A robot joint that facilitates motor removal and installation

Abstract

The utility model relates to the technical field of robot joints, and in particular discloses a robot joint that is convenient for motor removal and installation, including a joint module and a shell covered outside the joint module; the shell includes a casing, a joint cover detachably connected to the casing, the joint cover is connected to one end of the casing, and the connection port between the joint cover and the casing is an oblique opening; the joint module includes a motor, one end of the motor is connected to the casing, and the other end of the motor extends out of the casing through the oblique opening. The utility model facilitates the removal and installation of the motor by allowing the motor to partially extend out of the casing, and has a simple structure, is easy to install, and improves installation efficiency; through the design of the oblique opening, the space inside the robot joint is compact, and the overall volume of the robot joint is smaller.

Description

Technical Field

[0001] The utility model relates to the technical field of robot joints, and in particular discloses a robot joint which is convenient for taking and installing a motor. Background Art

[0002] The robot arm joint of the collaborative robot is the core component of the collaborative robot's movement and control, and its design will determine the quality of the collaborative robot's dynamics and other related performance. The existing collaborative robot arm joints usually include motors, brakes, reducers, servo drives and encoders. Among them, the motor provides rotational power for the entire collaborative robot arm, and then through the cooperation of the servo drive and encoder, the rotational power is finally transmitted to the actuator through the reducer to drive the actuator to rotate.

[0003] In general, many collaborative robots are assembled with motors, harmonic reducers, encoders, etc. as a whole. Although this has its advantages to a certain extent, it also has many disadvantages and shortcomings. For example, the motor is more complicated to assemble and has higher technical requirements, which is not conducive to rapid batch assembly; the trial and error cost is increased, and when the motor is damaged or needs to be replaced, all parts must be disassembled and retested, which greatly increases the difficulty of maintenance. Utility Model Content

[0004] In order to overcome the shortcomings and deficiencies of the prior art, the purpose of the utility model is to provide a robot joint structure with simple structure, convenient installation, higher efficiency and convenient motor removal and installation.

[0005] To achieve the above purpose, the utility model provides a robot joint that is convenient for motor removal and installation, including a joint module and a shell covered outside the joint module; the shell includes a casing, a joint cover detachably connected to the casing, the joint cover is connected to one end of the casing, and the connection port between the joint cover and the casing is an oblique opening; the joint module includes a motor, one end of the motor is connected to the casing, and the other end of the motor extends out of the casing through the oblique opening. The utility model facilitates the removal and installation of the motor by allowing the motor to partially extend out of the casing, and has a simple structure, convenient installation, and improved installation efficiency; the oblique opening design makes the space inside the robot joint compact, making the overall volume of the robot joint smaller.

[0006] Furthermore, the joint module also includes a harmonic reducer connected to the casing, the rotating shaft of the harmonic reducer is drive-connected to the output end of the motor, and the harmonic reducer is used to reduce the motor speed and increase the motor torque to avoid the motor speed being too fast and difficult to control; at the same time, reducing the motor speed can improve the displacement accuracy of the robot.

[0007] Furthermore, a support portion is convexly provided on the inner side wall of the housing, and the motor and the harmonic reducer are located on both sides of the support portion and connected to the support portion. The support portion separates the motor and the harmonic reducer, making the motor assembly simpler and faster, which is conducive to rapid batch assembly. When the motor is damaged or needs to be replaced, it only needs to be disassembled, which greatly reduces the difficulty of maintenance.

[0008] Furthermore, a first mounting seat is installed on the support part, the first mounting seat is connected to the support part via bolts, and the motor is connected to the first mounting seat via bolts. The motor is installed in the housing via the first mounting seat, which increases the stability of the motor and makes the robot run more stably; at the same time, the motor is fixedly connected via bolts, which facilitates the rapid installation and removal of the motor.

[0009] Furthermore, the first mounting seat is provided with a mounting groove adapted to the motor, the bottom of the mounting groove is provided with a position-avoiding hole penetrating the first mounting seat, the motor is placed in the mounting groove, and the output shaft of the motor passes through the position-avoiding hole and is connected to the harmonic reducer drive. The mounting groove is used to limit the displacement of the motor, increase the stability of the motor, and prevent the motor from shaking and affecting the displacement accuracy of the robot. At the same time, the mounting groove is adapted to the motor, which facilitates the quick installation of the motor.

[0010] Furthermore, the joint cover is provided with a card block, the housing is provided with a card slot adapted to the card block, and the housing and the joint cover are connected via screws. The card block and the card slot increase the connection stability of the joint cover, and the housing and the joint cover are connected via screws, so that the joint cover can be quickly disassembled and assembled, thereby improving the installation efficiency of the motor.

