CN217572949U

CN217572949U - Industrial robot wrist

Info

Publication number: CN217572949U
Application number: CN202221682706.7U
Authority: CN
Inventors: 姜鹏; 唐祖明; 朱晓黎; 陆金华; 李辉
Original assignee: Guangxi Pengda Intelligent Equipment Co ltd
Current assignee: Guangxi Pengda Intelligent Equipment Co ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2022-10-14
Anticipated expiration: 2032-06-30

Abstract

The utility model relates to the technical field of industrial robots, in particular to an industrial robot wrist, which comprises a sealing shell, wherein a baffle is clamped on the sealing shell, a vertical plate is fixedly connected on the sealing shell, a fixed structure is arranged on the vertical plate, the fixed structure comprises a stop block, the stop block is slidably connected on the vertical plate, a rotating shaft is rotatably connected on the stop block, a supporting block is fixedly connected on the rotating shaft, the supporting block is abutted against the baffle, and a clamping structure is arranged on the sealing shell; the quick installation of baffle can be realized and the dismantlement to be convenient for lubricate the inside transmission part of robot wrist, shortened the lubricated time of the inside transmission part of robot wrist, improved the lubrication efficiency of the inside transmission part of robot wrist.

Description

Industrial robot wrist

Technical Field

The utility model relates to a robot wrist specifically is an industrial robot wrist, belongs to industrial robot technical field.

Background

Industrial robots are multi-joint manipulators widely used in the industrial field or multi-degree-of-freedom machine devices, have certain automaticity, and can realize various industrial processing and manufacturing functions by means of self power energy and control capability.

However, the inside of traditional industrial robot's wrist can be equipped with parts such as worm gear and worm and transmit, because worm gear generally installs the inside at industrial robot wrist, and can shelter from the protection to it through a plurality of screw installation baffles one by one after the installation is accomplished, consequently need turn round down the dismantlement of realization to the baffle through the screwdriver with a plurality of screws when needs lubricate worm gear, dismantle the lubrication of back realization to worm gear after getting off, still need turn round the installation that tight a plurality of screws realized the baffle after lubricated completion, this process is comparatively time-consuming and energy-consuming, be not convenient for worm gear's quick lubrication.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an industrial robot wrist just in order to solve above-mentioned problem, can realize the quick installation dismantlement of baffle to be convenient for lubricate the inside transmission part of robot wrist, shortened the lubricated time of the inside transmission part of robot wrist, improved the lubrication efficiency of the inside transmission part of robot wrist.

The utility model discloses a following technical scheme realizes above-mentioned purpose, an industrial robot wrist, including sealed shell, the block has the baffle on the sealed shell, fixedly connected with riser on the sealed shell, be equipped with fixed knot on the riser and construct, fixed knot constructs including the dog, sliding connection has the dog on the riser, it is connected with the pivot to rotate on the dog, fixedly connected with supports the piece in the pivot, support the piece and contradict in the baffle, be equipped with clamping structure on the sealed shell.

Preferably, a return spring is arranged inside the vertical plate, one end of the return spring is fixedly connected to the stop block, and the other end of the return spring is fixedly connected to the vertical plate.

Preferably, one end of the cross section of the baffle is of a trapezoidal structure, and one end of the cross section of the stop block is of a trapezoidal structure.

Preferably, the vertical plate is perpendicular to the sealing shell, and the sealing shell is provided with a plurality of mounting holes.

Preferably, the clamping structure comprises eight connecting shafts, the sealing shell is rotatably connected with four connecting shafts, and the connecting shafts are connected with two connecting rods.

Preferably, two one end fixed connection of connecting rod is in a connecting axle, two the other end fixed connection of connecting rod is in another connecting axle, one the connecting axle rotates to be connected in sealed shell, another the connecting axle rotates to be connected in splint.

Preferably, the worm wheels are fixedly connected to two connecting shafts on the sealing shell respectively and are meshed with the worm, the worm is connected to an output shaft of the motor through a coupler, and the motor is detachably connected to the sealing shell through a plurality of bolts.

Preferably, the connecting rods are equal in length, and the connecting rods on the same side of the worm are parallel to each other.

Preferably, a plurality of connecting rods that are located the worm both sides are the symmetric distribution about the axle center of worm, two splint are the symmetric distribution about the axle center of worm, the middle part of seal shell is located to the worm.

