High-protection robot motor with self-adaptive large-angle torsional deformation cable

Abstract

The utility model relates to the technical field of motors for robots, in particular to a high-protection robot motor with a self-adaptive large-angle torsional deformation cable, which comprises a servo motor assembly, and a double-sealing structure is arranged at the front end of the servo motor assembly. The sealing mounting seat is fixedly mounted at the rear end of the side surface of the servo motor assembly; the power spring wire is led out from the sealing mounting seat; and the encoder spring wire is led out from the sealing mounting seat and is internally sleeved in the power spring wire. Bending torsional deformation of the cable can be effectively improved, abrasion and breakage of the robot cable are prevented, the service life of a robot is prolonged, and the reliability of the robot is improved. The tail end wrist space of the robot is effectively reduced, the design of a compact structure is achieved, and application of the robot in a narrow space is facilitated; and dust and greasy dirt can be effectively prevented from entering the motor, the sealing time is prolonged, and the sealing reliability of the robot is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of motors for robots, in particular to a high-protection robot motor with an adaptive large-angle torsion deformation cable. Background Art

[0002] In an industrial robot with an orthogonal wrist structure, the rotation centers of the end axes are perpendicular to each other. In order to achieve a compact structure and reduce the transmission mechanism, the 6-axis motor is usually placed in front. During the 5-axis rotation movement of the robot, the 6-axis motor will follow the rotation. During the movement, the cable will be subjected to positive and negative torsional deformation, which places high demands on the life of the cable.

[0003] In the existing technical solutions, the robot cables are usually passed through the 5-axis rotation center and directly connected to the 6-axis motor. During long-term forward and reverse rotation operation, the cables are subjected to torsion and stretching, and are very prone to wear and breakage, causing the robot to report errors and shut down, affecting the normal use of the robot.

[0004] At the same time, in complex robot applications, the environment in which the end wrist is located is harsh, and the protection requirements for the 6-axis motor structure are relatively high. In order to achieve the sealing requirements, a back cover is usually made to seal the entire motor, and a sealing structure is added to the front end of the motor shaft. This causes the wrist structure to be larger in size, which is not conducive to the lightweight design and application of the robot.

[0005] Therefore, a new technical solution is urgently needed that can not only improve the wear and breakage caused by the long-term torsional deformation of the 6-axis motor cables, but also achieve the high protection and sealing requirements of the compact end wrist structure. Summary of the invention

[0006] In order to solve the above technical problems, the utility model proposes a high-protection robot motor with an adaptive large-angle torsional deformation cable. It can adapt to the large-angle torsional deformation of the cable, improve the wear of the cable, and increase the service life. At the same time, it can achieve the high protection sealing requirements of the robot wrist with a compact structure.

[0007] The technical problem to be solved by the utility model is achieved by the following technical solutions:

[0008] A highly protected robot motor with an adaptive large-angle torsion deformation cable, comprising:

[0009] A servo motor assembly, wherein a double sealing structure is provided at the front end of the servo motor assembly;

[0010] A sealing mounting seat, the sealing mounting seat being fixedly mounted on the rear end of the side of the servo motor assembly;

[0011] A power spring wire, the power spring wire is led out from the sealing mounting seat, and the lead-out end of the power spring wire is parallel to the output end of the servo motor assembly;

[0012] An encoder spring wire is led out from the sealing mounting seat and is internally sleeved in the power spring wire. The encoder spring wire has the same rotation center and the same rotation direction as the power spring wire.

[0013] As a further improvement of the utility model, the servo motor assembly includes a motor output shaft and a mounting flange, and an outer oil seal and an inner oil seal are provided on the mounting flange. The lips of the outer oil seal and the inner oil seal match the motor output shaft, and the lips are both facing outward.

[0014] As a further improvement of the present invention, an observation window is provided on the mounting flange and located between the outer oil seal and the inner oil seal.

[0015] As a further improvement of the present invention, a PTFE coating is provided on the lips of the outer oil seal and the inner oil seal.

[0016] As a further improvement of the present invention, the sealing mounting seat includes a sealing shell fixedly mounted on the side of the servo motor assembly and a sealing plate connected to the sealing shell.

[0017] As a further improvement of the present invention, the sealing plate faces the output end side of the servo motor assembly.

[0018] The beneficial effects of the utility model are:

[0019] The utility model provides a cable with adaptive large-angle torsional deformation, which can effectively improve the bending and torsional deformation of the cable in the robot rotation motion application, prevent the wear and breakage of the robot cable, and improve the service life and reliability of the robot;

[0020] By setting up a sealing mounting seat, which can be directly connected to external parts, a high protection effect can be achieved, which plays a role in protecting the motor cable. No additional sealing cover is required, which effectively reduces the space of the robot's end wrist and realizes a compact design, which is conducive to the application of the robot in a small space.

[0021] By setting up a double oil seal design and an observation window, it can effectively prevent dust and oil from entering the motor and extend the sealing time. When the oil breaks through the first oil seal, the second oil seal can also play a sealing role. At the same time, the internal situation can be observed through the observation window, which has the effect of sealing early warning and greatly improves the sealing reliability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0023] Figure 1 This is a schematic diagram of the robot motor structure of the utility model;

[0024] Figure 2 It is a cross-sectional schematic diagram of a double-seal structure of a servo motor assembly of a robot motor of the utility model;

[0025] Figure 3 It is a structural schematic diagram of the sealing mounting seat of the robot motor of the utility model;

[0026] Figure 4 It is a schematic diagram of the state of the spring wire of the robot motor after adaptive deformation adjustment of the utility model.

