High-efficiency motor for picking robot and control method

Abstract

The application discloses a kind of high-efficiency motor for picking robot and control method, belong to motor technical field, by rotating sleeve driven to docking rotor and docking rod movement, docking rod is docked in docking groove, along with the movement of docking rod, docking rod extrudes connecting plate, connecting plate pushes connecting block to move, at this time, by the cooperation of connecting spring, make connecting block be stuck in docking rotor, at this time, fixed block is inserted into fixed groove, rotate fixed sleeve, make fixed block rotate and be stuck in fixed groove in fixed groove, by rotating head drive screw rod rotation, by limiting, make screw rod drive fixed block to move, fixed block is fixed in fixed groove, different specifications docking rotor can be docked to fixed mechanism, can make motor match multiple specifications external picking robot's executing component, by transmitting lubricating liquid through transmission pipe into connecting pipe, then through fixed pipe evenly transmit lubricating liquid, evenly lubricate docking rotor, reduce the resistance of docking.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electric machines, and particularly relates to a high-efficiency electric machine for a picking robot and a control method. BACKGROUND

[0002] In the process of accelerating agricultural modernization, picking robots, as an important tool for improving agricultural production efficiency and reducing labor intensity, are gradually widely used in orchards, farmlands and other scenes, and the performance of electric machines, as core power components of picking robots, directly affects the working effect and efficiency of picking robots.

[0003] However, the picking robot electric machine in the prior art has the following significant defects:

[0004] Poor adaptability: At present, most electric machines are fixedly connected or single-matched with external picking robot execution components through output shafts, and different crops require different specifications and different load external picking robot execution components, so that the interface standards and torque requirements are different, resulting in that one electric machine can usually only adapt to a specific component. When the external picking robot execution component needs to be replaced, the electric machine and the execution component usually need to be disassembled and replaced as a whole, or even the entire power module needs to be replaced, which increases the procurement and storage costs of the equipment and seriously restricts the working flexibility and efficiency of the picking robot.

[0005] Difficult lubrication and maintenance: the interface between the connecting rotor and the external picking robot execution component needs to be well lubricated to reduce wear and transmission resistance. In the prior art, the lubrication of this part usually adopts the manual regular greasing method, which needs to disassemble the external picking robot execution component first, and is not only time-consuming and laborious, but also the greasing uniformity completely depends on the experience of the operator, and it is difficult to guarantee the lubrication effect. In addition, in the agricultural working environment with dust and humidity, disassembly and lubrication are easy to make impurities enter the execution component and accelerate wear. The lack of an online, sealed and uniform lubrication method is the main reason for high maintenance cost and short service life of this part.

[0006] The continuous working condition is not considered in the heat dissipation design: the picking robot often needs to work continuously for a long time, and the electric machine generates a large amount of heat. The existing electric machine relies on its own shell or a single fan for heat dissipation, and the heat dissipation efficiency is limited. The heat accumulation easily leads to high internal temperature rise of the electric machine, which causes demagnetization of the magnetic steel, reduces the efficiency, and affects the output performance and service life of the electric machine, which is difficult to meet the high reliability requirement of modern picking robots.

[0007] Therefore, there is an urgent need for a new motor that can solve the above problems, has the characteristics of quickly adapting to various specifications of components, can realize efficient online lubrication and excellent heat dissipation performance, realizes online lubrication without disassembly, and provides protection for stable operation of the motor through double-fan heat dissipation. SUMMARY

[0008] The purpose of the present application is to provide a high-efficiency motor for a picking robot and a control method. The motor is driven by a rotating sleeve to move a docking rotor and a docking rod into a docking slot. The docking rod moves and presses a connecting plate, which in turn moves a connecting block. The connecting spring is used to make the connecting rod slide in the connecting cylinder and make the connecting block fit into the docking rotor. The fixed block is inserted into the fixed slot, and then the fixed sleeve is rotated to make the fixed block rotate and fit into the fixed slot. The threaded rod is rotated by rotating the rotating head, and the installation cylinder, installation rod and installation spring are used to limit the movement of the threaded rod, so that the fixed block is fixed in the fixed slot, the docking rotor is connected to the motor rotor, and the docking rotor can be set to various specifications. Docking different specifications of the docking rotor can make the motor match various specifications of the external picking robot. The lubricating liquid is transmitted to the connecting pipe through the transmission pipe, and then uniformly transmitted to the docking rotor through the fixed pipe, so as to reduce the resistance at the docking position.

[0009] The technical scheme adopted by the present application is as follows: a high-efficiency motor for a picking robot, comprising: a motor housing; a motor rotor rotating through the outer surfaces of the two sides of the motor housing; a heat conduction block fixedly connected to the inner wall of the motor housing at one end; a motor stator fixedly connected to the outer surface of the heat conduction block at one end; a fixing mechanism arranged on the motor housing and the motor rotor;

[0010] Further comprising a docking mechanism arranged on the fixing mechanism and the motor rotor; the docking mechanism comprises a rotating sleeve detachably sleeved on the motor rotor and a docking rotor used for connecting the executing component of the external picking robot, and the docking rotor rotates synchronously with the rotating sleeve;

[0011] and a lubricating mechanism arranged on the docking mechanism, which is arranged to reduce the resistance at the docking position. At least part of the oil circuit of the lubricating mechanism is integrated in the docking mechanism to deliver lubricating liquid to the docking interface of the docking rotor.

