Ratchet wheel protection device of robot joint motor

Abstract

The utility model provides a ratchet wheel protection device of a robot joint motor, which relates to the technical field of protection devices and comprises a bottom plate, and a mounting seat is fixedly mounted at the top of the bottom plate. When the robot joint motor is used, under the interaction of a series of components, the torque of the motor main body can be measured under the action of the torque sensor in the use process of the robot joint motor, and the torque reaches the interior of the controller through the signal processing device, so that the torque of the motor main body at the moment can be judged; therefore, the torque of the motor main body can be detected and judged in real time, and then under the mutual cooperation of an actuator, a wireless transmission module, a wireless receiving module, a telescopic rod and a pawl, whether the ratchet wheel main body drives the transmission disc to rotate or not can be controlled, so that the robot joint motor in operation is protected; damage caused by the fact that the torque of the motor exceeds the rated load is avoided, and maintenance cost is greatly reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of protection devices, in particular to a ratchet protection device for a robot joint motor. Background Art

[0002] With the continuous development of science and technology, robotics has been widely used in various fields. As one of the key components of robot movement, the performance and stability of robot joint motors play a vital role in the operation of the entire robot system. However, during the robot movement, due to the complex and changeable working environment, mechanical collisions or overload operations often occur, which may cause damage to the robot joint motors, thereby affecting the normal operation of the robot. Therefore, how to effectively protect the robot joint motors has become one of the current research hotspots.

[0003] In the prior art, when the robot is in use, the motors at its joints do not have good protection devices. As a result, when the robot carries heavy objects, the motor torque at its joints will be damaged due to exceeding the rated load, seriously affecting its use. This will not only affect the robot's work efficiency, but also increase the robot's maintenance cost. Utility Model Content

[0004] The purpose of the utility model is to solve the problem that when the above-mentioned device is in use, the motors at the joints of the robot cannot be protected, resulting in the motors at the joints being easily damaged and affecting the use thereof, thereby proposing a ratchet protection device for the motors at the joints of the robot.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a ratchet protection device for a robot joint motor, comprising a base plate, a mounting seat is fixedly installed on the top of the base plate, a motor body is fixedly connected to the top of the mounting seat by bolts, a torque sensor is provided on the movable sleeve of the output end of the motor body, a signal processing device is fixedly installed on the top of the base plate, a controller is fixedly installed on the top of the base plate, and the input end of the controller is electrically connected to the output end of the signal processing device, an actuator is fixedly installed on the top of the base plate, and the input end of the actuator is electrically connected to the output end of the controller, a wireless transmission module is fixedly installed on the top of the base plate, and the input end of the wireless transmission module is electrically connected to the output end of the actuator, the output end of the motor body is fixedly sleeved with a round shaft, and a ratchet body is fixedly installed on one side of the outer wall of the round shaft.

[0006] Preferably, a transmission disc is movably inserted into the inner surface wall of the ratchet body, and two limiting shafts are fixedly mounted on one side of the outer wall of the transmission disc.

[0007] Preferably, the outer walls of the two limit shafts are each provided with a return spring, and the outer walls of the two return springs are provided with a pawl.

[0008] Preferably, two telescopic rods are fixedly mounted on one side of the outer wall of the transmission plate, and telescopic ends of the telescopic rods are in contact with one side of the outer wall of the pawl.

[0009] Preferably, a wireless receiving module is fixedly mounted on one side of the outer wall of the transmission plate, and an output end of the wireless receiving module is electrically connected to an input end of the telescopic rod.

[0010] Preferably, an insertion groove is provided on the outer wall of the output end of the motor body, a fixing groove is provided on the outer wall of the circular shaft, and an insertion shaft is movably inserted between the fixing groove and the inner wall of the insertion groove.

[0011] Preferably, two support blocks are fixedly installed on the top of the base plate, the outer walls of the two support blocks are provided with installation grooves, the inner walls of the two installation grooves are fixedly installed with bearings, and the outer walls of the circular shaft and the outer walls of the transmission plate are fixedly inserted into the inner walls of the bearings.

[0012] Compared with the prior art, the advantages and positive effects of the utility model are:

[0013] 1. In use, the utility model, through the interaction of a series of components, when the robot joint motor is in use, through the action of the torque sensor, the torque of the motor body can be measured, and the signal reaches the inside of the controller through the signal processing device. The signal is calculated by the algorithm set in the controller to judge the torque of the motor body at this time, so that the torque of the motor body can be detected and judged in real time. Subsequently, with the cooperation of the actuator, wireless transmission module, wireless receiving module, telescopic rod and pawl, it can be controlled whether the ratchet body drives the transmission disk to rotate, thereby protecting the running robot joint motor, avoiding damage caused by the motor torque exceeding the rated load, and greatly reducing the maintenance cost.

