A fixing frame of a robot motor, a robot joint and a robot

Abstract

A robot motor mounting bracket, robot joint, and robot are disclosed. The mounting bracket includes an upper seat, a lower seat, and a linkage assembly. The upper seat has an upper fixing port extending along the X-axis at its upper position and a lower receiving port at its lower position. The lower seat is rotatably mounted in the lower receiving port around the X-axis. The lower seat has a lower fixing port. The upper fixing port is used to fix one of the motors, and the lower fixing port is used to fix the other motor. An upper rotating component is located behind the upper fixing port and is used to connect to the output end of the motor inside the upper fixing port. The lower rotating component is connected to the lower seat, and the upper end of a connecting rod is connected to the upper rotating component, and the lower end of the connecting rod is connected to the lower rotating component. The upper rotating component drives the lower rotating component to rotate through the connecting rod. This solution solves the problem of complex motor connection structures in the X and Y axes of the robot, which occupy a lot of space and affect movement and aesthetics.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robot motor mounting bracket, a robot joint, and a robot. Background Technology

[0002] Traditional humanoid robots employ a rear-mounted motor design, characterized by concentrating the core power unit in the rear region. This layout requires ample space for the motors, reducers, and transmission mechanisms, resulting in a significant expansion of the robot's rear torso, creating a "backpack-like" bulge. For example, placing the motors rearward in the hip area increases the longitudinal depth of the hip region, shifting the robot's center of gravity rearward and potentially affecting the compensation efficiency of balance control algorithms during dynamic movements. Furthermore, the accumulated mechanical components at the rear restrict joint range of motion, reducing joint flexibility and gait coordination, and increasing the likelihood of mechanical interference during complex movements. Additionally, the concentration of the transmission mechanism in the rear region makes motor installation and removal cumbersome. Utility Model Content

[0003] The purpose of this invention is to provide a mounting bracket for a robot motor, which can be used to fix two motors, and one motor can adjust the position of the other motor through a pull rod assembly, thereby simplifying the motor installation structure and making motor assembly quick.

[0004] This invention also proposes a robot joint that uses the aforementioned fixing frame.

[0005] This invention also proposes a robot that uses the aforementioned robot joints.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A mounting bracket for a robot motor includes: an upper base, a lower base, and a pull rod assembly;

[0008] The upper seat has an upper fixing opening extending along the X-axis at its upper position, and a lower receiving opening at its lower position; the lower seat is rotatably mounted on the lower receiving opening around the X-axis; the lower seat has a lower fixing opening.

[0009] The upper fixing port is used to fix one of the motors, and the lower fixing port is used to fix the other motor;

[0010] The pull rod assembly includes: an upper rotating part, a lower rotating part, and a connecting rod;

[0011] The upper rotating component is located opposite to the upper fixed port and is used to connect to the output end of the motor inside the upper fixed port; the lower rotating component is connected to the lower base, the upper end of the connecting rod is connected to the upper rotating component, the lower end of the connecting rod is connected to the lower rotating component, and the upper rotating component drives the lower rotating component to rotate through the connecting rod.

[0012] Optimally, the upper rotating component and the lower rotating component are connected by a pair of links, one of which is located near the opposite left side of the upper seat and the other of which is located near the opposite right side of the upper seat.

[0013] Optimally, the upper rotating component is provided with convex surfaces on the left and right sides of the upper seat, the upper end of the connecting rod is connected to the convex surfaces, and the connecting rod and the upper seat are spaced apart to form an adjustment gap.

[0014] Alternatively, the upper rotating component may be provided with a mating circular hole, which is used to fit around the outer periphery of the motor's output end.

[0015] Optimally, the upper rotating component and / or lower rotating component are provided with fixing holes;

[0016] The fixing hole of the upper rotating part is used to install fasteners, and the fasteners are used to fix the motor output end in the upper fixing port.

[0017] The fixing hole of the lower component is used to install fasteners, and the fasteners fix it to the lower seat.

[0018] Optimally, the plurality of said fixing holes are distributed around each other.

[0019] Optimally, the lower seat is provided with multiple pairs of seat holes along its length; one of the seat holes in each pair is located on the opposite rear side, and the other seat hole is located on the opposite front side, with the seat holes on the front and rear sides aligned in a straight line; the lower seat is rotatably connected to the lower receiving port through any pair of seat holes.

[0020] Optimally, the upper seat includes: a seat body and an end plate;

[0021] The main body of the seat is provided with an L-shaped groove and the upper fixing opening; the end plate is installed in the L-shaped groove; the vertical sidewall of the L-shaped groove is spaced apart from the end plate, and the lower receiving opening is formed between the two.

[0022] A robot joint, comprising a motor and a mounting bracket for the aforementioned robot motor;

[0023] The motor is installed in the upper fixing port and the lower fixing port respectively.

