Articulated motor and robot

Abstract

This invention discloses an articulated motor and a robot. The robot includes a motor body, on which a rotating structure for outputting torque and a mounting component meshing with the rotating structure are provided. The mounting component is used for fixed connection with the robot. When the motor body drives the rotating structure to rotate, the rotating structure and the mounting component rotate relative to each other, thereby causing the motor body and the robot to rotate relative to each other. This invention, by using a mounting component to connect with the robot, achieves the basic function of relative rotation between the motor body and the robot. Compared to the existing integrated structure of the articulated motor and robot, disassembly and installation are much more convenient.

Description

Technical Field

[0001] This invention relates to the field of mechanical device technology, and in particular to a joint motor and a robot. Background Technology

[0002] Articulated motors are motors used in the body and robotic arms of robots. They can rotate relative to their mounting points to provide the robot with degrees of freedom in specific directions.

[0003] In the existing technology, the joint motor is usually integrated with the body. Although this integrated structure can protect the motor from dust, it is not suitable for occasions that require frequent disassembly or quick assembly. Summary of the Invention

[0004] The main objective of this invention is to provide a joint motor that addresses the problem of the difficulty in quickly assembling and disassembling joint motors.

[0005] To achieve the above objectives, the present invention proposes a joint motor for rotatably mounting on a robot, comprising a motor body, wherein the motor body is provided with a rotating structure for outputting torque and a mounting component that meshes with the rotating structure, the mounting component being used for fixed connection with the robot.

[0006] When the motor body drives the rotating structure to rotate, the rotating structure rotates relative to the mounting component, so that the motor body rotates relative to the robot.

[0007] Preferably, the mounting component includes a first mounting portion and a second mounting portion. The first mounting portion is hollow and sleeved on the outer periphery of the rotating structure. The second mounting portion extends away from the center of the first mounting portion and is used for fixed connection with the robot.

[0008] Preferably, the rotating structure includes a meshing member that engages with the first mounting portion, and a positioning member located at one end of the meshing member away from the motor body. The positioning member is coaxially arranged with the meshing member and is used for rotatably connecting with the robot.

[0009] Preferably, the engaging member has a positioning hole at one end near the positioning member, and the positioning member is detachably installed in the positioning hole.

[0010] Preferably, the first mounting part has a through hole, and the positioning member passes through the through hole to connect with the robot.

[0011] Preferably, the motor body is further provided with a connection structure for rotating connection with the robot. The connection structure is located at the end of the motor body away from the rotating structure and is coaxially arranged with the rotating structure.

[0012] Preferably, the motor body further includes a wire for connecting to the robot, the connection structure having a wire hole through which the wire passes to connect to the robot.

[0013] Preferably, the connection structure includes a boss extending away from the motor body, the boss being hollow to form the wire hole, and the outer wall of the boss being used for connection with the robot.

[0014] Preferably, the connection structure further includes a rolling bearing and a retaining ring, wherein the inner ring of the rolling bearing is sleeved on the outer periphery of the boss, and the outer ring of the rolling bearing is used to be embedded in the robot;

[0015] The outer periphery of the boss is provided with annular grooves and retaining platforms. The grooves and retaining platforms are located on both sides of the rolling bearing, and the retaining platforms abut against the motor body. The retaining spring is engaged in the groove to limit the rolling bearing.

[0016] The present invention also proposes a robot, including a body, a robotic arm, and a joint motor as described in any of the above embodiments, wherein the joint motor is rotatably mounted on the body and the robotic arm is mounted on the joint motor.