[0011] Furthermore, the joint module also includes a limiter, which is arranged at one end of the casing close to the joint cover. The limiter cooperates with the casing to limit the movement of the motor and improve the stability of the motor.

[0012] Furthermore, the housing is provided with a limiting groove matched with the limiting member, and the limiting groove is used to limit the displacement of the limiting member.

[0013] Furthermore, the limiting member is provided with a U-shaped notch adapted to the motor. The limiting member contacts the motor via the U-shaped notch to limit the displacement of the motor and improve the stability of the motor.

[0014] Furthermore, a second mounting seat is installed on the support part, and the second mounting seat is connected to the support part via bolts. The second mounting seat is provided with a limiting hole that passes through the second mounting seat. The rotating shaft of the harmonic reducer passes through the limiting hole and is connected to the second mounting seat, so that the rotation of the harmonic reducer is stable and the displacement accuracy of the robot is improved.

[0015] The beneficial effects of the utility model are as follows: the utility model allows the motor part to extend out of the casing, which is convenient for taking and installing the motor. The utility model has a simple structure, is easy to install, and improves installation efficiency; the design of the oblique opening makes the space inside the robot joint compact, and the overall volume of the robot joint is smaller; the harmonic reducer is used to reduce the motor speed and increase the motor torque to avoid the motor speed being too fast and difficult to control; at the same time, reducing the motor speed can improve the displacement accuracy of the robot; the support part separates the motor and the harmonic reducer, making the motor assembly simpler and faster, which is conducive to rapid batch assembly. When the motor is damaged or needs to be replaced, it only needs to be removed, which greatly reduces the difficulty of maintenance; the mounting groove and the limit member are used to limit the displacement of the motor, increase the stability of the motor, and avoid the motor shaking affecting the displacement accuracy of the robot. At the same time, the mounting groove is adapted to the motor, which is convenient for rapid installation of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a robot joint that is convenient for motor removal and installation in the utility model;

[0017] Figure 2 This is an exploded view of a robot joint that facilitates motor removal and installation in the utility model;

[0018] Figure 3 It is a structural schematic diagram of the joint cover of the utility model;

[0019] Figure 4 A cross-sectional view of a robot joint that facilitates motor removal and installation according to the utility model;

[0020] Figure 5 It is a structural schematic diagram of the first mounting seat of the utility model;

[0021] Figure 6 It is a structural schematic diagram of the casing of the utility model;

[0022] Figure 7 This is a schematic diagram of the structure of the output plate of the reducer of the utility model;

[0023] Figure 8 It is a structural schematic diagram of the limiting member of the utility model.

[0024] Reference numerals include:

[0025] 1. Joint module; 2. Shell; 3. Casing; 4. Joint cover; 5. Oblique opening; 6. Motor; 7. Harmonic reducer; 8. Support part; 9. First mounting seat; 10. Mounting slot; 11. Avoidance hole; 12. Block; 13. Slot; 14. Limiting piece; 15. Limiting groove; 16. U-shaped notch; 17. Second mounting seat; 18. Reducer output plate; 19. Limiting plate; 20. Connection hole DETAILED DESCRIPTION

[0026] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0027] See also Figures 1 to 8 As shown, the utility model is a robot joint that is convenient for motor removal and installation, comprising a joint module 1, a housing 2 covered outside the joint module 1; the housing 2 comprises a casing 3, a joint cover 4 detachably connected to the casing 3, the joint cover 4 is connected to one end of the casing 3, and the connection port between the joint cover 4 and the casing 3 is an oblique opening 5; the joint module 1 comprises a motor 6, one end of the motor 6 is connected to the casing 3, and the other end of the motor 6 extends out of the casing 3 through the oblique opening 5. The utility model facilitates the removal and installation of the motor 6 by making the motor 6 partially extend out of the casing 3, and has a simple structure, convenient installation, and improved installation efficiency; through the design of the oblique opening 5, the space inside the robot joint is compact, and the overall volume of the robot joint is smaller.

[0028] When installing the motor 6, the motor 6 is inserted into the casing 3 through the oblique opening 5. After the motor 6 is installed, the joint cover 4 is installed on the casing 3. When disassembling and replacing the motor 6, the joint cover 4 is removed, the part of the motor 6 exposed from the casing 3 is held, the motor 6 is disassembled and the motor 6 is taken out.