The utility model has the advantages that: fixedly connected with riser on the sealed shell, be equipped with fixed knot on the riser, sliding connection has the dog on the riser, rotate on the dog and be connected with the pivot, fixedly connected with supports the piece in the pivot, support and contradict in the baffle, be equipped with clamping structure on the sealed shell, and then when needing to dismantle the baffle and lubricate the transmission part inside the industrial robot wrist, support the piece through rotating, support the piece and drive the pivot rotation, press the dog after supporting the piece rotation 180 degrees, can promote the baffle with the hand after the dog enters into the riser completely and support the piece and enter into the recess on the riser, make the baffle follow the inside roll-off of sealed shell, take off the baffle from sealed shell after the roll-off, thereby realized the quick dismantlement of baffle, will not block the transmission part inside the robot wrist after the baffle dismantlement, thereby be convenient for lubricating the transmission part inside the robot wrist, insert the inside of sealed shell with the one end of baffle after lubricated completion, because the one end in baffle cross-section is the trapeziform structure, consequently, can play the effect of direction when the inside of entering into the inside of sealed shell of robot wrist can shorten the transmission part that the baffle can be convenient for the sealed shell from the inside the wrist of the robot is dismantled, thereby the baffle.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an enlarged view of the portion A shown in FIG. 1;

fig. 3 is a schematic view of the connection structure of the connection rod and the connection shaft of the present invention;

FIG. 4 is a schematic view of the connection structure of the motor and the worm according to the present invention;

fig. 5 is an enlarged view of the portion B shown in fig. 4.

In the figure: 1. sealing the shell; 2. a baffle plate; 3. a vertical plate; 4. a fixed structure; 401. a stopper; 402. a rotating shaft; 403. a resisting block; 404. a return spring; 5. a clamping structure; 501. a motor; 502. a worm; 503. a worm gear; 504. a connecting shaft; 505. a connecting rod; 506. a splint; 6. and (7) installing holes.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Please refer to fig. 1-5, an industrial robot wrist, including sealed shell 1, the last block of sealed shell 1 has baffle 2, fixedly connected with riser 3 on sealed shell 1, be equipped with fixed knot on riser 3 constructs 4, fixed knot constructs 4 and includes dog 401, sliding connection has dog 401 on riser 3, rotating connection has pivot 402 on the dog 401, fixedly connected with supports piece 403 on the pivot 402, support piece 403 contradicts in baffle 2, be equipped with clamping structure 5 on the sealed shell 1.

As a technical optimization scheme of the utility model, the inside of riser 3 is equipped with reset spring 404, reset spring 404's one end fixed connection in dog 401, reset spring 404's other end fixed connection in riser 3, the one end in 2 cross-sections of baffle is the trapezium structure, the one end in 401 cross-sections of dog is the trapezium structure, consequently can play the effect of direction when baffle 2 enters into seal shell 1.

As a technical optimization scheme of the utility model, it is perpendicular between riser 3 and the sealed shell 1, be equipped with a plurality of mounting holes 6 on the sealed shell 1, consequently can realize the installation to sealed shell 1 through a plurality of mounting holes 6.

As a technical optimization scheme of the utility model, clamping structure 5 includes eight connecting axles 504, it is connected with four connecting axles 504 to rotate on the sealed shell 1, be connected with two connecting rods 505, two on the connecting axle 504 the one end fixed connection of connecting rod 505 is in a connecting axle 504, two the other end fixed connection of connecting rod 505 is in another connecting axle 504, one connecting axle 504 rotates to be connected in sealed shell 1, another connecting axle 504 rotates to be connected in splint 506, is located and is fixed connection worm wheel 503, two respectively on two connecting axles 504 on sealed shell 1 mesh between worm wheel 503 and the worm 502, worm 502 passes through coupling joint on motor 501's the output shaft, motor 501 can dismantle through a plurality of bolts and connect in sealed shell 1, and the length of a plurality of connecting rods 505 equals, is parallel to each other between a plurality of connecting rods 505 that are located worm 502 with one side, and is symmetric distribution about the axle center of worm 502, two splint 506 is symmetric distribution about the axle center of worm 502, worm 502 locates the middle part of shell 1, consequently can realize getting of object and put.

