Robot internal motor fixing mechanism and high-speed SCARA robot

Abstract

The utility model discloses a robot internal motor fixing mechanism and a high-speed SCARA robot, the robot internal motor fixing mechanism comprises a bottom plate, the bottom plate is fixed with one end of a motor, the bottom plate is provided with a plurality of kidney-shaped holes penetrating through the bottom plate, and one side of the bottom plate is integrally and vertically provided with a right-angle hook in a protruding mode; the fixing frame surrounds the side wall of the motor, an extension section integrally protrudes out of the fixing frame, a fixing plate is fixed to the extension section, and a PCB assembly can be assembled on the fixing plate; the kidney-shaped holes are parallel to each other in the length direction, bolts penetrate through the kidney-shaped holes and the right-angle hooks, and the axes of the bolts assembled on the right-angle hooks are parallel to the length directions of the kidney-shaped holes. 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 SCARA robots, in particular to a motor fixing mechanism inside a robot and a high-speed SCARA robot. Background Art

[0002] SCARA is the abbreviation of Selective Compliance Assembly Robot Arm, which means a robot arm used for assembly work. It generally has three rotation joints and is most suitable for plane positioning.

[0003] Each rotary joint of a SCARA robot generally corresponds to a motor. The motor directly participates in the force application 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, the SCARA robot requires the motor 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 tightness range. Utility Model Content

[0005] The problem to be solved by the utility model is to provide a robot internal motor fixing mechanism and a high-speed SCARA 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 robot internal motor fixing mechanism and a high-speed SCARA robot. In order to achieve the above objectives, the technical solution adopted by the utility model to solve the technical problems is:

[0007] A robot internal motor fixing mechanism comprises: a bottom plate fixed to one end of a motor, the bottom plate having a plurality of waist-shaped holes penetrating the bottom plate itself, and one side of the bottom plate also having a right-angle hook vertically protruding therefrom; a fixing frame surrounding the side wall of the motor, the fixing frame having an extension section protruding therefrom, the extension section having a fixing plate fixed thereto, and a PCB circuit board assembly being assembled on the fixing plate; the length directions of all the waist-shaped holes are parallel to each other, the waist-shaped holes and the right-angle hooks are both penetrated by bolts, and the axes of the bolts assembled on the right-angle hooks are parallel to the length directions of the waist-shaped holes.

[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 and the bolt ensure the fine-tuning ability of the motor position, and the fine-tuning range of the motor depends on the length range of the waist-shaped hole. Secondly, the right-angle hook and the bolt directly resist the applied force, thereby providing a strong reaction support force. Because the axial compressive resistance of the bolt is much greater than the radial friction force when the bolt contacts the base plate. Finally, the base plate plays the main role in fixing the motor, and the fixing frame can also play an auxiliary role in fixing, and can also fix the PCB circuit board assembly together, and the PCB circuit board assembly can be electrically connected to the motor.

[0009] As a further improvement of the utility model, the number of the waist-shaped holes is not less than three, and the waist-shaped holes are distributed on both sides of the motor.

[0010] The beneficial effect of adopting the above technical solution is that the number and layout of the waist-shaped holes ensure the firm assembly of the motor.

[0011] As a further improvement of the present invention, the axis of the bolt assembled by the right-angle hook intersects the axis of the motor perpendicularly.

[0012] The beneficial effect of adopting the above technical solution is that the reaction force resisted by the bolt is as close as possible to the center of gravity of the motor.

[0013] As a further improvement of the present invention, the fixing frame includes a palm-jointing section, which is formed by two ends of the fixing frame extending in the same direction and contacting each other, and the palm-jointing sections are also assembled with each other by bolts.

[0014] The beneficial effect of adopting the above technical solution is that the assembly form of the joint section and the bolt is convenient for tightening the inner cavity size of the fixing frame, thereby tightening and fixing the outer wall of the motor.

[0015] As a further improvement of the utility model, the extension section is assembled with the fixing plate by clamping, and the length direction of the extension section is parallel to the plane where the fixing plate is located.

