Multi-joint robot motor base

Abstract

The utility model discloses a kind of multi-joint robot motor seat, including motor seat body, J4 shaft motor and J4 shaft speed reducer for installing by synchronous belt connection in motor seat body, output shaft side of J4 shaft motor is equipped with observation window on motor seat body, the observation window is used to observe whether synchronous belt is assembled in place and whether synchronous belt is tensioned in place using measuring instrument measurement.This utility model can observe the assembly of synchronous belt by setting observation window on motor seat body, and at the same time, the measuring tool can be inserted into motor seat body from observation window, to measure the tension of synchronous belt, to facilitate to determine whether the tension of synchronous belt is in place, and the observation window is set on the output shaft side of J4 shaft motor, which is closer to the synchronous belt, and is more convenient for observation and measurement of synchronous belt assembly, thereby facilitating the assembly of robot as a whole.

Description

Technical Field

[0001] This utility model relates to a motor mount for a multi-joint robot, belonging to the field of multi-joint robots. Background Technology

[0002] Currently, the main transmission methods for motor mounts in multi-joint robots are gear transmission and synchronous belt transmission. The choice of transmission method depends on the specific application scenario. Gear transmission has the advantages of high transmission precision, high transmission efficiency, and long service life; its disadvantages include high manufacturing and installation precision requirements, high cost, the need for lubrication and sealing, and high noise. Synchronous belt transmission has the advantages of smooth transmission, low noise, no need for lubrication, relatively simple installation and adjustment, and low cost; its disadvantages include unsuitability for heavy-duty and ultra-high-power applications, limited lifespan, and the need for a tensioning device.

[0003] Existing multi-joint robot structures using synchronous belt drives, such as those disclosed in Chinese Utility Model Patent No. CN209491763U, have a motor base structure and a synchronous belt structure. Both the J4-axis reducer and the J4-axis motor are installed within the motor base structure and connected by a synchronous belt. Due to the limited space within the motor base structure, the operable space for assembling the synchronous belt is small, making assembly difficult. Furthermore, there is no synchronous belt tensioning structure within the motor base, making it impossible to determine whether the synchronous belt is properly tensioned. Therefore, it is difficult to ascertain whether the assembly and tension of the synchronous belt are adequate. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-joint robot motor mount that solves the problems of inconvenient assembly of the synchronous belt inside the motor mount and the inability to determine the tension of the synchronous belt in the existing technology.

[0005] To solve the above problems, the technical solution adopted by this utility model is: a multi-joint robot motor base, including a motor base body. A J4-axis motor and a J4-axis reducer connected by a synchronous belt are installed inside the motor base body. An observation window is provided on the motor base body on one side of the output shaft of the J4-axis motor. This observation window is used to observe whether the synchronous belt is properly assembled and to measure the tension of the synchronous belt using a measuring instrument. This utility model, by providing an observation window on the motor base body, allows direct observation of whether the synchronous belt is properly assembled. Simultaneously, a measuring instrument can be inserted into the motor base body through the observation window to measure the tension of the synchronous belt, facilitating the determination of whether the synchronous belt is properly tensioned. Furthermore, the observation window is located on the output shaft side of the J4-axis motor, making it closer to the synchronous belt and more convenient for observing and measuring the synchronous belt assembly, thus facilitating the overall assembly of the robot.

[0006] As a further improvement of this invention, a cover plate is detachably installed at the observation window. Removing the cover plate allows observation of the synchronous belt assembly, while installing the cover plate closes the observation window. This invention provides a cover plate at the observation window, which can be closed after assembly, while opening the cover plate allows observation and measurement of the synchronous belt assembly. When the observation window is closed, it effectively prevents foreign objects from entering the motor mount body during robot use.

[0007] As a further improvement of this utility model, the measuring instrument is a tension tester. In use, the tension tester extends into the motor housing through the observation window to measure the tension of the synchronous belt. This utility model incorporates a tension tester to facilitate the measurement of the synchronous belt tension, thereby determining whether the synchronous belt is properly tensioned.

[0008] As a further improvement of this utility model, it also includes a motor mounting plate, which is disposed within the motor base body and its position can be adjusted toward or away from the J4 axis reducer. The J4 axis motor is mounted on the motor mounting plate. By providing the motor mounting plate, this utility model allows for adjustment of the movement of the J4 axis motor within the motor base body through the movement of the motor mounting plate within the motor base body, thus facilitating the adjustment of the synchronous belt tension.

