Motor tensioning mechanism and five-axis robot

Abstract

The utility model discloses a motor tensioning mechanism and a five-axis robot, and the motor tensioning mechanism comprises a middle plate which is fixed with one end of a motor, and the middle plate is provided with a waist-shaped hole penetrating through the middle plate; one side edge of the middle plate is provided with a slope surface; the bottom plate is assembled with the surface, deviating from the motor, of the middle plate; the fixed block is fixed with one surface of the bottom plate; the circular truncated cone block is located between the slope surface and the fixing block, a bolt penetrates through the circular truncated cone block, and the circular truncated cone block and the bottom plate are in threaded assembly; one corner of the middle plate is in shaft connection with the bottom plate; the outer wall of the circular truncated cone block comprises a rotating surface and a cutting surface, the rotating surface is a convex curved surface, the cutting surface is parallel to the axis of the circular truncated cone block, the rotating surface is in linear contact with the slope surface, and the cutting surface is in surface contact with the side vertical surface of the fixed block. According to the utility model, the motor in the mechanical arm of the robot not only ensures the fine adjustment capability of the position of the motor, but also ensures the long-term position stability of the motor.

Description

Technical Field

[0001] The utility model relates to the field of manipulators and robots, and in particular to a motor tensioning mechanism and a five-axis robot. Background Art

[0002] Five-axis robot, five-axis robot arm, and five-axis manipulator refer to robot systems with five independent mechanical degrees of freedom. These five axes usually include the main arm pull-out axis, the main arm up-down axis, the auxiliary arm pull-out axis, the auxiliary arm up-down axis, and the horizontal axis, which work together to achieve complex three-dimensional spatial motion.

[0003] Each rotary joint of a five-axis robot generally corresponds to a motor. The motor directly participates in the rotation force and also bears a large reaction force. If the stability of the motor position is mainly considered after long-term use, the motor needs to be fixed by round holes and bolts; if the motor is expected to have the ability to fine-tune the spatial position, the motor needs to be assembled using waist-shaped holes, oblong holes and bolts. However, waist-shaped holes and oblong holes have less restrictive ability on the motor than round holes. After long-term use, the motor is subjected to the tension of the transmission belt, which may cause a slight displacement, and then cause the transmission belt to loosen.

[0004] During the entire production process of the five-axis robot, the motor needs to have a secure installation position and a certain degree of fine-tuning capability to ensure that the motor's spatial position is in a reasonable position and that the motor's drive belt is always within an appropriate range of tightness. Utility Model Content

[0005] The problem to be solved by the utility model is to provide a motor tensioning mechanism and a five-axis robot, so that the motor inside the robot and the mechanical arm can ensure the fine-tuning ability of the motor position and the long-term position stability of the motor.

[0006] In order to solve the above problems, the utility model provides a motor tensioning mechanism and a five-axis robot. In order to achieve the above objectives, the technical solution adopted by the utility model to solve its technical problems is:

[0007] A motor tensioning mechanism comprises: an intermediate plate fixed to one end of a motor, the intermediate plate having a waist-shaped hole penetrating the intermediate plate; an edge of one side of the intermediate plate having an inclined surface; a bottom plate assembled to a side of the intermediate plate facing away from the motor; a fixed block fixed to one side of the bottom plate; a truncated cone block located between the inclined surface and the fixed block, the truncated cone block having bolts passing therethrough and threadedly assembled with the bottom plate; a corner of the intermediate plate being axially connected with the bottom plate; an outer wall of the truncated cone block comprising a revolving surface and a cut plane, the revolving surface being a convex curved surface, the cut plane being parallel to the axis of the truncated cone block, the revolving surface being in line contact with the inclined surface, and the cut plane being in surface contact with the side elevation of the fixed block.

[0008] The beneficial effect of adopting the above technical solution is: this technical solution, as a fixing mechanism of the motor, not only ensures the fine-tuning ability of the motor position, but also ensures the long-term position stability of the motor. First, the waist-shaped hole ensures the fine-tuning ability of the motor position, and the fine-tuning range of the motor depends on the length of the waist-shaped hole. Secondly, one corner of the middle plate is connected to the bottom plate axis, and the two have a certain degree of freedom of swinging within a certain angle. This swing is achieved by squeezing the ramp surface by the truncated cone block. Thirdly, the line contact extrusion between the rotating surface and the ramp surface can amplify the extrusion force, and the surface contact between the cut surface and the fixed block provides strength for the reaction support force. Finally, by using the knob truncated cone block to achieve the distance between the ramp surface and the fixed block, the position of the motor can be fine-tuned, and then the tensioning effect of components such as the transmission belt or rotating chain connected to the motor can be achieved.