[0014] 2. During use, the utility model, through the interaction of a series of components, when the robot joint motor is in use, firstly, the output end of the motor body needs to be inserted into the inside of the round shaft, and the insertion shaft needs to be inserted into the fixing groove and the insertion groove, so as to fix and limit the round shaft, and then it can play a transmission role for the subsequent structure. At the same time, under the action of the support block, it can support the round shaft, the ratchet body and the transmission disk, and under the action of the bearing, it can effectively avoid the wear of parts and extend their service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a main structural stereogram of a ratchet protection device for a robot joint motor proposed by the utility model;

[0016] Figure 2 This is a side perspective view of the main structure of a ratchet protection device for a robot joint motor proposed by the utility model;

[0017] Figure 3 This is a main structural part split diagram of a ratchet protection device for a robot joint motor proposed by the utility model;

[0018] Figure 4 The utility model provides a split stereoscopic diagram of the main structural part of a ratchet protection device for a robot joint motor.

[0019] Legend:

[0020] 1. Base plate; 2. Mounting seat; 3. Motor body; 4. Torque sensor; 5. Signal processing device; 6. Controller; 7. Actuator; 8. Wireless transmission module; 9. Insertion slot; 10. Round shaft; 11. Fixing slot; 12. Insertion shaft; 13. Support block; 14. Mounting slot; 15. Bearing; 16. Ratchet body; 17. Transmission disk; 18. Limiting shaft; 19. Reset spring; 20. Ratchet; 21. Telescopic rod; 22. Wireless receiving module. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0023] Embodiment 1, as Figure 1-Figure 4As shown, the utility model provides a ratchet protection device for a robot joint motor, including a base plate 1, a mounting seat 2 is fixedly installed on the top of the base plate 1, a motor body 3 is fixedly connected to the top of the mounting seat 2 by bolts, a torque sensor 4 is movably sleeved on the output end of the motor body 3, a signal processing device 5 is fixedly installed on the top of the base plate 1, a controller 6 is fixedly installed on the top of the base plate 1, and the input end of the controller 6 is electrically connected to the output end of the signal processing device 5, an actuator 7 is fixedly installed on the top of the base plate 1, and the input end of the actuator 7 is electrically connected to the output end of the controller 6, a wireless transmission module 8 is fixedly installed on the top of the base plate 1, and the input end of the wireless transmission module 8 is electrically connected to the output end of the actuator 7 The ends are electrically connected, the output end of the motor body 3 is fixedly sleeved with a round shaft 10, a ratchet body 16 is fixedly installed on one side of the outer wall of the round shaft 10, and a transmission disk 17 is movably inserted on the inner wall of the ratchet body 16, and two limit shafts 18 are fixedly installed on one side of the outer wall of the transmission disk 17, and the outer walls of the two limit shafts 18 are provided with reset springs 19, and the outer walls of the two reset springs 19 are provided with pawls 20, and two telescopic rods 21 are fixedly installed on one side of the outer wall of the transmission disk 17, and the telescopic end of the telescopic rod 21 is in contact with one side of the outer wall of the pawl 20, and a wireless receiving module 22 is fixedly installed on one side of the outer wall of the transmission disk 17, and the output end of the wireless receiving module 22 is electrically connected to the input end of the telescopic rod 21.

[0024] The effect achieved by the entire embodiment 1 is that during the use of the robot joint motor, first, under the action of the torque sensor 4, the torque signal of the motor body 3 can be collected and transmitted to the signal processing device 5. Under the action of the signal processing device 5, the signal is filtered and converted, and then the signal is transmitted to the controller 6. The transmitted signal is calculated and compared by the algorithm preset in the controller 6, and the result of the calculation and comparison is converted into a control signal, which is transmitted to the actuator 7. The actuator 7 sends an execution control signal, and at the same time, under the action of the wireless transmission module 8, the property is transmitted, and then under the action of the wireless receiving module 22, the execution signal is received and transmitted to the telescopic rod 21 to control the telescopic rod 21 to work, thereby controlling whether the pawl 20 is engaged with the ratchet body 16, and controlling whether the ratchet body 16 drives the transmission disk 17 to rotate, and then controlling whether the motor body 3 controls the transmission disk 17 to rotate, and protecting the motor body 3 to avoid damage.

[0025] Embodiment 2, as Figure 2-Figure 4As shown, an insertion groove 9 is provided on the outer wall of the output end of the motor body 3, a fixing groove 11 is provided on the outer wall of the circular shaft 10, an insertion shaft 12 is movably inserted between the fixing groove 11 and the inner wall of the insertion groove 9, two support blocks 13 are fixedly installed on the top of the base plate 1, and the outer walls of the two support blocks 13 are provided with mounting grooves 14, and the inner walls of the two mounting grooves 14 are fixedly installed with bearings 15, and the outer walls of the circular shaft 10 and the outer walls of the transmission plate 17 are fixedly inserted on the inner walls of the bearings 15.

[0026] The effect achieved by the entire embodiment 2 is that before the robot joint motor is used, the output end of the motor body 3 is first inserted into the inside of the round shaft 10 under the operation of the staff, and aligned with the insertion groove 9 and the fixing groove 11, and then the insertion shaft 12 is inserted into the insertion groove 9 and the fixing groove 11, thereby completing the fixation between the round shaft 10 and the motor body 3. When the motor body 3 drives the round shaft 10, the ratchet body 16 and the transmission disk 17 to rotate, under the action of the bearing 15, the friction of the parts therein can be reduced to avoid damage to the parts, thereby extending their service life.

