A miniaturized joint motor device

Abstract

This utility model discloses a miniaturized articulated motor device, belonging to the field of miniaturized articulated motors. It includes a U-shaped mounting frame, a robotic arm, and a motor body. A rotating shaft is rotatably mounted on the mounting frame, and the robotic arm is fixedly mounted on the rotating shaft. This miniaturized articulated motor device utilizes a first spring, a sliding plate, a locking plate, a first bolt, and a connecting rod. The motor is slidably supported by a support rod and a movable plate. The locking plate, combined with the first bolt, threadedly fixes the rotating shaft to the output shaft of the motor body. The sliding plate slides on the fixed rod, and the first spring provides elastic support to the sliding plate. This allows for quick separation of the rotating shaft from the output shaft of the motor body after unfixing. After prolonged use, the articulated motor body can be removed for robot arm maintenance, thus reducing maintenance costs and workload for maintenance personnel.

Description

Technical Field

[0001] This utility model belongs to the field of miniaturized articulated motor technology, specifically relating to a miniaturized articulated motor device. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. It has basic characteristics such as perception, decision-making, and execution. It can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities. Some robots have robotic arms, and the joints of the robotic arms are controlled by joint motors.

[0003] However, most of the joint motors and robots are currently installed by welding or fixed connection. Although the welding connection is relatively stable, it is inconvenient to remove the joint motors to repair the robot's robotic arm after long-term use. This not only increases the maintenance cost, but also increases the workload of maintenance personnel. Utility Model Content

[0004] The purpose of this invention is to provide a miniaturized articulated motor device to solve the problem mentioned in the background art, where most existing articulated motors are installed with robots by welding or fixed connections. Although welding and fixing are relatively stable, it is inconvenient to remove the articulated motor to repair the robot's robotic arm after long-term use, which not only increases maintenance costs but also increases the workload of maintenance personnel.

[0005] To achieve the above objectives, this utility model provides the following technical solution: It includes a U-shaped fixed frame, a robotic arm, and a motor body. A rotating shaft is rotatably mounted on the fixed frame, and the robotic arm is fixedly mounted on the rotating shaft. The motor body is located on the right side of the fixed frame. A groove is formed on the left side of the output shaft of the motor body, and a fixed rod is installed in the groove. A sliding plate is slidably mounted on the fixed rod. A first spring is sleeved on the fixed rod, with its two ends respectively fixedly connected to the groove and the sliding plate. Four connecting rods are installed on the left side of the sliding plate, and one end of each of the four connecting rods is connected to the same return wire. The rotating shaft has one end that passes through the fixing frame and extends into the groove. L-shaped locking plates are hinged to both the upper and lower sides of one end of the rotating shaft. A first bolt is threaded onto the transverse portion of the locking plate, and the tail end of the first bolt is threaded to the output shaft of the motor body. A fixing plate is provided on the right side of the fixing frame. A placement groove is opened on the upper surface of the fixing frame, and two U-shaped support rods are installed in the placement groove. The same movable plate is slidably mounted on the two support rods. The motor body is mounted on the upper surface of the movable plate. An installation assembly is provided on the fixing plate.

[0006] By adopting the above solution, a first spring, a sliding plate, a locking plate, a first bolt, and a connecting rod are set up. The motor is slidably supported by the support rod and the moving plate. The locking plate, in conjunction with the first bolt, is used to thread the rotating shaft to the output shaft of the motor body. The sliding plate slides on the fixed rod, and the first spring provides elastic support for the sliding plate. This allows the rotating shaft to be quickly separated from the output shaft of the motor body after it is unsecured. After long-term use, the joint motor body can be removed to repair the robot's robotic arm. This not only reduces maintenance costs but also reduces the workload for maintenance personnel.

[0007] In the above scheme, it should be noted that the motor is electrically connected to an external power source.

[0008] In a preferred embodiment, a circular baffle is installed at the left end of the fixing rod, the outer diameter of the baffle being larger than the outer diameter of the fixing rod, and the baffle being located between the four connecting rods.

[0009] By adopting the above solution, a baffle is installed to block one end of the fixed rod, thereby preventing the skateboard from falling off the fixed rod when it slides on it. This ensures that the skateboard can slide stably on the fixed rod, improving the stability and sturdiness of the skateboard.

[0010] In a preferred embodiment, a locking rod is installed on the left side of the rebound plate, and a locking groove is opened on the right side of the rotating shaft, with one end of the locking rod extending into the locking groove.

