Multi-joint robot direct drive motor mounting structure

Abstract

The invention discloses a multi-joint robot direct drive motor mounting structure in the technical field of robots, which comprises a robot main body, a mechanical arm and a joint motor, the top of the robot main body is provided with a mounting frame, a rotating cylinder and a pressing assembly, the rotating cylinder is connected with the mechanical arm, and a plurality of limiting blocks are arranged in the rotating cylinder; by operating the pressing assembly, the position of the motor base can be fixed, installation of the joint motor and connection of the driving shaft and the rotating cylinder can be completed, a bolt structure or a welding structure does not need to be disassembled for multiple times, and installation operation of the joint motor is simpler and more convenient; a plurality of limiting grooves are formed in the driving shaft, a plurality of limiting blocks are arranged in the rotating cylinder, in the process that the driving shaft moves towards the interior of the rotating cylinder, rapid connection of the driving shaft and the rotating cylinder is achieved through the limiting blocks and the limiting grooves, and through cooperation of the multiple limiting blocks and the multiple limiting grooves, the connection stability of the driving shaft and the rotating cylinder is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a direct-drive motor installation structure for a multi-joint robot. Background Art

[0002] Robot is the common name for automatic control machines. In contemporary industry, robots refer to man-made machine devices that can automatically perform tasks to replace or assist human work. Industrial robots are mostly multi-joint robots according to processing needs, and direct drive motors are set at the joints to control the movement of the robot arm. However, the motors are mostly fixed with bolt structures or welding structures during installation. When the motor needs to be maintained or replaced, the bolt structure or welding structure needs to be disassembled many times, which makes the motor inconvenient to disassemble.

[0003] The patent publication number is CN218462197U, which is a multi-joint robot direct-drive motor installation structure. Its structure mainly includes a multi-joint robot body, a mounting frame, a direct-drive motor body and a mounting mechanism. The mounting mechanism includes a mounting block connected to the direct-drive motor body and located inside the mounting frame. A reciprocating screw and a sliding plug rod are correspondingly provided on the mounting frame. The reciprocating screw is driven by rotating the sliding plug rod to move to the inside of the card slot inside the mounting block, thereby realizing the installation of the multi-joint robot body and the mounting frame.

[0004] However, in the above-mentioned installation structure, the driving shaft of the direct-drive motor body and the rotating shaft on the articulated arm are connected by springs and clamps, and the movement of the clamps is achieved by squeezing the ends of the clamps, thereby achieving the connection between the driving shaft and the rotating shaft. Therefore, the position of the clamps is not stable enough. When the driving shaft rotates, it is easy for the connection between the driving shaft and the rotating shaft to become unstable or to produce relative movement.

[0005] Based on this, the present invention designs a multi-joint robot direct-drive motor installation structure to solve the above problems. Summary of the invention

[0006] The object of the present invention is to provide a direct-drive motor installation structure for a multi-joint robot to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A multi-joint robot direct drive motor installation structure, comprising a robot body, a mechanical arm and a joint motor;

[0009] Two mounting brackets are symmetrically fixed on the top of the robot body, and a semicircular shape is provided on the top of the mounting bracket, and a rotating cylinder is rotatably connected between the two mounting brackets at the position corresponding to the center of the circle. A mounting seat is fixed in the middle of the end of the robotic arm, and the end of the mounting seat away from the robotic arm is set to a semicircular shape, and the middle part of the rotating cylinder is fixed at the center of the mounting seat;

[0010] The joint motor is located on the outer side wall of one of the mounting frames, and a motor seat is fixed to one end of the joint motor close to the mounting frame, a clamping assembly is provided on the outer side wall of the mounting frame, and the clamping assembly is correspondingly connected to the motor seat;

[0011] The driving shaft of the joint motor is rotatably connected to the motor seat, and one end extends into the rotating cylinder. A plurality of limit grooves are evenly arranged on the driving shaft along the circumferential direction, and a plurality of limit blocks are evenly arranged on the inner side wall of the rotating cylinder along the circumferential direction, and the ends of the limit blocks are slidably connected to the corresponding limit grooves.