[0029] The joint module 1 also includes a harmonic reducer 7 connected to the housing 3, and the rotating shaft of the harmonic reducer 7 is drivingly connected to the output end of the motor 6. The harmonic reducer 7 is used to reduce the speed of the motor 6 and increase the torque of the motor 6 to avoid the motor 6 rotating too fast and difficult to control; at the same time, reducing the speed of the motor 6 can improve the displacement accuracy of the robot.

[0030] A support portion 8 is convexly disposed on the inner side wall of the housing 3, and the motor 6 and the harmonic reducer 7 are located on both sides of the support portion 8 and connected to the support portion 8. The support portion 8 separates the motor 6 and the harmonic reducer 7, making the motor 6 easier and faster to assemble, which is conducive to rapid batch assembly. When the motor 6 is damaged or needs to be replaced, it only needs to be disassembled, which greatly reduces the difficulty of maintenance.

[0031] The support portion 8 is provided with a first mounting seat 9, which is connected to the support portion 8 via bolts, and the motor 6 is connected to the first mounting seat 9 via bolts. The motor 6 is mounted in the housing 3 via the first mounting seat 9, which increases the stability of the motor 6 and makes the robot run more stably; at the same time, the motor 6 is fixedly connected via bolts, which facilitates the quick installation and removal of the motor 6.

[0032] The first mounting seat 9 is provided with a mounting groove 10 adapted to the motor 6, and a position avoidance hole 11 penetrating the first mounting seat 9 is provided at the bottom of the mounting groove 10. The motor 6 is placed in the mounting groove 10, and the output shaft of the motor 6 passes through the position avoidance hole 11 and is drivingly connected to the harmonic reducer 7. The mounting groove 10 is used to limit the displacement of the motor 6, increase the stability of the motor 6, and prevent the shaking of the motor 6 from affecting the displacement accuracy of the robot. At the same time, the mounting groove 10 is adapted to the motor 6, which is convenient for the quick installation of the motor 6.

[0033] The joint cover 4 is provided with a clamping block 12, and the housing 3 is provided with a clamping slot 13 adapted to the clamping block 12, and the housing 3 and the joint cover 4 are connected via screws. The clamping block 12 and the clamping slot 13 increase the connection stability of the joint cover 4, and the housing 3 and the joint cover 4 are connected via screws, so that the joint cover 4 can be quickly disassembled and assembled, and the installation efficiency of the motor 6 is improved.

[0034] The joint module 1 further includes a limiter 14 , which is disposed at one end of the housing 3 close to the joint cover 4 . The limiter 14 cooperates with the housing 3 to limit the movement of the motor 6 , thereby improving the stability of the motor 6 .

[0035] The housing 3 is provided with a limiting groove 15 matched with the limiting member 14 , and the limiting groove 15 is used to limit the displacement of the limiting member 14 .

[0036] The limiting member 14 is provided with a U-shaped notch 16 adapted to the motor 6. The limiting member 14 contacts the motor 6 via the U-shaped notch 16, thereby limiting the displacement of the motor 6 and improving the stability of the motor 6.

[0037] A second mounting seat 17 is installed on the support portion 8, and the second mounting seat 17 is connected to the support portion 8 via bolts. A limiting hole is provided on the second mounting seat 17 that passes through the second mounting seat 17. The rotating shaft of the harmonic reducer 7 passes through the limiting hole and is connected to the second mounting seat 17, so that the rotation of the harmonic reducer 7 is stable, thereby improving the displacement accuracy of the robot.

[0038] In a further technical solution, the joint module 1 also includes a reducer output plate 18, which is rotatably connected to the rotating shaft of the harmonic reducer 7. The reducer output plate 18 is located at one end of the harmonic reducer 7 away from the motor 6. The reducer output plate 18 is used to connect to an external robotic arm and control the rotation of the external robotic arm.

[0039] In a further technical solution, the harmonic reducer 7 can adopt an existing manufacturer-marked harmonic reducer 7 .

[0040] In a further technical solution, the front end surface of the reducer output plate is concavely provided with a groove, and the end of the shaft of the harmonic reducer 7 close to the reducer output plate 18 is provided with a limit plate portion 19, the limit plate portion 19 is positioned in the groove, and the rear end surface of the limit plate portion 19 is limited by the bottom of the groove, so that the connection between the harmonic reducer 7 and the reducer output plate 18 is stable.