[0011] By adopting the above solution, a locking rod is set up. The locking rod and the locking groove cooperate to allow the output shaft of the motor body to move. When the motor body drives the output shaft to move, the locking rod enters the locking groove, so that one end of the shaft can quickly engage with the output shaft of the motor body. This facilitates the quick fixation of the shaft and the output shaft of the motor body in the later stage and avoids the phenomenon of shaking when the shaft and the output shaft of the motor body are connected.

[0012] In a preferred embodiment, side plates are provided on both the front and rear sides of the motor body output shaft, a second spring is installed on the left side of the side plate, the same locking ring is sleeved on the outer side of the two locking plates, and one end of the second spring is fixedly connected to the locking ring.

[0013] By adopting the above scheme, by setting a side plate, a second spring, and a locking ring, the side plate provides fixed support for the second spring, the second spring provides elastic support for the locking ring, and the locking ring strengthens the locking plate by intercepting and locking it, thereby improving the firmness and stability of the locking plate.

[0014] In a preferred embodiment, a telescopic rod is provided inside the second spring, the telescopic rod is mounted on the side plate, and the telescopic shaft of the telescopic rod is fixedly connected to the locking ring.

[0015] By adopting the above solution, a telescopic rod is installed. The telescopic rod, located inside the second spring, fills the interior of the second spring, thereby improving the fullness of the second spring and preventing deformation caused by compression or stretching of the locking ring. This ensures that the second spring can stably provide elastic support to the locking ring and extends the service life of the second spring.

[0016] In a preferred embodiment, the mounting assembly includes two L-shaped mounting plates, both of which are mounted on the lower surface of the fixing plate. A second bolt is threaded onto the vertical portion of each mounting plate, and the tail end of the second bolt is threadedly connected to the fixing frame.

[0017] By adopting the above scheme, the mounting plate and the second bolt are set to fix and support the fixing plate at the installation position. Combined with the function of the second bolt, the mounting plate is threadedly fixed, which makes it convenient to disassemble or install the fixing plate at any time in the future, and the operation is convenient.

[0018] In a preferred embodiment, the right side of the fixing frame has two slots, each slot is provided with a pin, and one end of each pin is fixedly connected to the fixing plate.

[0019] By adopting the above scheme, the position of the fixing plate is initially determined by setting a pin and using the cooperation of the pin and the slot. This avoids the phenomenon that the position of the motor body output shaft is offset from the position of the rotating shaft during the installation of the fixing plate, thus ensuring that the position of the fixing plate is accurate.

[0020] In a preferred embodiment, arc-shaped plates are provided on both the front and rear sides of the output shaft of the motor body, and the two side plates are respectively mounted on the two arc-shaped plates. The upper and lower ends of the arc-shaped plates are threaded with third bolts, and the tail end of the third bolts is threadedly connected to the output shaft of the motor body.

[0021] By adopting the above scheme, the side plate is fixedly supported by the arc-shaped plate and the third bolt. The side plate is then fixedly supported on the front and rear sides of the motor body output shaft. The arc-shaped plate is threadedly fixed to the output shaft of the motor body by the thread action of the third bolt. This makes it easy to loosen the third bolt and disassemble the arc-shaped plate at any time. The operation is convenient and expands the application range of the arc-shaped plate.

[0022] Compared with the prior art, the beneficial effects of this utility model are:

[0023] This miniaturized articulated motor device uses a first spring, a sliding plate, a locking plate, a first bolt, and a connecting rod. The motor is slidably supported by a support rod and a movable plate. The locking plate, combined with the first bolt, threadedly fixes the rotating shaft to the output shaft of the motor body. The sliding plate slides on the fixed rod, and the first spring provides elastic support for the sliding plate. This allows for quick separation of the rotating shaft from the output shaft of the motor body after the fixing is removed. After prolonged use, the articulated motor body can be removed for robot arm maintenance. This not only reduces maintenance costs but also decreases the workload for maintenance personnel.

[0024] This miniaturized articulated motor device uses a locking rod that engages with a slot. When the motor body moves the output shaft, the locking rod enters the slot, allowing one end of the shaft to quickly engage with the output shaft of the motor body. This facilitates quick and easy fixing of the shaft to the motor body's output shaft later, preventing wobbling when the shaft is connected to the output shaft. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is an enlarged structural diagram of point A in this utility model;

[0027] Figure 3 This is a schematic diagram of the main cross-sectional structure of the output shaft of this utility model;

[0028] Figure 4 This is a schematic diagram of the side structure of the rebound plate of this utility model.