[0012] Preferably, the clamping assembly includes a threaded ring platform fixed on the outer side surface of the mounting frame, and the center position of the threaded ring platform coincides with the axial center line of the drive shaft, the inner side wall of the threaded ring platform is provided with a thread, and a threaded ring plate is threadedly connected, two pressure plates are symmetrically fixed to the outer end of the threaded ring plate, and the adjacent sides of the two pressure plates are arranged in parallel, two opposite sides of the motor seat are arranged in parallel, and the spacing between the two parallel sides is smaller than the spacing between the two pressure plates, and the remaining two opposite sides of the motor seat are both set to arc shape, and slide with the inner side wall of the threaded ring plate.

[0013] Preferably, two positioning holes are symmetrically provided on the motor seat, and the positioning holes are close to the arc-shaped side of the motor seat, and a positioning shaft is correspondingly fixed on the outer side surface of the mounting frame, the positioning shaft is located in the positioning hole, and the outer end of the positioning shaft is located inside the positioning hole.

[0014] Preferably, a cylindrical fixed box is fixed on the inner side surface of the two mounting frames, the rotating cylinder is rotatably connected to the center of the two fixed boxes, and the two ends of the rotating cylinder extend into the corresponding fixed boxes, and a plurality of limit blocks are provided on the two side sections of the rotating cylinder located in the fixed box along the circumferential direction, the outer ends of the limit blocks extend out of the rotating cylinder, and spring plates are symmetrically fixed on both sides of the extended sections, and the spring plates are connected to the outer side wall of the rotating cylinder through springs, and an adjustment structure is provided in the fixed box, and the adjustment structure is connected to the outer ends of the plurality of limit blocks on the corresponding sides.

[0015] Preferably, the adjustment structure includes an adjustment ring seat slidably connected to the inner side surface of the fixed box, the inner ring side wall of the adjustment ring seat is set to a conical surface, the outer end of the limit block is set to a hemispherical shape and contacts with the inner ring side wall of the adjustment ring seat, an annular electromagnet is fixed to one end of the adjustment ring seat, and an annular electromagnet is also fixed to the corresponding position on the inner wall of the fixed box, and the electromagnet is electrically connected to a power supply and a switch.

[0016] Preferably, an axial hole is provided on the mounting frame close to the joint motor at a position corresponding to the driving shaft, the driving shaft is located in the axial hole, and a plurality of balls are evenly provided on the side wall of the axial hole of the mounting frame, and contact the side wall of the driving shaft through the balls.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention places the motor seat on the mounting frame and operates the clamping assembly to fix the position of the motor seat, thereby completing the installation of the joint motor and the connection between the drive shaft and the rotating cylinder. There is no need to disassemble the bolt structure or welding structure many times, making the installation operation of the joint motor simpler and more convenient, and facilitating the maintenance and replacement of the joint motor, the mechanical arm and other structures.

[0019] 2. The present invention provides a plurality of limit grooves on the driving shaft and a plurality of limit blocks in the rotating cylinder, so that when the driving shaft moves into the rotating cylinder, the limit blocks and the limit grooves can realize a quick connection between the driving shaft and the rotating cylinder, and the connection stability between the driving shaft and the rotating cylinder can be improved by the cooperation of the plurality of limit blocks and the plurality of limit grooves;

[0020] 3. When disassembling the joint motor and the drive shaft, the present invention can directly move the joint motor and the drive shaft outward to disengage the limit block from the limit groove, making the connection and disassembly of the drive shaft and the rotating cylinder faster and more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the internal structure of the rotating drum of the present invention;

[0024] Figure 3 It is a schematic structural diagram of the drive shaft of the present invention;

[0025] Figure 4 for Figure 2 Schematic diagram of the structure at A in the middle;

[0026] Figure 5 for Figure 4 Schematic diagram of the structure at B in the middle;

[0027] Figure 6 It is a structural schematic diagram of the limit block of the present invention;

[0028] Figure 7 It is a structural schematic diagram of the motor base of the present invention.