[0009] As a further improvement of this utility model, a mounting block is provided inside the motor base body. A slotted groove extending through both sides of the motor mounting plate is formed on the mounting plate. A fastening bolt, threaded to the mounting block, is installed within the slot. Loosening the fastening bolt allows the motor mounting plate to move along the length of the slot. Tightening the fastening bolt presses the motor mounting plate firmly into the motor base body. This utility model uses the mounting block and the slotted groove on the motor mounting plate, along with the fastening bolt, to fix the motor mounting plate. Loosening the fastening bolt allows the motor mounting plate to move along the length of the slot for adjustment. Tightening the fastening bolt presses the motor mounting plate firmly onto the mounting block, thus fixing the motor mounting plate to the motor base body.

[0010] As a further improvement of this utility model, it also includes an adjusting bolt. A through hole is provided at the bottom of the motor base body, and a threaded hole corresponding to the through hole is provided at the bottom of the motor mounting plate. In use, the adjusting bolt is passed through the through hole and threaded into the threaded hole. Tightening the adjusting bolt pulls the motor mounting plate away from the J4 axis reducer. This utility model, through the threaded engagement of the adjusting bolt and the motor mounting plate, converts the rotation of the adjusting bolt into linear motion of the motor mounting plate when the adjusting bolt is tightened, pulling the motor mounting plate away from the output shaft of the J4 axis reducer. This changes the distance between the output shaft of the J4 axis motor and the input shaft of the J4 axis reducer, thereby adjusting the tension of the synchronous belt.

[0011] As a further improvement of this utility model, a through-hole plug is also included, which is used to seal the through-hole after the adjusting bolt is removed. This utility model, by providing a through-hole plug, allows the through-hole to be sealed after the timing belt is assembled and tensioned, thereby improving the overall sealing performance of the motor mount body.

[0012] As a further improvement of this utility model, the through-hole plug is a screw plug, with an internal thread inside the through hole, and the bolt engages with the thread of the through hole. The through-hole plug in this utility model engages with the thread of the through hole, facilitating the installation and removal of the through-hole plug.

[0013] In summary, the beneficial effects of this utility model are: by opening an observation window on the motor base body, the assembly of the synchronous belt can be observed and the tension of the synchronous belt can be measured to determine whether the assembly and tension of the synchronous belt are in place, thereby facilitating the assembly of the synchronous belt. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model.

[0015] The components include: 1. Motor base body; 2. Synchronous belt; 3. J4 axis motor; 4. J4 axis reducer; 5. Observation window; 6. Cover plate; 7. Motor mounting plate; 8. Fastening bolts; 9. Threaded hole; 10. Through hole plug; 11. End cover; 12. J4 axis input pulley; 13. J4 axis output pulley; 14. J4 axis wire guide sleeve; 15. Wire protection sleeve; 16. J4 wire harness mounting plate. Detailed Implementation

[0016] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings.

[0017] like Figure 1The multi-joint robot motor mount shown includes a motor mount body 1, which is a shell-like structure. In use, it is rotatably mounted on the robot's J3-axis arm. This rotatable mounting and its drive structure are existing technologies. An end cover 11 is detachably bolted to one side, and the other side is the power output end. The motor mount body 1 houses a J4-axis motor 3 and a J4-axis reducer 4 connected by a synchronous belt 2. The J4-axis motor 3 is mounted inside the motor mount body 1 near the end cover 11, and the J4-axis reducer 4 is mounted at the output end of the motor mount body 1. The input shaft of the J4-axis reducer 4 is parallel to the output shaft of the J4-axis motor 3. A J4-axis output pulley 13 is mounted on the input shaft of the J4-axis reducer 4, and a J4-axis input pulley 12 is mounted on the output shaft of the J4-axis motor 3. The synchronous belt 2 is wound around the J4-axis output pulley 13 and the J4-axis input pulley 12. The output end of the J4-axis reducer 4 is used to connect to the robot's wrist component (not shown in the figure). The J4-axis motor 3 is connected via the synchronous belt... The J4-axis reducer 4 drives the robot's wrist component to rotate. After being reduced in speed by the J4-axis reducer 4, the robot's wrist component moves. This invention features an observation window 5 on the motor base 1, located on one side of the output shaft of the J4-axis motor 3. The observation window 5 is situated below the J4-axis reducer 4 and is used to observe whether the synchronous belt 2 is properly assembled and to measure the tension of the synchronous belt 2 using a measuring instrument. The J4-axis reducer 4 in this invention is a hollow reducer, containing a J4-axis wire guide sleeve 14. A cable guard 15 is provided on the end of the 4-axis cable pass sleeve 14 near the J4 axis motor 3. A J4 wiring harness mounting plate 16 is provided on the end of the J4 axis motor 3 away from the J4 axis reducer 4. The J4 axis cable pass sleeve 14, cable guard 15 and J4 wiring harness mounting plate 16 are all existing technologies. In this utility model, the wiring harness is fixed on the J4 wiring harness mounting plate 16. The power supply cable and signal line of the robot wrist component pass through the cable guard 15 and then through the J4 axis cable pass sleeve 14 to connect with the robot wrist component.

