A side-out robot rudder and a side-out robot rudder assembly method

Abstract

The application provides a side-out robot steering wheel and a side-out robot steering wheel assembling method, and relates to the technical field of robot steering wheels. The steering wheel comprises an upper shell, a first middle shell, a second middle shell and a lower shell which are sequentially arranged from top to bottom. A driving motor is arranged in the upper shell. An output end of the driving motor extends into the lower shell and a motor gear is arranged. An installation gap is arranged between the right end of the second middle shell and the first middle shell. An output gear is arranged in the lower shell. The output gear is in transmission connection with the motor gear through a speed reduction mechanism. The output gear is arranged on an output shaft. The lower end of the output shaft is in rotation connection with the lower shell. The upper end of the output shaft is in rotation connection with the first middle shell. A rocker arm is arranged on the output shaft. One end of the rocker arm is located at the installation gap. In the application, the rocker arm is arranged on the output shaft near the middle position. The two ends of the output shaft are stably and reliably connected. The connection between the rocker arm and the output shaft is more firm. Therefore, the stability of the rocker arm is improved.

Description

Technical Field

[0001] This invention relates to the field of robot servo technology, and in particular to a side-exit robot servo and a side-exit robot servo assembly method. Background Technology

[0002] Robot servos are one of the core components for driving robot joints. They enable the movement of mechanical structures by precisely controlling angles and torque. A servo typically consists of a circuit board, a motor, a reduction gear set, sensors, and control circuitry.

[0003] Chinese patent CN222301588U discloses a prefabricated servo motor structure, including a servo motor body. A motor is fixedly installed inside the servo motor body, and a drive gear is fixedly connected to the output end of the motor. A driven gear and a planetary gear set are also installed inside the servo motor body. An output shaft is connected to the output end of the planetary gear set, and a servo disc is mounted on the output shaft. A circuit board is fixedly installed inside the servo motor body. The planetary gear set effectively improves the impact resistance of the prefabricated servo motor structure. When the planetary gear set moves, it reduces the speed transmitted by the motor and increases the torque to rotate the output shaft, controlling the joint movement of the fighting robot. The prefabricated servo motor structure uses synchronous gears for primary gear transmission and a planetary structure for the output stage, increasing impact resistance, improving lifespan, and transmission efficiency.

[0004] However, in the above scheme, the rudder is installed at the end of the output shaft in a cantilevered structure. The end of the output shaft where the rudder is installed is prone to deformation due to lack of support, resulting in poor stability at the end of the output shaft. Summary of the Invention

[0005] This invention provides a side-exit robot servo and a side-exit robot servo assembly method to solve the technical problem that the output shaft mounting end of the current servo is prone to deformation due to lack of support, resulting in poor stability of the output shaft end.

[0006] To solve the above-mentioned technical problems, the present invention discloses a side-exit robot servo motor, comprising: an upper housing, a first middle housing, a second middle housing, and a lower housing arranged sequentially from top to bottom; a drive motor is disposed in the upper housing; the output end of the drive motor extends into the lower housing and is provided with a motor gear; an installation gap is provided between the right end of the second middle housing and the first middle housing; an output gear is disposed in the lower housing; the output gear is connected to the motor gear through a reduction mechanism; the output gear is disposed on an output shaft; the lower end of the output shaft is rotatably connected to the lower housing through a first bearing; the upper end of the output shaft extends into the first middle housing and is rotatably connected to the first middle housing through a second bearing; a rocker arm is disposed on the output shaft, with one end of the rocker arm located at the installation gap.

[0007] Preferably, the lower housing and the second middle housing form a mounting cavity, and the deceleration mechanism is located inside the mounting cavity.

[0008] Preferably, the reduction mechanism includes a primary gear, a secondary gear, and a tertiary gear. The primary gear is rotatably connected to the inner wall of the mounting cavity via a first rotating shaft and meshes with the motor gear. A primary pinion is mounted on the primary gear and meshes with the secondary gear. The secondary gear is rotatably connected to the inner wall of the mounting cavity via a second rotating shaft and has a secondary pinion mounted on it. The secondary pinion meshes with the tertiary gear. The tertiary gear is rotatably connected to the inner wall of the mounting cavity via a third rotating shaft and has a tertiary pinion at its bottom that meshes with the output gear.

[0009] Preferably, a potentiometer is installed at the upper end of the output shaft. The potentiometer is used to collect the angle data of the rocker arm rotation. A circuit board is installed inside the upper housing, and the circuit board is electrically connected to the potentiometer.