[0009] As a further improvement of the present invention, the middle plate has an integrated outer protrusion, the waist-shaped hole is located in the outer protrusion, and the slope surface is located on one side edge of the outer protrusion; the length direction of the waist-shaped hole forms an angle with the edge direction of the outer protrusion where the slope surface is located.

[0010] The beneficial effect of adopting the above technical solution is that the slope surface is equivalent to a single-edged blade. The outer convex block is convenient for arranging the waist-shaped hole and the slope surface to avoid being covered by the motor.

[0011] As a further improvement of the utility model, the outer diameter of the truncated cone block gradually decreases in the direction approaching the bottom plate; the slope surface forms an angle greater than 45° with the plane of the bottom plate.

[0012] The beneficial effect of adopting the above technical solution is that the side surface of the truncated cone block and the slope surface are in line contact and also in sliding friction.

[0013] As a further improvement of the utility model, the fixing block is assembled with the base plate through a plurality of bolts.

[0014] The beneficial effect of adopting the above technical solution is that the fixing block needs to be in a stable relative position to the base plate, so a large number of bolts are required.

[0015] As a further improvement of the utility model, the bottom plate has a first through hole, a second through hole, and a third through hole; the middle plate has a plurality of fourth through holes and a fifth through hole; the first through hole and the fifth through hole axially overlap and are axially connected.

[0016] The beneficial effect of adopting the above technical solution is that the bottom plate rotates around the first through hole as the center of rotation, and the middle plate also rotates around the fifth through hole as the center of rotation.

[0017] As a further improvement of the utility model, the bolt passing through the waist-shaped hole is simultaneously threadedly assembled with the second through hole; the bolt passing through the truncated cone block is simultaneously threadedly assembled with the third through hole; and the motor is fixed to the fourth through hole by the bolt.

[0018] The beneficial effect of adopting the above technical solution is that the bolts and the fourth through holes are used to relatively fix the motor and the middle plate.

[0019] As a further improvement of the utility model, the bottom plate is provided with a recessed pit, in which a bolt is passed, and the bolt in the recessed pit is a hexagon socket bolt.

[0020] The beneficial effect of adopting the above technical solution is that the concave pit is used to bury the end of the bolt, and the bolt head does not protrude, so that the middle plate has a swing range on the bottom plate to avoid interference. The hexagon socket bolt is convenient for turning the knob bolt in a narrow space.

[0021] As a further improvement of the utility model, the fifth through hole and the waist-shaped hole are respectively located at the diagonals of the middle plate; the direction of the line connecting the fifth through hole and the waist-shaped hole is perpendicular to the length direction of the waist-shaped hole itself.

[0022] The beneficial effect of adopting the above technical solution is that the length direction of the waist-shaped hole nearly corresponds to the arc of the middle plate swinging within a small angle.

[0023] As a further improvement of the utility model, the bottom plate has a first hollow hole and a second hollow hole, the middle plate has a third hollow hole, the first hollow hole and the third hollow hole are axially overlapped; the third hollow hole has a step surface in contact with the motor surface.

[0024] The beneficial effect of adopting the above technical solution is that the step surface can have good axial and radial limiting capabilities.

[0025] A five-axis robot includes the motor tensioning mechanism mentioned above, and comprises: a plurality of rotary joints, each motor drives a rotary joint through a transmission belt.

[0026] The beneficial effect of adopting the above technical solution is that the position of the motor of the five-axis robot is stable during long-term operation and debugging is also convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a three-dimensional diagram of an implementation mode of the motor tensioning mechanism of the utility model;

[0029] Figure 2 It is a partial enlarged view of point A of an implementation mode of the motor tensioning mechanism of the utility model;

[0030] Figure 3 It is a three-dimensional diagram of an implementation mode of the motor tensioning mechanism of the utility model;

[0031] Figure 4 It is a three-dimensional diagram of an intermediate plate of an embodiment of the motor tensioning mechanism of the utility model;

[0032] Figure 5 It is a three-dimensional diagram of a bottom plate of an embodiment of the motor tensioning mechanism of the utility model;

[0033] Figure 6 It is a stereogram of an implementation mode of the five-axis robot of the utility model.

[0034] 1-motor; 2-reducer; 3-bottom plate; 31-first hollow hole; 32-second hollow hole; 33-depression pit; 34-first through hole; 35-second through hole; 36-third through hole; 4-middle plate; 41-third hollow hole; 411-step surface; 42-outer convex block; 421-waist-shaped hole; 422-slope surface; 43-fourth through hole; 44-fifth through hole; 5-transmission belt; 6-fixing block; 7-truncated cone block; 71-cut plane; 72-rotating surface; 8-bolt. DETAILED DESCRIPTION

[0035] The following is a further detailed description of the present invention in conjunction with specific embodiments:

[0036] In order to achieve the purpose of the utility model, a motor tensioning mechanism is provided, comprising: an intermediate plate 4, fixed to one end of a motor 1, the intermediate plate 4 having a waist-shaped hole 421 penetrating the intermediate plate 4 itself; one side edge of the intermediate plate 4 having a slope surface 422; a bottom plate, assembled with a side of the intermediate plate 4 away from the motor 1; a fixing block 6, fixed to a side of the bottom plate 3; a truncated cone block 7, located between the slope surface 422 and the fixing block 6, the truncated cone block 7 having a bolt 8 passing therethrough and threadedly assembled with the bottom plate 3; a corner of the intermediate plate 4 is axially connected with the bottom plate 3.