[0027] In the figure: 1. servo motor assembly; 11. motor output shaft; 12. mounting flange; 13. outer oil seal; 14. inner oil seal; 15. observation window; 2. seal mounting seat; 21. seal shell; 22. seal plate; 3. power spring wire; 4. encoder spring wire. DETAILED DESCRIPTION

[0028] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0029] like Figures 1 to 3 As shown, a high-protection robot motor with an adaptive large-angle torsional deformation cable mainly includes a servo motor assembly 1, a sealing mounting seat 2, a power spring wire 3 and an encoder spring wire 4. The sealing mounting seat 2 is fixedly installed on the side rear end of the servo motor assembly 1, and the power spring wire 3 and the encoder spring wire 4 are both led out from the sealing mounting seat 2, wherein the encoder spring wire 4 is sleeved inside the power spring wire 3, and the two have the same rotation center and the same rotation direction. The front end of the servo motor assembly 1 is specially designed with a double sealing structure, and with the sealing mounting seat 2, the robot motor as a whole can reach a higher protection level. In robot applications, when the robot motor rotates around the center of the encoder spring wire 4 and the power spring wire 3, the encoder spring wire 4 and the power spring wire 3 can flexibly shrink and automatically adapt to torsional deformation, which can effectively reduce wear between external parts and excessive torsion of the cable itself, thereby increasing the service life.

[0030] As a further improvement of this embodiment, the double-seal special structural design of the servo motor assembly 1 also includes a motor output shaft 11, a mounting flange 12, an outer oil seal 13, an inner oil seal 14, and an observation window 15. The motor output shaft 11 and the mounting flange 12 serve as the external interface of the servo motor assembly 1, which are used to fix and transmit power. The outer rings of the outer oil seal 13 and the inner oil seal 14 are both pressed on the mounting flange 12. The lips of the outer oil seal 13 and the inner oil seal 14 match the motor output shaft 11, and the lips are both facing outward. During the rotation of the motor output shaft 11, it plays a dynamic sealing effect, which can effectively prevent external dust and grease from entering the motor. When grease breaks through the outer oil seal 13, the inner oil seal 14 can still play a sealing role, effectively extending the sealing life. In order to further improve the sealing effect, the utility model adds a PTFE coating to the lips of the outer oil seal 13 and the inner oil seal 14 to increase wear resistance and improve the sealing life. At the same time, an observation window 15 is provided between the outer oil seal 13 and the inner oil seal 14 , and internal leakage can be checked through the observation window 15 , which can effectively provide early warning and improve the reliability of sealing.

[0031] As a further improvement of this embodiment, the sealing mounting seat 2 also includes a sealing shell 21 and a sealing plate 22. The sealing shell 21 is fixed to the side of the servo motor assembly 1. The sealing plate 22 is fixedly connected to the sealing shell 21 and faces the side of the motor output shaft 11 of the servo motor assembly 1. The sealing plate 22 serves as an interface for connecting with external parts and has higher sealing requirements. At the same time, the sealing mounting seat 2 itself can achieve a higher level of protection.

[0032] The working principle and use process of this utility model:

[0033] The robot motor assumes that the output ends of the encoder spring wire 4 and the power spring wire 3 are parallel to the motor output shaft and located at position A during initial installation, such as Figure 4 As shown. When the robot motor rotates forward around the center of the encoder spring wire 4 and the power spring wire 3 by a certain angle θ (any angle within 360°), if the rotation direction is the same as the rotation direction of the spring wire, the spring wire will automatically twist and tighten. At this time, the output end of the encoder spring wire 4 and the power spring wire 3 will run to position B. When the robot motor rotates in the opposite direction, the spring wire will automatically twist and loosen. This can avoid friction between the robot cable and other parts during rotation and excessive twisting of the cable itself, which can effectively improve the service life of the cable.

[0034] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and the specification only describe the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A highly protected robot motor with an adaptive large-angle torsion deformation cable, characterized in that: include: A servo motor assembly (1), wherein a double sealing structure is provided at the front end of the servo motor assembly (1); A sealing mounting seat (2), wherein the sealing mounting seat (2) is fixedly mounted on the rear end of the side of the servo motor assembly (1); A power spring wire (3), the power spring wire (3) being led out from the sealing mounting seat (2), and the lead-out end of the power spring wire (3) being parallel to the output end of the servo motor assembly (1); An encoder spring wire (4), the encoder spring wire (4) is led out from the sealing mounting seat (2) and is sleeved inside the power spring wire (3), has the same rotation center as the power spring wire (3), and has the same rotation direction.

2. A high-protection robot motor with an adaptive large-angle torsional deformation cable according to claim 1, characterized in that: The servo motor assembly (1) comprises a motor output shaft (11) and a mounting flange (12). An outer oil seal (13) and an inner oil seal (14) are arranged on the mounting flange (12). The lips of the outer oil seal (13) and the inner oil seal (14) match the motor output shaft (11), and the lips are both oriented outwards.

3. A high-protection robot motor with an adaptive large-angle torsional deformation cable according to claim 2, characterized in that: An observation window (15) is provided on the mounting flange (12) and is located between the outer oil seal (13) and the inner oil seal (14).

4. A high-protection robot motor with an adaptive large-angle torsional deformation cable according to claim 2, characterized in that: PTFE coatings are provided on the lips of the outer oil seal (13) and the inner oil seal (14).

5. The high-protection robot motor with adaptive large-angle torsion deformation cable according to claim 1, characterized in that: The sealing mounting seat (2) comprises a sealing shell (21) fixedly mounted on the side of the servo motor assembly (1) and a sealing plate (22) connected to the sealing shell (21).

6. A high-protection robot motor with an adaptive large-angle torsional deformation cable according to claim 5, characterized in that: The sealing plate (22) faces the output end side of the servo motor assembly (1).

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