[0010] Preferably, a lubrication mechanism is provided at the bottom of the lower housing. The lubrication mechanism includes a return box and a conveying box disposed on the bottom wall of the lower housing. The return box is connected to the interior of the lower housing through a return hole, and the conveying box is connected to the interior of the lower housing through a conveying hole. The conveying box and the return box are connected by a conveying pipe. A conveying pump is disposed inside the conveying box. The input end of the conveying pump is connected to the interior of the conveying box, and the output end of the conveying pump is connected to the conveying hole.

[0011] Preferably, a diversion plate is installed inside the reflux box, with one end of the diversion plate connected to the inner wall of the reflux box away from the conveying box. An installation plate is installed on the inner wall of the reflux box near the conveying pipe, with a connecting hole inside the installation plate that connects to the inlet end of the conveying pipe. A first baffle is installed on the side of the installation plate away from the conveying pipe, and the first baffle is connected to the inner wall of the reflux box through a connecting component. The end of the first baffle away from the installation plate contacts the lower surface of the diversion plate, and an installation hole is provided inside the first baffle, with a filter screen installed inside the installation hole.

[0012] Preferably, a guide plate is provided on the mounting plate, one end of which is connected to the mounting plate and the other end of which is connected to the inner wall of the upper end of the return box. The guide plate is arc-shaped.

[0013] Preferably, the connecting assembly includes a fourth rotating shaft, the first baffle is rotatably connected to the inner wall of the return box through the fourth rotating shaft, a torsion spring is provided on the fourth rotating shaft, one end of the torsion spring is connected to the fourth rotating shaft, and the other end of the torsion spring is connected to the side wall of the mounting plate.

[0014] Preferably, the front and rear side walls of the first baffle are respectively provided with snap-fit ​​holes, and the inner wall of the return box is provided with positioning holes corresponding to the snap-fit ​​holes. A positioning post is provided in the positioning hole, and the positioning post is connected to the inner wall of the positioning hole through a connecting spring. The end of the positioning post away from the connecting spring is set as a hemispherical shape, and the end of the positioning post away from the connecting spring extends into the snap-fit ​​hole.

[0015] It also includes a method for assembling a side-exit robot servo motor, for assembling the aforementioned side-exit robot servo motor, comprising the following steps:

[0016] Install the output gear, the first bearing, and the rocker arm onto the output shaft, and install the first bearing into the lower housing;

[0017] A speed reduction mechanism is installed inside the lower housing;

[0018] Install the second housing onto the lower housing;

[0019] Install the motor gear to the output end of the drive motor, and install the motor gear downwards into the lower housing;

[0020] The first housing is installed on the second housing, and the second bearing is installed inside the first housing, with the second bearing sleeved on the output shaft;

[0021] The upper housing is installed onto the first middle housing, and the upper housing is connected to the lower housing by long bolts.

[0022] The technical solution of this invention has the following advantages: This invention provides a side-exit robot servo and a side-exit robot servo assembly method, relating to the field of robot servo technology. The servo includes an upper housing, a first middle housing, a second middle housing, and a lower housing arranged sequentially from top to bottom. A drive motor is installed inside the upper housing, and the output end of the drive motor extends into the lower housing and is equipped with a motor gear. An installation gap is provided between the right end of the second middle housing and the first middle housing. An output gear is installed inside the lower housing, and the output gear is connected to the motor gear through a reduction mechanism. The output gear is mounted on an output shaft, the lower end of which is rotatably connected to the lower housing, and the upper end of which is rotatably connected to the first middle housing. A rocker arm is mounted on the output shaft, with one end of the rocker arm located at the installation gap. In this invention, the rocker arm is installed near the middle position of the output shaft, and both ends of the output shaft are stably and reliably connected, making the connection between the rocker arm and the output shaft more robust, thereby improving the stability of the rocker arm.

[0023] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the means particularly pointed out in the written description and the accompanying drawings.

[0024] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0026] Figure 1 This is a schematic diagram of the overall structure of a side-mounted robot servo motor according to the present invention;

[0027] Figure 2 This is an exploded view of a side-mounted robot servo motor structure according to the present invention;

[0028] Figure 3 This is a front view of a side-mounted robot servo motor according to the present invention;

[0029] Figure 4 For the present invention Figure 3 A partial structural cross-sectional view at point AA;

[0030] Figure 5 This is a schematic diagram of the deceleration mechanism in this invention;

[0031] Figure 6 This is a top view of a side-mounted robot servo motor according to the present invention;

[0032] Figure 7 For the present invention Figure 6 Partial structural cross-sectional view at point BB;

[0033] Figure 8 For the present invention Figure 7 Enlarged view of the structure at point C;

[0034] Figure 9 For the present invention Figure 8 Enlarged view of the structure at point D;

[0035] Figure 10 For the present invention Figure 8 Enlarged view of the structure at point E in the middle;

[0036] Figure 11 This is a schematic diagram of the first baffle rotating downwards in this invention;

[0037] Figure 12 For the present invention Figure 11 Enlarged view of the structure at point F in the middle;

[0038] Figure 13 For the present invention Figure 12 Enlarged view of the structure at point G in the middle.