[0024] A robot having the aforementioned robot joint.

[0025] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0026] This solution provides a mounting bracket for robot motors, which can be used to fix two motors. One motor can adjust the position of the other motor through a pull rod assembly, thereby simplifying the motor installation structure and making motor assembly quick. It solves the problem that the motor connection structure of the robot in the X and Y axes is complicated, occupies a lot of space, and affects the movement and aesthetics. Attached Figure Description

[0027] Figure 1 This is a structural schematic diagram of one embodiment of the fixing frame;

[0028] Figure 2 This is a structural schematic diagram of one embodiment of a robot joint;

[0029] Figure 3 This is a structural schematic diagram of one embodiment of the fixing frame;

[0030] Figure 4 This is a structural schematic diagram of one embodiment of a robot joint.

[0031] in:

[0032] Upper seat 1, lower seat 2, pull rod assembly 3; motor 4;

[0033] The main body 11, end plate 12; upper fixing port 111, lower receiving port 112; L-shaped groove 113;

[0034] Lower fixed port 21; upper rotating part 31, lower rotating part 32, connecting rod 33;

[0035] Convex surface 311; mating round hole 312; fixing hole 313; adjusting gap 331; seat hole 321. Detailed Implementation

[0036] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0037] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," "inner side," "outer side," "inner end," "outer end," "axial," "radial," "circumferential," "X-axis," "Y-axis," and "Z-axis," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of these features, used to distinguish descriptive features, without any order or emphasis. In the description of this utility model, unless otherwise stated, "multiple" means two or more.

[0038] like Figure 1-4 A mounting bracket for a robot motor includes: an upper base 1, a lower base 2, and a pull rod assembly 3;

[0039] The upper seat 1 has an upper fixing opening 111 extending along the X-axis direction at the upper side, and a lower receiving opening 112 at the lower side; the lower seat 2 is rotatably mounted on the lower receiving opening 112 around the X-axis; the lower seat 2 has a lower fixing opening 21.

[0040] The upper fixing port 111 is used to fix one of the motors 4, and the lower fixing port 21 is used to fix the other motor 4;

[0041] The pull rod assembly 3 includes: an upper rotating part 31, a lower rotating part 32, and a connecting rod 33;

[0042] The upper rotating component 31 is located behind the upper fixed port 111 and is used to connect to the output end of the motor 4 inside the upper fixed port 111. The lower rotating component 32 is connected to the lower base 2. The upper end of the connecting rod 33 is connected to the upper rotating component 31 and the lower end of the connecting rod 33 is connected to the lower rotating component 32. The upper rotating component 31 drives the lower rotating component 32 to rotate through the connecting rod 33.

[0043] This solution provides a mounting bracket for robot motors, which can be used to fix two motors 4. One motor 4 can adjust the position of the other motor 4 through the pull rod assembly 3, thereby simplifying the motor installation structure and making the motor assembly quick. It solves the problem that the motor connection structure of the robot in the X and Y axes is complicated, occupies a lot of space, and affects the movement and aesthetics.

[0044] Specifically, the motor 4 is divided into a first motor and a second motor. The upper mounting port 111 of the upper seat 1 is used to install the first motor, and the lower receiving port 112 is used to install the lower seat 2. The lower mounting port 21 of the lower seat 2 is used to install the second motor. The upper seat 1 drives the lower seat 2 to rotate through the pull rod assembly 3, which in turn drives the second motor of the lower seat 2 to rotate. The upper rotating part 31 is located behind the upper mounting port 111 and is used to connect the output end of the first motor. The lower rotating part 32 is connected to the lower seat 2 of the lower receiving port 112. The connecting rod 33 connects the upper rotating part 31 and the lower rotating part 32. Since the upper mounting port 111 faces the X-axis, the lower seat 2 rotates around the X-axis when it rotates. When the lower mounting port 21 is horizontal, it faces the Y-axis, and the X-axis is perpendicular to the Y-axis. When the output end of the first motor rotates, it drives the upper end of the connecting rod 33 to rotate. The connecting rod 33 drives the lower rotating part 32 at the lower end to rotate, thereby driving the lower seat 2 to rotate and driving the second motor of the lower seat 2 to rotate around the X-axis. The output end of the second motor can drive other joints to rotate around the Y-axis. Thus, the mounting bracket of this design can simultaneously accommodate a first motor facing the X-axis and a second motor facing the Y-axis. The first motor controls the angle of the second motor through the vertical drive of the pull rod assembly 3, simplifying the motor connection structure of the robot along the X and Y axes. The mounting bracket itself does not occupy excessive space in the horizontal position, thus avoiding any issues with movement or aesthetics. Furthermore, the motors can be installed simply by linearly inserting them into the upper mounting port 111 and the lower mounting port 21, offering the advantage of quick assembly.