[0012] Wherein, the motor rotor is provided with a docking slot at one end, the fixing mechanism comprises a clamping component and at least one set of fixing components, the clamping component is arranged on the motor housing, and each set of fixing components is arranged on the motor rotor.

[0013] The engaging component comprises a fixed plate and a fixed groove, one end of the fixed plate is fixedly connected to one side of the outer surface of the motor shell, one end of the motor rotor is rotatably penetrated through the fixed plate, and the fixed groove is arranged on one side of the outer surface of the fixed plate.

[0014] Each group of the fixed components comprises a connecting plate, a connecting block, at least one connecting cylinder, at least one connecting spring and at least one connecting rod, one end of each connecting cylinder is fixedly connected to the upper inner wall of the motor rotor, one end of each connecting rod is slidably embedded between the inner walls of the connecting cylinder, one end of each connecting rod is fixedly connected to one side of the outer surface of the connecting plate, and both ends of each connecting spring are fixedly connected between the connecting cylinder and the connecting rod, one end of the connecting block is fixedly connected to one side of the outer surface of the connecting plate, and the other end of the connecting block is slidably penetrated through the outer surface of the motor rotor.

[0015] The connecting mechanism comprises a mounting component and a plurality of limiting components, the mounting component is arranged on the motor rotor, and each group of the limiting components is arranged on the mounting component.

[0016] The mounting component comprises a rotating sleeve, a fixed sleeve, a connecting rotor and a connecting rod, the rotating sleeve is movably sleeved on the outer surface of the motor rotor, the inner walls of the fixed sleeve are rotatably embedded on the outer surface of the rotating sleeve, one end of the connecting rotor is fixedly connected to one end of the rotating sleeve, one end of the connecting rod is fixedly connected to one side of the inner wall of the connecting rotor, and the connecting rod and the connecting groove are matched with each other.

[0017] Each group of the limiting components comprises a mounting plate, a rotating head, a threaded rod, two mounting cylinders, two mounting rods, two mounting springs and a fixed block, one end of the mounting plate is fixedly connected to the outer surface of the fixed sleeve, one end of the rotating head is rotatably embedded on one side of the outer surface of the mounting plate, one end of the threaded rod is threadedly penetrated through one side of the outer surface of the mounting plate, and one end of the threaded rod is rotatably connected to one side of the outer surface of the fixed block, one end of each mounting cylinder is fixedly connected to one side of the outer surface of the mounting plate, one end of each mounting rod is fixedly connected to one side of the outer surface of the fixed block, and the other end of each mounting rod is slidably embedded between the inner walls of the mounting cylinder, both ends of each mounting spring are fixedly connected between the mounting cylinder and the mounting rod, and the fixed block is matched with the fixed groove.

[0018] The lubricating mechanism comprises a plurality of flow guide grooves, a transmission pipe, a plurality of fixed pipes and a connecting pipe, each flow guide groove is arranged on the outer surface of the connecting rotor, the connecting pipe is fixedly embedded between the interiors of the rotating sleeve, one end of the transmission pipe is fixedly embedded on the top of the rotating sleeve, one end of the transmission pipe is fixedly connected to the outer surface of the connecting pipe, one end of each fixed pipe is fixedly embedded on the outer surface of the connecting rotor, and the other end of each fixed pipe is in communication with the outer surface of the connecting pipe.

[0019] The outer surface of the motor rotor is fixedly sleeved with two heat dissipation fans, and the outer surface of one side of the motor shell is fixedly connected with a heat dissipation net.

[0020] A control method of the high-efficiency motor for the picking robot comprises the following steps:

[0021] Step one, installing the butt joint mechanism: the rotating sleeve is sleeved on the motor rotor, the butt joint rotor and the butt joint rod are moved by the rotating sleeve, the butt joint rod is butted into the butt joint groove, the connecting plate is extruded by the movement of the butt joint rod, the connecting block is moved by the connecting plate, at this time, the connecting rod is slid in the connecting cylinder by the cooperation of the connecting spring, the connecting block is clamped in the butt joint rotor, at this time, the fixing block is inserted into the fixing groove, then the fixing sleeve is rotated to rotate the fixing block in the fixing groove and clamp it into the fixing groove, then the rotating head is rotated to rotate the threaded rod, the threaded rod moves the fixing block by the limiting of the mounting cylinder, the mounting rod and the mounting spring, the fixing block is fixed in the fixing groove, the butt joint rotor is butted to the motor rotor, the butt joint rotor can be set in multiple specifications, and the motor can match the execution components of the external picking robot in multiple specifications by butting the butt joint rotors in different specifications;

[0022] Step two, starting the motor: when the motor is started, the two heat dissipation fans are rotated by the rotation of the motor rotor, the motor is heat-dissipated by the heat conduction of the heat conduction block, the rotating sleeve and the butt joint rotor are rotated by the rotation of the motor rotor, and the picking robot is operated by the butt joint rotor;

[0023] Step three, lubricating the butt joint rotor: when the motor stops operating, the lubricating liquid is transmitted into the connecting pipe through the transmission pipe, and then the lubricating liquid is uniformly transmitted through the fixing pipe to uniformly lubricate the butt joint rotor and reduce the resistance at the butt joint.