[0039] In the diagram: 1. Upper housing; 2. First middle housing; 3. Second middle housing; 4. Lower housing; 5. Drive motor; 6. Motor gear; 7. Mounting clearance; 8. Output gear; 9. Output shaft; 10. First bearing; 11. Second bearing; 12. Rocker arm; 13. Long bolt; 14. Primary gear; 15. Primary pinion; 16. Secondary gear; 17. Secondary pinion; 18. Tertiary gear; 19. Tertiary pinion; 20. Potentiometer; 21. Circuit board; 22. Return box; 23. Conveyor box; 24. Return hole; 25. Conveyor hole; 26. Conveyor pipe; 27. Conveyor pump; 28. Drain plate; 29. ​​Mounting plate; 30. Connecting hole; 31. First baffle; 32. Filter screen; 33. Guide plate; 34. Fourth rotating shaft; 35. Positioning post; 36. Second baffle; 37. Connecting baffle; 38. Moving plate; 39. Baffle bar; 40. Electric push rod; 41. First oil outlet; 42. Third baffle; 43. Compression spring; 44. Drive block; 45. First oil inlet; 46. Oil baffle plate; 47. Second oil inlet; 48. Fourth baffle; 49. Second oil outlet; 50. First pull rope; 51. Second pull rope; 52. First bolt; 53. Second bolt. Detailed Implementation

[0040] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0041] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0042] Example 1

[0043] This invention provides a side-mounted robot servo motor, such as... Figures 1-5As shown, it includes: an upper housing 1, a first middle housing 2, a second middle housing 3, and a lower housing 4 arranged sequentially from top to bottom. A drive motor 5 is installed inside the upper housing 1. The output end of the drive motor 5 extends into the lower housing 4 and is equipped with a motor gear 6. An installation gap 7 is provided between the right end of the second middle housing 3 and the first middle housing 2. An output gear 8 is installed inside the lower housing 4. The output gear 8 is connected to the motor gear 6 through a reduction mechanism. The output gear 8 is mounted on an output shaft 9. The lower end of the output shaft 9 is rotatably connected to the lower housing 4 through a first bearing 10. The upper end of the output shaft 9 extends into the first middle housing 2 and is rotatably connected to the first middle housing 2 through a second bearing 11. A rocker arm 12 is provided on the output shaft 9, with one end of the rocker arm 12 located at the installation gap 7.

[0044] The working principle and beneficial effects of the above technical solution are as follows: In traditional robot servo motors, the rocker arm 12 is fixed to one side of the output shaft 9. When the rocker arm 12 is subjected to force, the output shaft 9 is easily deformed, affecting the positional accuracy of the rocker arm 12 and reducing the service life of the output shaft 9. Therefore, this invention provides a side-mounted robot servo motor, comprising an upper housing 1, a first middle housing 2, a second middle housing 3, and a lower housing 4 arranged sequentially from top to bottom. The upper housing 1 is connected to the first middle housing 2 by a first bolt 52, and the lower housing 4 is connected to the second middle housing 3 by a second bolt 53. The upper housing 1 and the lower housing 4 are connected by a long bolt 13. An installation gap 7 is provided between the right end of the second middle housing 3 and the first middle housing 2. One end of the output shaft 9 is connected by a first bearing. The output shaft 9 is rotatably connected to the lower housing 4. The other end of the output shaft 9 passes through the installation gap 7, extends into the first middle housing 2, and is rotatably connected to the first middle housing 2 through the second bearing 11. At this time, both ends of the output shaft 9 are reliably connected. The rocker arm 12 is set in the middle position of the output shaft 9, which makes the connection between the rocker arm 12 and the output shaft 9 more solid, thereby improving the stability of the rocker arm 12. When working, the rocker arm 12 supported by force on both sides is more stable than the rocker arm 12 supported by force on one side. When the rocker arm 12 in the middle position of the output shaft 9 is under load, the radial force on one side of the rocker arm 12 becomes the radial force symmetrically on both sides, thereby reducing the rotational position error of the rocker arm 12 when the servo is under load, improving the positional accuracy of the rocker arm 12, and extending the service life of the servo under load.