[0029] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0030] 100- robot body, 101- mounting frame, 102- fixing box, 103- adjusting ring seat, 104- electromagnet;

[0031] 200-mechanical arm, 201-mounting seat, 202-rotating cylinder, 203-limiting block, 204-spring plate;

[0032] 300-joint motor, 301-driving shaft, 302-limiting groove, 303-motor seat, 304-positioning hole;

[0033] 400-threaded ring stage, 401-threaded ring plate, 402-pressure plate, 403-positioning shaft. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] Embodiment 1

[0036] Please refer to the accompanying drawings, the present invention provides a technical solution:

[0037] A multi-joint robot direct drive motor installation structure includes a robot body 100, a robot arm 200 and a joint motor 300;

[0038] Two mounting frames 101 are symmetrically fixed on the top of the robot body 100. The top of the mounting frame 101 is provided with a semicircular shape, and a rotating cylinder 202 is rotatably connected between the two mounting frames 101 at the position corresponding to the center of the circle. A mounting seat 201 is fixed in the middle of the end of the robot arm 200. The end of the mounting seat 201 away from the robot arm 200 is provided with a semicircular shape, and the middle part of the rotating cylinder 202 is fixed at the center of the mounting seat 201.

[0039] The joint motor 300 is located on the outer side wall of one of the mounting frames 101, and a motor seat 303 is fixed to one end of the joint motor 300 close to the mounting frame 101. A clamping assembly is provided on the outer side wall of the mounting frame 101, and the clamping assembly is correspondingly connected to the motor seat 303;

[0040] The driving shaft 301 of the joint motor 300 is rotatably connected to the motor seat 303, and one end extends into the rotating cylinder 202. A plurality of limit grooves 302 are evenly arranged on the driving shaft 301 along the circumferential direction, and a plurality of limit blocks 203 are evenly arranged on the inner side wall of the rotating cylinder 202 along the circumferential direction, and the ends of the limit blocks 203 are slidably connected to the corresponding limit grooves 302.

[0041] When installing the joint motor 300, place the joint motor 300 on the corresponding mounting frame 101, insert the drive shaft 301 into the rotating cylinder 202, operate the clamping assembly, press the motor seat 303 tightly onto the mounting frame 101, complete the fixed installation of the joint motor 300, and realize the connection between the drive shaft 301 and the rotating cylinder 202. There is no need to disassemble the bolt structure or welding structure multiple times, which makes the installation operation of the joint motor 300 simpler and more convenient, and facilitates the maintenance and replacement of structures such as the joint motor 300 and the robotic arm 200.

[0042] When the drive shaft 301 moves toward the interior of the rotating cylinder 202, the limit block 203 enters the limit groove 302 to achieve a quick connection between the drive shaft 301 and the rotating cylinder 202, and the connection stability between the drive shaft 301 and the rotating cylinder 202 is improved by the cooperation of multiple limit blocks 203 and multiple limit grooves 302. When disassembling the joint motor 300 and the drive shaft 301, the joint motor 300 and the drive shaft 301 are directly moved outward to disengage the limit block 203 from the limit groove 302, making the connection and disassembly of the drive shaft 301 and the rotating cylinder 202 faster and more convenient.

[0043] Among them, the clamping assembly includes a threaded ring stage 400 fixed on the outer surface of the mounting frame 101, and the center position of the threaded ring stage 400 coincides with the axial center line of the driving shaft 301, and a thread is provided on the inner wall of the threaded ring stage 400, and a threaded ring plate 401 is threadedly connected, and two pressure plates 402 are symmetrically fixed to the outer end of the threaded ring plate 401, and the adjacent sides of the two pressure plates 402 are arranged in parallel, two opposite sides of the motor base 303 are arranged in parallel, and the spacing between the two parallel sides is smaller than the spacing between the two pressure plates 402, and the other two opposite sides of the motor base 303 are both set to arc shape, and slide with the inner wall of the threaded ring plate 401.

[0044] When installing the joint motor 300, the motor seat 303 enters the interior of the threaded ring platform 400 through the position between the two pressure plates 402, contacts the mounting frame 101, and allows the drive shaft 301 to extend into the rotating cylinder 202, and then the threaded ring plate 401 is rotated. Under the action of the thread, the threaded ring plate 401 drives the pressure plate 402 to move downward while rotating, so that after rotating a certain angle, the pressure plate 402 is tightly pressed against the motor seat 303, fixing the position of the motor seat 303, and completing the installation operation of the joint motor 300; a turning handle can be set on the threaded ring plate 401 to facilitate the screwing operation of the threaded ring plate 401.

