CN217123224U - Robot joint connection structure and robot - Google Patents

Abstract

The utility model relates to a robot joint connection structure and a robot, wherein the robot joint connection structure comprises a first steering engine, a first plug wire hole is arranged on the first steering engine for the first steering engine to plug a power line, and the first plug wire hole and an output rotating shaft of the first steering engine are on the same axis; first support, including stiff end and expansion end, its expansion end is equipped with first through-hole, first steering wheel rotatable coupling in the expansion end of first support, and first plug wire hole is located the same axis with first through-hole. Through the first plug wire hole with first steering wheel rather than the output shaft setting of self on same axis, first steering wheel when rotating around the expansion end of first support, first support can not rub the power cord and roll over the damage, and simultaneously, the power cord can not follow the support and rotate, need not reserve longer wire rod, and first plug wire mouth exposes in the first steering wheel outside, can carry out the structural connection earlier, carries out the grafting of power cord again for assembly process is simple.

Description

Robot joint connection structure and robot

Technical Field

The utility model relates to a robot field indicates a robot joint connection structure and robot especially.

Background

The robot can realize various actions according to instructions transmitted by a control terminal, and various joint structures are arranged on the robot. Because the steering wheel has better turning performance, and the structure is small and exquisite, accords with the installation demand of robot, and the joint structure of current robot mainly carries out the joint through the steering wheel as main drive element and rotates. In the prior art, when a robot joint moves, wires on the robot joint are easy to break and wear, and long wire allowance needs to be reserved to meet the rotation requirement of the robot joint because the wires need to rotate around the joint. Meanwhile, when the robot joint rotates, the wire is exposed and easily rubs with the swing arm support, so that the wire is damaged and is easily in poor contact or broken, and the service life of the robot is further influenced.

SUMMERY OF THE UTILITY MODEL

To the technical problem, an object of the utility model is to provide a robot joint connection structure and robot solves the robot joint and rotates the in-process, and the wire rod wearing and tearing to and when carrying out the joint installation, need reserve longer wire rod problem.

In order to achieve the above object, an object of the present invention is to provide a robot joint connecting structure and a robot, the robot joint connecting structure includes:

the first steering engine is provided with a first wire inserting hole for the first steering engine to insert a power wire, and the first wire inserting hole and an output rotating shaft of the first steering engine are on the same axis;

first support, including stiff end and expansion end, its expansion end is equipped with first through-hole, first steering wheel rotatable coupling in the expansion end of first support, first plug wire hole with first through-hole is located same axis.

In some embodiments, the steering engine further comprises a second wire insertion hole, and the second wire insertion hole and the first wire insertion hole are located on the same side of the first steering engine.

In some embodiments, the second wire insertion hole is located on the outer side of the output shaft of the first steering engine, and a central connecting line of the second wire insertion hole and the first wire insertion hole is parallel to an axis of the robot when a joint is straightened.

In some embodiments, a wiring groove is further formed in the first steering engine, the wiring groove is located on the same side of the first wiring hole, and the wiring groove is used for installing and connecting power lines of the steering engines on the two sides of the same joint.

In some embodiments, a wire routing hole is formed in the first support, and the wire routing hole corresponds to the wire routing groove of the first steering engine.

In some embodiments, the steering engine further comprises a first power arm arranged in parallel with the first bracket, and one end of the first power arm is connected to the output shaft of the first steering engine.

In some embodiments, the steering engine further comprises a second steering engine, and one end of the non-output shaft of the second steering engine is fixedly connected with the fixed ends of the first force arm and the first bracket; and the second support and the second power arm are connected into a whole, the second power arm is connected to the output shaft on one side of the second steering engine, and the second support is movably connected with the other side of the steering engine.

In some embodiments, the second steering engine has the same structure as the first steering engine, and is provided with a second wiring groove, a third wire insertion hole and a fourth wire insertion hole, wherein the third wire insertion hole is coaxial with the output shaft of the second steering engine.

In some embodiments, a second through hole and a second wire hole are formed in the second support, and the second through hole and the third wire hole are located on the same axis.

In some embodiments, the present invention also resides in providing a robot comprising:

a robot body;

the robot joint connecting structure in each of the above embodiments;

at least one position of each joint of the robot body is provided with the robot joint connecting structure.

