CN219582904U - Switching structure for preventing linkage rod of cooperative robot from shifting - Google Patents
Switching structure for preventing linkage rod of cooperative robot from shifting Download PDFInfo
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- CN219582904U CN219582904U CN202320184787.6U CN202320184787U CN219582904U CN 219582904 U CN219582904 U CN 219582904U CN 202320184787 U CN202320184787 U CN 202320184787U CN 219582904 U CN219582904 U CN 219582904U
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- connecting rod
- joint
- rod sleeve
- linkage rod
- cooperative robot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
A switching structure for preventing a connecting rod of a cooperative robot from shifting relates to the field of robots. The switching structure for preventing the linkage rod of the cooperative robot from shifting comprises a linkage rod sleeve and two switching pieces which are detachably connected with two ends of the linkage rod sleeve respectively, wherein each switching piece comprises a joint connecting part for connecting a robot joint and a linkage rod connecting part for connecting the linkage rod sleeve, the linkage rod connecting part of each switching piece is connected with a plurality of connecting bolts through threads, the inner walls of the two ends of the linkage rod sleeve are respectively provided with a plurality of bolt connecting seats, and each connecting bolt of each switching piece is configured to be movably connected with or separated from each bolt connecting seat at one end of the linkage rod sleeve along the axial direction of the linkage rod sleeve; the outer wall of the joint connecting part is provided with a plurality of joint fixing holes, and the axis of each joint fixing hole extends along the radial direction of the connecting rod sleeve. The switching structure for preventing the deflection of the connecting rod of the cooperative robot can stably connect the two robot joints and limit the freedom degree of the switching structure, prevent the deflection and improve the precision.
Description
Technical Field
The utility model relates to the field of robots, in particular to a switching structure for preventing a connecting rod of a cooperative robot from shifting.
Background
The cooperative robot is equipment which fully plays the robot efficiency and human intelligence by cooperative operation with people on a production line, thereby effectively reducing the human labor intensity and improving the operation efficiency of complex tasks. The cooperative robot has high cost performance, is safe and convenient, and can greatly promote the development of manufacturing enterprises.
In order to ensure the requirements of high processing accuracy, high processing precision, high processing speed and the like of workpieces on a production line, the cooperative robot is required to have extremely high precision, so that factors possibly causing precision influence in workpieces on the cooperative robot need to be eliminated, and the connecting rod on the cooperative robot often causes precision reduction of the cooperative robot, if the hidden danger is not eliminated, the precision reduction of the workpieces on the production line is easily caused, and even the processing precision of batch products is unqualified, so that serious consequences are caused to enterprises.
Disclosure of Invention
The utility model aims to provide a switching structure for preventing a connecting rod of a cooperative robot from shifting, which can stably connect two robot joints and limit the freedom degree of the switching structure, thereby preventing the shifting and improving the operation precision.
The utility model is realized in the following way:
the utility model provides a switching structure for preventing a connecting rod of a cooperative robot from shifting, which comprises a connecting rod sleeve and two switching pieces which are respectively and detachably connected with two ends of the connecting rod sleeve, wherein each switching piece comprises a joint connecting part for connecting a robot joint and a connecting rod connecting part for connecting the connecting rod sleeve; the outer wall of the joint connecting part is provided with a plurality of joint fixing holes, and the axis of each joint fixing hole extends along the radial direction of the connecting rod sleeve.
In some alternative embodiments, the connecting rod connecting part is further provided with a clamping part clamped with the inner wall of one end of the connecting rod sleeve, the outer wall of the clamping part is sunken to form a groove for clamping each bolt connecting seat at the corresponding end, and each connecting bolt connected with the connecting rod connecting part is connected with or separated from the corresponding bolt connecting seat clamped in the groove when moving along the axial direction of the connecting rod sleeve.
In some alternative embodiments, the respective connecting bolts of each adapter are spaced apart along the circumference of the connecting rod sleeve.
In some alternative embodiments, the inner wall of the connecting rod sleeve is raised to form a plurality of reinforcing ribs, and two ends of each reinforcing rib are respectively connected with two bolt connecting seats at two ends of the connecting rod sleeve.
In some alternative embodiments, each adapter includes a central bore extending through the articulation and connecting rod connection, the central bore being located on the axis of the connecting rod sleeve.