[0037] like Figure 2 As shown, the outer wall of the truncated cone block 7 includes a revolving surface 72 and a cutting plane 71. The revolving surface 72 is a convex curved surface. The cutting plane 71 is parallel to the axis of the truncated cone block 7. The revolving surface 72 is in line contact with the slope surface 422, and the cutting plane 71 is in surface contact with the side surface of the fixed block 6.

[0038] The beneficial effect of adopting the above technical solution is: this technical solution, as a fixing mechanism of the motor, not only ensures the fine-tuning ability of the motor position, but also ensures the long-term position stability of the motor. First, the waist-shaped hole ensures the fine-tuning ability of the motor position, and the fine-tuning range of the motor depends on the length of the waist-shaped hole. Secondly, one corner of the middle plate is connected to the bottom plate axis, and the two have a certain degree of freedom of swinging within a certain angle. This swing is achieved by squeezing the ramp surface by the truncated cone block. Thirdly, the line contact extrusion between the rotating surface and the ramp surface can amplify the extrusion force, and the surface contact between the cut surface and the fixed block provides strength for the reaction support force. Finally, by using the knob truncated cone block to achieve the distance between the ramp surface and the fixed block, the position of the motor can be fine-tuned, and then the tensioning effect of components such as the transmission belt or rotating chain connected to the motor can be achieved.

[0039] In other embodiments of the present invention, the middle plate 4 has an integrated outer protrusion 42, the waist-shaped hole 421 is located inside the outer protrusion 42, and the slope surface 422 is located on one side edge of the outer protrusion 42; the length direction of the waist-shaped hole 421 forms an angle with the edge direction of the outer protrusion 42 where the slope surface 422 is located.

[0040] The beneficial effect of adopting the above technical solution is that the slope surface is equivalent to a single-edged blade. The outer convex block is convenient for arranging the waist-shaped hole and the slope surface to avoid being covered by the motor.

[0041] In some other embodiments of the present invention, the outer diameter of the truncated cone block 7 gradually decreases in the direction approaching the bottom plate 3; the slope surface 422 forms an angle greater than 45° with the plane of the bottom plate 3.

[0042] The beneficial effect of adopting the above technical solution is that the side surface of the truncated cone block and the slope surface are in line contact and also in sliding friction.

[0043] In some other embodiments of the present invention, the fixing block 6 is assembled with the base plate 3 by a plurality of bolts 8 .

[0044] The beneficial effect of adopting the above technical solution is that the fixing block needs to be in a stable relative position to the base plate, so a large number of bolts are required.

[0045] like Figure 4 , Figure 5 As shown, in other embodiments of the present invention, the bottom plate 3 has a first through hole 34, a second through hole 35, and a third through hole 36; the middle plate 4 has a plurality of fourth through holes 43 and a fifth through hole 44; the first through hole 34 and the fifth through hole 44 axially overlap and are axially connected.

[0046] The beneficial effect of adopting the above technical solution is that the bottom plate rotates around the first through hole as the center of rotation, and the middle plate also rotates around the fifth through hole as the center of rotation.

[0047] like Figure 4 , Figure 5As shown, in other embodiments of the utility model, the bolt 18 passing through the waist-shaped hole 421 is simultaneously threadedly assembled with the second through hole 35; the bolt 8 passing through the truncated cone block 7 is simultaneously threadedly assembled with the third through hole 36; the motor 1 is fixed to the fourth through hole 43 by the bolt 8.

[0048] The beneficial effect of adopting the above technical solution is that the bolts and the fourth through holes are used to relatively fix the motor and the middle plate.

[0049] like Figure 5 As shown, in some other embodiments of the present invention, the bottom plate 3 has a recessed pit 33, and a bolt 8 is inserted into the recessed pit 33. The bolt 8 in the recessed pit 33 is a hexagon socket bolt.

[0050] The beneficial effect of adopting the above technical solution is that the concave pit is used to bury the end of the bolt, and the bolt head does not protrude, so that the middle plate has a swing range on the bottom plate to avoid interference. The hexagon socket bolt is convenient for turning the knob bolt in a narrow space.

[0051] In other embodiments of the present invention, the fifth through hole 44 and the waist-shaped hole 421 are respectively located at opposite corners of the middle plate 4 ; the connecting direction of the fifth through hole 44 and the waist-shaped hole 421 is perpendicular to the length direction of the waist-shaped hole 421 itself.