[0017] In this embodiment of the invention, the articulated motor is placed on the robot, thus fixing the mounting component to the robot. The motor then drives the rotating structure to rotate. Since the rotating structure and the mounting component are engaged, the motor and the mounting component rotate relative to each other. Furthermore, because the mounting component is constrained by the robot, the motor rotates relative to the robot. This invention, by using a mounting component connected to the robot, achieves the basic function of relative rotation between the motor and the robot. Compared to the existing integrated structure of the articulated motor and robot, disassembly and installation are much more convenient. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of an embodiment of the robot of the present invention;

[0020] Figure 2 for Figure 1 Exploded view of part of the robot's structure;

[0021] Figure 3 for Figure 2 Enlarged schematic diagram of the joint motor;

[0022] Figure 4 for Figure 3 Exploded view of the central joint motor section;

[0023] Figure 5 for Figure 3 Exploded view of the central joint motor section;

[0024] Figure 6 for Figure 2 Enlarged view of point A in the middle;

[0025] Figure 7 for Figure 2 A schematic diagram of the fuselage structure.

[0026] Explanation of icon numbers:

[0027]

[0028] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0031] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0032] Please see Figures 1-7 This invention provides a joint motor 100 for rotatably mounting on a robot 10. The motor includes a motor body 110, a rotating structure 120 for outputting torque, and a mounting member 130 that meshes with the rotating structure 120. The mounting member 130 is fixedly connected to the robot 10. When the motor body 110 drives the rotating structure 120 to rotate, the rotating structure 120 and the mounting member 130 rotate relative to each other, so that the motor body 110 and the robot 10 rotate relative to each other.

[0033] In this embodiment of the invention, after the joint motor 100 is placed on the robot 10, the mounting member 130 is fixed to the robot 10. Then, the motor body 110 drives the rotating structure 120 to rotate. Since the rotating structure 120 and the mounting member 130 are in a meshing state, the motor body 110 and the mounting member 130 rotate relative to each other. Furthermore, because the mounting member 130 is restricted by the robot 10, the motor body 110 rotates relative to the robot 10.

[0034] The technical solution of the present invention can realize the basic function of relative rotation between the motor body 110 and the robot 10 by using the mounting part 130 to connect with the robot 10. Compared with the existing technology of the joint motor 100 and the robot 10 as an integrated structure, disassembly and installation are more convenient.

[0035] It should be noted that the number of rotating structures 120 and mounting parts 130 is the same, but this embodiment does not limit the number of rotating structures 120 or mounting parts 130; there can be one or two.

[0036] In one feasible implementation, there are two rotating structures 120 and two mounting parts 130, with the rotating shafts of the two rotating structures 120 being concentric and the two mounting parts 130 being located on both sides of the motor body 110.

[0037] In another feasible implementation, the number of rotating structure 120 and mounting member 130 is one. In order to maintain the stability of the rotation of motor body 110, a rotating shaft or similar structure can be provided on the other side of the mounting member 130.

[0038] Please see Figure 2 or Figure 7 In a preferred embodiment, the robot 10, used to mount the articulated motor 100, has a mounting cavity 200a adapted to the articulated motor 100, and the articulated motor 100 is clamped within the mounting cavity 200a. This design does not interfere with the rotation of the articulated motor 100, can also provide a certain degree of protection for the articulated motor 100, and can also make the mounting of the articulated motor 100 more stable.

[0039] Please see 3 and Figure 4 In one embodiment, the mounting component 130 includes a first mounting portion 132 and a second mounting portion 134. The first mounting portion 132 is hollow and is sleeved on the outer periphery of the rotating structure 120. The second mounting portion 134 extends away from the center of the first mounting portion 132 and is used for fixed connection with the robot 10.

[0040] According to the technical solution provided in the above embodiments, the first mounting part 132 is directly engaged with the rotating structure 120 by sleeve, without the need for an intermediate transmission mechanism. Moreover, in industrial design and manufacturing, the volume and weight of the mounting part 130 can be minimized as much as possible, thereby reducing the force threshold required for users to move the joint motor 100, making it easier to disassemble and assemble.

[0041] Furthermore, in this embodiment, the second mounting portion 134 extends away from the center of the first mounting portion 132, forming a non-circular irregular structure. This design allows for the provision of a mounting groove 200b on the corresponding robot 10 that is compatible with the mounting member 130, in conjunction with reference to... Figure 2 and Figure 6 The mounting groove 200b can limit the mounting part 130 to prevent the mounting part 130 from rotating, thereby improving the stability of the connection between the mounting part 130 and the robot 10.