Compared with the prior art, the utility model discloses the beneficial effect who brings is:

1. the plug wire mouth through with the steering wheel sets up on same axis with its self output shaft, when the steering wheel rotated around the support, the power cord need not to rotate around the support and can not take place the friction with the support, when guaranteeing the life of power cord, in the same joint department, required power cord length is still less in this application, makes the manufacturing cost of robot lower.

2. The steering wheel machine plug wire mouth is located the steering wheel outside, can assemble steering wheel and support earlier, then pegs graft the power cord again, compares the assembly methods of traditional integral type, and assembly process is simpler, convenient in this application.

3. The steering engines are provided with the wiring grooves, the bracket is provided with the first through holes, and the wiring grooves correspond to the first through holes in position, so that the connection length of a power line between every two adjacent steering engines is saved; the power line is arranged in the wiring groove, so that the contact between the outside and the power line can be reduced, and the power line is further protected from being abraded.

Drawings

The above features, technical features, advantages and modes of realisation of the present invention will be further described in the following detailed description of preferred embodiments thereof, which is to be read in conjunction with the accompanying drawings.

Fig. 1 is a schematic view of a connection structure of a first steering engine and a second steering engine of a robot joint connection structure of the present invention;

fig. 2 is a schematic view of a three-dimensional structure of a first steering engine of a robot joint connection structure of the present invention;

fig. 3 is a schematic perspective view of a first bracket of a robot joint connection structure according to the present invention;

fig. 4 is a schematic view of a connection structure between a second bracket and a second steering engine of a robot joint connection structure of the present invention;

fig. 5 is a schematic view of the overall structure of an arm of a robot joint connection structure of the present invention.

The reference numbers illustrate: the mechanical palm comprises a first steering engine 100, a first wire insertion hole 101, a second wire insertion hole 102, a wire distribution groove 103, a first fixing hole 104, a second fixing hole 105, a first support 200, a wire distribution hole 201, a first through hole 202, a third fixing hole 203, a fourth fixing hole 204, a second steering engine 300, a third wire insertion hole 301, a fourth wire insertion hole 302, a first power arm 400, a second support 500, a second wire distribution hole 501, a second through hole 502, a third through hole 503, a second power arm 600 and a mechanical palm 700.

Detailed Description

In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.

For the sake of simplicity, only the parts related to the utility model are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In one embodiment, as shown in fig. 1 to 5, a robot joint connecting structure provided by the present invention includes a first steering engine 100 and a first bracket 200. Wherein be equipped with first plug wire hole 101 on first steering wheel 100, supply the grafting intercommunication of the power cord between each joint of robot, the position of first plug wire hole 101 and the output shaft of steering wheel 100 are on the same axis. The first support 200 comprises a fixed end and a movable end, the fixed end of the first support is connected with the lower end of the second steering engine 300, a first through hole 202 is formed in the movable end of the first support 200, and the first through hole 202 in the first support 200 corresponds to the first wire plugging hole 101 in the first steering engine 100 and is located on the same axis. Specifically, as shown in fig. 1, one joint includes a first steering engine 100 and a first bracket 200, and a fixed end of the first bracket 200 is provided with a third fixing hole 203 for fixedly connecting with a fixing hole at a lower end of a second steering engine 300. A fourth fixing hole 204 is formed at the movable end of the first bracket 200 and is used for being fixedly connected with the second fixing hole 105 at one end of the output shaft of the first steering engine 100. In this embodiment, through the output shaft setting with first plug wire hole 101 and first steering wheel 100 on same axis, first steering wheel 100 is when rotating, and the power cord only rotates for first steering wheel 100, can not appear dragging the condition, and the difficult rupture of power cord requires lowerly to the operating mode of robot joint department, effectively improves the life of power cord. Optionally, the socket in the first wire insertion hole 101 may be rotatably disposed, so that when the robot joint rotates, the power line is in a stationary state relative to the robot joint, and the joint may rotate at any angle, so that the application range of the connection structure is wider.

