Output end structure of robot joint driving motor, robot joint driving motor and robot

Abstract

The utility model relates to the technical field of intelligent robots, in particular to an output end structure of a robot joint driving motor, the robot joint driving motor and a robot. The output end structure of the robot joint driving motor comprises a motor rotor disc, a speed reducer input shaft and a connecting mechanism connected between the motor rotor disc and the speed reducer input shaft. The connecting mechanism comprises at least one connecting disc. According to the scheme provided by the embodiment of the utility model, the connection between the motor rotor disc and the speed reducer input shaft is realized through the connecting disc, and the connecting disc can be provided with more connecting points compared with the speed reducer input shaft, so that the motor rotor disc is stressed dispersedly, and when the torque of the joint driving motor is relatively large, the phenomenon that the motor rotor disc is damaged due to concentrated stress points can be avoided; therefore, the normal power output of the joint driving motor is ensured. When the output end structure of the joint driving motor provided by the invention is assembled, excessive fixed connection assemblies do not need to be assembled, so that the assembly is convenient, and the assembly efficiency is high.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robots, and in particular to an output end structure of a robot joint drive motor, a robot joint drive motor and a robot. Background Art

[0002] The robot joint drive motor is a key component of the robot, used to drive the robot to perform actions. The rotor of the robot joint drive motor generally needs to be connected to a reducer to achieve power output.

[0003] In the prior art, the connection between the rotor of the robot joint driving motor and the reducer is generally achieved by connecting the motor rotor disk and the input shaft of the reducer via a fixed component (such as bolts or pins).

[0004] However, in the prior art, the motor rotor disk is generally made of lightweight materials, which makes the motor rotor disk have low structural strength. When the torque of the joint drive motor is large, the motor rotor disk is directly connected to the input shaft of the reducer, which is easy to cause damage to the motor rotor disk, affecting the normal operation of the joint drive motor.

[0005] In the prior art, when the motor rotor disk is connected to the input shaft of the reducer, if fewer fixed components are used for connection, the force points of the motor rotor disk will be concentrated, which will easily cause damage to the motor rotor disk. If more fixed components are used for connection, the assembly will be complicated. In addition, the contact area between the input shaft of the reducer and the rotor disk is relatively small, and it is not convenient to arrange multiple fixed components. Utility Model Content

[0006] In order to solve at least one of the above-mentioned defects, the present application provides an output end structure of a robot joint drive motor, a robot joint drive motor and a robot.

[0007] According to one aspect of the present application, there is provided an output end structure of a robot joint drive motor, comprising a motor rotor disk, a reducer input shaft, and a connection mechanism connected between the motor rotor disk and the reducer input shaft;

[0008] Wherein, the connecting mechanism comprises at least one connecting disk.

[0009] Optionally, an annular connecting portion is provided in the middle of the motor rotor disk, and the annular connecting portion is used to connect with the connecting mechanism.

[0010] Optionally, the connection mechanism includes a connection disk, the outer side of the connection disk is fixedly connected to the annular connection portion, and the middle part of the connection disk is fixedly connected to the input shaft of the reducer.

[0011] Optionally, the outer side of the connecting disk is fixedly connected to the annular connecting portion at a plurality of first connecting point positions, a plurality of hollow portions are provided on the body of the motor rotor disk, and the first connecting points and the hollow portions are radially staggered.

[0012] Optionally, a mounting groove is integrally connected to the middle of the connecting disk, and the input shaft of the reducer is interference fit with the mounting groove.

[0013] Optionally, the reducer input shaft is welded to the upper side of the mounting groove.

[0014] Optionally, the structural strength of the connecting disk is greater than the structural strength of the motor rotor disk.

[0015] Optionally, the connection mechanism includes at least two connection disks, which are connected in sequence from outside to inside, with the outer side of the outermost connection disk being fixedly connected to the annular connection portion, and the middle of the innermost connection disk being fixedly connected to the reducer input shaft.

[0016] Optionally, the outermost connection disk is fixedly connected to the annular connection part at multiple second connection points, two adjacent connection disks are fixedly connected at multiple second connection points, the second connection points are evenly distributed along the circumference, and the second connection points located in different layers are radially staggered.

[0017] Optionally, the structural strength of each connecting disk increases in sequence from the outside to the inside, and the structural strength of each connecting disk is greater than the structural strength of the motor rotor disk.

[0018] Optionally, the reducer input shaft is adapted to a planetary reducer or a harmonic reducer.

[0019] According to a second aspect of the present application, a robot joint drive motor is provided, comprising the above-mentioned output end structure.

