Robot rapid composite joint electric drive structure
By using a combination of brushes and conductors to replace wires in the composite joint, the problem of tangled motor power supply and signal lines was solved, achieving stable and efficient movement of the composite joint.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHONGQING YUBEI VOCATIONAL EDUCATION CENT
- Filing Date
- 2025-05-12
- Publication Date
- 2026-05-05
AI Technical Summary
In existing composite joints, the motor power supply lines and signal lines are prone to tangling in multi-joint or complex rotation situations, which affects the stability and efficiency of robot movement.
The brush combination and conductor combination are used instead of wires. The transmission of electrical energy and signals is achieved through the sliding contact between the brush and the conductor ring, avoiding entanglement and ensuring synchronous movement between the joints at each level.
This effectively prevents wire entanglement, improves the practicality and stability of the composite joint, and enhances the reliability and efficiency of robot movement.
Smart Images
Figure CN224196811U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot mechanical joint technology, and in particular to an electric drive structure for a robot's rapid composite joint. Background Technology
[0002] Joints are structures in robots that connect two or more components. They are important components that connect and drive the various components. They enable relative movement between adjacent components. Joints are equipped with motors that convert electrical energy into mechanical energy, allowing them to complete the entire stroke per unit time. Therefore, the design and performance of joints directly affect the robot's motion capabilities and work efficiency.
[0003] The composite robot fast-response joint is a composite joint with multiple motor loads superimposed. This composite joint can greatly increase the movement speed to complete the stroke in a unit of time, overcoming the disadvantage of slow movement under the load of a single motor, and greatly improving the robot's working efficiency.
[0004] However, the aforementioned composite joint only discloses the mechanical structure of the composite joint, without disclosing the power supply technology solution. Although each joint can be powered and driven by open wires, if there are too many joints or the rotation is complex, how to completely avoid the problem of tangling of the power supply lines and signal lines of each motor is still a technical problem that needs to be solved. Utility Model Content
[0005] The purpose of this invention is to provide a fast-acting electric drive structure for a robot's composite joint, which can prevent the internal motor wires from getting tangled during composite joint movement, thereby improving the practicality of the composite joint.
[0006] The robot's rapid composite joint electric drive structure includes a forearm and a rear arm. The key feature is that at least one joint combination is installed between the forearm and the rear arm, and all joint combinations are connected in sequence to form a composite joint.
[0007] Each joint assembly is equipped with a motor and a fixing plate. The motor is connected to the upper-level joint unit via the fixing plate, and the output shaft of the motor is fixedly connected to the lower-level joint unit.
[0008] Each joint assembly is also equipped with a brush assembly and a conductor assembly, which are fixed to the output shaft of the upper-level joint unit and the motor, respectively. The brush assembly and conductor assembly realize the sequential connection of positive power supply, negative power supply and signal between the upper and lower-level joint units.
[0009] The brush assembly and conductor assembly replace the wires to transmit power and signals to the upper and lower joint units, thereby preventing the wires from getting tangled due to the speed difference of the joints and improving the practicality of the composite joint.
[0010] Furthermore, the conductor assembly is provided with a conductor mounting sleeve, which is fixedly mounted on the output shaft of the motor. The outer wall of the conductor mounting sleeve has a power conductor groove, a ground conductor groove and at least one signal conductor groove. A power conductor ring is fixedly installed in the power conductor groove, a ground conductor ring is fixedly installed in the ground conductor groove, and a signal conductor ring is fixedly installed in the signal conductor groove.
[0011] The output shaft of the motor has a wire hole, through which the wires of the power conductor ring, ground conductor ring, and signal conductor ring are connected to the brush assembly of the lower-level joint unit.
[0012] Furthermore, both the upper and lower joint units have motor mounting slots, in which the motor is installed. The brush assembly is installed on the side wall of the motor mounting slot. The brush assembly is provided with a power brush, a ground brush and at least one signal brush, and all the power brush, ground brush and signal brush are in sliding contact with the power conductor ring, ground conductor ring and signal conductor ring of the same level.
[0013] The power brush, ground brush, and signal brush are also connected to the motor in the same level joint unit via wires.
[0014] In the above structure, the conductor ring rotates synchronously with the output shaft of the motor and remains in a conductive state with the brush at all times, thereby replacing the wire to complete the transmission of electrical energy or signals, eliminating the speed difference between the joints at each stage, and preventing the wire from getting tangled.
