Motor assembly and rope-driven robot

Abstract

The utility model provides a motor assembly and a rope-driven robot, relates to the technical field of robots, and is designed to solve the problem that motors of an existing rope-driven robot are usually distributed at joint positions or arm positions in a scattered mode, so that the weight and the size of an arm are large. The motor assembly comprises a mounting frame and a plurality of motors, the mounting frame comprises a first mounting plate and a second mounting plate which are opposite and spaced in the first direction, and a first connecting plate and a second connecting plate which are opposite and spaced in the second direction; the first mounting plate, the first connecting plate, the second mounting plate and the second connecting plate are detachably connected in sequence and define a mounting cavity with two open ends; one part of the motors are arranged on the first mounting plate, the other part of the motors are arranged on the second mounting plate, a motor body of each motor is contained in the mounting cavity, and a motor shaft of each motor extends out of the mounting cavity in the direction away from the mounting cavity. The motor is integrated and arranged on the trunk, so that the weight and the size of the arm are reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, a kind of motor assembly and rope-driven robot. BACKGROUND

[0002] The power of existing rope-driven robot is often provided by motor, since the functions to be achieved by rope-driven robot are numerous, therefore, multiple motors are arranged in rope-driven robot to realize different functions. However, the motors of existing rope-driven robot are usually scattered arranged at joint position or arm position, which leads to large weight and size of the arm of rope-driven robot. SUMMARY

[0003] The first object of the utility model is to provide a kind of motor assembly, to solve the technical problem that the motor of existing rope-driven robot is usually scattered arranged at joint position or arm position, leading to large weight and size of the arm.

[0004] The motor assembly provided by the utility model is installed in the trunk of rope-driven robot, the motor assembly includes mounting frame and multiple motors, the mounting frame includes first mounting plate and second mounting plate which are opposite and spaced along first direction, and first connecting plate and second connecting plate which are opposite and spaced along second direction, the second direction is perpendicular to the first direction, the first mounting plate, the first connecting plate, the second mounting plate and the second connecting plate are sequentially detachably connected and enclose mounting cavity with both ends open;A part of the motor is arranged on the first mounting plate, and another part of the motor is arranged on the second mounting plate, wherein the body of each motor is accommodated in the mounting cavity, the motor shaft of each motor is stretched out to the outside of the mounting cavity in the direction away from the mounting cavity, and the motor shaft of each motor is fixedly sleeved with winding rope wheel;The first connecting plate is provided with fixing part for connecting with the trunk.

[0005] Further, one side of the first mounting plate and the second mounting plate away from the mounting cavity is fixedly provided with support frame, the position of the support frame corresponds to the position of the motor, and the winding rope wheel is rotatably supported on the corresponding support frame.

[0006] Further, the support frame includes first support plate and second support plate which are oppositely arranged, and bearing seat, the bearing seat is detachably connected to one end of the first support plate and second support plate away from the mounting cavity, and the winding rope wheel is rotatably installed in the bearing seat through bearing.

[0007] Further, the bearing seat is fixedly provided with rope pipe fixing column, and the rope pipe fixing column is used for fixing the rope pipe of the driving rope of the rope-driven robot.

[0008] Further, the rope tube fixing column extends in a direction away from the torso in a top-down direction.

[0009] Further, the bearing seat is a frame structure.

[0010] Further, the fixing part comprises a first fixing plate and a second fixing plate connected vertically, and a reinforcing rib fixedly connecting the first fixing plate and the second fixing plate, wherein the first fixing plate is attached to the first connecting plate and detachably connected, and the second fixing plate is used for fixedly connecting with the torso.

[0011] Further, the first mounting plate and the second mounting plate are both strip-shaped plate structures, a plurality of the motors arranged on the first mounting plate are arranged in a linear array along the length direction of the first mounting plate, and a plurality of the motors arranged on the second mounting plate are arranged in a linear array along the length direction of the second mounting plate.

[0012] Further, the first connecting plate and the second connecting plate are both provided with lightening holes.