[0020] According to the third aspect of the present application, a robot is provided, comprising the above-mentioned robot joint drive motor.

[0021] In the embodiment of the present application, the motor rotor disk is connected to the reducer input shaft through a connecting disk. Compared with the reducer input shaft, the connecting disk can arrange more connection points, so that the motor rotor disk is subjected to dispersed force. When the torque of the joint drive motor is large, it can avoid damage to the motor rotor disk caused by the concentrated force points of the motor rotor disk, thereby ensuring the normal power output of the joint drive motor. The output end structure of the joint drive motor provided in this case does not need to assemble too many fixed components during assembly, which is convenient for assembly and has high assembly efficiency.

[0022] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present application.

[0024] Figure 1 is an external structure diagram of Example 1 provided in this application;

[0025] Figure 2 is a middle section structural diagram of Example 1 provided in the present application;

[0026] Figure 3 is an external structure diagram of Example 2 provided by the present application;

[0027] Figure 4 , 5 is a middle section structural diagram of Example 2 provided in the present application;

[0028] Figure 6 is an external structure diagram of Example 3 provided in this application;

[0029] Figure 7 This is the external structure diagram of Example 4 provided in this application.

[0030] The reference numerals in the specific implementation manner are as follows:

[0031] Motor rotor disk 100; reducer input shaft 200; connecting disk 300; annular connecting portion 110; hollow portion 120; mounting groove 310; first connecting disk 320; second connecting disk 330; first connecting point 400; second connecting point 500; fixed connection component 600. DETAILED DESCRIPTION

[0032] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0033] All technical terms used in this document have the same meanings as those generally understood by technicians in the technical field to which this application belongs; the terms used in this document are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0034] In the description of the embodiments of the present application, the term "at least one" refers to one or more, and "plurality" refers to more than two (including two).

[0035] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0036] The embodiment of the present application provides an output end structure of a robot joint driving motor, including a motor rotor disk 100, a reducer input shaft 200, and a connecting mechanism connected between the motor rotor disk 100 and the reducer input shaft 200;

[0037] The connecting mechanism includes at least one connecting disk 300 .

[0038] The output end structure of the joint driving motor provided in the embodiment of the present application is to set a connecting mechanism between the motor rotor disk 100 and the reducer input shaft 200, and realize the connection through the connecting disk 300 of the connecting mechanism.

[0039] In the embodiment of the present application, the connecting disk 300 can be a disk-shaped connecting part for connecting to the motor rotor disk 100. Compared with using the reducer input shaft 200 to directly connect to the motor rotor disk 100, the connecting disk 300 can arrange more connection points than the reducer input shaft 200, so that the force on the motor rotor disk 100 is dispersed. When the torque of the joint drive motor is large, it can avoid damage to the motor rotor disk 100 caused by concentrated force points on the motor rotor disk 100, thereby ensuring the normal power output of the joint drive motor.

[0040] In an optional implementation manner of the present application, an annular connecting portion 110 is provided in the middle of the motor rotor disk 100 , and the annular connecting portion 110 is used to connect with the connecting mechanism.

[0041] In an embodiment of the present application, the motor rotor disk 100 is provided with an annular connecting portion 110 for connecting to a connecting mechanism, so that the force on the motor rotor disk 100 can be dispersed along the annular connecting portion 110, thereby avoiding damage to the motor rotor disk 100 and ensuring normal power output of the joint drive motor.

[0042] In an optional implementation of the present application, the connection mechanism includes a connection disk 300 , the outer side of the connection disk 300 is fixedly connected to the annular connection portion 110 , and the middle part of the connection disk 300 is fixedly connected to the reducer input shaft 200 .

[0043] In the embodiment of the present application, the connection mechanism may be composed of a connection disk 300 , the outer side of the connection disk 300 is fixedly connected to the annular connection portion 110 , and the middle part of the connection disk 300 is fixedly connected to the reducer input shaft 200 .

[0044] The connection plate 300 and the annular connection portion 110 may be fixedly connected via a fixing assembly 600 , and the fixing assembly 600 may be a bolt or a pin.

[0045] In the embodiment of the present application, by fixing the connecting disk 300 to the annular connecting portion 110 of the motor rotor disk 100, and fixing the connecting disk 300 to the reducer input shaft 200, the output end structure in this case does not need to assemble too many fixed components during assembly, which facilitates assembly and has high assembly efficiency.

[0046] Figure 1 , 2 The embodiment 1 provided by the present application is shown. Figure 1 is an external structure diagram of Example 1 provided in this application, Figure 1 It is a middle section structure diagram of Example 1 provided in the present application.