[0016] The beneficial effect of adopting the above technical solution is: ensuring the integrity of the joint between the fixing frame and the fixing plate.

[0017] As a further improvement of the present invention, the fixing plate is provided with a support frame spanning and connecting two side edges of the fixing plate itself.

[0018] The beneficial effect of adopting the above technical solution is that the supporting feet can directly ensure the position stability of the fixing plate nearby.

[0019] As a further improvement of the utility model, the fixing plate is provided with a wire-passing frame which spans and connects two sides of the fixing plate itself, the support frame and the wire-passing frame are respectively located on two sides of the fixing plate, and the wire-passing frame is provided with a plurality of penetrating wire-passing holes.

[0020] The beneficial effect of adopting the above technical solution is that the wire holes of the wire rack are convenient for the wires to pass through, and the wires are used to electrically connect the components in the PCB circuit board assembly.

[0021] As a further improvement of the utility model, the bottom plate and the fixing frame are both located inside the shell, and the inner wall of the shell is integrally protruded with a first fixing column and a second fixing column; the top surface of the first fixing column is provided with an internal threaded hole, and the bolt passing through the waist-shaped hole is assembled with the internal threaded hole at the same time; the side surface of the second fixing column is provided with a chamfered plane, and the chamfered plane is parallel to the axis of the second fixing column itself; one end of the bolt passing through the right-angle hook is against the chamfered plane.

[0022] The beneficial effect of adopting the above technical solution is that the housing, the first fixing column and the second fixing column are used as an integrated structural member to provide a fixing position for each bolt.

[0023] As a further improvement of the present invention, the middle portion of the bottom plate is provided with a hollow hole through which the output shaft of the power supply machine passes.

[0024] A high-speed SCARA robot includes the above-mentioned internal motor fixing mechanism of the robot, including: a plurality of rotary joints, each motor drives a rotary joint through a transmission belt.

[0025] The beneficial effect of adopting the above technical solution is that the bolts of the waist-shaped hole and the right-angle hook are respectively used to overcome the problem of loose position of the motor caused by the pulling of the transmission belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 This is an application schematic diagram of an implementation mode of the high-speed SCARA robot of the utility model;

[0028] Figure 2 This is a partial enlarged view of point A of an implementation method of the internal motor fixing mechanism of the robot of the utility model;

[0029] Figure 3 This is an application schematic diagram of an implementation method of the internal motor fixing mechanism of the robot of the utility model;

[0030] Figure 4 This is an application schematic diagram of an implementation method of the internal motor fixing mechanism of the robot of the utility model;

[0031] Figure 5 It is a three-dimensional diagram of a fixing frame and a bottom plate of an embodiment of the internal motor fixing mechanism of the robot of the utility model;

[0032] Figure 6 It is a partial three-dimensional diagram of a housing of an embodiment of the internal motor fixing mechanism of a robot of the utility model;

[0033] Figure 7 It is a stereogram of an implementation mode of the high-speed SCARA robot of the utility model.

[0034] 1-PCB circuit board assembly; 2-motor; 3-housing; 31-first fixing column; 311-internal threaded hole; 32-second fixing column; 321-cut surface; 4-fixing frame; 41-closed loop section; 42-hand-jointed section; 43-extension section; 5-bottom plate; 51-waist-shaped hole; 52-right-angle hook; 53-hollow hole; 6-fixing plate; 7-support frame; 8-wire frame; 81-wire hole; 9-bolt; 10-transmission belt. 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 robot internal motor fixing mechanism includes: a base plate 5, fixed to one end of a motor 2, the base plate 5 has a plurality of waist-shaped holes 51 that penetrate the base plate 5 itself, and one side of the base plate 5 is also vertically protruded with a right-angle hook 52; a fixing frame 4, surrounding the side wall of the motor 2, the fixing frame 4 is integrally protruded with an extension section 43, the extension section 43 is fixed with a fixing plate 6, and a PCB circuit board assembly 1 can be assembled on the fixing plate 6; all the waist-shaped holes 51 are parallel to each other in their respective length directions, and the waist-shaped holes 51 and the right-angle hooks 52 are both penetrated with bolts 9, and the axis of the bolt 9 assembled with the right-angle hook 52 is parallel to the length direction of the waist-shaped hole 51.