[0013] The motor assembly brings the beneficial effects that:

[0014] The motor assembly integrates a plurality of motors together through the mounting frame, specifically, a part of the motors are mounted on the first mounting plate, and another part of the motors are mounted on the second mounting plate, and then the first mounting plate and the second mounting plate are detachably connected together by the first connecting plate and the second connecting plate, so that the motor bodies are located in the mounting cavity formed by the first mounting plate, the first connecting plate, the second mounting plate and the second connecting plate, and the motor shafts of the motors extend away from the mounting cavity, thereby realizing the integrated arrangement of the plurality of motors.

[0015] The motor assembly is installed on the torso of the rope-driven robot as a whole by the fixing part arranged on the first connecting plate, so that it can be installed as an independent module, which is convenient to install.

[0016] In addition, by accommodating the motor bodies in the mounting cavity and extending the motor shafts to the outside of the mounting cavity, on the one hand, the motor bodies can be isolated from other structures in the rope-driven robot, which protects the motor bodies, and on the other hand, the connection operation of the driving ropes can be performed outside the mounting cavity, which is convenient for arranging the driving ropes.

[0017] The second purpose of the utility model provides a kind of rope-driven robot, to solve the technical problems that the motor of existing rope-driven robot is usually dispersedly arranged in joint position or arm position, resulting in the weight and size of arm are larger.

[0018] The utility model provides a kind of rope-driven robot, including torso and at least one set of above-mentioned motor assembly, the motor assembly is all installed in the torso.

[0019] The utility model provides a kind of rope-driven robot, including torso and at least one set of above-mentioned motor assembly, the motor assembly is all installed in the torso.

[0020] By being provided with above-mentioned motor assembly in rope-driven robot, correspondingly, the rope-driven robot has all advantages of above-mentioned motor assembly, and here is not repeated. DRAWINGS

[0021] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the embodiment or prior art description will be simply introduced below, and obviously, the drawings in the following description are only the embodiment of the utility model, and for the ordinary skilled in the art, other drawings can be obtained according to the provided drawings without creating labor.

[0022] Figure 1 It is one of the schematic diagram of the partial structure of the rope-driven robot provided by the embodiment of the utility model;

[0023] Figure 2 It is the second schematic diagram of the partial structure of the rope-driven robot provided by the embodiment of the utility model;

[0024] Figure 3 It is one of the schematic diagram of the structure of motor assembly provided by the embodiment of the utility model;

[0025] Figure 4 It is the second schematic diagram of the structure of motor assembly provided by the embodiment of the utility model.

[0026] Mark of drawing:

[0027] 010-motor assembly;020-torso;030-arm;

[0028] 100-mounting frame;200-motor;300-winding rope wheel;400-support frame;

[0029] 110-first mounting plate;120-second mounting plate;130-first connecting plate;140-second connecting plate;150-fixing portion;151-first fixed plate;152-second fixed plate;153-stiffener;160-weight reduction hole;

[0030] 410 - first support plate; 420 - second support plate; 430 - bearing seat; 440 - rope tube fixing column. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0032] Figure 1 One of the schematic diagrams of the local structure of the rope-driven robot provided by the present embodiment; Figure 2 One of the schematic diagrams of the local structure of the rope-driven robot provided by the present embodiment; Figure 1 and Figure 2 As shown in the present embodiment, a rope-driven robot comprises a trunk 020 and at least one motor assembly 010, wherein the motor assembly 010 is installed on the trunk 020.

[0033] The rope-driven robot installs the motor assembly 010 as an independent module, which is convenient to operate. Moreover, by arranging the weight of the motor 200 on the trunk 020, the problem of large weight and size of the arm 030 caused by the dispersed arrangement of the motor 200 on the joint or the arm 030 is avoided, and the overall stability of the rope-driven robot is improved.

[0034] The specific structure of the motor assembly 010 will be described in detail in the following text.