[0042] In a preferred embodiment, the mounting groove 200b is formed on the inner wall of the mounting cavity 200a, and the mounting groove 200b communicates with the external space. When assembling the articulated motor 100, the assembly of the articulated motor 100 can be completed simply by installing the mounting member 130 into the robot 10 along the mounting groove 200b. Compared with the structure where the articulated motor 100 is embedded inside the robot 10, the installation is more time-saving and labor-saving.

[0043] In other embodiments, the first mounting part 132 may also be indirectly connected to the rotating structure 120 via one or more gears. Compared to the technical solutions provided in the above embodiments, the structure is slightly more complex and occupies more space under the same conditions. In addition, an additional structure is required to connect the rotating structure 120 to prevent the mounting part 130 from detaching from the rotating structure 120.

[0044] Furthermore, taking the plane passing through the axis of the first mounting portion 132 and the plane parallel to the extension direction of the second mounting portion 134 as a reference plane, the shape of the mounting member 130 projected onto this reference plane is "L". Among them, the first mounting portion 132 is cylindrical and the second mounting portion 134 is flat.

[0045] Preferably, the corner of the second mounting portion 134 away from the first mounting portion 132 has rounded corners.

[0046] Furthermore, the cross-section of the second mounting portion 134 gradually increases from the end furthest from the first mounting portion 132 to the end closest to the first mounting portion 132. This design facilitates the insertion of the mounting component 130 into the mounting slot 200b of the robot 10, reduces the occurrence of jamming of the mounting component 130, and thus improves assembly efficiency.

[0047] Please see Figure 4 In one specific embodiment, the rotating structure 120 includes a meshing member 122 that engages with the first mounting portion 132, and a positioning member 124 located at one end of the meshing member 122 away from the motor body 110. The positioning member 124 is coaxially arranged with the meshing member 122 and is used for rotatably connecting with the robot 10.

[0048] When assembling the articulated motor 100 provided in this embodiment, after the mounting member 130 enters the robot 10 along the mounting groove 200b and reaches a specific position, it then engages with the robot 10 through the positioning member 124, which is coaxially arranged with the engaging member 122, to prevent the mounting member 130 from disengaging from the robot 10. It is understood that, in conjunction with the reference... Figure 6 In order to cooperate with the positioning member 124, the robot 10 is provided with a through hole 200c adapted to the positioning member 124. The extension direction of the second mounting part 134 in the mounting member 130 intersects the axial direction of the first mounting part 132. The positioning member 124, the engaging member 122, and the first mounting part 132 are all coaxially arranged. That is, the movement direction of the second mounting part 134 entering the mounting groove 200b of the robot 10 is different from the extension direction of the positioning member 124. When the positioning member 124 is rotatably connected to the robot 10, it can be understood that the robot 10 restricts the movement of the mounting member 130 in the extension direction of the second mounting part 134.

[0049] Of course, there are other ways to limit the position of the mounting part 130. For example, a protruding buckle can be provided on the second mounting part 134, and a slot 142a can be provided in the mounting groove 200b of the robot 10. When the second mounting part 134 moves to the designated position, the buckle engages with the slot 142a. Compared with the above embodiment, this structure has lower stability and depends on the degree of fit between the joint motor 100 and the mounting cavity 200a.

[0050] Please continue reading. Figure 4 In a more specific embodiment, the engagement member 122 has a positioning hole 122a at one end near the positioning member 124, and the positioning member 124 can be detachably installed in the positioning hole 122a.

[0051] Specifically, before the joint motor 100 is assembled into the robot 10, the positioning member 124 is first disengaged from the meshing member 122. After the joint motor 100 enters along the mounting groove 200b and reaches a specific position, the positioning member 124 passes through the through hole 200c on the robot 10 and is then embedded into the positioning hole 122a to complete the limiting of the joint motor 100.