[0047] like Figure 1 , 2 As shown, the connection structure in Embodiment 1 includes a connection plate 300 .

[0048] In an optional embodiment of the present application, the outer side of the connecting disk 300 is fixedly connected to the annular connecting portion 110 at multiple first connecting points 400, and multiple hollow portions 120 are provided on the body of the motor rotor disk 100, and the first connecting points 400 and the hollow portions 120 are radially staggered.

[0049] In the embodiment of the present application, since the force on the motor rotor disk 100 is effectively dispersed, the motor rotor disk 100 can support a lighter design, thereby supporting the provision of multiple hollow portions 120 on the body of the motor rotor disk 100 .

[0050] In the embodiment of the present application, the motor rotor disk 100 may be made of lightweight materials, such as aluminum alloy, titanium alloy, etc.

[0051] In the embodiment of the present application, the first connection point 400 is the connection point between the connection plate 300 and the annular connection portion 110 , and the connection can be achieved at the first connection point 400 by a fixing component 600 such as a bolt or a rivet.

[0052] The first connection points 400 may be evenly distributed along the circumference of the annular connection portion 110 . For example, with the axis of the motor rotor disk 100 as the center of the circle, a connection point is set at every 45° on the annular connection portion 110 .

[0053] When the first connection points 400 and the hollow portions 120 are arranged in a radially staggered manner, a radial connection line between the first connection points 400 and the axis of the motor rotor disk 100 will not cross the hollow portion 120 .

[0054] As an example, taking the axis center of the motor rotor disk 100 as the coordinate origin, the number of the first connection points 400 is 8, which can be located at 0°, 45°, 90°, 135°, 180°, 225°, 270°, and 315°, respectively, and each hollow portion 120 can be located within the angle range of 5°-40°, 50°-85°, 95°-130°, 140°-175°, 185°-220°, 230°-265°, 275°-310°, and 320°-355°, respectively, to achieve a radially staggered arrangement of the first connection points 400 and the hollow portions 120.

[0055] In the embodiment of the present application, the position of the first connection point 400 is the stress point of the motor rotor disk 100. By radially staggeredly arranging the first connection point 400 and the hollow portion 120, the radial force of the first connection point 400 is distributed at a position outside the hollow portion 120, thereby ensuring that the force of the motor rotor disk 100 is evenly dispersed and at the same time ensuring that the motor rotor disk 100 has good structural strength.

[0056] In an optional implementation manner of the present application, a mounting groove 310 is integrally connected to the middle portion of the connecting disk 300 , and the reducer input shaft 200 is interference fit with the mounting groove 310 .

[0057] In the embodiment of the present application, the reducer input shaft 200 can be embedded in the mounting groove 310 provided in the middle of the connecting disk 300 to fix the connecting disk 300 and the reducer input shaft 200 .

[0058] By providing the mounting groove 310 , the reducer input shaft 200 can be fixedly mounted on the connecting disk 300 more conveniently, thereby reducing the complexity of assembly.

[0059] In an optional implementation manner of the present application, the reducer input shaft 200 is welded to the upper side of the mounting groove 310 .

[0060] In the embodiment of the present application, in order to enhance the connection strength between the reducer input shaft 200 and the connecting plate 300 , welding may be performed between the reducer input shaft 200 and the upper side of the mounting groove 310 .

[0061] In an optional implementation manner of the present application, the structural strength of the connecting disk 300 is greater than the structural strength of the motor rotor disk 100 .

[0062] In the embodiment of the present application, the material of the connecting disk 300 can be reasonably selected so that the structural strength of the connecting disk 300 is greater than the structural strength of the motor rotor disk 100, so that the connection between the connecting disk 300 and the reducer input shaft 200 can withstand a higher torque and ensure the stability of the overall structure.

[0063] In an optional embodiment of the present application, the connection mechanism includes at least two connection disks 300, and the connection disks 300 are connected in sequence from the outside to the inside. The outer side of the outermost connection disk 300 is fixedly connected to the annular connection portion 110, and the middle part of the innermost connection disk 300 is fixedly connected to the reducer input shaft 200.

[0064] In the embodiment of the present application, the connection mechanism can be composed of multiple connection disks 300, wherein the outer side of the outermost connection disk 300 is fixedly connected to the annular connection part 110, and the middle part of the innermost connection disk 300 is fixedly connected to the reducer input shaft 200, and each connection disk 300 is connected in sequence.