The utility model discloses when using, at first install seal housing 1 on robot arm through 6 cooperation bolts of a plurality of mounting holes, the in-process of work through control motor 501 turn to realize two splint 506 closed with open to the realization is to getting of object put, promptly: when an object needs to be clamped, the motor 501 is started, the output shaft of the motor 501 rotates to drive the worm 502 to rotate, the worm 502 rotates to drive the two worm wheels 503 to move in opposite directions, the worm wheels 503 rotate to drive the connecting shaft 504 to rotate, the connecting shaft 504 rotates to drive the clamping plates 506 to move through the two connecting rods 505, the two clamping plates 506 can approach each other under the action of the connecting rods 505 according to the four-bar mechanism parallelogram principle of the hinge, so that the object can be clamped, when the object needs to be put down, the motor 501 only needs to be controlled to rotate reversely, the motor 501 rotates reversely to enable the two clamping plates 506 to move away from each other, so that the object is put down, when the baffle 2 needs to be disassembled to lubricate the worm 502 and the worm wheels 503 inside the wrist of the industrial robot, the abutting block 403 drives the rotating shaft 402 to rotate, and the abutting block 403 presses the stopper 401 after rotating 180 degrees, when the baffle 401 completely enters the vertical plate 3 and the abutting block 403 enters the groove on the vertical plate 3, the baffle 2 can be pushed by hand, so that the baffle 2 slides out of the sealing shell 1, the baffle 2 is taken down from the sealing shell 1 after sliding out, thereby realizing the rapid disassembly of the baffle 2, after the baffle 2 is disassembled, the worm wheel 503 and the worm 502 inside the robot wrist are not blocked, thereby facilitating the lubrication of the worm 502 and the worm wheel 503 inside the robot wrist, when the lubrication is completed, one end of the baffle 2 is inserted into the sealing shell 1, because one end of the cross section of the baffle 2 is in a trapezoidal structure, the baffle 2 can play a guiding role when entering the inside of the sealing shell 1, when the baffle 2 completely enters the inside of the sealing shell 1, the baffle 401 can slide out of the inside of the vertical plate 3 under the action of the reset spring 404, thereby abutting the baffle 2, thereby avoid baffle 2 from the inside roll-off of sealed shell 1 to realized the quick installation of baffle 2, dismantle through the quick installation of baffle 2 and can shorten the lubricated time of the inside worm wheel 503 of robot wrist and worm 502, be convenient for the inside worm 502 of robot wrist and the lubrication of worm wheel 503.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention 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. An industrial robot wrist comprising a sealed housing (1), characterized in that: the clamping is carried out on the sealing shell (1) to form a baffle (2), a vertical plate (3) is fixedly connected to the sealing shell (1), a fixing structure (4) is arranged on the vertical plate (3), the fixing structure (4) comprises a stop block (401), the vertical plate (3) is connected with the stop block (401) in a sliding mode, a rotating shaft (402) is connected to the stop block (401) in a rotating mode, a supporting block (403) is fixedly connected to the rotating shaft (402), the supporting block (403) is abutted to the baffle (2), and a clamping structure (5) is arranged on the sealing shell (1).

2. An industrial robot wrist according to claim 1, characterized in that: a return spring (404) is arranged inside the vertical plate (3), one end of the return spring (404) is fixedly connected to the stop block (401), and the other end of the return spring (404) is fixedly connected to the vertical plate (3).

3. An industrial robot wrist according to claim 1, characterized in that: one end of the cross section of the baffle (2) is of a trapezoid structure, and one end of the cross section of the stop block (401) is of a trapezoid structure.

4. An industrial robot wrist according to claim 3, characterized in that: the vertical plate (3) is vertical to the sealing shell (1), and a plurality of mounting holes (6) are formed in the sealing shell (1).

5. An industrial robot wrist according to claim 4, characterized in that: the clamping structure (5) comprises eight connecting shafts (504), the sealing shell (1) is connected with four connecting shafts (504) in a rotating mode, and the connecting shafts (504) are connected with two connecting rods (505).

6. An industrial robot wrist according to claim 5, characterised in that: two the one end fixed connection of connecting rod (505) is in one connecting axle (504), two the other end fixed connection of connecting rod (505) is in another connecting axle (504), one connecting axle (504) rotates to be connected in sealed shell (1), another connecting axle (504) rotates to be connected in splint (506).

7. An industrial robot wrist according to claim 6, characterized in that: be located on two connecting axles (504) on sealed shell (1) respectively fixedly connected with worm wheel (503), two mesh between worm wheel (503) and worm (502), worm (502) pass through the shaft coupling and connect on the output shaft of motor (501), motor (501) can dismantle through a plurality of bolts and connect in sealed shell (1).

8. An industrial robot wrist according to claim 7, characterised in that: the connecting rods (505) are equal in length, and the connecting rods (505) on the same side of the worm (502) are parallel to each other.

9. An industrial robot wrist according to claim 8, characterised in that: the connecting rods (505) positioned on two sides of the worm (502) are symmetrically distributed around the axis of the worm (502), the two clamping plates (506) are symmetrically distributed around the axis of the worm (502), and the worm (502) is arranged in the middle of the sealing shell (1).