[0045] Example 2

[0046] Based on the above embodiment 1, as follows Figure 2 , Figure 5 As shown, the lower housing 4 and the second middle housing 3 form a mounting cavity, and the deceleration mechanism is located inside the mounting cavity;

[0047] The reduction mechanism includes a primary gear 14, a secondary gear 16, and a tertiary gear 18. The primary gear 14 is rotatably connected to the inner wall of the mounting cavity via a first rotating shaft and meshes with the motor gear 6. A primary pinion 15 is mounted on the primary gear 14 and meshes with the secondary gear 16. The secondary gear 16 is rotatably connected to the inner wall of the mounting cavity via a second rotating shaft. A secondary pinion 17 is mounted on the secondary gear 16 and meshes with the tertiary gear 18. The tertiary gear 18 is rotatably connected to the inner wall of the mounting cavity via a third rotating shaft. A tertiary pinion 19 is mounted at the bottom of the tertiary gear 18 and meshes with the output gear 8.

[0048] The working principle and beneficial effects of the above technical solution are as follows: Start the drive motor 5, drive the motor gear 6 to rotate, drive the first-stage gear 14 to rotate, the first-stage gear 14 drives the second-stage gear 16 to rotate through the first-stage pinion 15, the second-stage gear 16 drives the third-stage gear 18 to rotate through the second-stage pinion 17, the third-stage gear 18 drives the output gear 8 to rotate through the third-stage pinion 19, the output gear 8 drives the output shaft 9 to rotate, the output shaft 9 rotates between the first bearing 10 and the second bearing 11, thereby driving the rocker arm 12 to rotate, thereby changing the position of the rocker arm 12.

[0049] Example 3

[0050] Based on Example 1 or 2, such as Figures 2-5 As shown, a potentiometer 20 is installed at the upper end of the output shaft 9. The potentiometer 20 is used to collect the angle data of the rocker arm 12 rotation. A circuit board 21 is installed inside the upper housing 1. The circuit board 21 is electrically connected to the potentiometer 20.

[0051] The working principle and beneficial effects of the above technical solution are as follows: the potentiometer 20 can be a shaft-end type rotary encoder. After the circuit board 21 is powered on by an external power source, the powered drive motor 5 drives the reduction mechanism to rotate through the motor gear 6, thereby driving the rocker arm 12 connected to the output shaft 9 to rotate. When the output shaft 9 is rotating, the potentiometer 20 can collect the angle data of the output shaft 9 and transmit it to the circuit board 21, thereby accurately controlling the rocker arm 12 to stop at any angle position within the rotatable angle range.

[0052] Example 4

[0053] Based on any one of Examples 1-3, such as Figures 6-13As shown, a lubrication mechanism is provided at the bottom of the lower housing 4. The lubrication mechanism includes a return box 22 and a conveying box 23 disposed on the bottom wall of the lower housing 4. The return box 22 is connected to the interior of the lower housing 4 through a return hole 24. The conveying box 23 is connected to the interior of the lower housing 4 through a conveying hole 25. The conveying box 23 and the return box 22 are connected by a conveying pipe 26. A conveying pump 27 is disposed inside the conveying box 23. The input end of the conveying pump 27 is connected to the interior of the conveying box 23, and the output end of the conveying pump 27 is connected to the conveying hole 25.

[0054] The working principle and beneficial effects of the above technical solution are as follows: The reduction mechanism requires lubrication during operation to reduce gear wear and extend the service life of the servo. Therefore, a lubrication mechanism is installed at the bottom of the lower housing 4. This mechanism includes a return box 22 and a delivery box 23 located on the bottom wall of the lower housing 4. The delivery box 23 stores lubricating oil. When the servo is operating, the delivery pump 27 starts, delivering the lubricating oil from the delivery box 23 to the lower housing 4 through the delivery hole 25. The lubricating oil then flows through the output gear 8, the various gears of the reduction mechanism, and the motor gear 6, before returning to the return box 22 through the return hole 24. It then flows back into the delivery box 23 through the delivery pipe 26, forming a circulating flow of lubricating oil. This not only provides good lubrication for the reduction mechanism, reducing friction and wear between gears, reducing gear meshing impact and vibration, lowering the operating noise of the reduction mechanism, and improving the stability of the servo's operation, but also absorbs the heat generated during gear meshing, preventing localized overheating within the servo, further extending the servo's service life and reducing maintenance costs.

[0055] Example 5

[0056] Based on Example 4, such as Figures 7-13 As shown, a guide plate 28 is provided inside the return box 22. One end of the guide plate 28 is connected to the inner wall of the return box 22 away from the conveying box 23. An installation plate 29 is provided on the inner wall of the return box 22 near the conveying pipe 26. A connecting hole 30 is provided in the installation plate 29, which is connected to the inlet end of the conveying pipe 26. A first baffle 31 is provided on the side of the installation plate 29 away from the conveying pipe 26. The first baffle 31 is connected to the inner wall of the return box 22 through a connecting component. The end of the first baffle 31 away from the installation plate 29 is in contact with the lower surface of the guide plate 28. An installation hole is provided in the first baffle 31, and a filter screen 32 is provided in the installation hole.