[0035] Figure 3 One of the schematic diagrams of the structure of the motor assembly 010 provided by the present embodiment; Figure 4 One of the schematic diagrams of the structure of the motor assembly 010 provided by the present embodiment; Figure 3 and Figure 4As shown, the embodiment also provides a motor assembly 010, comprising a mounting frame 100 and a plurality of motors 200, specifically, the mounting frame 100 comprises a first mounting plate 110 and a second mounting plate 120 which are opposite and spaced apart along a first direction, and a first connecting plate 130 and a second connecting plate 140 which are opposite and spaced apart along a second direction perpendicular to the first direction, the first mounting plate 110, the first connecting plate 130, the second mounting plate 120 and the second connecting plate 140 are sequentially detachably connected and enclose a mounting cavity with both ends open; a part of the motors 200 are arranged on the first mounting plate 110, and another part of the motors 200 are arranged on the second mounting plate 120, wherein the body of each motor 200 is accommodated in the mounting cavity, the motor shaft of each motor 200 extends to the outside of the mounting cavity in a direction away from the mounting cavity, and the motor shaft of each motor 200 is fixedly sleeved with a winding wheel 300; the first connecting plate 130 is provided with a fixing portion 150 for connecting with the trunk 020.

[0036] The motor assembly 010 integrates a plurality of motors 200 together through the mounting frame 100, specifically, a part of the motors 200 are mounted on the first mounting plate 110, and another part of the motors 200 are mounted on the second mounting plate 120, and then the first mounting plate 110 and the second mounting plate 120 are detachably connected together by the first connecting plate 130 and the second connecting plate 140, so that the body of the motor 200 is in the mounting cavity enclosed by the first mounting plate 110, the first connecting plate 130, the second mounting plate 120 and the second connecting plate 140, and the motor shaft of the motor 200 extends in a direction away from the mounting cavity, thereby realizing integrated arrangement of the plurality of motors 200. Wherein, the outwardly extending motor shaft is fixedly sleeved with a winding wheel 300, which is convenient for winding and fixing the driving rope of the rope-driven robot.

[0037] The motor assembly 010 has the above arrangement, which, in use, is integrally mounted on the trunk 020 of the rope-driven robot by the fixing portion 150 of the first connecting plate 130, so that it can be mounted as an independent module, which is convenient to install. Moreover, the layout of concentrating the weight of the motor 200 on the trunk 020 not only improves the problem of large weight and size of the arm 030 caused by the dispersed arrangement of the motor 200 on the joint or the arm 030 in the prior art, but also makes the overall stability of the rope-driven robot better.

[0038] In addition, by accommodating the body of each motor 200 in the mounting cavity and extending the motor shaft to the outside of the mounting cavity, on the one hand, the body of the motor 200 can be isolated from other structures in the rope-driven robot, which protects the body of the motor 200, and on the other hand, the connection operation of the driving rope can be performed outside the mounting cavity, which is convenient for arranging the driving rope.

[0039] It should be noted that the "first direction" can be represented by the arrow ab in Figure 4 , and the "second direction" can be represented by the arrow cd in Figure 4 .

[0040] Please continue to refer to Figure 3 and Figure 4 , in this embodiment, the first mounting plate 110 and the second mounting plate 120 are both strip-shaped plate structures, the plurality of motors 200 provided on the first mounting plate 110 are arranged in a linear array along the length direction of the first mounting plate 110, and the plurality of motors 200 provided on the second mounting plate 120 are arranged in a linear array along the length direction of the second mounting plate 120.

[0041] By arranging the plurality of motors 200 provided on both the first mounting plate 110 and the second mounting plate 120 in a linear array, on the one hand, the motor assembly 010 as a whole can be made thinner, thereby reducing the impact on the thickness of the torso 020, and on the other hand, it also makes the connection of the driving ropes to the winding wheels 300 on the motor shafts more orderly and reduces the risk of mutual entanglement.

[0042] Please continue to refer to Figure 3 and Figure 4 , in this embodiment, the number of motors 200 is six, of which three are provided on the first mounting plate 110 and three are provided on the second mounting plate 120.

[0043] This arrangement of an equal number of motors 200 provided on both the first mounting plate 110 and the second mounting plate 120 makes the weight on both sides of the motor assembly 010 substantially consistent, thereby ensuring the balance after installation on the torso 020.

[0044] It should be noted that in other embodiments, the motors 200 can also be arranged in other numbers and arrangements.