[0029] In the diagram: 1. Fixed frame; 2. Robotic arm; 3. Rotating shaft; 4. Motor body; 5. Output shaft; 6. Fixed rod; 7. First spring; 8. Slide plate; 9. Connecting rod; 10. Rebound plate; 11. Locking plate; 12. First bolt; 13. Fixed plate; 14. Support rod; 15. Moving plate; 16. Pin; 17. Mounting plate; 18. Second bolt; 19. Locking ring; 20. Side plate; 21. Arc plate; 22. Telescopic rod; 23. Second spring; 24. Third bolt; 25. Clamping rod; 26. Baffle. Detailed Implementation

[0030] Please see Figure 1-4This utility model provides a miniaturized articulated motor device, including a U-shaped fixed frame 1, a robotic arm 2, and a motor body 4. A rotating shaft 3 is rotatably mounted on the fixed frame 1, and the robotic arm 2 is fixedly supported by the rotating shaft 3. The robotic arm 2 is fixedly mounted on the rotating shaft 3. The motor body 4 is located on the right side of the fixed frame 1. A groove is formed on the left side of the output shaft 5 of the motor body 4, which accommodates a fixed rod 6. The fixed rod 6 is installed in the groove and slides to support a sliding plate 8. The sliding plate 8 is slidably mounted on the fixed rod 6, and the sliding plate 8 fixes and supports a connecting rod 9. The fixed rod 6 is sleeved with two ends that respectively connect to the groove and the sliding plate. The first spring 7 is fixedly connected to the slide plate 8, providing elastic support for the slide plate 8. Four connecting rods 9 are installed on the left side of the slide plate 8, providing fixed support for the rebound plate 10. One end of each of the four connecting rods 9 is connected to the same rebound plate 10, which drives the motor body 4 to move. One end of the rotating shaft 3 passes through the fixing frame 1 and extends into the groove. L-shaped locking plates 11 are hinged to both the upper and lower sides of one end of the rotating shaft 3, providing threaded support for the first bolt 12. The first bolt 12 is threaded onto the horizontal part of the locking plate 11, providing threaded support for the rotating shaft 3. The first bolt 12 is threaded to the output shaft 5 of the motor body 4. A fixing plate 13 is provided on the right side of the fixing frame 1. A placement groove is provided on the upper surface of the fixing frame 1 to accommodate the support rod 14. Two U-shaped support rods 14 are installed in the placement groove to slide and support the moving plate 15. The same moving plate 15 is slidably installed on the two support rods 14 to fix and support the motor body 4. The motor body 4 is installed on the upper surface of the moving plate 15. The fixing plate 13 is provided with a mounting assembly, which includes a first spring 7, a sliding plate 8, a locking plate 11, and a second spring 7. A bolt 12 and a connecting rod 9 are used to slide the motor with the support rod 14 and the moving plate. The locking plate 11, in conjunction with the first bolt 12, is used to thread the rotating shaft 3 to the output shaft 5 of the motor body 4. The sliding plate 8 slides on the fixed rod 6. The first spring 7 provides elastic support for the sliding plate 8. This allows the rotating shaft 3 to be quickly separated from the output shaft 5 of the motor body 4 after it is unsecured. After long-term use, the joint motor body 4 can be removed to repair the robot's robotic arm 2. This not only reduces maintenance costs but also reduces the workload for maintenance personnel.

[0031] A circular baffle 26 is installed on the left end of the fixed rod 6. The baffle 26 is used to block one end of the fixed rod 6. The outer diameter of the baffle 26 is larger than the outer diameter of the fixed rod 6. The baffle 26 is located between the four connecting rods 9. By setting the baffle 26, the baffle 26 blocks one end of the fixed rod 6, thereby preventing the skateboard 8 from falling off the fixed rod 6 when it slides on the fixed rod 6. This ensures that the skateboard 8 can slide stably on the fixed rod 6, improving the stability and firmness of the skateboard 8.

[0032] A locking rod 25 is installed on the left side of the spring plate 10, and a locking groove is opened on the right side of the rotating shaft 3. One end of the locking rod 25 extends into the locking groove. By setting the locking rod 25, the locking rod 25 cooperates with the locking groove, so that when the motor body 4 drives the output shaft 5 to move, the locking rod 25 enters the locking groove, allowing one end of the rotating shaft 3 to quickly engage with the output shaft 5 of the motor body 4. This facilitates the quick fixation of the rotating shaft 3 and the output shaft 5 of the motor body 4 in the later stage, and avoids the phenomenon of shaking when the rotating shaft 3 is connected to one end of the output shaft 5 of the motor body 4.