[0018] like Figure 1 As shown, this utility model has a cover plate 6 detachably installed at the observation window 5. Both the observation window 5 and the cover plate 6 are rectangular, and the cover plate 6 is larger than the observation window 5. There are connecting through holes at the four corners of the cover plate 6, which pass through both sides. Fixing bolts are installed in the connecting through holes. The fixing bolts are threaded to the motor base body 1. This utility model allows the cover plate 6 to be removed from the motor base body 1 by removing the fixing bolts to open the observation window 5. The cover plate 6 can be installed on the motor base body 1 by fixing bolts to close the observation window. When the cover plate 6 is removed, it is possible to observe whether the synchronous belt 2 is properly assembled and to measure the tension of the synchronous belt 2 and determine whether the synchronous belt 2 is properly tensioned based on the tension. The cover plate 6 is installed to close the observation window 5, which meets the sealing requirements of the motor base body 1.

[0019] like Figure 1As shown, in order to facilitate the measurement of the tension of the synchronous belt 2 and to determine whether the synchronous belt is properly tensioned, this utility model uses a tension tester as the measuring instrument. When the cover plate 6 is removed from the motor base body 1 and the observation window 5 is opened, the tension tester can be inserted into the motor base body 1 through the observation window 5 to measure the tension of the synchronous belt 2. The position of the J4 axis motor 3 is adjusted according to the tension of the synchronous belt 2 to ensure that the synchronous belt is properly tensioned. The tension tester in this utility model is existing technology, and the method for measuring the tension of the synchronous belt 2 is also existing technology, which will not be described in detail in this utility model.

[0020] like Figure 1 As shown, to facilitate the adjustment of the position of the J4-axis motor 2 and thus the tension of the synchronous belt 2, this invention includes a motor mounting plate 7. This mounting plate 7 is located within the motor housing 1, and its position can be adjusted towards or away from the J4-axis reducer 4. The J4-axis motor 3 is detachably mounted on the motor mounting plate 7 using multiple bolts. By adjusting the position between the motor mounting plate 7 and the output shaft of the J4-axis reducer 3, the distance between the output shaft of the J4-axis motor 3 and the input shaft of the J4-axis reducer 4 can be adjusted, thereby adjusting the synchronous belt 2. To adjust the tension of the synchronous belt 2, when the tension of the synchronous belt 2 is too low, adjust the motor mounting plate 7 away from the output shaft of the J4 axis reducer 4. This increases the distance between the output shaft of the J4 axis reducer 4 and the input shaft of the J4 axis motor 3, thus tightening the synchronous belt 2. Conversely, when the tension of the synchronous belt is too high, adjust the motor mounting plate 7 towards the output shaft of the J4 axis reducer 4 to decrease the distance between the output shaft of the J4 axis reducer 4 and the input shaft of the J4 axis motor 3, thereby reducing the tension of the synchronous belt 2 and bringing the tension of the synchronous belt 2 within a suitable range.

[0021] like Figure 1 As shown, to facilitate the adjustment of the motor mounting plate 7 within the motor base body 1, this utility model provides a mounting block (not shown in the figure) within the motor base body 1. The mounting block and the motor base body 1 are integrally formed. A waist-shaped groove (not shown in the figure) is provided on the motor mounting plate 7, extending through both sides. The length direction of the waist-shaped groove is set along the vertical direction. A fastening bolt 8 is provided in the waist-shaped groove. After passing through the waist-shaped groove, the fastening bolt 8 engages with the mounting block through a thread. The head of the fastening bolt 8 and the mounting block are located on opposite sides of the motor mounting plate 7, respectively, pressing the motor mounting plate 7 onto the mounting block. Loosening the fastening bolt 8 allows the motor mounting plate 7 to move up and down along the length direction of the waist-shaped groove to adjust the distance between the motor mounting plate 7 and the output shaft of the J4 axis reducer 4. After the synchronous belt 2 is assembled, tightening the fastening bolt 8 presses the motor mounting plate 7 onto the mounting block, thereby fixing the motor mounting plate 7 within the motor base body 1 to secure the J4 axis motor 3 within the motor base body 1.