[0045] Among them, two positioning holes 304 are symmetrically provided on the motor seat 303, and the positioning holes 304 are close to the arc-shaped side of the motor seat 303, and a positioning shaft 403 is correspondingly fixed on the outer surface of the mounting frame 101, and the positioning shaft 403 is located in the positioning hole 304. When installing the joint motor 300 and the motor seat 303, the position of the motor seat 303 can be quickly determined through the positioning hole 304 and the positioning shaft 403, which is convenient for installation operations, and the outer end of the positioning shaft 403 is located inside the positioning hole 304 to avoid affecting the subsequent limiting fixation of the motor seat 303 by the pressure plate 402.

[0046] Embodiment 2

[0047] The structure of this embodiment is basically the same as that of the first embodiment, except that a cylindrical fixed box 102 is fixed on the inner side surface of each of the two mounting frames 101, a rotating cylinder 202 is rotatably connected to the center of the two fixed boxes 102, and both ends of the rotating cylinder 202 extend into the corresponding fixed boxes 102, and a plurality of limit blocks 203 are provided along the circumferential direction on both side sections of the rotating cylinder 202 located in the fixed box 102, the outer ends of the limit blocks 203 extend out of the rotating cylinder 202, and spring plates 204 are symmetrically fixed on both sides of the extended sections, and the spring plates 204 are connected to the outer side wall of the rotating cylinder 202 through springs, and an adjustment structure is provided in the fixed box 102, and the adjustment structure is connected to the outer ends of the plurality of limit blocks 203 on the corresponding sides.

[0048] When the driving shaft 301 is installed in the rotating cylinder 202, the inner end of the limit block 203 is located in the limit groove 302, and the outer end of the limit block 203 is connected to the adjustment structure. Then the adjustment structure is started to adjust the position of the limit block 203 so that the inner end is tightly stuck in the limit groove 302, thereby improving the connection stability between the driving shaft 301 and the rotating cylinder 202, and further improving the accuracy of the subsequent movement of the robot arm 200.

[0049] Embodiment 3

[0050] The structure of this embodiment is basically the same as that of the second embodiment, except that the adjustment structure includes an adjustment ring seat 103 slidably connected to the inner side surface of the fixed box 102, the inner ring side wall of the adjustment ring seat 103 is set to a conical surface, the outer end of the limit block 203 is set to a hemispherical shape and contacts with the inner ring side wall of the adjustment ring seat 103, an annular electromagnet 104 is fixed to one end of the adjustment ring seat 103, and an annular electromagnet 104 is also fixed to the corresponding position on the inner wall of the fixed box 102, and the electromagnet 104 is electrically connected to a power supply and a switch.

[0051] When the position of the limit block 203 needs to be adjusted, the electromagnet 104 is energized, and the electromagnet 104 on the end of the adjusting ring seat 103 and the electromagnet 104 on the inner wall of the fixed box 102 attract each other, and drive the adjusting ring seat 103 to move, thereby pushing the limit block 203 to move through the inner ring side wall of the adjusting ring seat 103 to adjust the position of the limit block 203, wherein the inner ring side wall of the adjusting ring seat 103 and the outer end face of the limit block 203 are both set as smooth surfaces, or a ball is set on the outer end of the limit block 203, which contacts the inner side wall of the adjusting ring seat 103 through the ball, so as to reduce the friction of the limit block 203 when it moves in a circular motion relative to the adjusting ring seat 103.

[0052] Embodiment 4

[0053] The structure of this embodiment is basically the same as that of the first embodiment, except that an axial hole is provided on the mounting frame 101 close to the joint motor 300 at a position corresponding to the drive shaft 301, and the drive shaft 301 is located in the axial hole. A plurality of balls are evenly provided on the side walls of the axial hole of the mounting frame 101, and the balls contact the side walls of the drive shaft 301. The balls keep the drive shaft 301 connected to the mounting frame 101, thereby improving the position stability of the drive shaft 301 during installation, and reducing the friction of the drive shaft 301 relative to the mounting frame 101 when the drive shaft 301 rotates through the balls.