[0045] The lower seat 2 is directly or indirectly connected to the lower receiving port 112 in a known manner, for example, by means of a bearing.

[0046] The number of links 33 used can be selected as one or more as needed.

[0047] Optimally, the upper rotating member 31 and the lower rotating member 32 are connected by a pair of connecting rods 33, one of the connecting rods 33 being close to the opposite left side of the upper seat 1 and the other connecting rod 33 being close to the opposite right side of the upper seat 1.

[0048] This design preferably uses two connecting rods 33 to provide transmission between the upper rotating component 31 and the lower rotating component 32. The connecting rods 33 are located on the opposite left and opposite right sides of the upper rotating component 31, respectively. When the upper rotating component 31 rotates, it can simultaneously drive the two connecting rods 33 to move up and down. When the upper rotating component 31 rotates clockwise or counterclockwise, one of the two connecting rods 33 can rise relative to the other and the other can fall relative to the other, thereby providing a balance for the transmission between the upper rotating component 31 and the lower rotating component 32 and ensuring the stability of the robot joint adjustment.

[0049] Optimally, the upper rotating component 31 is provided with convex surfaces 311 on the left and right sides of the upper seat 1, the upper end of the connecting rod 33 is connected to the convex surfaces 311, and the connecting rod 33 is spaced apart from the upper seat 1 to form an adjustment gap 331.

[0050] The convex surface 311 protrudes relatively from the left and right sides of the upper rotating part 31, which can make the connection position of the connecting rod 33 closer to the left and right sides of the upper seat 1. The horizontal position of the connecting rod 33 is far away from the center of the upper seat 1, thus the connecting rod 33 and the upper seat 1 are separated to form an adjustment gap 331. The connecting rod 33 can have more space for adjustment in the horizontal direction, thereby increasing the range of motion of the lower rotating part 32 and improving the range of motion of the lower seat 2.

[0051] Alternatively, the upper rotating part 31 is provided with a mating circular hole 312, which is used to be sleeved on the outer periphery of the output end of the motor.

[0052] The upper rotating component 31 of this design preferably has a mating circular hole 312. The mating circular hole 312 can be fitted onto the output end of the motor. When the upper rotating component 31 is fixed at any position on the output end of the motor, the mating circular hole 312 surrounds the outer edge of the output end of the motor. The centers of the mating circular hole 312 of the upper rotating component 31 and the output end of the motor overlap. Therefore, the upper rotating component 31 can rotate around the center of the mating circular hole 312. The mating circular hole 312 can improve the rotational stability and smoothness of the upper rotating component 31, and also improve the connection stability between the upper rotating component 31 and the motor.

[0053] Alternatively, the upper rotating member 31 and / or the lower rotating member 32 may be provided with fixing holes 313;

[0054] The fixing hole 313 of the upper rotating part 31 is used to install fasteners, and the fasteners fix it to the output end of the motor in the upper fixing port 111.

[0055] The fixing hole 313 of the lower rotating part 32 is used to install fasteners and is fixed to the lower seat 2 by the fasteners.

[0056] After the fastener is inserted into the fixing hole 313, it can be connected to the output end of the motor, thereby connecting the upper rotating part 31 to the output end of the motor and the lower rotating part 32 to the lower seat 2. The fixing frame of this solution has the advantage of quick motor assembly. The pull rod assembly 3 is a modular installation structure. After the pull rod assembly 3 is assembled, it is fixed to the output end of the motor and the lower seat 2 respectively by fasteners.

[0057] Fasteners are a type of mechanical part that is commonly known to be used for fastening connections and is widely used. Examples include bolts, studs, screws, nuts, washers, pins, etc.

[0058] The position and distribution of the fixing holes 313 can be determined as needed, and in some embodiments, a plurality of the fixing holes 313 are distributed around each other.

[0059] The fixing holes 313 are preferably distributed around the periphery, for example, around the outer circumference of the mating circular hole 312; multiple fixing holes 313 can install more fasteners, thereby increasing the fixing stability of the motor and the lower seat 2.

[0060] Optimally, the lower seat 2 is provided with multiple pairs of seat holes 321 along its length; one of the seat holes 321 in each pair is located on the opposite rear side, and the other seat hole 321 is located on the opposite front side, with the seat holes 321 on the front and rear sides aligned in a straight line; the lower seat 2 is rotatably connected to the lower receiving port 112 through any pair of seat holes 321.

[0061] Multiple mounting holes 321 are arranged along the length of the lower base 2 and are located at the opposite front and opposite rear of the lower base 2, forming multiple pairs of mounting holes 321. When installing the lower base 2, one pair of straight-aligned mounting holes 321 can be selected and connected to the lower base 2 as needed. Since the mounting holes 321 are arranged along the length of the lower base 2, selecting one pair of mounting holes 321 for connection will make the lower base 2 closer to or further away from the opposite left (or right) end of its length, thereby making the horizontal position of the motor of the lower base 2 adjustable, improving the installation flexibility of the motor to adapt to the complex joint structure of the robot.