[0015] Furthermore, the forearm has a forearm motor mounting slot, in which an upper-level motor is installed, and upper-level power brushes, upper-level grounding brushes and upper-level signal brushes are fixed on the side wall of the forearm motor mounting slot.
[0016] The upper-level power brush is connected to the positive power source via a power line, the upper-level ground brush is connected to the negative power source via a grounding wire, and the upper-level signal brush is connected to the signal source via a signal line.
[0017] Furthermore, a forearm fixing plate is installed on the open side of the forearm motor mounting slot. The forearm fixing plate is fixedly connected to the forearm by forearm fixing plate bolts. The output shaft of the upper motor passes through the forearm fixing plate and is fixedly connected to the lower rotary table by bolts.
[0018] The output shaft of the upper motor is fixedly fitted with an upper power conductor ring, an upper ground conductor ring, and an upper signal conductor ring. The upper power conductor ring, the upper ground conductor ring, and the upper signal conductor ring are all located between the upper motor and the forearm fixing plate, and are in sliding contact with the upper power brush, the upper ground brush, and the upper signal brush, respectively.
[0019] Fixed plate connection is a stable connection method that ensures the stability of each motor connection to the forearm or turntable, allowing the joint to move within the correct angle and direction.
[0020] The motors at each level are securely connected, allowing the various joint combinations to move synchronously throughout the entire composite joint.
[0021] Furthermore, each of the joint assemblies has a power line through hole, a ground wire through hole, and a signal line through hole in the motor mounting slot.
[0022] Power line vias, ground line vias, and signal line vias can protect power lines, ground lines, and signal lines respectively, and enhance the aesthetics of their composite joints.
[0023] Furthermore, adjacent joint units are connected by a male-female connection structure, wherein the male connection structure is an outer edge wall extending forward or backward of a joint unit, and the inner wall of the outer edge wall is provided with an anti-disengagement protrusion; the female connection structure is an annular groove opened on the outer wall of another joint unit, and the anti-disengagement protrusion is embedded in the annular groove and slides against each other.
[0024] The male-female connection structure is an important component for reinforcing the joint unit, enabling the entire composite joint to operate stably and without displacement.
[0025] The inner and outer walls of each joint unit connection are equipped with male and female connection structures to further ensure connection stability, movement stability, and prevent displacement and loosening between multiple joint combinations.
[0026] Furthermore, the positive power supplies of all motors are connected in parallel, the negative power supplies of all motors are connected in parallel, and the signal buses of all motors are connected.
[0027] Furthermore, the fixing plate within each level of the joint assembly is fixedly connected to the motor mounting slot via fixing plate bolts. The gap between the fixing plate and the lower-level joint unit is 'a', the thickness of the fixing plate bolt is 'b', and the bolt length of the fixing plate bolt is 'c', where a, b, and c satisfy a+b. <c。
[0028] Beneficial effects: The conductor ring rotates synchronously with the output shaft of the motor, and the conductor ring slides in contact with the brush, maintaining a constant conductive state. This allows it to replace the wire, enabling each stage of the motor in the composite joint to transmit electrical energy or signals, thereby eliminating the speed difference between each stage of the joint, preventing the wire from tangling due to the speed difference between each stage of the joint, and improving the practicality of the composite joint. Attached Figure Description
[0029] Figure 1 This is a schematic diagram of the structure of this utility model;
[0030] Figure 2 for Figure 1 Enlarged schematic diagram of part a in the middle;
[0031] Figure 3 This is a schematic diagram of the male-female connection structure. Detailed Implementation
[0032] The specific embodiments and working principle of this utility model will be further described in detail below with reference to the accompanying drawings.
[0033] like Figure 1 As shown, the robot's rapid composite joint electric drive structure includes a forearm 11 and a rear arm 51. Four joint combinations are installed between the forearm 11 and the rear arm 51, and all joint combinations are connected in sequence to form a composite joint.
[0034] Each joint assembly is equipped with a motor and a fixing plate. The motor is connected to the upper-level joint unit via the fixing plate, and the output shaft of the motor is fixedly connected to the lower-level joint unit.
[0035] Each joint assembly is also equipped with a brush assembly and a conductor assembly, which are fixed to the output shaft of the upper-level joint unit and the motor, respectively. The brush assembly and conductor assembly realize the sequential connection of positive power supply, negative power supply and signal between the upper and lower-level joint units.
[0036] Both the upper and lower joint units have motor mounting slots, and each motor mounting slot contains a corresponding motor and brush assembly from the joint assembly. The output shaft of each motor is fitted with a corresponding conductor assembly from the joint assembly.