[0054] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0055] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-joint robot direct drive motor installation structure, comprising a robot body (100), a robot arm (200) and a joint motor (300), characterized in that: Two mounting frames (101) are symmetrically fixed on the top of the robot body (100), the top of the mounting frames (101) is provided with a semicircular shape, and a rotating cylinder (202) is rotatably connected between the two mounting frames (101) at a position corresponding to the center of the circle, a mounting seat (201) is fixed in the middle of the end of the mechanical arm (200), an end of the mounting seat (201) away from the mechanical arm (200) is provided with a semicircular shape, and the middle part of the rotating cylinder (202) is fixed at the center of the circle of the mounting seat (201); The joint motor (300) is located on the outer side wall of one of the mounting frames (101), and a motor seat (303) is fixed to one end of the joint motor (300) close to the mounting frame (101), and a clamping assembly is provided on the outer side wall of the mounting frame (101), and the clamping assembly is correspondingly connected to the motor seat (303); The driving shaft (301) of the joint motor (300) is rotatably connected to the motor seat (303), and one end thereof extends into the rotating cylinder (202); a plurality of limit grooves (302) are evenly arranged on the driving shaft (301) along the circumferential direction; a plurality of limit blocks (203) are evenly arranged on the inner side wall of the rotating cylinder (202) along the circumferential direction; and the ends of the limit blocks (203) are slidably connected to the corresponding limit grooves (302).

2. The multi-joint robot direct drive motor installation structure according to claim 1, characterized in that: The clamping assembly includes a threaded ring platform (400) fixed on the outer surface of the mounting frame (101), and the center position of the threaded ring platform (400) coincides with the axis of the drive shaft (301). The inner wall of the threaded ring platform (400) is provided with threads and is threadedly connected with a threaded ring plate (401). Two pressure plates (402) are symmetrically fixed to the outer end of the threaded ring plate (401), and the adjacent sides of the two pressure plates (402) are arranged in parallel. Two opposite sides of the motor seat (303) are arranged in parallel, and the spacing between the two parallel sides is smaller than the spacing between the two pressure plates (402). The other two opposite sides of the motor seat (303) are both arranged in an arc shape and slide with the inner wall of the threaded ring plate (401).

3. The multi-joint robot direct drive motor installation structure according to claim 2, characterized in that: The motor seat (303) is symmetrically provided with two positioning holes (304), and the positioning holes (304) are close to the arc-shaped side of the motor seat (303). A positioning shaft (403) is correspondingly fixed on the outer side surface of the mounting frame (101), and the positioning shaft (403) is located in the positioning hole (304), and the outer end of the positioning shaft (403) is located inside the positioning hole (304).

4. The multi-joint robot direct drive motor installation structure according to claim 1, characterized in that: A cylindrical fixed box (102) is fixed on the inner side surface of the two mounting frames (101); the rotating cylinder (202) is rotatably connected to the center of the two fixed boxes (102), and both ends of the rotating cylinder (202) extend into the corresponding fixed boxes (102); a plurality of limit blocks (203) are provided along the circumferential direction on both side sections of the rotating cylinder (202) located in the fixed box (102); the outer ends of the limit blocks (203) extend out of the rotating cylinder (202), and spring plates (204) are symmetrically fixed on both sides of the extended sections, and the spring plates (204) are connected to the outer side wall of the rotating cylinder (202) through springs; an adjustment structure is provided in the fixed box (102), and the adjustment structure is connected to the outer ends of the plurality of limit blocks (203) on the corresponding sides.

5. The multi-joint robot direct drive motor installation structure according to claim 4, characterized in that: The adjustment structure comprises an adjustment ring seat (103) slidably connected to the inner side surface of the fixed box (102); the inner ring side wall of the adjustment ring seat (103) is set as a conical surface; the outer end of the limit block (203) is set as a hemispherical shape and contacts the inner ring side wall of the adjustment ring seat (103); an annular electromagnet (104) is fixed to one end of the adjustment ring seat (103); an annular electromagnet (104) is also fixed to a corresponding position on the inner side wall of the fixed box (102); and the electromagnet (104) is electrically connected to a power supply and a switch.

6. The multi-joint robot direct drive motor installation structure according to any one of claims 1 to 5, characterized in that: An axial hole is provided on the mounting frame (101) close to the joint motor (300) at a position corresponding to the drive shaft (301), and the drive shaft (301) is located in the axial hole. A plurality of balls are evenly provided on the side wall of the axial hole of the mounting frame (101), and the balls are in contact with the side wall of the drive shaft (301).

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