In one embodiment, in order to further ensure that the number of power lines plugged in the first wire insertion hole 101 is small, and effectively ensure the plugging quality, a second wire insertion hole 102 is further arranged on the same side of the first wire insertion hole 101, so that power lines at different joints are separately plugged in. Specifically, the first wire insertion hole 101 and the second wire insertion hole 102 are located on the same side, the second wire insertion hole 102 is located on the outer side of the first bracket 200, and the second wire insertion hole 102 is not covered by the bracket 200 during the rotation of the second bracket 200. Further, the first wire insertion hole 101 and the second wire insertion hole 102 in this embodiment are exposed outside the first steering engine 100, and when the robot is assembled, the support 200 and the steering engine 100 may be assembled first, and after the two are assembled, the power cord may be inserted into the first wire insertion hole 101 and the second wire insertion hole 102. During the concrete assembly, the power cord is worn out to the second trough of its lower extreme from fourth plug wire hole 302 on the second steering wheel 300, and its structure is the same with the trough 103 structure of first steering wheel 100 lower extreme, passes through the second trough to trough 201, from the second support 200 outside again, pegs graft to first plug hole 101 through first through-hole 202, accomplishes the connection of power cord between first steering wheel 100 and the second steering wheel 300 promptly. In this embodiment, through separately setting up the plug wire hole, avoid too much power cord to peg graft in same plug wire hole, guaranteed the stability of plug wire hole department power cord grafting. Furthermore, in order to ensure that the wire used between the fourth wire inserting hole 302 of the second steering engine 300 and the first wire inserting hole 101 of the first steering engine 100 is minimum, because the wire distributing groove 102 is positioned in the center of the outer side of the first steering engine 100, the central connecting line of the first wire inserting hole 101 and the second wire inserting hole 102 is parallel to the axis of the robot when the robot joint is straightened, and the distance between the second wire inserting hole 102 and the wire distributing groove 103 is reduced. Since the first steering gear 100 and the second steering gear 300 have the same structure, the third wire insertion hole 301 and the fourth wire insertion hole 302 are also provided in the same manner.

In one embodiment, a wiring groove 103 is further formed in the first steering engine 100, and a reserved position is provided for installation of a power line by arranging the wiring groove 103, so that the usage amount of the power line between joints of the robot is reduced, the structural arrangement of the robot is more reasonable, and the power line is further protected. Specifically, a protruding block is arranged at the lower end of the first steering engine 100, a vertical notch is formed in the protruding block, and first fixing holes 104 are formed in two sides of the protruding block and are in adaptive connection with third fixing holes 203 of the first support 200. The position of the wiring groove 103 corresponds to the position of the second wire insertion hole 102. In the specific connection, in this embodiment, as shown in fig. 1, the power cord comes out from the fourth plug hole 302, and passes through the first bracket 200 from the second wiring duct to the first plug hole 101 of the first steering engine 100. Alternatively, the structure of the routing groove 103 is not limited, and may be a hole-like structure or a plurality of groove-like structures separated from each other. Further, because the first support 200 is fixedly connected to the output shaft of the first steering engine 100, and the first plug hole 101 is located inside the housing of the first steering engine 100, in order to reduce the installation length of the power cord, a wiring hole 201 is formed in the support 200, and the position of the wiring hole corresponds to the position of the wiring groove 103. Specifically, in this embodiment, when the support 200 and the steering engine 100 are connected, the wiring groove 103 is covered, on one hand, the support 200 protects the power line, but at the same time, the power line needs to be connected to the first wiring hole 101, so in order to reduce the length of the power line, the power line does not rotate around the center of the steering engine, and the wiring hole is formed in the first support 200. By providing the wiring hole 201, the power supply line installation path is shortened. Meanwhile, when the robot joint rotates, the power line only rotates by itself and cannot rotate around along with the first steering engine 100, and friction between the first support 200 and the power line is reduced.