[0024] As the above technical scheme is adopted, the present application has the following beneficial effects:

[0025] (1) In the present application, the butt joint rotor and the butt joint rod are moved by the rotating sleeve, the butt joint rod is butted into the butt joint groove, the connecting plate is extruded by the movement of the butt joint rod, the connecting block is moved by the connecting plate, at this time, the connecting rod is slid in the connecting cylinder by the cooperation of the connecting spring, the connecting block is clamped in the butt joint rotor, at this time, the fixing block is inserted into the fixing groove, then the fixing sleeve is rotated to rotate the fixing block in the fixing groove and clamp it into the fixing groove, then the rotating head is rotated to rotate the threaded rod, the threaded rod moves the fixing block by the limiting of the mounting cylinder, the mounting rod and the mounting spring, the fixing block is fixed in the fixing groove, the butt joint rotor is butted to the motor rotor, the butt joint rotor can be set in multiple specifications, and the motor can match the execution components of the external picking robot in multiple specifications by butting the butt joint rotors in different specifications.

[0026] (2) In the application, the lubricating liquid is transmitted to the connecting pipe through the transmission pipe, and then uniformly transmitted to the butt joint rotor through the fixed pipe, thereby reducing the resistance at the butt joint.

[0027] (3) Excellent adaptability and rapid switching capability: the application realizes the rapid connection of the motor and the external picking robot through the cooperative design of the innovative fixing mechanism and the butt joint mechanism.

[0028] “one machine for multiple purposes”: the user can pre-configure multiple specifications of butt joint rotors according to different operation requirements, and when replacing, the motor body does not need to be disassembled, only the locking and release of the butt joint mechanism can be completed by simply rotating the fixed sleeve and rotating the rotating head, realizing rapid switching, greatly improving the operation flexibility of the picking robot, and greatly reducing the spare parts cost and downtime.

[0029] Reliable connection: the connecting block is automatically clamped into the butt joint rotor under the action of the spring, providing an initial circumferential torque transmission, and then through the close cooperation of the threaded rod and the fixed groove, providing axial locking force, forming a double insurance mechanism, ensuring the rigidity and reliability of the connection under high torque and high vibration working conditions, and the connection strength is not less than that of the traditional key groove connection method.

[0030] Efficient and uniform online lubrication capability: the application solves the drawbacks of the traditional lubrication method through the integrated design of the lubrication mechanism and the butt joint mechanism.

[0031] Online operation, no need to disassemble: the maintenance personnel can directly add lubricating grease through the exposed transmission pipe when the motor is stopped, without any disassembly operation, saving time and effort, and avoiding the risk of impurity intrusion.

[0032] Uniform lubrication, remarkable effect: the lubricating grease is uniformly delivered to all the guide grooves through the annular connecting pipe and multiple circumferentially distributed fixed pipes, forming a complete oil film on the entire mating surface of the butt joint rotor. Experiments show that this design can reduce the lubrication operation time by more than 80%, and the temperature rise at the friction point is reduced by about 15% compared with the traditional manual application of lubrication, effectively reducing the transmission resistance and prolonging the service life of the parts.

[0033] Excellent heat dissipation performance guarantees continuous operation: through the cooperative heat dissipation design of two heat dissipation fans and heat conduction blocks, an efficient internal and external convection heat dissipation air duct is constructed, one fan inhales cold air from the heat dissipation net, blows through the motor stator and rotor, the other fan accelerates the hot air in the motor to be discharged, and the heat conduction block rapidly conducts the heat generated by the stator to the motor shell to increase the heat dissipation area, forming a composite heat dissipation system of "active blowing + efficient heat conduction", through continuous full load experimental test, the internal temperature rise of the motor of the application is stably below 75K under the environment temperature of 35℃ for 4 hours, which is 10-15K lower than that of the traditional motor of the same volume, effectively preventing performance degradation and guaranteeing the reliability of the picking robot for long time continuous work.