[0057] A guide plate 33 is provided on the mounting plate 29. One end of the guide plate 33 is connected to the mounting plate 29, and the other end of the guide plate 33 is connected to the upper inner wall of the return box 22. The guide plate 33 is arc-shaped.

[0058] The connecting assembly includes a fourth rotating shaft 34. The first baffle 31 is rotatably connected to the inner wall of the return box 22 via the fourth rotating shaft 34. A torsion spring is provided on the fourth rotating shaft 34. One end of the torsion spring is connected to the fourth rotating shaft 34, and the other end of the torsion spring is connected to the side wall of the mounting plate 29.

[0059] The working principle and beneficial effects of the above technical solution are as follows: After the lubricating oil flows into the return box 22 through the return hole 24, the lubricating oil first flows through the guide plate 28 to the guide plate 33, and then flows to the first baffle 31 through the obstruction of the guide plate 33. The front and rear sides of the first baffle 31 are slidably connected to the inner walls of the front and rear sides of the return box 22. A filter screen 32 is set in the first baffle 31. Under the action of the torsion spring, one end of the first baffle 31 is kept in contact with the lower surface of the guide plate 28. After the lubricating oil is filtered by the filter screen 32, it flows to the connecting hole 30, and then flows into the delivery pipe 26 through the connecting hole 30. Since the gears of the reduction mechanism will generate wear debris during the meshing process, the wear debris mixed in the lubricating oil will reduce the lubrication effect of the lubricating oil. Therefore, the filter screen 32 can intercept the wear debris, thereby reducing the contamination of the lubricating oil and extending the service life of the lubricating oil.

[0060] Example 6

[0061] Based on Example 5, such as Figure 12 As shown, the front and rear side walls of the first baffle 31 are respectively provided with snap-fit ​​holes, and the inner wall of the return box 22 is provided with positioning holes corresponding to the snap-fit ​​holes. A positioning post 35 is provided in the positioning hole. The positioning post 35 is connected to the inner wall of the positioning hole through a connecting spring. The end of the positioning post 35 away from the connecting spring is set as a hemispherical shape, and the end of the positioning post 35 away from the connecting spring extends into the snap-fit ​​hole.

[0062] The working principle and beneficial effects of the above technical solution are as follows: In the initial state, the positioning post 35 is stuck in the snap-fit ​​hole under the elastic force of the connecting spring, thereby improving the stability of the first baffle 31.

[0063] Example 7

[0064] Based on Example 5 or 6, such as Figures 7-13As shown, a second baffle 36 is provided below the first baffle 31. The second baffle 36 is parallel to the first baffle 31. One end of the second baffle 36 near the mounting plate 29 contacts the side wall of the mounting plate 29. The end of the second baffle 36 near the mounting plate 29 is rotatably connected to the inner wall of the return box 22 via a fifth rotating shaft. The second baffle 36 is connected to the first baffle 31 via a connecting baffle 37. The connecting baffle 37 is parallel to the mounting plate 29. One end of the connecting baffle 37 is rotatably connected to the end of the first baffle 31 away from the mounting plate 29. The other end of the connecting baffle 37 is rotatably connected to the end of the second baffle 36 away from the mounting plate 29. A vertical sliding groove is provided inside the connecting baffle 37. A movable plate 38 is provided between the first baffle 31 and the second baffle 36. One end of the movable plate 38 is slidably connected to the vertical sliding groove via a rotating rod. The other end of the movable plate 38 extends into the connecting hole 30. Baffles 39 are symmetrically provided on both the front and rear sides of the connecting hole 30. A third shaft is provided inside the baffles 39. The movable plate 38 is connected to the third bearing via a sixth rotating shaft. An electric push rod 40 is installed on the bottom wall of the connecting hole 30. The upper end of the electric push rod 40 is connected to the outer ring of the third bearing. An angle sensor is installed on the sixth rotating shaft. A controller is installed on the return box 22. The controller is electrically connected to the angle sensor and the electric push rod 40 respectively. A horizontal slide groove is provided on the movable plate 38. Several first oil outlet holes 41 are provided inside the movable plate 38. A third baffle 42 is slidably installed inside the horizontal slide groove. One end of the third baffle 42 is connected to the inner wall of the horizontal slide groove via a compression spring 43. A guide slope is provided at the other end of the third baffle 42. A driving block 44 is provided above the guide slope. An inclined surface is provided on the side of the driving block 44 near the guide slope. The side of the driving block 44 away from the third baffle 42 is slidably connected to the inner wall of the horizontal slide groove. The driving block 44 is located directly above the first oil outlet holes 41. Several first oil inlets 45 corresponding to the first oil outlet holes 41 are provided inside the third baffle 42.