In one embodiment, the robot joint connection structure further includes a first power arm 400 parallel to the first bracket 200, one end of which is connected to the output shaft of the first steering engine 100, and the other end of which is connected to the non-output shaft of the second steering engine 300. Through the rotation of first steering wheel 100, make its self relative with first support 200 and first power arm 400 rotate, realize the joint crooked and unbend. Further, a second steering engine 300 is further arranged at the other end of the first support 200 and the other end of the first power arm 400, a second support 500 and a second power arm 600 which are connected into a whole are arranged at the output shaft end of the second steering engine 300, the second power arm 600 is connected to the output shaft on one side of the second steering engine 300, the second support 500 is rotatably connected to the other side of the second steering engine 300 and is arranged in parallel with the second power arm 600 and on the same side as the first support 200. For convenient connection and assembly, the first steering engine 100 and the second steering engine 300 have the same structure, and in this embodiment, the two are completely the same. And a third wire inserting hole 301, a fourth wire inserting hole 302 and a second wire distributing groove are arranged on the second steering engine 300, and correspond to the first wire inserting hole 101, the second wire inserting hole 102 and the wire distributing grooves 103 on the first steering engine 100 one by one. Further, a third through hole 503 is further provided at the connection position of the second bracket 200 and the second power arm 600, and is rotatably connected to the body part of the robot for connecting and routing with the body part of the robot. Further, a second wire hole 501 and a second through hole 502 are formed in the second support 500, the second wire hole 501 is used for connecting wires of a power line between a body part of the robot and an arm, the using length of the power line is shortened, and meanwhile friction between the power line and the second support 500 is avoided. The connection principle of the first steering engine 100 and the first bracket 200 is the same, and the second through hole 502 and the third wire insertion hole 301 are coaxially arranged.

In one embodiment, the present invention further provides a robot, which includes a robot body, and the robot joint connection structures in the above embodiments, wherein the robot joint connection structures are installed at the legs or the hands and the joints of the robot body. As shown in fig. 5, a complete mechanical arm includes a second power arm, a second bracket, a second steering engine, a first power arm, a first bracket, a first steering engine and a mechanical palm, and the mechanical arm is designed in a symmetrical structure, so that the mechanical arm is convenient to assemble, produce and manufacture, and the replaceability of parts is enhanced.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A robot joint connection structure, comprising:

the first steering engine is provided with a first wire inserting hole for the first steering engine to insert a power wire, and the first wire inserting hole and an output rotating shaft of the first steering engine are on the same axis;

first support, including stiff end and expansion end, its expansion end is equipped with first through-hole, first steering wheel rotatable coupling in the expansion end of first support, first plug wire hole with first through-hole is located same axis.

2. A robot joint connecting structure according to claim 1,

the steering engine is characterized by further comprising a second wire inserting hole, wherein the second wire inserting hole and the first wire inserting hole are located on the same side of the first steering engine.

3. A robot joint connecting structure according to claim 2,

the second wire inserting hole is located on the outer side of the output shaft of the first steering engine, and a central connecting line of the second wire inserting hole and the first wire inserting hole is parallel to the axis of the robot joint when the robot joint is straightened.

4. A robot joint connecting structure according to claim 1,

the first steering engine is further provided with a wiring groove, the wiring groove is located on the same side of the first wiring hole, and the wiring groove is used for installing and connecting power lines of the steering engines on the two sides of the same joint.

5. A robot joint connecting structure according to claim 4,

and a wiring hole is formed in the first support and corresponds to the wiring groove of the first steering engine.

6. A robot joint connection structure according to any one of claims 1 to 5,

the steering engine further comprises a first power arm which is arranged in parallel with the first support, and one end of the first power arm is connected to an output shaft of the first steering engine.

7. A robot joint connecting structure according to claim 6,

the first power arm is connected with the first support through a first steering engine, and one end of a non-output shaft of the first steering engine is fixedly connected with the fixed ends of the first power arm and the first support; and the second support and the second power arm are connected into a whole, the second power arm is connected to the output shaft on one side of the second steering engine, and the second support is movably connected with the other side of the steering engine.

8. A robot joint connecting structure according to claim 7,

the second steering engine is the same as the first steering engine in structure, a second wiring groove, a third wiring hole and a fourth wiring hole are formed in the second steering engine, and the third wiring hole and an output shaft of the second steering engine are coaxially arranged.

9. A robot joint connecting structure according to claim 8,

and a second through hole and a second wiring hole are formed in the second support, and the second through hole and the third wiring hole are located on the same axis.

10. A robot, comprising:

robot body and

the robotic articulation structure of any one of claims 1-9;

at least one position of each joint of the robot body is provided with the robot joint connecting structure.

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