[0037] like Figure 1 , 2 As shown, the first-stage joint assembly includes a forearm motor 12, a forearm fixing plate 13, a forearm brush assembly, and a forearm conductor assembly. The forearm brush assembly includes a forearm power brush 15a, a forearm ground brush 15c, and a forearm signal brush 15b. The forearm conductor assembly includes a forearm conductor mounting sleeve 16. The outer wall of the forearm conductor mounting sleeve 16 has a forearm power conductor groove, a forearm ground conductor groove, and a forearm signal conductor groove. A forearm power conductor ring 14a is fixedly installed in the forearm power conductor groove, a forearm ground conductor ring 14c is fixedly installed in the forearm ground conductor groove, and a forearm signal conductor ring 14b is fixedly installed in the forearm signal conductor groove.
[0038] The forearm 11 has a forearm motor mounting slot 111, in which the forearm motor 12 is installed, and the forearm power brush 15a, the forearm ground brush 15c and the forearm signal brush 15b are installed and fixed on the side wall of the forearm motor mounting slot 111.
[0039] Among them, the forearm power brush 15a is connected to the positive power terminal of the forearm motor 12 through the power line 7, the forearm ground brush 15c is connected to the negative power terminal of the forearm motor 12 through the ground line 10, and the forearm signal brush 15b is connected to the signal terminal of the forearm motor 12 through the signal line 8.
[0040] The forearm power brush 15a is also connected to the positive power supply via power line 7, the forearm ground brush 15c is also connected to the negative power supply via ground line 10, and the forearm signal brush 15b is also connected to the controller via signal line 8.
[0041] The forearm fixing plate 13 is installed on the open side of the forearm motor mounting slot 111. The forearm fixing plate 13 is fixedly connected to the forearm 11 by the forearm fixing plate bolt 131. The output shaft of the forearm motor 12 passes through the forearm fixing plate 13 and is fixedly connected to the second rotary table 21 by bolt.
[0042] The gap between the forearm fixing plate 13 and the second rotating platform 21 is a1, the thickness of the forearm fixing plate 13 is b1, and the bolt length of the forearm fixing plate bolt 131 is c1, and a1, b1, and c1 satisfy a1+b1. <c1。
[0043] The forearm conductor mounting sleeve 16 is fixedly sleeved on the output shaft of the forearm motor 12. The forearm conductor mounting sleeve 16 is located between the forearm motor 12 and the forearm fixing plate 13, and the forearm power conductor ring 14a, the forearm ground conductor ring 14c and the forearm signal conductor ring 14b are in sliding contact with the forearm power brush 15a, the forearm ground brush 15c and the forearm signal brush 15b, respectively.
[0044] like Figure 1 As shown, the second-stage joint assembly includes a second motor 22, a second fixing plate 23, a second brush assembly, and a second conductor assembly. The second brush assembly includes a second power brush 25a, a second grounding brush 25c, and a second signal brush 25b. The second conductor assembly includes a second conductor mounting sleeve 26. The outer wall of the second conductor mounting sleeve 26 has a second power conductor groove, a second grounding conductor groove, and a second signal conductor groove. A second power conductor ring 24a is fixedly installed in the second power conductor groove, a second grounding conductor ring 24c is fixedly installed in the second grounding conductor groove, and a second signal conductor ring 24b is fixedly installed in the second signal conductor groove.
[0045] The second rotary table 21 has a second motor mounting slot 211, in which the second motor 22 is installed, and the second power brush 25a, the second grounding brush 25c and the second signal brush 25b are installed and fixed on the side wall of the second motor mounting slot 211.
[0046] Among them, the second power brush 25a is connected to the positive power terminal of the second motor 22 through the power line 7, the second ground brush 25c is connected to the negative power terminal of the second motor 22 through the ground line 10, and the second signal brush 25b is connected to the signal terminal of the second motor 22 through the signal line 8.
[0047] The second power brush 25a is also connected to the forearm power conductor ring 14a via the power line 7; the second ground brush 25c is also connected to the forearm ground conductor ring 14c via the ground line 10; and the second signal brush 25b is also connected to the forearm signal conductor ring 14b via the signal line 8.
[0048] The second fixing plate 23 is installed on the open side of the second motor mounting slot 211. The second fixing plate 23 is fixedly connected to the second rotating table 21 by the second fixing plate bolt 231. After the output shaft of the second motor 22 passes through the second fixing plate 23, it is fixedly connected to the third rotating table 31 by bolt.