[0034] Synergy of three systems: the core innovation of the application lies in that the fixing mechanism, the docking mechanism and the lubricating mechanism are not simply stacked, but constitute an organic and synergistic whole system, which realizes the integrated function of "quick replacement-dynamic transmission-online lubrication", when the quick replacement (operating the fixing and docking mechanism) is carried out, the process itself will drive the docking rod to extrude the connecting plate, and prepare for the automatic clamping of the connecting block after the next lubrication, the pipeline network of the lubricating mechanism is directly integrated in the rotating sleeve and the docking rotor of the docking mechanism, realizing the deep integration of structure and function, the lubrication directly acts on the docking interface which needs lubrication most, the efficiency is maximized, and the heat dissipation system guarantees the stable operation of the whole motor, this highly synergistic design not only solves multiple single problems, but also provides a high-performance, high-reliability and easy-to-maintain picking robot power solution. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a front view of the application;

[0036] Figure 2 It is a side view of the application;

[0037] Figure 3 It is a front view of the application;

[0038] Figure 4 It is a front view of the application;

[0039] Figure 5 It is a front view of the application;

[0040] Figure 6 It is a front view of the application;

[0041] Figure 7 It is a front view of the application;

[0042] Figure 8 It is a front view of the application; Figure 7A portion of the drawing of Figure 1 is shown in enlarged scale;

[0043] Figure 9 A portion of the drawing of Figure 1 is shown in enlarged scale. Figure 7 A portion of the drawing of Figure 1 is shown in enlarged scale.

[0044] Figure 10 A portion of the drawing of Figure 1 is shown in enlarged scale.

[0045] Reference signs in the drawing: 1, motor housing; 2, fixing mechanism; 201, fixing plate; 202, fixing groove; 203, butt joint groove; 204, connecting plate; 205, connecting block; 206, connecting cylinder; 207, connecting spring; 208, connecting rod; 3, butt joint mechanism; 301, rotating sleeve; 302, fixed sleeve; 303, mounting plate; 304, butt joint rotor; 305, butt joint rod; 306, rotating head; 307, threaded rod; 308, mounting cylinder; 309, mounting rod; 310, mounting spring; 311, fixed block; 4, lubricating mechanism; 401, flow guide groove; 402, transmission pipe; 403, fixed pipe; 404, connecting pipe; 5, motor rotor; 6, motor stator; 7, heat conduction block; 8, heat dissipation fan; 9, heat dissipation net. DETAILED DESCRIPTION

[0046] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0047] Reference Figures 1-10 : The present application provides a technical solution: a high-efficiency motor for picking robot, comprising: a motor housing 1; a motor rotor 5, the motor rotor 5 rotates through the outer surfaces of the two sides of the motor housing 1; a heat conduction block 7, one end of the heat conduction block 7 is fixedly connected to the inner wall of the motor housing 1; a motor stator 6, the outer surface of the motor stator 6 is fixedly connected to one end of the heat conduction block 7; a fixing mechanism 2, the fixing mechanism 2 is arranged on the motor housing 1 and the motor rotor 5; further comprising a butt joint mechanism 3, the butt joint mechanism 3 is arranged on the fixing mechanism 2 and the motor rotor 5; the butt joint mechanism 3 comprises a rotating sleeve 301 which is detachably sleeved on the motor rotor 5 and a butt joint rotor 304 which is used to connect the executive components of the external picking robot, the butt joint rotor 304 rotates synchronously with the rotating sleeve 301; and a lubricating mechanism 4, the lubricating mechanism 4 is arranged on the butt joint mechanism 3, which is arranged to reduce the resistance at the butt joint, at least part of the oil circuit of the lubricating mechanism 4 is integrated inside the butt joint mechanism 3, which is used to deliver lubricating liquid to the butt joint interface of the butt joint rotor 304.

[0048] In the embodiment, the motor housing 1 is arranged to play a protective role, the heat-conducting block 7 is arranged to conduct heat inside the motor housing 1, the motor stator 6 is arranged to generate a magnetic field and interact with the rotor to realize the conversion between electric energy and mechanical energy, the fixing mechanism 2 is arranged to connect the docking mechanism 3, the docking mechanism 3 is arranged to dock the execution component of the external picking robot, and the lubricating mechanism 4 is arranged to reduce the resistance at the docking position.

[0049] Specifically, one end of the motor rotor 5 is provided with a docking groove 203, the fixing mechanism 2 includes clamping components and a plurality of sets of fixing components, the clamping components are arranged on the motor housing 1, and each set of fixing components is arranged on the motor rotor 5.

[0050] In the embodiment, the docking groove 203 is arranged to mount the docking mechanism 3, the clamping components are arranged to facilitate the dismounting and mounting of the docking mechanism 3, and the fixing components are arranged to increase the docking stability between the fixing mechanism 2 and the docking mechanism 3.

[0051] Specifically, the clamping components include a fixed plate 201 and a fixed groove 202, one end of the fixed plate 201 is fixedly connected to one side of the outer surface of the motor housing 1, one end of the motor rotor 5 rotates through the fixed plate 201, and the fixed groove 202 is arranged on one side of the outer surface of the fixed plate 201.

[0052] In the embodiment, the fixed plate 201 and the fixed groove 202 are arranged to fix the docking mechanism 3.