In some alternative embodiments, each adapter is provided with a plurality of edge holes circumferentially spaced along the central bore, the edge holes extending through the articulation and link connections.
In some alternative embodiments, each articulating aperture is located between two edge apertures.
In some alternative embodiments, the plurality of articulation holes are spaced apart along the circumference of the corresponding articulation section.
The beneficial effects of the utility model are as follows: the utility model provides an adapter structure for preventing a connecting rod of a cooperative robot from shifting, which comprises a connecting rod sleeve and two adapters which are respectively and detachably connected with two ends of the connecting rod sleeve, wherein each adapter comprises a joint connecting part for connecting a robot joint and a connecting rod connecting part for connecting the connecting rod sleeve; the outer wall of the joint connecting part is provided with a plurality of joint fixing holes, and the axis of each joint fixing hole extends along the radial direction of the connecting rod sleeve. The switching structure for preventing the linkage rod of the cooperative robot from shifting can stably connect two robot joints and limit the freedom degree of the switching structure, thereby preventing the shifting and improving the operation precision.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a first view angle of a connection structure for preventing a connecting rod of a cooperative robot from being deviated and two robot joints according to an embodiment of the present utility model;
fig. 2 is a schematic structural diagram of a switching structure for preventing a linkage of a cooperative robot from being shifted and a second view angle for connecting two robot joints according to an embodiment of the present utility model;
FIG. 3 is a cross-sectional view taken along section line A-A of FIG. 2;
fig. 4 is a schematic overall structure of an adapting structure for preventing a connecting rod of a cooperative robot from being deviated according to an embodiment of the present utility model;
fig. 5 is an exploded view of an adapter structure for preventing a link of a cooperative robot from being shifted according to an embodiment of the present utility model;
FIG. 6 is a cross-sectional view of the connecting rod sleeve taken along section line B-B of FIG. 5;
fig. 7 is a schematic structural view of a first view of an adaptor structure for preventing a link of a cooperative robot from being deviated according to an embodiment of the present utility model;
fig. 8 is a schematic structural diagram of a second view of an adaptor structure for preventing a link of a cooperative robot from being deviated according to an embodiment of the present utility model.
In the figure: 100. a connecting rod sleeve; 110. a bolt connecting seat; 120. reinforcing ribs; 130. a second threaded hole; 200. an adapter; 210. a joint connection part; 220. a connecting rod connecting part; 230. a connecting bolt; 240. a joint fixing hole; 250. a clamping part; 260. a groove; 270. a central bore; 280. an edge hole; 290. a first threaded hole; 300. and (3) a robot joint.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use of the product of the application, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The features and performance of the transfer structure of the present utility model for preventing link deflection of a cooperative robot are described in further detail below in connection with the embodiments.
As shown in fig. 1, 2, 3, 4, 5, 6, 7 and 8, the present utility model provides a switching structure for preventing a link of a cooperative robot from being deviated, which includes a link sleeve 100 and two switching pieces 200 detachably connected to both ends of the link sleeve 100, respectively, each switching piece 200 includes a joint connection part 210 for connecting a robot joint 300 and a link connection part 220 for connecting the link sleeve 100, the joint connection part 210 and the link connection part 220 are disc-shaped and coaxially connected, edges of the link connection part 220 of each switching piece 200 are connected with eleven connection bolts 230 arranged at intervals along the circumferential direction thereof through first screw holes 290, respectively, eleven bolt connecting seats 110 are respectively arranged on the inner walls of the two ends of the connecting rod sleeve 100 at intervals along the circumferential direction of the connecting rod sleeve 100, the bolt connecting seats 110 at the two ends of the connecting rod sleeve 100 are respectively in one-to-one correspondence with the connecting bolts 230 on the connecting rod connecting parts 220 of the two adapters 200, one side of the connecting rod connecting parts 220, which is far away from the joint connecting parts 210, is also convexly provided with clamping parts 250 which are clamped with the inner walls of one end of the connecting rod sleeve 100, the outer walls of the clamping parts 250 are concavely provided with eleven grooves 260 which are used for being clamped with the bolt connecting seats 110 at one end of the connecting rod sleeve 100 in one-to-one correspondence, and when each connecting bolt 230 of each adapter 200 moves along the axial direction of the connecting rod sleeve 100, each groove 260 extends into or is separated from each groove 260 and is connected with or separated from a second threaded hole 130 on each bolt connecting seat 110 which is clamped in the corresponding groove 260; eleven reinforcing ribs 120 are formed by protruding the inner wall of the connecting rod sleeve 100, and two ends of each reinforcing rib 120 are respectively connected with two bolt connecting seats 110 at two ends of the connecting rod sleeve 100; the outer wall of the articulation section 210 is provided with ten articulation holes 240 spaced apart along its circumference, the axis of each articulation hole 240 extending in the radial direction of the connecting rod sleeve 100. Each adapter 200 includes a central hole 270 penetrating the joint connection portion 210 and the link connection portion 220, the central hole 270 is located on the axis of the link sleeve 100, each adapter 200 is provided with ten edge holes 280 circumferentially spaced along the central hole 270, the edge holes 280 penetrate the joint connection portion 210 and the link connection portion 220, the cross section of the edge holes 280 is approximately triangular, and each joint fixing hole 240 is located between two edge holes 280.