[0049] The gap between the second fixing plate 23 and the third rotating platform 31 is a2, the thickness of the second fixing plate 23 is b2, and the bolt length of the second fixing plate bolt 231 is c2, and a2, b2, and c2 satisfy a2+b2. <c2;
[0050] The second conductor mounting sleeve 26 is fixedly fitted on the output shaft of the second motor 22. The second conductor mounting sleeve 26 is located between the second motor 22 and the second fixed plate 23, and the second power conductor ring 24a, the second ground conductor ring 24c and the second signal conductor ring 24b are in sliding contact with the second power brush 25a, the second ground brush 25c and the second signal brush 25b, respectively.
[0051] like Figure 1 As shown, the third-level joint assembly includes a third motor 32, a third fixing plate 33, a third brush assembly, and a third conductor assembly. The third brush assembly includes a third power brush 35a, a third grounding brush 35c, and a third signal brush 35b. The third conductor assembly includes a third conductor mounting sleeve 36. The outer wall of the third conductor mounting sleeve 36 has a third power conductor groove, a third grounding conductor groove, and a third signal conductor groove. A third power conductor ring 34a is fixedly installed in the third power conductor groove, a third grounding conductor ring 34c is fixedly installed in the third grounding conductor groove, and a third signal conductor ring 34b is fixedly installed in the third signal conductor groove.
[0052] The third rotary table 31 has a third motor mounting slot 311, in which the third motor 32 is installed, and the third power brush 35a, the third grounding brush 35c and the third signal brush 35b are installed and fixed on the side wall of the third motor mounting slot 311.
[0053] Among them, the third power brush 35a is connected to the positive power terminal of the third motor 32 through the power line 7, the third ground brush 35c is connected to the negative power of the third motor 32 through the ground line 10, and the third signal brush 35b is connected to the signal terminal of the third motor 32 through the signal line 8.
[0054] The third power brush 35a is also connected to the second power conductor ring 24a via power line 7, and the third grounding brush 35c is also connected to the second grounding conductor ring 24c via grounding wire 10. The third signal brush 35b is also connected to the second signal conductor ring 24b via signal line 8.
[0055] The third fixing plate 33 is installed on the open side of the third motor mounting slot 311. The third fixing plate 33 is fixedly connected to the third rotating table 31 by the third fixing plate bolt 331. After the output shaft of the third motor 32 passes through the third fixing plate 33, it is fixedly connected to the fourth rotating table 41 by bolt.
[0056] The gap between the third fixing plate 33 and the fourth rotating platform 41 is a3, the thickness of the third fixing plate 33 is b3, and the bolt length of the third fixing plate bolt 331 is c3, where a3, b3, and c3 satisfy a3+b3. <c3;
[0057] The third conductor mounting sleeve 36 is fixedly sleeved on the output shaft of the third motor 32. The third conductor mounting sleeve 36 is located between the base of the third motor 32 and the third fixing plate 33, and the third power conductor ring 34a, the third ground conductor ring 34c and the third signal conductor ring 34b are in sliding contact with the third power brush 35a, the third ground brush 35c and the third signal brush 35b, respectively.
[0058] like Figure 1 As shown, the fourth-stage joint assembly includes a fourth motor 42, a fourth fixing plate 43, a fourth brush assembly, and a fourth conductor assembly. The fourth brush assembly includes a fourth power brush 45a, a fourth grounding brush 45c, and a fourth signal brush 45b. The fourth conductor assembly includes a fourth conductor mounting sleeve 46. The outer wall of the fourth conductor mounting sleeve 46 has a fourth power conductor groove, a fourth grounding conductor groove, and a fourth signal conductor groove. A fourth power conductor ring 44a is fixedly installed in the fourth power conductor groove, a fourth grounding conductor ring 44c is fixedly installed in the fourth grounding conductor groove, and a fourth signal conductor ring 44b is fixedly installed in the fourth signal conductor groove.
[0059] The fourth rotary table 41 has a fourth motor mounting slot 411, in which the fourth motor 42 is installed, and the fourth power brush 45a, the fourth grounding brush 45c and the fourth signal brush 45b are installed and fixed on the side wall of the fourth motor mounting slot 411.