[0053] Specifically, each set of fixing components includes a connecting plate 204, a connecting block 205, at least one connecting barrel 206, at least one connecting spring 207, and at least one connecting rod 208, one end of each connecting barrel 206 is fixedly connected to the upper inner wall of the motor rotor 5, one end of each connecting rod 208 is slidably embedded between the inner walls of the connecting barrel 206, one end of each connecting rod 208 is fixedly connected to one side of the outer surface of the connecting plate 204, both ends of each connecting spring 207 are fixedly connected between the connecting barrel 206 and the connecting rod 208, one end of the connecting block 205 is fixedly connected to one side of the outer surface of the connecting plate 204, and the other end of the connecting block 205 is slidably penetrated through the outer surface of the motor rotor 5.

[0054] In the embodiment, the connecting plate 204 is arranged to support the connecting block 205, the connecting block 205 is arranged to limit, the connecting barrel 206, the connecting spring 207, and the connecting rod 208 are arranged to connect the connecting plate 204, the connecting rod 208 can slide in the connecting barrel 206, and the connecting spring 207 is arranged to enable the connecting plate 204 to drive the supporting connecting block 205 to return to the original state.

[0055] Specifically, the docking mechanism 3 comprises mounting components and multiple sets of limiting components, the mounting components are arranged on the motor rotor 5, and each set of limiting components is arranged on the mounting components.

[0056] In this embodiment, the mounting components are arranged to connect the limiting components, and the limiting components are arranged to fix the docking mechanism 3 to the fixing mechanism 2.

[0057] Specifically, the mounting components comprise a rotating sleeve 301, a fixed sleeve 302, a docking rotor 304 and a docking rod 305, the rotating sleeve 301 is movably sleeved on the outer surface of the motor rotor 5, the inner wall of the fixed sleeve 302 is movably embedded on the outer surface of the rotating sleeve 301, one end of the docking rotor 304 is fixedly connected to one end of the rotating sleeve 301, one end of the docking rod 305 is fixedly connected to the inner wall of one side of the docking rotor 304, and the docking rod 305 is matched with the docking groove 203.

[0058] In this embodiment, the rotating sleeve 301 is sleeved on the motor rotor 5, the docking rotor 304 and the docking rod 305 are moved by the rotating sleeve 301, the docking rod 305 is docked into the docking groove 203, the connecting plate 204 is pressed by the docking rod 305 with the movement of the docking rod 305, the connecting block 205 is moved by the connecting plate 204, and the connecting block 205 is clamped in the docking rotor 304 by the cooperation of the connecting spring 207 and the sliding of the connecting rod 208 in the connecting barrel 206.

[0059] Specifically, each set of limiting components comprises a mounting plate 303, a rotating head 306, a threaded rod 307, two mounting barrels 308, two mounting rods 309, two mounting springs 310 and a fixed block 311, one end of the mounting plate 303 is fixedly connected to the outer surface of the fixed sleeve 302, one end of the rotating head 306 is movably embedded on the outer surface of one side of the mounting plate 303, one end of the threaded rod 307 is threadedly penetrated through the outer surface of one side of the mounting plate 303, and one end of the threaded rod 307 is movably connected to the outer surface of one side of the fixed block 311, one end of each mounting barrel 308 is fixedly connected to the outer surface of one side of the mounting plate 303, one end of each mounting rod 309 is fixedly connected to the outer surface of one side of the fixed block 311, and the other end of each mounting rod 309 is movably embedded in the inner wall of the mounting barrel 308, two ends of each mounting spring 310 are fixedly connected between the mounting barrel 308 and the mounting rod 309, and the fixed block 311 is matched with the fixed groove 202.

[0060] In the embodiment, the fixed block 311 is inserted into the fixed groove 202, and then the fixed sleeve 302 is rotated to rotate the fixed block 311 into the fixed groove 202. Then, the rotating head 306 is rotated to drive the threaded rod 307 to move, and the installation cylinder 308, the installation rod 309 and the installation spring 310 limit the movement of the threaded rod 307 to drive the fixed block 311 to be fixed in the fixed groove 202. The butt joint rotor 304 is butt jointed to the motor rotor 5. The butt joint rotor 304 can be provided in multiple specifications. The butt joint rotor 304 in different specifications can match multiple specifications of the external picking robot.

[0061] Specifically, the lubricating mechanism 4 includes a plurality of flow guide grooves 401, a transmission pipe 402, a plurality of fixed pipes 403 and a connecting pipe 404. Each flow guide groove 401 is arranged on the outer surface of the butt joint rotor 304. The connecting pipe 404 is fixedly arranged in the inner part of the rotating sleeve 301. One end of the transmission pipe 402 is fixedly arranged on the top of the rotating sleeve 301, and the other end of the transmission pipe 402 is fixedly connected to the outer surface of the connecting pipe 404. One end of each fixed pipe 403 is fixedly arranged on the outer surface of the butt joint rotor 304, and the other end of each fixed pipe 403 is in communication with the outer surface of the connecting pipe 404.