[0033] Side plates 20 are provided on both the front and rear sides of the output shaft 5 of the motor body 4. The side plates 20 are used to fix and support the second spring 23. The second spring 23 is installed on the left side of the side plate 20 and is used to elastically support the locking ring 19. The same locking ring 19 is sleeved on the outer side of the two locking plates 11 and is used to reinforce the locking plates 11. One end of the second spring 23 is fixedly connected to the locking ring 19. By setting up the side plates 20, the second spring 23 and the locking ring 19, the side plates 20 are used to fix and support the second spring 23, the second spring 23 is used to elastically support the locking ring 19, and the locking ring 19 is used to reinforce and lock the locking plates 11, thereby improving the firmness and stability of the locking plates 11.

[0034] The second spring 23 is equipped with a telescopic rod 22, which is mounted on the side plate 20. The telescopic shaft of the telescopic rod 22 is fixedly connected to the locking ring 19. By setting the telescopic rod 22, the interior of the second spring 23 is filled with the action of the telescopic rod 22 located inside the second spring 23, thereby improving the fullness of the interior of the second spring 23. This prevents the second spring 23 from being deformed by the compression or stretching of the locking ring 19, thus ensuring that the second spring 23 can stably provide elastic support to the locking ring 19 and extending the service life of the second spring 23.

[0035] The mounting assembly includes two L-shaped mounting plates 17, both of which are mounted on the lower surface of the fixing plate 13. A second bolt 18 is threaded onto the vertical portion of the mounting plate 17, and the tail end of the second bolt 18 is threadedly connected to the fixing bracket 1. By setting the mounting plates 17 and the second bolt 18, the fixing plate 13 is fixed and supported by the mounting position. Combined with the function of the second bolt 18, the position of the mounting plate 17 is threadedly fixed, which facilitates the threaded disassembly or installation of the fixing plate 13 at any time in the future, making the operation convenient.

[0036] Two slots are provided on the right side of the mounting bracket 1. Each slot is equipped with a pin 16. One end of each pin 16 is fixedly connected to the mounting plate 13. By setting the pins 16, the position of the mounting plate 13 is initially determined by the cooperation between the pins 16 and the slots. This prevents the position of the output shaft 5 of the motor body 4 from shifting from the position of the rotating shaft 3 during the installation of the mounting plate 13, thus ensuring that the position of the mounting plate 13 is accurate.

[0037] Arc-shaped plates 21 are provided on both the front and rear sides of the output shaft 5 of the motor body 4. Two side plates 20 are respectively installed on the two arc-shaped plates 21. The upper and lower ends of the arc-shaped plates 21 are threaded with third bolts 24. The tail end of the third bolts 24 is threaded to the output shaft 5 of the motor body 4. By setting up the arc-shaped plates 21 and the third bolts 24, the side plates 20 are fixedly supported by the arc-shaped plates 21, thereby fixing the side plates 20 to the front and rear sides of the output shaft 5 of the motor body 4. The arc-shaped plates 21 are threadedly fixed to the output shaft 5 of the motor body 4 by the thread action of the third bolts 24. This makes it convenient to loosen the third bolts 24 at any time to disassemble the arc-shaped plates 21, which is convenient and expands the application range of the arc-shaped plates 21.

[0038] In use, when it is necessary to separate the motor body 4 from the rotating shaft 3, the locking ring 19 is moved to the right. The locking ring 19 moves and presses against the second spring 23 and the telescopic rod 22. At this time, the locking ring 19 is removed from the locking plate 11, and then the first bolt 12 is loosened. The tail end of the first bolt 12 is disengaged from the output shaft 5 of the motor body 4. At this time, the slide plate 8 slides on the fixed rod 6 under the reaction force of the first spring 7. The slide plate 8 moves to the left, driving the connecting rod 9 to move. The moving connecting rod 9 drives the return plate 10 to move. The moving return plate 10 drives the locking rod 25 to move. Taking advantage of the unchanged position of the rotating shaft 3, the motor body 4 moves to the right as a whole. The movement of the motor body 4 drives the moving plate 15 to move on the support rod 14. At this time, the output shaft 5 of the motor body 4 moves away from the rotating shaft 3. Then, loosen the second bolt 18, moving the tail end of the second bolt 18 away from the fixing frame 1. Then, move the fixing plate 13 horizontally to the right. The movement of the fixing plate 13 drives the pin 16 to move, and one end of the pin 16 moves out of the slot. The pin 16 and the slot cooperate to initially determine the installation position of the fixing plate 13, thereby avoiding the phenomenon that the position of the output shaft 5 of the motor body 4 is offset from the position of the rotating shaft 3 during the installation of the fixing plate 13. This ensures that the position of the fixing plate 13 is accurate. Then, the motor body 4 can be removed. The baffle 26 is used to seal one end of the fixing rod 6, thereby preventing the slide plate 8 from falling off the fixing rod 6 when sliding on the fixing rod 6. This ensures that the slide plate 8 can slide stably on the fixing rod 6, improving the stability and firmness of the slide plate 8.