[0065] The working principle and beneficial effects of the above technical solution are as follows: As the amount of debris on the filter screen 32 increases, under the impact of the lubricating oil, the first baffle 31 will rotate downwards around the fourth rotating shaft 34, the torsion spring will twist, the positioning post 35 will separate from the snap-fit ​​hole, and the rotation of the first baffle 31 will drive the second baffle 36 to rotate synchronously through the connecting baffle 37. Some of the lubricating oil will flow through the filter screen 32 to the moving plate 38, and then flow into the conveying pipe 26 through the connecting hole 30. The other part of the lubricating oil will flow along the surface of the filter screen 32, thereby impacting the wear debris deposited on the filter screen 32 to the bottom of the return box 22. Under the obstruction of the second baffle 36 and the connecting baffle 37, the lubricating oil at the bottom of the return box 22 will not enter the connecting hole 30, avoiding contact with the conveying box 23. The lubricating oil inside is mixed. An oil drain port is provided at the bottom of the return box 22. When the servo is not in use, the oil drain port is opened to discharge the lubricating oil containing wear debris from the bottom of the return box 22 to the outside of the return box 22. An oil filling port is provided on the side wall of the delivery box 23. Opening the oil filling port allows lubricating oil to be injected into the delivery box 23, thus completing the lubricating oil replenishment. When the first baffle 31 rotates, the moving plate 38 also rotates synchronously with the first baffle 31. At this time, the rotation angle of the sixth rotating shaft can be detected by the rotation angle sensor. When the rotation angle of the sixth rotating shaft reaches the preset angle, the controller controls the electric push rod 40 to push out. The electric push rod 40 pushes the third bearing to move upward along the stop bar 39. The third bearing drives the moving plate 38 to slide upward synchronously through the sixth rotating shaft. The first oil outlet 41 in the movable plate 38 and the first oil inlet 45 in the third baffle 42 are not connected. During the sliding process of the movable plate 38, the lubricating oil on the movable plate 38 moves towards the filter screen 32 and is pushed out through the filter screen 32. Then, it flows downwards along the surface of the filter screen 32, flushing the filter screen 32 and reducing clogging. As the movable plate 38 slides upwards, the drive block 44 gradually contacts the lower surface of the filter screen 32. Then, the drive block 44 slides towards the first oil outlet 41, and through the sliding contact between the inclined surface and the guide slope, it drives the third baffle 42 to slide to the right along the horizontal groove. The compression spring 43 is compressed. When the drive block 44 can no longer slide downwards, the electric push rod 4... When the ejection stops, the first oil inlet 45 connects with the first oil outlet 41. Lubricating oil passing through the filter screen 32 can then flow through the first oil inlet 45 into the first oil outlet 41, then flow towards the bottom of the moving plate 38, and finally flow into the delivery pipe 26 through the connecting hole 30. The flow of lubricating oil along the surface of the filter screen 32 and the reverse flow within the filter screen 32 reduce clogging, allowing the lubricating oil to pass smoothly through the filter screen 32. At this time, under the action of the torsion spring, the fourth rotating shaft 34 drives the first baffle 31 to rotate upwards, causing one end of the first baffle 31 to re-contact the lower surface of the guide plate 28 and restoring the moving plate 38 to a horizontal state. Since the sixth rotating shaft returns to its original position, the controller controls the electric push rod 40 to return to its original position.The lubricating oil can then flow through the surface of the movable plate 38 to the connecting hole 30.

[0066] Example 8

[0067] Based on Example 7, such as Figure 8 , Figure 12 As shown, an oil baffle plate 46 is provided inside the connecting hole 30, and several second oil inlet holes 47 are provided inside the oil baffle plate 46. A fourth baffle plate 48 is provided on the side of the oil baffle plate 46 away from the moving plate 38. The fourth baffle plate 48 is slidably connected to the side wall of the oil baffle plate 46. Several second oil outlet holes 49 corresponding to the second oil inlet holes 47 are provided inside the fourth baffle plate 48. A first pull rope 50 is provided at the upper end of the fourth baffle plate 48. One end of the first pull rope 50 is connected to the fourth baffle plate 48, and the other end of the first pull rope 50 passes through the mounting plate 29 and the guide plate 33 in sequence and is connected to the upper surface of the first baffle plate 31. A second pull rope 51 is provided at the lower end of the fourth baffle plate 48. One end of the second pull rope 51 is connected to the fourth baffle plate 48, and the other end of the second pull rope 51 passes through the mounting plate 29 and is connected to the lower surface of the second baffle plate 36.