[0060] Among them, the fourth power brush 45a is connected to the positive power terminal of the fourth motor 42 through the power line 7, the fourth ground brush 45c is connected to the negative power terminal of the fourth motor 42 through the ground line 10, and the fourth signal brush 45b is connected to the signal terminal of the fourth motor 42 through the signal line 8.
[0061] The fourth power brush 45a is also connected to the third power conductor ring 34a via power line 7, the fourth ground brush 45c is also connected to the third ground conductor ring 34c via ground line 10, and the fourth signal brush 45b is also connected to the third signal conductor ring 34b via signal line 8.
[0062] The fourth fixing plate 43 is installed on the open side of the fourth motor mounting slot 411. The fourth fixing plate 43 is fixedly connected to the fourth rotary table 41 by the fourth fixing plate bolt 431. After the output shaft of the fourth motor 42 passes through the fourth fixing plate 43, it is fixedly connected to the connecting plate 6 by bolts.
[0063] The gap between the fourth fixing plate 43 and the connecting plate 6 is a4, the thickness of the fourth fixing plate 43 is b4, and the bolt length of the fourth fixing plate bolt 431 is c4, where a4, b4, and c4 satisfy a4 + b4. <c4;
[0064] The connecting plate 6 is fixedly connected to the rear arm 51 by bolts, and the front part of the rear arm 51 is provided with an outward flange 511, which is fixedly connected to the connecting plate 6 by bolts.
[0065] The fourth conductor mounting sleeve 46 is fixedly sleeved on the output shaft of the fourth motor 42. The fourth conductor mounting sleeve 46 is located between the fourth motor 42 and the fourth fixed plate 43, and the fourth power conductor ring 44a, the fourth ground conductor ring 44c and the fourth signal conductor ring 44b are in sliding contact with the fourth power brush 45a, the fourth ground brush 45c and the fourth signal brush 45b, respectively.
[0066] like Figure 1 As shown, the forearm 11, the second rotary table 21, the third rotary table 31, and the fourth rotary table 41 are all provided with power line vias 71, ground vias 101, and signal vias 81. The power line 7 is arranged along the power line via 71, the ground line 10 is arranged along the ground via 101, and the signal line 8 is arranged along the signal via 81.
[0067] The output shafts of the forearm motor 12, the second motor 22, the third motor 32 and the fourth motor 42 are all provided with wire holes, and the power line 7, the grounding line 10 and the signal line 8 are arranged along the wire holes.
[0068] like Figure 1As shown, the output shafts of the forearm motor 12, the second motor 22, the third motor 32 and the fourth motor 42 are located on the same straight line.
[0069] In addition, the orientation of the output shaft of the motor in each joint assembly can be freely adjusted according to the actual situation.
[0070] like Figure 1 As shown, the outer wall of the rear part of the forearm 11 has an annular groove 92, and the front outer edge wall of the second rotating platform 21 extending forward is provided with an anti-detachment protrusion 91. The front outer edge wall of the second rotating platform 21 is loosely fitted on the rear part of the forearm 11, and the anti-detachment protrusion 91 is embedded in the annular groove 92 and slides against each other.
[0071] like Figure 1 As shown, the second rotating platform 21 has an anti-detachment protrusion 91 on its rear outer edge wall extending rearward, and the outer wall of the front part of the third rotating platform 31 has an annular groove 92. The rear outer edge wall of the second rotating platform 21 is loosely fitted on the front part of the third rotating platform 31, and the anti-detachment protrusion 91 is embedded in the annular groove 92 and slides against each other.
[0072] like Figure 1 As shown, the outer wall of the rear part of the third rotating platform 31 has an annular groove 92, and the front outer edge wall of the fourth rotating platform 41 extending forward is provided with an anti-detachment protrusion 91. The front outer edge wall of the fourth rotating platform 41 is loosely fitted on the rear part of the third rotating platform 31, and the anti-detachment protrusion 91 is embedded in the annular groove 92 and slides against each other.
[0073] like Figure 1 As shown, the outer wall of the rear part of the fourth rotary table 41 has an annular groove 92, and the front outer edge wall of the connecting disk 6 is provided with an anti-detachment protrusion 91. The front outer edge wall of the connecting disk 6 is loosely fitted on the rear part of the fourth rotary table 41, and the anti-detachment protrusion 91 is embedded in the annular groove 92 and slides against each other.
[0074] Finally, it should be noted that the above are only specific embodiments of this utility model. Of course, those skilled in the art can make modifications and variations to this utility model, such as increasing the number of joints or changing the direction of the joints. These modifications and variations fall within the scope of the claims of this utility model and their equivalents, and should all be considered to be within the protection scope of this utility model.