[0062] In the embodiment, the lubricating liquid is transmitted to the connecting pipe 404 through the transmission pipe 402, and then is uniformly transmitted through the fixed pipe 403 to uniformly lubricate the butt joint rotor 304 and reduce the resistance at the butt joint. In order to further optimize the lubricating effect and prevent leakage, the rotating sleeve 301 is designed more finely. The connecting pipe 404 is arranged in the rotating sleeve 301. One end of the transmission pipe 402 extends to the outside of the rotating sleeve 301 and is provided with an openable sealing cover (not shown in the figure). The other end of the transmission pipe 402 is in radial communication with the connecting pipe 404 and is welded or interference fitted to ensure sealing.

[0063] The plurality of fixed pipes 403 are uniformly distributed along the circumference of the butt joint rotor 304. One end of each fixed pipe 403 is fixed to the butt joint rotor 304 by threading or pressure connection, and penetrates the connecting interface between the rotating sleeve 301 and the butt joint rotor 304. An O-shaped sealing ring (not shown in the figure) is arranged at the connecting interface to effectively prevent the lubricating liquid from leaking from the gap between the rotating sleeve 301 and the butt joint rotor 304. The other end of each fixed pipe 403 is obliquely provided with a liquid outlet, which points to the flow guide groove 401.

[0064] Lubricating liquid flow path and working principle: when lubrication is needed, open the sealing cover of the transmission pipe 402, use a special lubricating gun or oil can to inject lubricating liquid (such as lithium-based lubricating grease or special model lubricating oil), the lubricating liquid first enters the annular connecting pipe 404, under the action of pressure, the lubricating liquid is uniformly delivered to the outer surface of the docking rotor 304 through a plurality of circumferentially distributed fixed pipes 403, after the lubricating liquid flows out of the liquid outlet of the fixed pipe 403, it diffuses along the flow guide groove 401, forming a uniform oil film, thereby fully and uniformly lubricating the docking surface of the docking rotor 304 and the external picking robot part, significantly reducing the frictional resistance, after the lubrication is completed, the sealing cover is tightened to prevent dust and impurities from entering.

[0065] Specifically, the outer surface of the motor rotor 5 is fixedly sleeved with two cooling fans 8, and the outer surface of one side of the motor housing 1 is fixedly connected with a cooling mesh 9, one of the cooling fans 8 is located inside the cooling mesh 9.

[0066] In this embodiment: the two cooling fans 8 form a convection, increase the air flow, thereby increasing the heat dissipation effect, the setting of the cooling mesh 9 can assist heat dissipation.

[0067] The use method of the high-efficiency motor for picking robot and the control method provided by the embodiment of the application is specifically as follows: step one, installing the docking mechanism 3: the rotating sleeve 301 is sleeved on the motor rotor 5, the docking rotor 304 and the docking rod 305 are moved along with the rotating sleeve 301, the docking rod 305 is docked into the docking groove 203, the connecting plate 204 is pressed by the docking rod 305 moving, the connecting block 205 is moved by the connecting plate 204, at this time, the connecting rod 208 is slid in the connecting cylinder 206 by the cooperation of the connecting spring 207, the connecting block 205 is clamped in the docking rotor 304, at this time, the fixing block 311 is inserted into the fixing groove 202, then the fixing sleeve 302 is rotated, the fixing block 311 is clamped in the fixing groove 202 by rotating in the fixing groove 202, then the rotating head 306 is rotated to drive the threaded rod 307 to rotate, the threaded rod 307 drives the fixing block 311 to move by the limiting of the mounting cylinder 308, the mounting rod 309 and the mounting spring 310, the fixing block 311 is fixed in the fixing groove 202, the docking rotor 304 is docked on the motor rotor 5, the docking rotor 304 can be provided in multiple specifications, and the motor can match multiple specifications of the external picking robot by docking the docking rotor 304 with different specifications; step two, starting the motor: when the motor is started, the two cooling fans 8 are rotated by the rotation of the motor rotor 5, and the motor is cooled by the heat conduction of the heat conduction block 7, the motor rotor 5 rotates to drive the rotating sleeve 301 and the docking rotor 304 to rotate, the docking rotor 304 drives the picking robot to run; step three, lubricating the docking rotor 304: when the motor stops running, the lubricating liquid is transmitted into the connecting pipe 404 through the transmission pipe 402, and then the lubricating liquid is uniformly transmitted through the fixed pipe 403 to uniformly lubricate the docking rotor 304 and reduce the resistance at the docking position.

[0068] To realize stable and reliable clamping, the inner wall of the docking rotor 304 is processed with a hemispherical or rectangular clamping groove (not shown in the figure) corresponding to the position of the connecting block 205, when the docking rod 305 is inserted into the docking groove 203 and abuts against the connecting plate 204, the connecting plate 204 is pressed to drive the three connecting rods 208 to compress the connecting spring 207 and slide to the inside of the motor rotor 5, and the connecting block 205 fixed with the connecting plate 204 is retracted.