[0068] The working principle and beneficial effects of the above technical solution are as follows: Initially, the first baffle 31 is in a horizontal state, and the second oil inlet 47 and the second oil outlet 49 are in a connected state. The lubricating oil on the moving plate 38 can flow to the conveying pipe 26 through the second oil inlet 47 and the second oil outlet 49 in sequence. When the filter screen 32 is blocked, the first baffle 31 rotates downward. The first baffle 31 drives the fourth baffle 48 to slide upward along the oil baffle plate 46 through the first pull rope 50, so that the second oil inlet 47 and the second oil outlet 49 gradually separate. When the first baffle 31 rotates downward to the preset maximum angle, the second oil inlet 47 and the second oil outlet 49 are completely separated. At this time, the lubricating oil passing through the filter screen 32 cannot flow into the conveying pipe 26 from the connecting hole 30. The lubricating oil accumulates on the moving plate 38 and, with the movement of the moving plate 38... The rise of 8 rapidly pushes out the lubricating oil, increasing the impact force of the lubricating oil on the filter screen 32's internal pores, enhancing the lubricating oil's unblocking effect on the filter screen 32, ensuring the filter screen 32 remains unobstructed, and extending the service life of the filter screen 32. After the first oil inlet hole 45 connects with the first oil outlet hole 41, the first baffle 31 gradually returns to its original position, and through the connecting baffle 37, it drives the second baffle 36 to return to its original position. The second baffle 36, through the second pull rope 51, drives the fourth baffle 48 to slide downward along the oil baffle plate 46, so that the second oil inlet hole 47 and the second oil outlet hole 49 reconnect, ensuring the circulation of lubricating oil. Through the impact of the lubricating oil on the filter screen 32, the wear debris attached to the filter screen 32 can be removed, eliminating the need for manual cleaning of the filter screen 32, reducing the frequency of maintenance, and extending the overall service life of the servo motor.

[0069] It also includes a method for assembling a side-exit robot servo motor, for assembling the aforementioned side-exit robot servo motor, comprising the following steps:

[0070] The output gear 8, the first bearing 10, and the rocker arm 12 are installed onto the output shaft 9, and the first bearing 10 is installed into the lower housing 4.

[0071] A speed reduction mechanism is installed inside the lower housing 4;

[0072] Install the second housing 3 onto the lower housing 4;

[0073] Install the motor gear 6 to the output end of the drive motor 5, and install the motor gear 6 downward into the lower housing 4;

[0074] The first middle housing 2 is installed on the second middle housing 3, and the second bearing 11 is installed inside the first middle housing 2. The second bearing 11 is sleeved on the output shaft 9.

[0075] The upper housing 1 is installed onto the first middle housing 2, and the upper housing 1 is connected to the lower housing 4 by long bolts 13.

[0076] The working principle and beneficial effects of the above technical solution are as follows: First, the output gear 8, the first bearing 10, and the rocker arm 12 are installed on the output shaft 9, and the first bearing 10 is installed inside the lower housing 4; then, the reduction mechanism is installed inside the lower housing 4, and the second intermediate housing 3 is installed on the lower housing 4, and the second intermediate housing 3 is connected to the lower housing 4 by the second bolt 53; then, the motor gear 6 is installed on the output end of the drive motor 5, and the motor gear 6 is installed downwards inside the lower housing 4; then, the first intermediate housing 2 is installed on the second intermediate housing 3, and the first intermediate housing 2 is installed inside the first intermediate housing 2. The second bearing 11 is sleeved on the output shaft 9, and then the potentiometer 20 is installed on the upper end of the output shaft 9. After installation, the circuit board 21 is electrically connected to the potentiometer 20, and the upper housing 1 with the circuit board 21 is installed on the first middle housing 2. The upper housing 1 is connected to the first middle housing 2 by the first bolt 52. Finally, the upper housing 1 is connected to the lower housing 4 by the long bolt 13. In the above assembly method, the rocker arm 12 is assembled to the center position of the output shaft 9, which makes the connection between the rocker arm 12 and the output shaft 9 more secure, thereby improving the stability of the rocker arm 12.