[0052] The beneficial effect of adopting the above technical solution is that the length direction of the waist-shaped hole nearly corresponds to the arc of the middle plate swinging within a small angle.

[0053] like Figure 4 As shown, in other embodiments of the present invention, the base plate 3 has a first hollow hole 31 and a second hollow hole 32, the middle plate 4 has a third hollow hole 41, and the first hollow hole 31 and the third hollow hole 41 are axially overlapped; the third hollow hole 41 has a step surface 411 in contact with the motor 1.

[0054] The beneficial effect of adopting the above technical solution is that the step surface can have good axial and radial limiting capabilities.

[0055] like Figure 6 As shown, in other embodiments of the present invention, a five-axis robot includes the motor tensioning mechanism mentioned above, including: a plurality of rotary joints, each motor 1 drives a rotary joint through a transmission belt 5.

[0056] The beneficial effect of adopting the above technical solution is that the position of the motor of the five-axis robot is stable during long-term operation and debugging is also convenient.

[0057] like Figure 1 and Figure 3 As shown, the motor 1 is connected to the reducer 2 via a transmission belt 5. The reducer 2 is coaxially arranged with the second hollow hole 32.

[0058] Along the axis in one direction, the motor 1, the middle plate 4, the bottom plate 3, the transmission belt 5 and the reducer 2 are arranged in sequence.

[0059] like Figure 6 As shown, the five-axis robot has five rotational mechanical degrees of freedom, and the axes between adjacent motors 1 are perpendicular to each other.

[0060] like Figure 4 As shown, the bolts 8 are all hexagon socket bolts of the same specification.

[0061] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with this technology to understand the content of the utility model and implement it. They cannot be used to limit the protection scope of the utility model. All equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A motor tensioning mechanism, characterized in that: include: The middle plate is fixed to one end of the motor, and the middle plate has a waist-shaped hole penetrating the middle plate itself; one side edge of the middle plate has a slope surface; The bottom plate is assembled with the side of the middle plate facing away from the motor; A fixing block, fixed to one side of the bottom plate; A truncated cone block is located between the slope surface and the fixed block, wherein the truncated cone block is provided with bolts and is threadedly assembled with the bottom plate; One corner of the middle plate is axially connected to the bottom plate; the outer wall of the truncated cone block includes a revolving surface and a cutting plane, the revolving surface is a convex curved surface, the cutting plane is parallel to the axis of the truncated cone block, the revolving surface is in line contact with the slope surface, and the cutting plane is in surface contact with the side elevation of the fixed block.

2. The motor tensioning mechanism according to claim 1, characterized in that: The middle plate has an integrated outer convex block, the waist-shaped hole is located in the outer convex block, and the slope surface is located on one side edge of the outer convex block; The length direction of the waist-shaped hole forms an angle with the edge direction of the outer protrusion where the slope surface is located.

3. The motor tensioning mechanism according to claim 1, characterized in that: The outer diameter of the truncated cone block gradually decreases in the direction approaching the bottom plate; The slope surface forms an angle greater than 45° with the bottom plate plane.

4. The motor tensioning mechanism according to claim 1, characterized in that: The fixing block is assembled with the base plate through a plurality of bolts.

5. The motor tensioning mechanism according to claim 1, characterized in that: The bottom plate has a first through hole, a second through hole, and a third through hole; the middle plate has a plurality of fourth through holes and a fifth through hole; The first through hole and the fifth through hole axially overlap and are axially connected.

6. The motor tensioning mechanism according to claim 5, characterized in that: The bolt passing through the waist-shaped hole is simultaneously threadedly assembled with the second through hole; The bolt passing through the truncated cone block is simultaneously threadedly assembled with the third through hole; The motor is fixed to the fourth through hole via bolts.

7. The motor tensioning mechanism according to claim 1, characterized in that: The bottom plate is provided with a recessed pit, in which a bolt is passed, and the bolt in the recessed pit is a hexagon socket bolt.

8. The motor tensioning mechanism according to claim 5, characterized in that: The fifth through hole and the waist-shaped hole are respectively located at the diagonal corners of the middle plate; The direction of the line connecting the fifth through hole and the waist-shaped hole is perpendicular to the length direction of the waist-shaped hole itself.

9. The motor tensioning mechanism according to claim 1, characterized in that: The bottom plate has a first hollow hole and a second hollow hole, the middle plate has a third hollow hole, and the first hollow hole and the third hollow hole overlap axially; The third hollow hole has a stepped surface in contact with the motor surface.

10. A five-axis robot, characterized in that: include: A plurality of rotary joints, each rotary joint is driven by a motor through a transmission belt, and the motor adopts a motor tensioning mechanism as described in any one of claims 1 to 9.

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