[0022] This utility model is equipped with an adjusting bolt (not shown in the figure), and a through hole is provided at the bottom of the motor base body 1, such as... Figure 1 As shown, a threaded hole 9 corresponding to the through hole is provided at the bottom of the motor mounting plate 7. The diameter of the through hole is larger than the diameter of the threaded hole 9, and the diameter of the through hole is smaller than the width of the head of the adjusting bolt, so that the head of the adjusting bolt cannot enter the motor base body 1 through the through hole. In the use state, the adjusting bolt is passed through the through hole and threaded into the threaded hole 9. When the fastening bolt 8 is loosened, the adjusting bolt is turned to pull the motor mounting plate 7 away from the J4 shaft reducer 4, so as to increase the distance between the motor mounting plate 7 and the output shaft of the J4 shaft reducer 4. After the synchronous belt 2 is assembled, the fastening bolt 8 is tightened to fix the motor mounting plate 7, and then the adjusting bolt can be removed. This utility model is provided with a through hole plug 10, which is used to seal the through hole after the adjusting bolt is removed. The through hole plug 10 in this utility model is a screw plug with an internal thread in the through hole. The bolt is threaded into the through hole. After the adjusting bolt is removed, the through hole plug 10 is placed in the through hole to seal the through hole.

[0023] In this invention, when assembling the synchronous belt 2, the end cover 11 is removed from the motor base body 1, and the cover plate 6 is removed from the motor base body 1. The synchronous belt 2 is then wound around the J4 shaft output pulley 13 and the J4 shaft input pulley 12. The synchronous belt 2 is observed through the observation window 5 to ensure it is properly assembled (i.e., whether the synchronous belt 2 is wound around the J4 shaft output pulley 13 and the J4 shaft input pulley 12). The through-hole plug 10 is removed from the through hole, and the adjusting bolt is inserted into the threaded hole 9 to engage with the threaded hole 9. The fastening bolt 8 is loosened, and the adjusting bolt is then turned. Pull the motor mounting plate 7 away from the output shaft of the J4 shaft reducer 4, and then tighten the fastening bolts 8 to fix the motor mounting plate 7. Insert the tension tester into the motor base body 1 through the observation window 5 to test the tension of the synchronous belt 2. Repeat the above steps multiple times until the tension of the synchronous belt 2 is adjusted to the preset range. When the tension of the synchronous belt 2 is in place, remove the adjusting bolt, install the through hole plug 10 in the through hole, install the cover plate 6 on the motor base body 1 to close the observation window, and install the end cover 11 on the motor base body 1.

[0024] Unless otherwise specified in the above description, all parts are prior art or can be implemented using existing technology. Furthermore, the specific embodiments described in this utility model are merely preferred embodiments and are not intended to limit the scope of this utility model. That is, all equivalent changes and modifications made within the scope of this utility model patent should be considered within the technical scope of this utility model.

Claims

1. A multi-joint robot motor mount, comprising a motor mount body (1), wherein a J4-axis motor (3) and a J4-axis reducer (4) connected by a synchronous belt (2) are mounted within the motor mount body (1), characterized in that, An observation window (5) is provided on the motor base body (1) on one side of the output shaft of the J4 axis motor (3). The observation window (5) is used to observe whether the synchronous belt (2) is assembled in place and to measure whether the synchronous belt (2) is tensioned in place using a measuring instrument.

2. The multi-joint robot motor mount according to claim 1, characterized in that, A cover plate (6) is detachably installed at the observation window (5). The assembly of the synchronous belt (2) can be observed by removing the cover plate (6), and the cover plate (6) is installed to close the observation window (5).

3. The multi-joint robot motor mount according to claim 1 or 2, characterized in that, The measuring instrument is a tension tester. In use, the tension tester extends from the observation window (5) into the motor base body (1) to measure the tension of the synchronous belt (2).

4. The multi-joint robot motor mount according to claim 1 or 2, characterized in that, It also includes a motor mounting plate (7), which is located inside the motor base body (1) and its position can be adjusted toward or away from the J4 axis reducer (4). The J4 axis motor (3) is mounted on the motor mounting plate (7).

5. The multi-joint robot motor mount according to claim 4, characterized in that, An installation block is provided inside the motor base body (1). A waist-shaped groove is provided on the motor mounting plate (7) that runs through both sides. A fastening bolt (8) that is threaded with the installation block is provided in the waist-shaped groove. Loosening the fastening bolt (8) can move the motor mounting plate (7) along the length of the waist-shaped groove. Tightening the fastening bolt (8) is used to press the motor mounting plate (7) into the motor base body (1).

6. The multi-joint robot motor mount according to claim 5, characterized in that: It also includes an adjusting bolt. The bottom of the motor base body (1) has a through hole, and the bottom of the motor mounting plate (7) has a threaded hole (9) corresponding to the through hole. In use, the adjusting bolt is passed through the through hole and threaded into the threaded hole (9). Tightening the adjusting bolt is used to pull the motor mounting plate (7) away from the J4 shaft reducer (4).

7. The multi-joint robot motor mount according to claim 6, characterized in that, It also includes a through-hole plug (10) for sealing the through-hole after the adjusting bolt has been removed.

8. The multi-joint robot motor mount according to claim 7, characterized in that, The through-hole plug (10) is a screw plug with an internal thread inside the through hole, and the bolt is engaged with the through-hole thread.

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