[0077] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0078] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0079] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A side-exit robot servo motor, characterized in that, include: The upper housing (1), the first middle housing (2), the second middle housing (3) and the lower housing (4) are arranged sequentially from top to bottom. The upper housing (1) is equipped with a drive motor (5). The output end of the drive motor (5) extends into the lower housing (4) and is equipped with a motor gear (6). The right end of the second middle housing (3) is provided with an installation gap (7) between it and the first middle housing (2). The lower housing (4) is equipped with an output gear (8). The output gear (8) is connected to the motor gear (6) through a reduction mechanism. The output gear (8) is set on the output shaft (9). The lower end of the output shaft (9) is rotatably connected to the lower housing (4) through the first bearing (10). The upper end of the output shaft (9) extends into the first middle housing (2) and is rotatably connected to the first middle housing (2) through the second bearing (11). The output shaft (9) is equipped with a rocker arm (12). One end of the rocker arm (12) is located at the installation gap (7). A lubrication mechanism is provided at the bottom of the lower housing (4). The lubrication mechanism includes a return box (22) and a conveying box (23) provided on the bottom wall of the lower housing (4). The return box (22) is connected to the interior of the lower housing (4) through a return hole (24). The conveying box (23) is connected to the interior of the lower housing (4) through a conveying hole (25). The conveying box (23) and the return box (22) are connected through a conveying pipe (26). A conveying pump (27) is provided inside the conveying box (23). The input end of the conveying pump (27) is connected to the interior of the conveying box (23), and the output end of the conveying pump (27) is connected to the conveying hole (25). A flow guide plate (28) is provided inside the return box (22). One end of the flow guide plate (28) is connected to the inner wall of the return box (22) away from the conveying box (23). An installation plate (29) is provided on the inner wall of the return box (22) near the conveying pipe (26). A connecting hole (30) is provided in the installation plate (29). The connecting hole (30) is connected to the inlet end of the conveying pipe (26). A first baffle (31) is provided on the side of the installation plate (29) away from the conveying pipe (26). The first baffle (31) is connected to the inner wall of the return box (22) through a connecting component. The end of the first baffle (31) away from the installation plate (29) is in contact with the lower surface of the flow guide plate (28). An installation hole is provided in the first baffle (31). A filter screen (32) is provided in the installation hole. The connecting assembly includes a fourth rotating shaft (34), a first baffle (31) is rotatably connected to the inner wall of the return box (22) through the fourth rotating shaft (34), a torsion spring is provided on the fourth rotating shaft (34), one end of the torsion spring is connected to the fourth rotating shaft (34), and the other end of the torsion spring is connected to the side wall of the mounting plate (29); The first baffle (31) has snap-fit ​​holes on its front and rear side walls respectively. The inner wall of the return box (22) has positioning holes corresponding to the snap-fit ​​holes. Positioning pins (35) are set in the positioning holes. The positioning pins (35) are connected to the inner wall of the positioning holes through connecting springs. The end of the positioning pins (35) away from the connecting springs is set as a hemispherical shape. The end of the positioning pins (35) away from the connecting springs extends into the snap-fit ​​holes.

2. The side-exit robot servo motor according to claim 1, characterized in that, The lower housing (4) and the second middle housing (3) form a mounting cavity, and the deceleration mechanism is located in the mounting cavity.

3. A side-mounted robot servo motor according to claim 2, characterized in that, The reduction mechanism includes a first-stage gear (14), a second-stage gear (16), and a third-stage gear (18). The first-stage gear (14) is rotatably connected to the inner wall of the mounting cavity via a first rotating shaft. The first-stage gear (14) meshes with the motor gear (6). A first-stage pinion (15) is provided on the first-stage gear (14). The first-stage pinion (15) meshes with the second-stage gear (16). The second-stage gear (16) is rotatably connected to the inner wall of the mounting cavity via a second rotating shaft. A second-stage pinion (17) is provided on the second-stage gear (16). The second-stage pinion (17) meshes with the third-stage gear (18). The third-stage gear (18) is rotatably connected to the inner wall of the mounting cavity via a third rotating shaft. A third-stage pinion (19) is provided at the bottom of the third-stage gear (18). The third-stage pinion (19) meshes with the output gear (8).

4. A side-mounted robot servo motor according to claim 1, characterized in that, A potentiometer (20) is installed at the upper end of the output shaft (9). The potentiometer (20) is used to collect the angle data of the rocker arm (12) rotation. A circuit board (21) is installed inside the upper housing (1). The circuit board (21) is electrically connected to the potentiometer (20).

5. A side-mounted robot servo motor according to claim 1, characterized in that, A guide plate (33) is provided on the mounting plate (29). One end of the guide plate (33) is connected to the mounting plate (29), and the other end of the guide plate (33) is connected to the inner wall of the upper end of the return box (22). The guide plate (33) is arc-shaped.

6. A method for assembling a side-exit robot servo motor, used for assembling a side-exit robot servo motor as described in any one of claims 1-5, characterized in that, Includes the following steps: Install the output gear (8), the first bearing (10), and the rocker arm (12) onto the output shaft (9), and install the first bearing (10) into the lower housing (4); A speed reduction mechanism is installed inside the lower housing (4); Install the second housing (3) onto the lower housing (4); Install the motor gear (6) to the output end of the drive motor (5), and install the motor gear (6) downward into the lower housing (4); The first middle housing (2) is installed on the second middle housing (3), and the second bearing (11) is installed inside the first middle housing (2). The second bearing (11) is sleeved on the output shaft (9). The upper housing (1) is installed onto the first middle housing (2), and the upper housing (1) is connected to the lower housing (4) by long bolts (13).

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