[0052] In other embodiments, the positioning element 124 can also be an integral part of the engaging element 122, and the positioning element 124 is also coaxially arranged with the engaging element 122. However, the method of realizing the positioning element 124 and the through hole 200c of the robot 10 is slightly different. In one feasible embodiment, the robot 10 has two interlocking parts, each of which has half of the through hole 200c. When the two parts are interlocked, a complete through hole 200c is formed. When assembling the joint motor 100, one part of the robot 10 needs to be disassembled first. After the positioning element 124 is inserted into the half of the through hole 200c, the two parts of the robot 10 are then interlocked. Of course, this structure is slightly more complex than the above technical solution, and the manufacturing cost is relatively higher.

[0053] Furthermore, a through hole 132a is provided on the first mounting part 132, and the positioning member 124 passes through the through hole 132a to connect with the robot 10.

[0054] With this design, the positioning component 124 can simultaneously constrain the mounting component 130 and the meshing component 122, further improving the stability of the assembly of the joint motor 100 and the robot 10.

[0055] Preferably, the positioning hole 122a is a threaded hole, and the positioning element 124 is a screw.

[0056] In some alternative embodiments, the positioning element 124 is a pin, and the positioning element 124 is interference-fitted with the positioning hole 122a. However, after frequent disassembly and assembly, the fit between the positioning element 124 and the positioning hole 122a is prone to decrease, causing the positioning element 124 to disengage from the positioning hole 122a.

[0057] Please see Figure 3 and Figure 5 In another embodiment of the present invention, the motor body 110 is further provided with a connection structure 140 for rotating connection with the robot 10. The connection structure 140 is located at the end of the motor body 110 away from the rotating structure 120 and is coaxially arranged with the rotating structure 120.

[0058] In this embodiment, after the motor body 110 drives the rotating structure 120 to rotate, the motor body 110 rotates relative to the mounting component 130. Meanwhile, the connecting structure 140, located on the other side of the rotating structure 120, rotates relative to the robot 10 along with the motor body 110. This connecting structure 140 primarily serves a load-bearing function to maintain the stability of the motor body 110. Furthermore, compared to a technical solution that provides both the rotating structure 120 and the mounting component 130 on both sides of the motor body 110, this avoids the phenomenon of uncoordinated rotation on both sides due to precision errors.

[0059] Please see Figure 5 The motor body 110 also includes a wire 150 for connecting to the robot 10. The connection structure 140 is provided with a wire hole 140a, through which the wire 150 passes and connects to the robot 10.

[0060] It is important to emphasize that there is relative rotation between the joint motor 100 and the robot 10. If the wire 150 is located in a position other than that described in this embodiment, it is prone to friction with the robot 10 or the motor body 110 during use, potentially leading to wire breakage or short circuit due to damaged insulation. In this embodiment, by placing the wire hole 140a on the connecting structure 140 located at the center of the rotation axis of the motor body 110, the occurrence of the above phenomena is reduced, thereby relatively increasing the service life of the joint motor 100 and reducing cost losses.

[0061] In addition, when assembling the connection structure 140 with the robot 10, the joint motor 100 and the wire 150 of the robot 10 can be connected at the same time, which is more convenient.

[0062] The connection structure 140 includes a boss 142 extending away from the motor body 110. The boss 142 is hollow to form a wire hole 140a. The outer wall of the boss 142 is used for connection with the robot 10.

[0063] Please see Figure 7 To enable the connection structure 140 to cooperate with the robot 10, the robot 10 is provided with a fastening member 210, which fastens with the body 200 of the robot 10 to form a mounting hole 200d for mounting the boss 142. Similarly, after the articulated motor 100 is installed onto the body 200, the fastening member 210 is fastened.

[0064] In other feasible embodiments, the connecting structure 140 can be a truncated cone recessed into the motor body 110. After the joint motor 100 is embedded in the robot 10, a cylinder adapted to the truncated cone is inserted into the truncated cone. Compared with the above solution, this is not easy to operate and affects the assembly time.