[0037] 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 and the bolt ensure the fine-tuning ability of the motor position, and the fine-tuning range of the motor depends on the length range of the waist-shaped hole. Secondly, the right-angle hook and the bolt directly resist the applied force, thereby providing a strong reaction support force. Because the axial compressive resistance of the bolt is much greater than the radial friction force when the bolt contacts the base plate. Finally, the base plate plays the main role in fixing the motor, and the fixing frame can also play an auxiliary role in fixing, and can also fix the PCB circuit board assembly together, and the PCB circuit board assembly can be electrically connected to the motor.

[0038] In some other embodiments of the present invention, the number of the waist-shaped holes 51 is not less than three, and the waist-shaped holes 51 are distributed on both sides of the motor 2 .

[0039] The beneficial effect of adopting the above technical solution is that the number and layout of the waist-shaped holes ensure the firm assembly of the motor.

[0040] In some other embodiments of the present invention, the axis of the bolt 9 assembled with the right-angle hook 52 intersects the axis of the motor 2 at right angles.

[0041] The beneficial effect of adopting the above technical solution is that the reaction force resisted by the bolt is as close as possible to the center of gravity of the motor.

[0042] In some other embodiments of the present invention, the fixing frame 4 includes a palm section 42 . The palm section 42 is formed by two ends of the fixing frame 4 extending in the same direction and contacting each other. The palm sections 42 are also assembled with each other by bolts 9 .

[0043] The structure of the palm-joining section 42 is similar to the shape of two palms joined together, so it is called the palm-joining section 42. The fixing frame 4 also includes a closed loop section 41 surrounding the motor 2, and the palm-joining section 42 and the extension section 31 are respectively located on both sides of the closed loop section 41.

[0044] The beneficial effect of adopting the above technical solution is that the assembly form of the joint section and the bolt is convenient for tightening the inner cavity size of the fixing frame, thereby tightening and fixing the outer wall of the motor.

[0045] In some other embodiments of the present invention, the extension section 43 is snap-fitted and assembled with the fixing plate 6 , and the length direction of the extension section 43 is parallel to the plane where the fixing plate 6 is located.

[0046] The beneficial effect of adopting the above technical solution is: ensuring the integrity of the joint between the fixing frame and the fixing plate.

[0047] In some other embodiments of the present invention, the fixing plate 6 is provided with a support frame 7 spanning and connecting two sides of the fixing plate 6 itself.

[0048] The beneficial effect of adopting the above technical solution is that the supporting feet can directly ensure the position stability of the fixing plate nearby.

[0049] like Figure 3 As shown, in other embodiments of the present invention, the fixed plate 6 has a wire rack 8 that spans and connects both sides of the fixed plate 6 itself, the support frame 7 and the wire rack 8 are respectively located on both sides of the fixed plate 6, and the wire rack 8 has a plurality of penetrating wire holes 81.

[0050] The beneficial effect of adopting the above technical solution is that the wire holes of the wire rack are convenient for the wires to pass through, and the wires are used to electrically connect the components in the PCB circuit board assembly.

[0051] like Figure 6As shown, in other embodiments of the utility model, the base plate 5 and the fixing frame 4 are both located inside the shell 3, and the inner wall of the shell 3 is integrally protruded with a first fixing column 31 and a second fixing column 32; the top surface of the first fixing column 31 has an internal threaded hole 311, and the bolt 9 passing through the waist-shaped hole 51 is assembled with the internal threaded hole 311 at the same time; the side surface of the second fixing column 32 has a chamfered surface 321, and the chamfered surface 321 is parallel to the axis of the second fixing column 32 itself; one end of the bolt 9 passing through the right-angle hook 52 abuts against the chamfered surface 321.