Claims

1. A miniaturized joint motor device, characterized in that: The system includes a U-shaped frame (1), a robotic arm (2), and a motor body (4). A rotating shaft (3) is rotatably mounted on the frame (1). The robotic arm (2) is fixedly mounted on the rotating shaft (3). The motor body (4) is located on the right side of the frame (1). A groove is formed on the left side of the output shaft (5) of the motor body (4). A fixing rod (6) is installed in the groove. A sliding plate (8) is slidably mounted on the fixing rod (6). A first spring (7) is sleeved on the fixing rod (6), with its two ends fixedly connected to the groove and the sliding plate (8) respectively. Four connecting rods (9) are installed on the left side of the sliding plate (8). One end of each of the four connecting rods (9) is fitted with the same spring plate (10). The rotating shaft (3)... One end of the shaft (3) passes through the fixing frame (1) and extends into the groove. The upper and lower sides of one end of the shaft (3) are hinged with L-shaped locking plates (11). The horizontal part of the locking plate (11) is threaded with a first bolt (12). The tail end of the first bolt (12) is threaded to the output shaft (5) of the motor body (4). The right side of the fixing frame (1) is provided with a fixing plate (13). The upper surface of the fixing frame (1) is provided with a placement groove. Two U-shaped support rods (14) are installed in the placement groove. The same moving plate (15) is slidably installed on the two support rods (14). The motor body (4) is installed on the upper surface of the moving plate (15). The fixing plate (13) is provided with an installation component.

2. The miniaturized joint motor device according to claim 1, characterized in that: A circular baffle (26) is installed at the left end of the fixed rod (6). The outer diameter of the baffle (26) is larger than the outer diameter of the fixed rod (6). The baffle (26) is located between the four connecting rods (9).

3. The miniaturized joint motor device according to claim 1, characterized in that: A locking rod (25) is installed on the left side of the spring plate (10), and a locking groove is opened on the right side of the rotating shaft (3). One end of the locking rod (25) extends into the locking groove.

4. The miniaturized joint motor device according to claim 1, characterized in that: Side plates (20) are provided on both the front and rear sides of the output shaft (5) of the motor body (4). A second spring (23) is installed on the left side of the side plate (20). The same locking ring (19) is sleeved on the outer side of the two locking plates (11). One end of the second spring (23) is fixedly connected to the locking ring (19).

5. The miniaturized joint motor device according to claim 4, characterized in that: The second spring (23) is provided with a telescopic rod (22), which is installed on the side plate (20). The telescopic shaft of the telescopic rod (22) is fixedly connected to the locking ring (19).

6. The miniaturized joint motor device according to claim 1, characterized in that: The mounting assembly includes two L-shaped mounting plates (17), both of which are mounted on the lower surface of the fixing plate (13). A second bolt (18) is threaded onto the vertical portion of the mounting plate (17), and the tail end of the second bolt (18) is threadedly connected to the fixing frame (1).

7. The miniaturized joint motor device according to claim 1, characterized in that: The right side of the fixing frame (1) has two slots, and each slot is provided with a pin (16). One end of each pin (16) is fixedly connected to the fixing plate (13).

8. The miniaturized joint motor device according to claim 4, characterized in that: Arc-shaped plates (21) are provided on both the front and rear sides of the output shaft (5) of the motor body (4). Two side plates (20) are respectively installed on the two arc-shaped plates (21). The upper and lower ends of the arc-shaped plates (21) are threaded with third bolts (24). The tail end of the third bolts (24) is threadedly connected to the output shaft (5) of the motor body (4).

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