[0045] Please continue to refer to Figure 3 and Figure 4 , in this embodiment, the first mounting plate 110 and the second mounting plate 120 are both fixedly provided with a support frame 400 on the side facing away from the mounting cavity, the position of the support frame 400 corresponds to the position of the motor 200, and the winding wheel 300 is rotatably supported on the corresponding support frame 400.

[0046] The provision of the support frame 400 enables the rotational installation of the winding wheel 300, thereby providing a fulcrum for the motor shaft at the position of the winding wheel 300, avoiding the shaking caused by the suspension of the winding wheel 300, and thereby ensuring the stability of the motor assembly 010 during operation.

[0047] Please continue to refer to Figure 4In the embodiment, the support frame 400 can include oppositely arranged first and second support plates 410 and 420, and a bearing seat 430. Specifically, the bearing seat 430 is detachably connected to one end of the first and second support plates 410 and 420 away from the mounting cavity, and the rope wheel 300 is rotatably mounted on the bearing seat 430 through a bearing.

[0048] The support frame 400 has the above arrangement, which not only has good support stability, but also has a simple structure.

[0049] Specifically, the bearing can be a rolling bearing, the outer ring of the bearing is fixedly connected to the bearing seat 430, and the inner ring of the bearing is fixedly sleeved on the rope wheel 300 to achieve rotatable mounting of the rope wheel 300 on the bearing seat 430.

[0050] Please continue to refer to Figure 3 and Figure 4 In the embodiment, the bearing seat 430 has a frame structure.

[0051] By arranging the bearing seat 430 as a frame structure, on the one hand, the weight of the bearing seat 430 can be reduced, which is conducive to lightweight design of the motor assembly 010 of the embodiment, and on the other hand, it is also convenient to observe the rope winding from the outside of the bearing seat 430.

[0052] Please continue to refer to Figure 3 and Figure 4 In the embodiment, the surface of the first support plate 410 facing the second support plate 420 and the surface of the second support plate 420 facing the first support plate 410 are both provided with a limiting step, and the bearing seat 430 is supported on the limiting step.

[0053] Please continue to refer to Figure 3 and Figure 4 In the embodiment, the bearing seat 430 is fixedly provided with a rope tube fixing column 440, wherein the rope tube fixing column 440 is used to fix the rope tube of the driving rope of the rope-driven robot.

[0054] The above arrangement of the rope tube fixing column 440 can fix the rope tube of the driving rope, so that the end of the rope tube can always remain in this position, avoiding exposure of the driving rope due to movement of the rope tube.

[0055] Please continue to refer to Figure 3 and Figure 4 In the embodiment, in a direction from bottom to top, the rope tube fixing column 440 extends in a direction away from the torso 020. That is, the rope tube fixing column 440 is arranged obliquely upward.

[0056] The rope tube fixing column 440 has the form of arrangement, on the one hand, the length of the rope tube corresponding to the motor 200 for controlling the action of the arm 030 can be reduced, and on the other hand, the bending degree of the rope tube can be reduced, so as to improve the pulling fluency of the driving rope.

[0057] Please continue to refer to Figure 4 In the embodiment, the fixing part 150 can include a first fixing plate 151 and a second fixing plate 152 connected vertically, and a reinforcing rib 153 fixedly connecting the first fixing plate 151 and the second fixing plate 152, wherein the first fixing plate 151 is attached to and detachably connected to the first connecting plate 130, and the second fixing plate 152 is used for fixedly connecting with the torso 020.

[0058] The fixing part 150 has the form of arrangement, and has good structural stability, so as to ensure the reliability of the connection between the motor assembly 010 and the torso 020.

[0059] Please continue to refer to Figure 4 In the embodiment, the first fixing plate 151 is in a strip shape, each fixing part 150 includes three second fixing plates 152, the three second fixing plates 152 are arranged in the length direction of the first fixing plate 151 at intervals, and each second fixing plate 152 is provided with a connecting hole for detachable connection with the torso 020.

[0060] Please continue to refer to Figure 3 and Figure 4 In the embodiment, the first connecting plate 130 and the second connecting plate 140 are both provided with a lightening hole 160.