[0052] The beneficial effect of adopting the above technical solution is that the housing, the first fixing column and the second fixing column are used as an integrated structural member to provide a fixing position for each bolt.

[0053] like Figure 5 As shown, in some other embodiments of the present invention, the middle of the bottom plate 5 is provided with a hollow hole 53 through which the output shaft of the power supply machine 2 passes.

[0054] like Figure 7 As shown, a high-speed SCARA robot includes the robot internal motor fixing mechanism mentioned above, including: a plurality of rotary joints, each motor 2 drives a rotary joint through a transmission belt 10.

[0055] The high-speed SCARA robot includes three rotating joints. The length direction of the transmission belt 10 and the length direction of the waist-shaped hole 51 are at a non-right angle.

[0056] The beneficial effect of adopting the above technical solution is that the bolts of the waist-shaped hole and the right-angle hook are respectively used to overcome the problem of loose position of the motor caused by the pulling of the transmission belt.

[0057] In order to show the internal structure, Figure 7 A small portion of the housing of a high-speed SCARA robot is hidden in the image. Figure 1 The upper part of the housing 3 is hidden. Figure 3 and Figure 4 It is in Figure 1 The foundation hides all the shells 3. Figure 6 It is just a corner of the shell 3.

[0058] 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 robot internal motor fixing mechanism, characterized in that: include: A bottom plate is fixed to one end of the motor, the bottom plate is provided with a plurality of waist-shaped holes penetrating the bottom plate itself, and one side of the bottom plate is also provided with a right-angle hook vertically protruding therefrom; A fixing frame surrounds the side wall of the motor, the fixing frame is integrally protruded with an extension section, the extension section is fixed with a fixing plate, and the fixing plate can be assembled with a PCB circuit board assembly; The length directions of all waist-shaped holes are parallel to each other. Bolts are passed through the waist-shaped holes and right-angle hooks. The axes of the bolts assembled on the right-angle hooks are parallel to the length directions of the waist-shaped holes.

2. The robot internal motor fixing mechanism according to claim 1, characterized in that: The number of the waist-shaped holes is not less than three, and the waist-shaped holes are distributed on both sides of the motor.

3. The robot internal motor fixing mechanism according to claim 1, characterized in that: The axis of the bolt assembled by the right-angle hook intersects the axis of the motor perpendicularly.

4. The robot internal motor fixing mechanism according to claim 1, characterized in that: The fixing frame comprises a palm-jointing section, wherein the palm-jointing section is formed by two ends of the fixing frame extending in the same direction and contacting with each other, and the palm-jointing sections are also assembled with each other by bolts.

5. The robot internal motor fixing mechanism according to claim 1, characterized in that: The extension section is assembled with the fixing plate by clamping, and the length direction of the extension section is parallel to the plane where the fixing plate is located.

6. The robot internal motor fixing mechanism according to claim 1, characterized in that: The fixing plate is provided with a support frame which spans and connects two sides of the fixing plate.

7. The robot internal motor fixing mechanism according to claim 6, characterized in that: The fixing plate is provided with a wire-passing frame which spans and connects two sides of the fixing plate itself; the supporting frame and the wire-passing frame are respectively located on two sides of the fixing plate; and the wire-passing frame is provided with a plurality of penetrating wire-passing holes.

8. The robot internal motor fixing mechanism according to claim 1, characterized in that: The bottom plate and the fixing frame are both located in the shell, and the inner wall of the shell is integrally protruded with a first fixing column and a second fixing column; The top surface of the first fixing column is provided with an internal threaded hole, and the bolt passing through the waist-shaped hole is assembled with the internal threaded hole at the same time; The side surface of the second fixing column is provided with a beveled surface, and the beveled surface is parallel to the axis of the second fixing column itself; one end of the bolt passing through the right-angle hook abuts against the beveled surface.

9. The robot internal motor fixing mechanism according to claim 1, characterized in that: The middle part of the bottom plate is provided with a hollow hole through which the output shaft of the power supply machine passes.

10. A high-speed SCARA 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 the robot internal motor fixing mechanism as described in any one of claims 1 to 9.

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