Claims
1. A rapid composite joint electric drive structure for robots, comprising a forearm (11) and a rear arm (51), characterized in that, At least one joint assembly is installed between the forearm (11) and the hindarm (51), and all joint assemblies are connected in sequence to form a composite joint; Each joint assembly is equipped with a motor and a fixing plate. The motor is connected to the upper-level joint unit via the fixing plate, and the output shaft of the motor is fixedly connected to the lower-level joint unit. Each joint assembly is also equipped with a brush assembly and a conductor assembly, which are fixed to the output shaft of the upper-level joint unit and the motor, respectively. The brush assembly and conductor assembly realize the sequential connection of positive power supply, negative power supply and signal between the upper and lower-level joint units.
2. The robot rapid composite joint electric drive structure according to claim 1, characterized in that, The conductor assembly is provided with a conductor mounting sleeve, which is fixedly mounted on the output shaft of the motor. The outer wall of the conductor mounting sleeve has a power conductor groove, a ground conductor groove and at least one signal conductor groove. A power conductor ring is fixedly installed in the power conductor groove, a ground conductor ring is fixedly installed in the ground conductor groove, and a signal conductor ring is fixedly installed in the signal conductor groove. The output shaft of the motor has a wire hole, through which the wires of the power conductor ring, ground conductor ring, and signal conductor ring are connected to the brush assembly of the lower-level joint unit.
3. The robot rapid composite joint electric drive structure according to claim 2, characterized in that, Both the upper and lower joint units have motor mounting slots, in which the motor is installed. The brush assembly is installed on the side wall of the motor mounting slot. The brush assembly is provided with a power brush, a ground brush and at least one signal brush. All power brushes, ground brushes and signal brushes are in sliding contact with the power conductor ring, ground conductor ring and signal conductor ring of the same level. The power brush, ground brush, and signal brush are also connected to the motor in the same level joint unit via wires.
4. The robot rapid composite joint electric drive structure according to claim 3, characterized in that: The forearm (11) has a forearm motor mounting slot (111), in which an upper motor is installed, and an upper power brush, an upper ground brush and an upper signal brush are fixed on the side wall of the forearm motor mounting slot (111). The upper power brush is connected to the positive power source via power line (7), the upper ground brush is connected to the negative power source via ground line (10), and the upper signal brush is connected to the signal source via signal line (8).
5. The robot rapid composite joint electric drive structure according to claim 4, characterized in that: A forearm fixing plate (13) is installed on the open side of the forearm motor mounting slot (111). The forearm fixing plate (13) is fixedly connected to the forearm (11) by forearm fixing plate bolts (131). The output shaft of the upper motor passes through the forearm fixing plate (13) and is fixedly connected to the lower rotary table by bolts. The output shaft of the upper motor is fixedly fitted with an upper power conductor ring, an upper ground conductor ring, and an upper signal conductor ring. The upper power conductor ring, the upper ground conductor ring, and the upper signal conductor ring are all located between the upper motor and the forearm fixing plate (13), and are in sliding contact with the upper power brush, the upper ground brush, and the upper signal brush, respectively.
6. The robot rapid composite joint electric drive structure according to claim 3, characterized in that, Each of the joint assemblies has a power line through hole (71), a ground wire through hole (101), and a signal wire through hole (81) in the motor mounting slot.
7. The robot rapid composite joint electric drive structure according to claim 1, characterized in that, Adjacent joint units are connected by a male-female connection structure, wherein the male connection structure is an outer edge wall extending forward or backward of a joint unit, and an anti-disengagement protrusion (91) is provided on the inner wall of the outer edge wall; the female connection structure is an annular groove (92) opened on the outer wall of another joint unit, and the anti-disengagement protrusion (91) is embedded in the annular groove (92) and slides against each other.
8. The robot rapid composite joint electric drive structure according to claim 1, characterized in that, All motors' positive power supplies are connected in parallel, all motors' negative power supplies are connected in parallel, and all motors' signal buses are connected.
9. The robot rapid composite joint electric drive structure according to claim 3, characterized in that, The fixing plate within each level of the joint assembly is fixedly connected to the motor mounting slot via fixing plate bolts. The gap between the fixing plate and the lower-level joint unit is 'a', the thickness of the fixing plate bolt is 'b', and the bolt length of the fixing plate bolt is 'c', where a, b, and c satisfy a+b. <c。