[0065] As an example, the innermost connection disk 300 is disk-shaped, with a mounting groove 310 in the middle for fixing with the reducer input shaft 200. Except for the innermost connection disk 300, the other connection disks 300 are annular and are connected in a step-by-step manner from the inside to the outside.

[0066] In the embodiment of the present application, the connection structure can be pre-assembled, that is, each connection disk 300 is pre-connected and fixed to obtain an assembled connection mechanism, and the assembled connection mechanism is used as an integral component, so that the connection mechanism can be quickly connected to the motor rotor disk 100 and the reducer input shaft 200 during installation, thereby improving the convenience of assembly. Each connection disk 300 can also be configured and assembled according to actual needs to adapt to motor rotor disks 100 of different specifications.

[0067] Figure 3 , 4 , 5 show the embodiment 2 provided by the present application. Among them, Figure 3 is an external structure diagram of Example 2 provided in this application, Figure 4 , 5 It is a middle section structure diagram of Example 2 provided in the present application.

[0068] like Figure 3 , 4 As shown in Figures 5 and 6, the connection structure in Embodiment 2 includes a first connection disk 320 and a second connection disk 330, wherein the first connection disk 320 is located outside the second connection disk 330. The outside of the first connection disk 320 is fixedly connected to the motor rotor disk 100, and the inside of the first connection disk 320 is fixedly connected to the second connection disk 330. A mounting groove 310 is provided in the fixed middle of the second connection disk 330 for fixing to the reducer input shaft.

[0069] In an optional embodiment of the present application, the outermost connection disk 300 is fixedly connected to the annular connection portion 110 at multiple second connection points 500, two adjacent connection disks 300 are fixedly connected at multiple second connection points 500, the second connection points 500 are evenly distributed along the circumference, and the second connection points 500 located in different layers are radially staggered.

[0070] In the embodiment of the present application, the second connection point 500 includes a connection point between the connection disk 300 and the annular connection portion 110, and a connection point between two adjacent connection disks 300. The position of the second connection point 500 can be fixed by a fixing component 600 such as a bolt or a rivet.

[0071] The second connection points 500 form multiple circles from the outside to the inside. For example, the connection disk 300 located on the outermost side is recorded as the first connection disk, and then each connection disk 300 is recorded as the second connection disk, the third connection disk, etc. in sequence from the outside to the inside. The first connection disk has two circles of second connection points 500, that is, one circle of second connection points 500 evenly distributed along the outer circumference of the first connection disk, and one circle of second connection points 500 evenly distributed along the inner circumference of the first connection disk. The second connection disk also has two circles of second connection points 500, that is, two circles of second connection points 500 evenly distributed along the inner and outer sides of the second connection disk. The connection disk located on the innermost side has one circle of second connection points 500, that is, the second connection points 500 of the first circle evenly distributed along the outer circumference of the innermost connection disk.

[0072] As an example, with the axis of the motor rotor disk 100 as the coordinate origin, the number of the second connection points 500 of the first circle layer is 8, which can be located at 0°, 45°, 90°, 135°, 180°, 225°, 270°, and 315° respectively, and the second connection points 500 of the second circle layer can be located at 5°, 50°, 95°, 140°, 185°, 230°, 275°, and 320° respectively. According to this rule, each second connection point 500 of each circle layer closer to the inner side can be offset by 5° along the coordinate origin in the same direction (such as counterclockwise) based on the connection point position of a circle layer adjacent to its outer side, so as to realize the radial staggered arrangement of the second connection points 500 of different circles. In this example, the second connection points 500 of each circle layer can be evenly distributed on the connection mechanism, so that the force on the connection mechanism is evenly dispersed, ensuring that the connection mechanism has good structural strength.

[0073] In an optional implementation of the present application, the structural strength of each connecting disk 300 increases in sequence from the outside to the inside, and the structural strength of each connecting disk 300 is greater than the structural strength of the motor rotor disk 100.

[0074] In the embodiment of the present application, the connection mechanism can be composed of a plurality of connection disks 300 connected in sequence. The structural strength of each connection disk 300 increases in sequence from the outside to the inside, and is greater than the structural strength of the motor rotor disk 100, that is, the structural strength of the outer connection disk 300 is greater than that of the inner connection disk 300. Since the inner connection disk 300 has a smaller area and is subjected to more concentrated force, the structural strength requirement is also higher. By improving the structural strength of the inner connection disk 300, the overall strength of the connection mechanism can be guaranteed.

