away from the corresponding limiting block 8, is fixedly connected to the inner wall of the corresponding arc-shaped groove 7, so that the annular plate 6 can be conveniently reset and moved.

In the utility model, two mounting grooves are formed in the inner wall of the bottom of the annular groove 5, the outer rings of the bearings are fixedly mounted in the two mounting grooves, and the two Z-shaped shafts 11 are fixedly sleeved with the corresponding inner rings of the bearings, so that the two Z-shaped shafts 11 can be conveniently and rotatably mounted.

In the utility model, two limiting grooves 14 are respectively arranged on the top inner wall and the bottom inner wall of the annular groove 5, and the two T-shaped inserting blocks 13 are slidably connected in the corresponding limiting grooves 14 to limit the two T-shaped inserting blocks 13.

In the utility model, the inner walls of the two sides of the annular groove 5 are respectively provided with a sliding hole, and the two T-shaped inserting blocks 13 are connected in the corresponding sliding holes in a sliding manner, so that the two T-shaped inserting blocks 13 can move conveniently.

In the utility model, when in use, the annular plate 6 can be rotated, two springs 9 can be extruded through two limiting blocks 8, meanwhile, the annular rack 10 and two gears 12 can be meshed for transmission, so that the annular plate can drive two Z-shaped shafts 11 to rotate, then the two Z-shaped shafts 11 can be matched with corresponding connecting plates 15 together, the two connecting plates 15 can be shifted through the two Z-shaped shafts 11, so that the two T-shaped inserting blocks 13 are driven to move away from each other, the two T-shaped inserting blocks 13 are retracted into corresponding sliding holes, then the main body 1 and the connecting arm 2 are butted through the connecting column 3 and the connecting groove, the contact 4 is clamped in a clamping groove, then the annular plate 6 can be released, the annular plate 6 can drive the annular rack 10 to reset through the elastic deformation of the two springs 9, then the two T-shaped inserting blocks 13 can move close to each other, reset and slide into corresponding slots, the butt joint and fixation of the main body 1 and the connecting arm 2 can be completed.

While there have been shown and described what are at present considered the fundamental principles and essential features of the utility model and its advantages, it will be apparent to those skilled in the art that the utility model is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The robot mechanical wrist comprises a main body (1) and a connecting arm (2), and is characterized in that a connecting column (3) is fixedly mounted at the top of the main body (1), a contact (4) is arranged at the top side of the connecting column (3), a connecting groove is formed in the bottom side of the connecting arm (2), the connecting column (3) is matched with the connecting groove, a clamping groove is formed in the inner wall of the top of the connecting groove, the contact (4) is matched with the clamping groove, a ring-shaped groove (5) is formed in the outer side of the connecting arm (2), a ring-shaped plate (6) is slidably connected in the ring-shaped groove (5), a ring-shaped rack (10) is fixedly arranged on the inner side of the ring-shaped plate (6), two Z-shaped shafts (11) are rotatably mounted on the inner wall of the bottom of the ring-shaped groove (5), gears (12) are fixedly sleeved on the outer sides of the two Z-shaped shafts (11), and the two gears (12) are meshed with the ring-shaped rack (10), the novel connecting structure is characterized in that two T-shaped inserting blocks (13) are connected in the annular groove (5) in a sliding mode, a connecting plate (15) is fixedly mounted on one side, away from each other, of each T-shaped inserting block (13), the two connecting plates (15) are movably sleeved on the outer sides of the corresponding Z-shaped shafts (11), slots are formed in the two sides of the connecting column (3), and the two T-shaped inserting blocks (13) are movably inserted in the corresponding slots.

2. A robot wrist according to claim 1, characterised in that two limit blocks (8) are fixedly mounted on the top side of the annular plate (6), two arc-shaped grooves (7) are formed in the inner wall of the top of the annular groove (5), and the two limit blocks (8) are slidably connected in the corresponding arc-shaped grooves (7).

3. A robot wrist according to claim 2, characterised in that springs (9) are fixedly connected to one side of each of the two stop blocks (8), and the ends of the two springs (9) remote from the corresponding stop block (8) are fixedly connected to the inner wall of the corresponding arc-shaped groove (7).

4. A robot mechanical wrist according to claim 1, characterized in that the bottom inner wall of the annular groove (5) is provided with two mounting grooves, the two mounting grooves are fixedly provided with outer rings of bearings, and the two Z-shaped shafts (11) are fixedly sleeved with the corresponding inner rings of the bearings.

5. A robot wrist according to claim 1, characterised in that two limiting grooves (14) are formed in the top inner wall and the bottom inner wall of the annular groove (5), and two T-shaped inserts (13) are slidably connected in the corresponding limiting grooves (14).

6. A robot wrist according to claim 1, characterised in that the inner walls of the annular groove (5) on both sides are provided with slide holes, and the two T-shaped inserts (13) are slidably connected in the corresponding slide holes.