[0041] In a further technical solution, the reducer output plate 18 is provided with connecting holes 20 that penetrate the reducer output plate 18, and the connecting holes 20 are distributed in a circular array around the central axis of the rotating shaft of the harmonic reducer 7. The reducer output plate 18 is connected to the external robotic arm via the connecting holes 20. The connecting holes 20 distributed in a circular array make the connection between the reducer output plate 18 and the external robotic arm more stable.

[0042] In a further technical solution, the opening angle of the oblique opening 5 is 10-20°, which can ensure that the motor 6 is exposed and the space inside the robot joint is compact, making the overall volume of the robot joint smaller.

[0043] When installing the motor 6, the motor 6 is inserted into the casing 3 through the oblique opening 5, and the motor 6 is placed in the installation groove 10. The output shaft of the motor 6 passes through the avoidance hole 11 and is connected to the harmonic reducer 7 by driving. The motor 6 is connected to the first mounting seat 9 via bolts. After the motor 6 is installed, the limiter 14 is installed in the limiter groove 15, and the U-shaped notch 16 contacts the motor 6. The joint cover 4 is installed on the casing 3, and the block 12 is installed in cooperation with the slot 13 and connected via screws; when disassembling and replacing the motor 6, remove the screws between the joint cover 4 and the casing 3, so that the block 12 is disengaged from the slot 13, remove the joint cover 4, remove the limiter 14, hold the part of the motor 6 exposed from the casing 3, remove the bolts between the motor 6 and the first mounting seat 9 and take out the motor 6.

[0044] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robot joint that facilitates motor removal and installation, comprising a joint module (1) and a housing (2) disposed outside the joint module (1); characterized in that: The housing (2) comprises a casing (3), a joint cover (4) detachably connected to the casing (3), the joint cover (4) being connected to one end of the casing (3), and a connection port between the joint cover (4) and the casing (3) being an oblique opening (5); The joint module (1) comprises a motor (6), one end of which is connected to the housing (3), and the other end of which extends out of the housing (3) via an inclined opening (5).

2. A robot joint that facilitates motor removal and installation according to claim 1, characterized in that: The joint module (1) further comprises a harmonic reducer (7) connected to the housing (3); the rotating shaft of the harmonic reducer (7) is drivingly connected to the output end of the motor (6); the harmonic reducer (7) is used to reduce the rotation speed of the motor (6) and increase the torque of the motor (6).

3. A robot joint that facilitates motor removal and installation according to claim 2, characterized in that: A support portion (8) is protrudingly provided on the inner wall of the housing (3), and the motor (6) and the harmonic reducer (7) are respectively located on both sides of the support portion (8) and are connected to the support portion (8).

4. A robot joint that facilitates motor removal and installation according to claim 3, characterized in that: A first mounting seat (9) is mounted on the support portion (8); the first mounting seat (9) is connected to the support portion (8) via bolts; and the motor (6) is connected to the first mounting seat (9) via bolts.

5. A robot joint that facilitates motor removal and installation according to claim 4, characterized in that: The first mounting seat (9) is provided with a mounting groove (10) adapted to the motor (6); the bottom of the mounting groove (10) is provided with a position-avoiding hole (11) penetrating the first mounting seat (9); the motor (6) is placed in the mounting groove (10); and the output shaft of the motor (6) passes through the position-avoiding hole (11) and is drivingly connected to the harmonic reducer (7).

6. A robot joint that facilitates motor removal and installation according to claim 1, characterized in that: The joint cover (4) is provided with a clamping block (12), the housing (3) is provided with a clamping slot (13) matched with the clamping block (12), and the housing (3) and the joint cover (4) are connected via screws.

7. A robot joint that facilitates motor removal and installation according to claim 1, characterized in that: The joint module (1) further comprises a limiting member (14), which is arranged at one end of the housing (3) close to the joint cover (4), and the limiting member (14) cooperates with the housing (3) to limit the movement of the motor (6).

8. A robot joint that facilitates motor removal and installation according to claim 7, characterized in that: The housing (3) is provided with a limiting groove (15) adapted to the limiting member (14), and the limiting groove (15) is used to limit the displacement of the limiting member (14).

9. A robot joint that facilitates motor removal and installation according to claim 7, characterized in that: The limiting member (14) is provided with a U-shaped notch (16) adapted to the motor (6).

10. A robot joint that facilitates motor removal and installation according to claim 3, characterized in that: A second mounting seat (17) is mounted on the support portion (8), the second mounting seat (17) is connected to the support portion (8) via bolts, a limiting hole is provided on the second mounting seat (17) and passes through the second mounting seat (17), and the rotating shaft of the harmonic reducer (7) passes through the limiting hole and is connected to the second mounting seat (17).

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