[0065] In a more specific embodiment, the connecting structure 140 further includes a rolling bearing 144 and a retaining ring. The inner ring of the rolling bearing 144 is fitted around the outer periphery of the boss 142, and the outer ring of the rolling bearing 144 is used to embed into the robot 10. The outer periphery of the boss 142 is provided with annular grooves 142a and retaining platforms 1422, which are located on both sides of the rolling bearing 144. The retaining platform 1422 abuts against the motor body 110, and the retaining ring is engaged in the groove 142a to limit the rolling bearing 144.

[0066] This embodiment, through the design of the rolling bearing 144, can reduce the resistance encountered by the joint motor 100 when rotating, and reduce the energy consumption of the shutdown motor.

[0067] Please see Figure 1 and Figure 2 The present invention also proposes a robot 10, including a body 200, a robotic arm 300, and a joint motor 100 provided in any of the above embodiments. The joint motor 100 is rotatably mounted on the body 200, and the robotic arm 300 is mounted on the joint motor 100. Since the robot 10 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0068] It is understood that the type of robot 10 to which the articulated motor 100 provided in this invention is applied is not limited; it can be an industrial robot 10 or a simulation robot 10, such as a robotic dog. Furthermore, in this invention, the robotic arm 300 is a general term for the motion mechanism connected to the motor in the robot 10, and can also be replaced by terms such as robotic hand or robotic foot.

[0069] Please see Figure 1 , Figure 2 as well as Figure 3 In one feasible embodiment of the robot 10 provided by the present invention, the joint motor 100 has two output shafts 160, which are coaxially arranged and located on the side of the rotating structure 120 and the connecting structure 140. These two output shafts 160 are connected to the robotic arm 300 to drive the robotic arm 300 to move. In addition, in this embodiment, the robotic arm 300 is a linkage structure.

[0070] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A joint motor for rotatably mounting on a robot, characterized in that, The system includes a motor body, which has a rotating structure for outputting torque and a mounting component that meshes with the rotating structure. The mounting component is used for fixed connection with the robot. When the motor body drives the rotating structure to rotate, the motor body and the mounting component rotate relative to each other, so that the motor body and the robot rotate relative to each other. The mounting component includes a first mounting part and a second mounting part. The first mounting part is hollow and sleeved on the outer periphery of the rotating structure. The second mounting part extends away from the center of the first mounting part and is used for fixed connection with the robot. The rotating structure includes a meshing member that engages with the first mounting part, and a positioning member located at one end of the meshing member away from the motor body. The positioning member is coaxially arranged with the meshing member and is used for rotatably connecting with the robot. The motor body is also provided with a connection structure for rotating with the robot. The connection structure is located at the end of the motor body away from the rotating structure and is coaxial with the rotating structure.

2. The joint motor as described in claim 1, characterized in that, The engaging member has a positioning hole at one end near the positioning member, and the positioning member can be detachably installed in the positioning hole.

3. The joint motor as described in claim 2, characterized in that, The first mounting part has a through hole, and the positioning member passes through the through hole to connect with the robot.

4. The joint motor as described in claim 1, characterized in that, The motor body also includes a wire for connecting to the robot. The connection structure has a wire hole through which the wire passes to connect to the robot.

5. The joint motor as described in claim 4, characterized in that, The connection structure includes a boss extending away from the motor body, the boss being hollow to form the wire hole, and the outer wall of the boss being used for connection with the robot.

6. The joint motor as described in claim 5, characterized in that, The connection structure also includes a rolling bearing and a retaining ring, wherein the inner ring of the rolling bearing is sleeved on the outer periphery of the boss, and the outer ring of the rolling bearing is used to be embedded in the robot; The outer periphery of the boss is provided with annular grooves and retaining platforms. The grooves and retaining platforms are located on both sides of the rolling bearing, and the retaining platforms abut against the motor body. The retaining spring is engaged in the groove to limit the rolling bearing.

7. A robot, characterized in that, It includes a body, a robotic arm, and a joint motor as described in any one of claims 1-6, wherein the joint motor is rotatably mounted on the body and the robotic arm is mounted on the joint motor.

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