The switching structure for preventing the linkage rod of the cooperative robot from shifting is used for connecting two adjacent robot joints 300, and when the switching structure is used, the linkage rod connecting parts 220 of the two switching pieces 200 are respectively connected to the two ends of the linkage rod sleeve 100, and then the joint connecting parts 210 of the two switching pieces 200 are respectively connected with the two robot joints 300;
specifically, the connecting rod connection parts 220 of the two adaptor 200 are firstly inserted into the inner wall of one end of the connecting rod sleeve 100 through the clamping parts 250 protruding from one side of the joint connection parts 210, then the two adaptor 200 are rotated, so that the grooves 260 arranged on the outer wall of the clamping parts 250 of the connecting rod connection parts 220 in the two adaptor 200 are aligned with the bolt connection seats 110 protruding from the inner walls of the two ends of the connecting rod sleeve 100 respectively, then the two adaptor 200 are axially moved along the connecting rod sleeve 100, so that the grooves 260 arranged on the outer wall of the clamping parts 250 of the connecting rod connection parts 220 in the two adaptor 200 are correspondingly clamped with the bolt connection seats 110 protruding from the inner walls of the two ends of the connecting rod sleeve 100 respectively, namely, the eleven connecting bolts 230 connected with the connecting rod connection parts 220 in the two adaptor 200 can be rotated, and when the corresponding connecting bolts 230 move along the axial direction of the connecting rod sleeve 100, the corresponding connecting bolts 230 extend into the grooves 260 corresponding to the outer wall of the clamping parts 250 and are connected to the threaded holes on the corresponding bolt connection seats 110 respectively, so that the connecting rod connection parts 220 of the two adaptor 200 are respectively connected to the two ends of the connecting rod sleeve 100;
when the joint connection portions 210 of the two adapters 200 are required to be connected with the two robot joints 300, the joint connection portions 210 of the adapters 200 connected with the two ends of the connecting rod sleeve 100 are required to be inserted into the connecting sleeves of the two adjacent robot joints 300 respectively, and then the connecting rod sleeve 100 and the two adapters 200 are rotated to align the connecting holes formed in the outer walls of the connecting sleeves of the robot joints 300 with the joint fixing holes 240 formed in the outer walls of the corresponding joint connection portions 210, so that the fixing bolts can sequentially pass through the connecting holes in the connecting sleeves of the robot joints 300 to be fixed with the joint fixing holes 240 formed in the outer walls of the corresponding joint connection portions 210.
According to the switching structure for preventing the linkage of the cooperative robot from shifting, provided by the embodiment of the utility model, the joint connection part 210 and the linkage connection part 220 of the switching piece 200 are used for respectively connecting the robot joint 300 and the linkage sleeve 100, and the joint connection part 210 and the linkage connection part 220 are respectively connected with the robot joint 300 and the bolt connection seat 110 on the inner wall of the linkage sleeve 100 through bolts moving along the radial direction and the axial direction of the linkage sleeve 100, so that the axial deviation of the robot joint 300 connected by the two switching pieces 200 can be reduced, and the machining precision of the robot joint 300 is improved; the connecting rod connecting part 220 is clamped with the inner wall of the connecting rod sleeve 100 through the clamping part 250, and the groove 260 of the clamping bolt connecting seat 110 is arranged on the outer wall of the clamping part 250, so that the connecting precision of the adaptor 200 and the connecting rod sleeve 100 can be further improved, an operator is helped to align and stably connect the adaptor 200 with the connecting rod sleeve 100, the inner wall of the connecting rod sleeve 100 is protruded to form the reinforcing ribs 120 with two ends respectively connected with the two bolt connecting seats 110 at two ends of the connecting rod sleeve 100, the structural strength of the connecting rod sleeve 100 can be improved, the connecting stability of the adaptor 200 and the connecting rod sleeve 100 can be improved, the joint connecting part 210 and the connecting rod connecting part 220 are provided with the central holes 270 and the edge holes 280 penetrating through the joint connecting part 210, on one hand, the equipment weight can be reduced, and on the other hand, the cable can be conveniently walked through when needed; each joint fixing hole 240 is located between two edge holes 280, so that the edge holes 280 can be prevented from affecting the connection stability of the fixing bolts in the joint fixing holes 240.