[0061] By arranging the lightening hole 160 on the first connecting plate 130 and the second connecting plate 140, the weight of the first connecting plate 130 and the second connecting plate 140 can be effectively reduced, so as to further reduce the overall weight of the motor assembly 010 in the embodiment.

[0062] It should be noted that the "detachable connection" mentioned in the embodiment is connected through a threaded connecting piece.

[0063] Although the utility model discloses as above, the utility model is not limited to this. Any person skilled in the art, without departing from the spirit and scope of the utility model, can make various changes and modifications, therefore the protection scope of the utility model should be limited to the range defined by the claims.

[0064] Finally, it should be noted that, in this document, relational terms such as first and second, and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," "includes," "including" or any other variation thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0065] In the above embodiments, the orientation descriptions such as "upper", "lower", "side" and the like are based on the drawings shown.

[0066] The above description of disclosed embodiments provides enabling disclosure sufficient for one of ordinary skill in the art to practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electric machine assembly, characterized by The application discloses a motor assembly for a trunk (020) of a rope-driven robot, which comprises a mounting frame (100) and a plurality of motors (200). The mounting frame (100) comprises a first mounting plate (110) and a second mounting plate (120) oppositely arranged and spaced apart along a first direction, and a first connecting plate (130) and a second connecting plate (140) oppositely arranged and spaced apart along a second direction perpendicular to the first direction. The first mounting plate (110), the first connecting plate (130), the second mounting plate (120) and the second connecting plate (140) are detachably connected in sequence and enclose a mounting cavity with two open ends. A part of the motors (200) are arranged on the first mounting plate (110), and another part of the motors (200) are arranged on the second mounting plate (120). The body of each motor (200) is accommodated in the mounting cavity, the motor shaft of each motor (200) extends out of the mounting cavity in a direction away from the mounting cavity, and the motor shaft of each motor (200) is fixedly sleeved with a rope winding wheel (300). The first connecting plate (130) is provided with a fixing portion (150) for connecting with the trunk (020).

2. The electric machine assembly of claim 1, wherein, The first mounting plate (110) and the second mounting plate (120) are both fixedly provided with a support frame (400) on the side away from the mounting cavity. The position of the support frame (400) corresponds to the position of the motor (200), and the rope winding wheel (300) is rotatably supported on the corresponding support frame (400).

3. The electric machine assembly of claim 2, wherein, The support frame (400) comprises a first support plate (410) and a second support plate (420) oppositely arranged, and a bearing seat (430) detachably connected to the end of the first support plate (410) and the second support plate (420) away from the mounting cavity. The rope winding wheel (300) is rotatably mounted on the bearing seat (430) through a bearing.

4. The electric machine assembly of claim 3, wherein, The bearing seat (430) is fixedly provided with a rope tube fixing column (440) for fixing the rope tube of the driving rope of the rope-driven robot.

5. The electric machine assembly of claim 4, wherein, In a direction from bottom to top, the rope tube fixing column (440) extends in a direction away from the trunk (020).

6. The electric machine assembly of claim 3, wherein, The bearing seat (430) is in a frame structure.

7. The electric machine assembly of claim 1, wherein, The fixing portion (150) comprises a first fixing plate (151) and a second fixing plate (152) vertically connected, and a reinforcing rib (153) fixedly connecting the first fixing plate (151) and the second fixing plate (152). The first fixing plate (151) is attached to and detachably connected with the first connecting plate (130), and the second fixing plate (152) is used for fixedly connecting with the trunk (020).

8. The electric machine assembly of claim 1, wherein, The first mounting plate (110) and the second mounting plate (120) are both strip-shaped plate structures, a plurality of the motors (200) arranged on the first mounting plate (110) are arranged in a linear array along the length direction of the first mounting plate (110), and a plurality of the motors (200) arranged on the second mounting plate (120) are arranged in a linear array along the length direction of the second mounting plate (120).

9. The electric machine assembly of claim 1, wherein, The first connecting plate (130) and the second connecting plate (140) are both provided with weight-reducing holes (160).

10. A rope-driven robot, characterized in that, The application further provides a robot comprising a trunk (020) and at least one set of the motor assembly according to any one of claims 1-9, wherein the motor assembly is mounted on the trunk (020).

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