[0069] When the docking mechanism 3 continues to advance until the connecting block 205 is aligned with the engagement groove on the inner wall of the docking rotor 304, the compressed connecting spring 207 releases the elastic force, pushing the connecting rod 208 and the connecting plate 204 to reset outward, so that the connecting block 205 is accurately clamped into the engagement groove. This structure realizes automatic clamping through spring force, accompanied by a clear "click" sound, providing tactile and auditory feedback to the operator that the installation is in place, ensuring the rigidity and reliability of the transmission. When disassembling, the operator only needs to pull the docking mechanism 3 in the opposite direction to overcome the elastic force of the connecting spring 207 to make the connecting block 205 disengage from the engagement groove.

[0070] Example: operation example of replacing different specifications of docking rotor 304

[0071] When the picking robot needs to replace the end effector for performing different tasks, due to different loads and interface specifications, the docking rotor 304 needs to be replaced, and the operation steps are as follows:

[0072] Disassembly: The operator first reversely rotates the rotating head 306 to make the threaded rod 307 retreat, releasing the locking state of the fixing block 311 and the fixing groove 202, then reversely rotates the fixing sleeve 302 to make the fixing block 311 exit from the engagement state of the fixing groove 202, and finally, forces outward along the axial direction to overcome the elastic force of the connecting spring 207, and pulls out the entire docking mechanism 3 from the motor rotor 5.

[0073] Installation: Select the docking mechanism 3 of the new specification docking rotor 304 matched with the new end effector, align the new docking rod 305 with the docking groove 203 on the motor rotor 5, and gently push it in. As described above, the connecting block 205 will automatically clamp into the engagement groove of the new docking rotor 304 under the action of the spring. Then, rotate the fixing sleeve 302 to make the fixing block 311 clamp into the fixing groove 202, and finally tighten the rotating head 306 to pull the fixing block 311 through the threaded rod 307, completing the replacement. The entire process does not require tools and is quick and easy.

[0074] Example: lubrication operation example

[0075] When the motor is continuously running for 500 hours or during regular maintenance, the docking rotor 304 needs to be lubricated. Make sure the motor has stopped running, find the transmission pipe 402 and its sealing cover at the top of the rotating sleeve 301, clean the area around the sealing cover to prevent dirt from being brought in, open the sealing cover, insert the oil injection nozzle of the lubrication gun into the transmission pipe 402, slowly press the lubricating grease until a small amount of new lubricating grease uniformly overflows from the gap between the docking rotor 304 and the external components. This indicates that the old lubricating grease has been replaced by new lubricating grease, and the lubrication space has been filled. Pull out the oil injection nozzle, clean the excess lubricating grease, and tighten the sealing cover. Lubrication is complete, and the motor can be restarted.

[0076] The 'docking rotor' of the present application refers to an adapter interface element for connecting the output shaft of the motor with the execution component of the external picking robot, which is not the rotating component of the motor body.

[0077] The above-mentioned components such as the 'engaging groove', 'O-ring','sealing cover' and the like are well-known and standard parts in the technical field, and their specific installation and application are obvious to those skilled in the art. The textual description in the specification is clear enough to achieve the present application.

[0078] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A high-efficiency motor for a harvesting robot, comprising: Motor housing (1); The motor rotor (5) rotates through the outer surfaces of both sides of the motor housing (1); A heat-conducting block (7) is fixedly connected at one end to the inner wall of the motor housing (1); Motor stator (6), the outer surface of which is fixedly connected to one end of heat-conducting block (7); A fixing mechanism (2) is provided on the motor housing (1) and the motor rotor (5); characterized in that, It also includes a docking mechanism (3), which is disposed on the fixed mechanism (2) and the motor rotor (5); the docking mechanism (3) includes a rotating sleeve (301) detachably sleeved on the motor rotor (5) and a docking rotor (304) for connecting the execution component of the external harvesting robot, the docking rotor (304) rotating synchronously with the rotating sleeve (301); And a lubrication mechanism (4), which is disposed on the docking mechanism (3) and is configured to reduce the resistance at the docking point. At least part of the oil passage of the lubrication mechanism (4) is integrated inside the docking mechanism (3) for delivering lubricating fluid to the docking interface of the docking rotor (304).

2. The high-efficiency motor for a harvesting robot as described in claim 1, characterized in that: The motor rotor (5) has a docking groove (203) at one end. The fixing mechanism (2) includes a locking component and at least one set of fixing components. The locking component is set on the motor housing (1), and each set of fixing components is set on the motor rotor (5).

3. The high-efficiency motor for a harvesting robot as described in claim 2, characterized in that: The engaging component includes a fixing plate (201) and a fixing groove (202). One end of the fixing plate (201) is fixedly connected to the outer surface of one side of the motor housing (1). One end of the motor rotor (5) rotates through the fixing plate (201). The fixing groove (202) is opened on the outer surface of one side of the fixing plate (201).

4. The high-efficiency motor for a harvesting robot as described in claim 3, characterized in that: Each set of fixed components includes a connecting plate (204), a connecting block (205), at least one connecting cylinder (206), at least one connecting spring (207), and at least one connecting rod (208). One end of each connecting cylinder (206) is fixedly connected to the upper inner wall of the motor rotor (5). One end of each connecting rod (208) is slidably embedded between the inner walls of the connecting cylinder (206), and one end of each connecting rod (208) is fixedly connected to one side of the outer surface of the connecting plate (204). Both ends of each connecting spring (207) are fixedly connected between the connecting cylinder (206) and the connecting rod (208). One end of the connecting block (205) is fixedly connected to one side of the outer surface of the connecting plate (204), and the other end of the connecting block (205) slides through the outer surface of the motor rotor (5).