[0062] The upper seat 1 can be designed as an integrated structure as needed;

[0063] In a preferred embodiment, a split assembly structure can be used; the upper seat 1 includes: a seat body 11 and an end plate 12;

[0064] The main body 11 is provided with an L-shaped groove 113 and an upper fixing opening 111; the end plate 12 is installed in the L-shaped groove 113; the vertical sidewalls of the L-shaped groove 113 and the end plate 12 are spaced apart, and the lower receiving opening 112 is formed between them.

[0065] The upper seat 1 of this design can be mainly composed of a seat body 11 and an end plate 12. The seat body 11 is the main part of the upper seat 1, and it is provided with an L-shaped groove 113 and an upper fixing opening 111. The L-shaped groove 113 is a partial structure of the lower receiving opening 112. When the end plate 12 is installed in the L-shaped groove 113, the vertical sidewall of the L-shaped groove 113 and the end plate 12 form a complete lower receiving opening 112. In this way, during the installation process of the upper seat 1, the assembly sequence can be selected as needed, for example, the lower seat 2 and its motor can be installed first, and then the end plate 12 can be assembled. This improves the installation flexibility of the fixing frame.

[0066] A robot joint is provided with a motor 4 and a mounting bracket for the robot motor as described above;

[0067] The motor 4 is installed in the upper fixing port 111 and the lower fixing port 21 respectively.

[0068] The robot joints in this solution can be any joint of the robot, such as the hand, leg, waist, head, hip, and other joints that are commonly involved in robots, and have a wide range of applications.

[0069] A robot having the aforementioned robot joint.

[0070] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A mounting bracket for a robot motor, characterized in that, include: Upper seat, lower seat, and pull rod assembly; The upper seat has an upper fixing opening extending along the X-axis at its upper position, and a lower receiving opening at its lower position; the lower seat is rotatably mounted on the lower receiving opening around the X-axis; the lower seat has a lower fixing opening. The upper fixing port is used to fix one of the motors, and the lower fixing port is used to fix the other motor; The pull rod assembly includes: an upper rotating component, a lower rotating component, and a connecting rod; The upper rotating component is located opposite to the upper fixed port and is used to connect to the output end of the motor inside the upper fixed port; the lower rotating component is connected to the lower base, the upper end of the connecting rod is connected to the upper rotating component, the lower end of the connecting rod is connected to the lower rotating component, and the upper rotating component drives the lower rotating component to rotate through the connecting rod.

2. The mounting bracket for a robot motor according to claim 1, characterized in that, The upper rotating component and the lower rotating component are connected by a pair of links, one of which is located near the opposite left side of the upper seat, and the other link is located near the opposite right side of the upper seat.

3. A mounting bracket for a robot motor according to claim 1 or 2, characterized in that, The upper rotating component has convex surfaces on its left and right sides facing the upper seat, and the upper end of the connecting rod is connected to the convex surfaces. The connecting rod and the upper seat are spaced apart to form an adjustment gap.

4. The mounting bracket for a robot motor according to claim 1, characterized in that, The upper rotating part is provided with a mating circular hole, which is used to fit around the outer periphery of the motor's output end.

5. A mounting bracket for a robot motor according to claim 1 or 4, characterized in that, The upper and / or lower rotating parts are provided with fixing holes; The fixing hole of the upper rotating part is used to install fasteners, and the fasteners are used to fix the motor output end in the upper fixing port. The fixing hole of the lower component is used to install fasteners, and the fasteners fix it to the lower seat.

6. The mounting bracket for a robot motor according to claim 5, characterized in that, The plurality of fixing holes are distributed around each other.

7. The mounting bracket for a robot motor according to claim 1, characterized in that, The lower seat is provided with multiple pairs of seat holes along its length; one of the seat holes in each pair is located on the opposite rear side, and the other seat hole is located on the opposite front side, with the seat holes on the front and rear sides aligned in a straight line; the lower seat is rotatably connected to the lower receiving port through any pair of seat holes.

8. A mounting bracket for a robot motor according to claim 1 or 7, characterized in that, The upper seat includes: a seat body and an end plate; The main body of the seat is provided with an L-shaped groove and the upper fixing opening; the end plate is installed in the L-shaped groove; the vertical sidewall of the L-shaped groove is spaced apart from the end plate, and the lower receiving opening is formed between the two.

9. A robot joint, characterized in that, The device includes a motor and a mounting bracket for a robot motor as described in any one of claims 1-8; The motor is installed in the upper fixing port and the lower fixing port respectively.

10. A robot, characterized in that, The robot joint described in claim 9 is provided.

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