[0027] Working principle: During use, after the robot joint motor is installed and fixed, first, the round shaft 10 is sleeved onto the output end of the motor body 3, and the insertion slot 9 and the fixing slot 11 are aligned, and then the insertion shaft 12 is inserted into the insertion slot 9 and the fixing slot 11 to complete the connection between the round shaft 10 and the motor body 3, and then the transmission disk 17 is inserted into the ratchet body 16, and under the action of the reset spring 19, the pawl 20 can be rotated a certain angle to engage with the ratchet body 16. During use, the transmission disk 17 can be driven to rotate by the motor body 3, so that the robot can smoothly complete the corresponding action. During the rotation process, the round shaft 10 and the transmission disk 17 can be supported by the support block 13, and under the action of the bearing 15, the friction between the components can be reduced. When the motor body 3 drives the transmission disk 17 to rotate, under the action of the torque sensor 4, the torque signal of the motor body 3 can be collected and transmitted to the inside of the signal processing device 5. Under the action of the processing device 5, the signal is filtered and converted, and then the signal is transmitted to the controller 6. The transmitted signal is calculated and compared by the algorithm preset in the controller 6, and the result of the calculation and comparison is converted into a control signal, which is transmitted to the actuator 7. The actuator 7 sends an execution control signal, and at the same time, under the action of the wireless transmission module 8, the signal is transmitted. Then, under the action of the wireless receiving module 22, the execution signal is received and transmitted to the telescopic rod 21. When it is calculated that the torque is too large, the telescopic rod 21 will be controlled to work and push the pawl 20 to rotate around the limit shaft 18, so that it no longer engages with the ratchet body 16, so that the motor body 3 can only drive the circular shaft 10 and the ratchet body 16 to rotate, and no longer plays a transmission role on the transmission disk 17, thereby protecting the motor body 3. When the torque does not reach the set value, under the action of the reset spring 19, the pawl 20 can be engaged with the ratchet body 16, so that the motor body 3 can drive the transmission disk 17 to rotate.

[0028] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A ratchet protection device for a robot joint motor, characterized in that: The invention comprises a base plate (1), a mounting seat (2) is fixedly mounted on the top of the base plate (1), a motor body (3) is fixedly connected to the top of the mounting seat (2) by bolts, a torque sensor (4) is movably sleeved on the output end of the motor body (3), a signal processing device (5) is fixedly mounted on the top of the base plate (1), a controller (6) is fixedly mounted on the top of the base plate (1), and the input end of the controller (6) is electrically connected to the output end of the signal processing device (5), an actuator (7) is fixedly mounted on the top of the base plate (1), and the input end of the actuator (7) is electrically connected to the output end of the controller (6), a wireless transmission module (8) is fixedly mounted on the top of the base plate (1), and the input end of the wireless transmission module (8) is electrically connected to the output end of the actuator (7), and a round shaft (10) is fixedly sleeved on the output end of the motor body (3), and a ratchet body (16) is fixedly mounted on one side of the outer wall of the round shaft (10).

2. The ratchet protection device for a robot joint motor according to claim 1, characterized in that: A transmission disc (17) is movably inserted into the inner surface wall of the ratchet body (16), and two limiting shafts (18) are fixedly mounted on one side of the outer wall of the transmission disc (17).

3. A ratchet protection device for a robot joint motor according to claim 2, characterized in that: The outer walls of the two limit shafts (18) are both provided with return springs (19), and the outer walls of the two return springs (19) are provided with ratchets (20).

4. The ratchet protection device for a robot joint motor according to claim 3, characterized in that: Two telescopic rods (21) are fixedly mounted on one side of the outer wall of the transmission plate (17), and the telescopic ends of the telescopic rods (21) are in contact with one side of the outer wall of the ratchet pawl (20).

5. The ratchet protection device for a robot joint motor according to claim 4, characterized in that: A wireless receiving module (22) is fixedly mounted on one side of the outer wall of the transmission plate (17), and the output end of the wireless receiving module (22) is electrically connected to the input end of the telescopic rod (21).

6. A ratchet protection device for a robot joint motor according to claim 5, characterized in that: An insertion groove (9) is provided on the outer wall of the output end of the motor body (3), a fixing groove (11) is provided on the outer wall of the circular shaft (10), and an insertion shaft (12) is movably inserted between the fixing groove (11) and the inner wall of the insertion groove (9).

7. The ratchet protection device for a robot joint motor according to claim 6, characterized in that: Two support blocks (13) are fixedly mounted on the top of the base plate (1), the outer walls of the two support blocks (13) are provided with mounting grooves (14), the inner walls of the two mounting grooves (14) are fixedly mounted with bearings (15), and the outer walls of the circular shaft (10) and the outer walls of the transmission plate (17) are fixedly inserted into the inner walls of the bearings (15).

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