The embodiments described above are some, but not all embodiments of the utility model. The detailed description of the embodiments of the utility model is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Claims (8)
1. The switching structure for preventing the linkage rod of the cooperative robot from shifting is characterized by comprising a linkage rod sleeve and two switching pieces which are detachably connected with two ends of the linkage rod sleeve respectively, wherein each switching piece comprises a joint connecting part for connecting a robot joint and a linkage rod connecting part for connecting the linkage rod sleeve, the linkage rod connecting part of each switching piece is connected with a plurality of connecting bolts through threads, the inner walls of the two ends of the linkage rod sleeve are respectively provided with a plurality of bolt connecting seats, and each connecting bolt of each switching piece is configured to be movably connected with or separated from each bolt connecting seat at one end of the linkage rod sleeve along the axial direction of the linkage rod sleeve; the outer wall of the joint connecting part is provided with a plurality of joint fixing holes, and the axis of each joint fixing hole extends along the radial direction of the connecting rod sleeve.
2. The switching structure for preventing displacement of a connecting rod of a cooperative robot according to claim 1, wherein the connecting rod connecting portion is further provided with a clamping portion clamped with an inner wall of one end of the connecting rod sleeve, an outer wall of the clamping portion is recessed to form a groove for clamping each of the bolt connecting seats at the corresponding end, and each connecting bolt connected by the connecting rod connecting portion is connected to or separated from the corresponding bolt connecting seat clamped in the groove when moving along an axial direction of the connecting rod sleeve.
3. The joint structure for preventing displacement of a link of a cooperative robot according to claim 2, wherein the respective connection bolts of each of the joints are arranged at intervals along a circumferential direction of the link sleeve.
4. The switching structure for preventing deflection of a connecting rod of a cooperative robot according to claim 1, wherein the inner wall of the connecting rod sleeve is protruded to form a plurality of reinforcing ribs, and two ends of each reinforcing rib are respectively connected with two bolt connection seats at two ends of the connecting rod sleeve.
5. The adapter structure for preventing displacement of a connecting rod of a cooperative robot of claim 1, wherein each of the adapters includes a central hole penetrating the joint connection and the connecting rod connection, the central hole being located on an axis of the connecting rod sleeve.
6. The adapter structure for preventing displacement of a connecting rod of a cooperative robot according to claim 5, wherein each of the adapters is provided with a plurality of edge holes circumferentially spaced along the center hole, the edge holes penetrating the joint connection portion and the connecting rod connection portion.
7. The transfer structure for preventing displacement of a connecting rod of a cooperative robot of claim 6, wherein each of the joint fixing holes is located between two of the edge holes.
8. The joint structure for preventing displacement of a connecting rod of a cooperative robot according to claim 1, wherein a plurality of the joint fixing holes are arranged at intervals along a circumferential direction corresponding to the joint connecting portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320184787.6U CN219582904U (en) | 2023-01-30 | 2023-01-30 | Switching structure for preventing linkage rod of cooperative robot from shifting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320184787.6U CN219582904U (en) | 2023-01-30 | 2023-01-30 | Switching structure for preventing linkage rod of cooperative robot from shifting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219582904U true CN219582904U (en) | 2023-08-25 |
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ID=87689478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320184787.6U Active CN219582904U (en) | 2023-01-30 | 2023-01-30 | Switching structure for preventing linkage rod of cooperative robot from shifting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219582904U (en) |
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2023
- 2023-01-30 CN CN202320184787.6U patent/CN219582904U/en active Active
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