5. The high-efficiency motor for a harvesting robot as described in claim 4, characterized in that: The docking mechanism (3) includes an installation component and multiple sets of limiting components. The installation component is disposed on the motor rotor (5), and each set of limiting components is disposed on the installation component.

6. The high-efficiency motor for a harvesting robot as described in claim 5, characterized in that: The mounting components include a rotating sleeve (301), a fixed sleeve (302), a docking rotor (304), and a docking rod (305). The rotating sleeve (301) is movably fitted onto the outer surface of the motor rotor (5). The inner wall of the fixed sleeve (302) is rotatably embedded in the outer surface of the rotating sleeve (301). One end of the docking rotor (304) is fixedly connected to one end of the rotating sleeve (301). One end of the docking rod (305) is fixedly connected to one side of the inner wall of the docking rotor (304), and the docking rod (305) matches the docking groove (203).

7. The high-efficiency motor for a harvesting robot as described in claim 6, characterized in that: Each set of limiting components includes a mounting plate (303), a rotating head (306), a threaded rod (307), two mounting cylinders (308), two mounting rods (309), two mounting springs (310), and a fixing block (311). One end of the mounting plate (303) is fixedly connected to the outer surface of the fixing sleeve (302). One end of the rotating head (306) is rotatably embedded in one side of the outer surface of the mounting plate (303). One end of the threaded rod (307) is threaded through one side of the outer surface of the mounting plate (303), and one end of the threaded rod (307) is threaded through. The mounting cylinder (308) is rotatably connected to one side of the outer surface of the fixing block (311). One end of each mounting cylinder (308) is fixedly connected to one side of the outer surface of the mounting plate (303). One end of each mounting rod (309) is fixedly connected to one side of the outer surface of the fixing block (311). The other end of each mounting rod (309) is slidably embedded between the inner walls of the mounting cylinder (308). Both ends of each mounting spring (310) are fixedly connected between the mounting cylinder (308) and the mounting rod (309). The fixing block (311) and the fixing groove (202) are matched with each other.

8. The high-efficiency motor for a harvesting robot as described in claim 7, characterized in that: The lubrication mechanism (4) includes multiple guide grooves (401), transmission pipes (402), multiple fixed pipes (403) and connecting pipes (404). Each guide groove (401) is opened on the outer surface of the docking rotor (304). The connecting pipe (404) is fixedly embedded in the interior of the rotating sleeve (301). One end of the transmission pipe (402) is fixedly embedded on the top of the rotating sleeve (301), and one end of the transmission pipe (402) is fixedly connected to the outer surface of the connecting pipe (404). One end of each fixed pipe (403) is fixedly embedded on the outer surface of the docking rotor (304), and the other end of each fixed pipe (403) is connected to the outer surface of the connecting pipe (404).

9. The high-efficiency motor for a harvesting robot as described in claim 8, characterized in that: Two cooling fans (8) are fixedly mounted on the outer surface of the motor rotor (5), and a heat dissipation mesh (9) is fixedly connected to one side of the outer surface of the motor housing (1), with one of the cooling fans (8) located inside the heat dissipation mesh (9).

10. A control method for a high-efficiency motor for a harvesting robot according to any one of claims 1-9, characterized in that: Includes the following steps: Step 1: Install the docking mechanism: Place the rotating sleeve on the motor rotor. As the rotating sleeve moves the docking rotor and docking rod, the docking rod engages with the docking groove. As the docking rod moves, it presses against the connecting plate, which in turn pushes the connecting block to move. At this point, the connecting spring helps the connecting rod slide within the connecting cylinder, causing the connecting block to engage with the docking rotor. The fixing block is then inserted into the fixing groove. Rotate the fixing sleeve to make the fixing block rotate and engage with the fixing groove. Then, rotate the rotating head to drive the threaded rod to rotate. Through the limiting action of the mounting cylinder, mounting rod, and mounting spring, the threaded rod drives the fixing block to move, fixing the fixing block in the fixing groove. The docking rotor is then connected to the motor rotor. The docking rotor can be configured in various sizes, allowing the motor to match various sizes of external harvesting robot actuators by docking different sizes of docking rotors. Step 2: Start the motor: When the motor is started, the rotation of the motor rotor drives the two cooling fans to rotate, and the heat conduction of the heat conduction block dissipates heat from the motor. At the same time, the rotation of the motor rotor drives the rotating sleeve and the docking rotor to rotate, and the docking rotor drives the harvesting robot to run. Step 3, Rotor Lubrication: When the motor stops running, the lubricant is transferred to the connecting pipe through the transmission pipe, and then evenly transferred through the fixed pipe to lubricate the connected rotor evenly and reduce the resistance at the connection point.

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