[0075] In the embodiment of the present application, a connection structure formed by connecting a plurality of connection plates 300 in sequence is provided, and the connection plates 300 located on the outside can be made of materials with lower structural strength. Materials with lower structural strength often mean less weight and lower cost. Therefore, the material weight and material cost of the connection structure provided in this case are lower.

[0076] In an optional implementation of the present application, the reducer input shaft 200 is adapted to a planetary reducer or a harmonic reducer.

[0077] The output end structure provided in the embodiment of the present application can support the connection of various types of reducers, and the specific form of the reducer input shaft 200 can be adapted to the connected reducer. Specifically, the reducer can use a planetary reducer or a harmonic reducer, and the reducer input shaft 200 can be adapted to the planetary reducer or the harmonic reducer.

[0078] Figure 6 This is an external structure diagram of Example 3 provided in the embodiments of the present application.

[0079] The output end structure provided in Example 3 is used to connect with a planetary reducer (also called a cycloid reducer or a planetary cycloid reducer). In Example 3, the reducer input shaft 200 is compatible with the planetary reducer.

[0080] Figure 7 This is an external structure diagram of Example 4 provided in the embodiments of the present application.

[0081] The output end structure provided in Example 4 is used for docking with a harmonic reducer, and the reducer input shaft 200 in Example 4 is compatible with the harmonic reducer.

[0082] The present application also provides a robot joint actuator, comprising the above-mentioned output end structure.

[0083] The present application also provides a robot, characterized in that it comprises the above-mentioned robot joint drive motor.

[0084] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0085] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. An output end structure of a robot joint drive motor, characterized in that: It comprises a motor rotor disk (100), a reducer input shaft (200), and a connection mechanism connected between the motor rotor disk (100) and the reducer input shaft (200); Wherein, the connection mechanism comprises at least one connection plate (300).

2. The output end structure of the robot joint drive motor according to claim 1, characterized in that: An annular connecting portion (110) is provided in the middle of the motor rotor disk (100), and the annular connecting portion (110) is used to be connected to the connecting mechanism.

3. The output end structure of the robot joint drive motor according to claim 2, characterized in that: The connection mechanism comprises a connection disk (300), the outer side of the connection disk (300) is fixedly connected to the annular connection portion (110), and the middle part of the connection disk (300) is fixedly connected to the reducer input shaft (200).

4. The output terminal structure of the robot joint drive motor according to claim 3, characterized in that: The outer side of the connecting disk (300) is fixedly connected to the annular connecting portion (110) at a plurality of first connecting points (400); a plurality of hollow portions (120) are provided on the body of the motor rotor disk (100); and the first connecting points (400) and the hollow portions (120) are radially staggered.

5. The output terminal structure of the robot joint drive motor according to claim 4, characterized in that: A mounting groove (310) is integrally connected to the middle of the connection disk (300), and the reducer input shaft (200) is interference-fitted with the mounting groove (310).

6. The output terminal structure of the robot joint drive motor according to claim 5, characterized in that: The reducer input shaft (200) is welded to the upper side of the mounting groove (310).

7. The output end structure of the robot joint drive motor according to any one of claims 1 to 6, characterized in that: The structural strength of the connection disk (300) is greater than the structural strength of the motor rotor disk (100).

8. The output terminal structure of the robot joint drive motor according to claim 2, characterized in that: The connection mechanism comprises at least two connection disks (300), each connection disk (300) being connected in sequence from outside to inside, the outer side of the outermost connection disk (300) being fixedly connected to the annular connection portion (110), and the middle part of the innermost connection disk (300) being fixedly connected to the reducer input shaft (200).

9. The output terminal structure of the robot joint drive motor according to claim 8, characterized in that: The outermost connection disk (300) is fixedly connected to the annular connection portion (110) at a plurality of second connection points (500), and two adjacent connection disks (300) are fixedly connected at a plurality of second connection points (500). The second connection points (500) are evenly distributed along the circumference, and the second connection points (500) located in different layers are radially staggered.

10. The output terminal structure of the robot joint drive motor according to claim 9, characterized in that: In order from the outside to the inside, the structural strength of each of the connection disks (300) increases in sequence, and the structural strength of each of the connection disks (300) is greater than the structural strength of the motor rotor disk (100).

11. The output end structure of the robot joint drive motor according to any one of claims 1 to 6, characterized in that: The reducer input shaft (200) is adapted to a planetary reducer or a harmonic reducer.

12. A robot joint drive motor, characterized in that: The invention comprises the output end structure according to any one of claims 1 to 11.

13. A robot, characterized in that: Including the robot joint drive motor as described in claim 12.

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