Modular motor and robot hand

Abstract

The utility model discloses modularization motor and manipulator. The modularization motor is equipped with the connecting piece group to any adjacent two rotating motor, and two rotating motor are first rotating motor and second rotating motor respectively, the connecting piece group includes first connecting piece, the shell of every rotating motor recessed has two first installation groove along second orientation interval distribution along the first orientation first end, and the second installation groove is recessed to the second end along the first orientation, the second installation groove of every shell is along third orientation through the side of self shell, and the first end of the output shaft of every rotating motor is at least partially located in the second installation groove of self shell and stretches out self shell along second orientation, and one end of first connecting piece is fixedly connected with the shell in any one first installation groove of first rotating motor, and the other end of first connecting piece is fixedly connected with the first end of output shaft on second rotating motor in the second installation groove of second rotating motor. Simple structure can improve the assembly flexibility and practicality.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to modular motors and robotic arms. Background Technology

[0002] Dexterous fingers and dexterous robotic hands are devices that simulate the movement functions of human fingers and hands. They are mainly composed of multiple phalanges and drive mechanisms, and can perform grasping and manipulation tasks. They are widely used in industrial automation, medical, service robotics and other fields.

[0003] Currently, dexterous fingers in related technologies typically include at least two motors, with any two adjacent motors connected by a transmission structure to enable the dexterous finger to extend or bend. However, the structures used to enable the dexterous finger to extend or bend are complex, resulting in high production costs. Furthermore, any two adjacent motors can only be connected by a transmission structure in a fixed manner, which means that assembly flexibility and practicality need to be improved. Utility Model Content

[0004] The purpose of this invention is to provide a modular motor and a robotic arm to solve the aforementioned problems of dexterous fingers in related technologies.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] Modular motor, comprising at least two rotary motors;

[0007] For any two adjacent rotary motors, one of the rotary motors is a first rotary motor and the other is a second rotary motor, and the first rotary motor and the second rotary motor are equipped with a connecting member group; the connecting member group includes a first connecting member;

[0008] Each of the rotary motor housings has two first mounting grooves recessed at a first end along a first orientation and spaced apart along a second orientation; each of the rotary motor housings has a second mounting groove recessed at a second end along the first orientation, and the second mounting grooves of each housing penetrate the same side of its own housing along a third orientation; the first end of the output shaft of each rotary motor extends out of its own housing along the second orientation and is at least partially located within the second mounting groove of its own housing; the first orientation, the second orientation, and the third orientation are perpendicular to each other;

[0009] The first end of the first connector is fixedly connected to the housing of the first rotary motor in any one of the first mounting slots of the first rotary motor, and the second end of the first connector is fixedly connected to the first end of the output shaft of the second rotary motor in the second mounting slot of the second rotary motor.

[0010] As an alternative to the aforementioned modular motor, each of the two first mounting slots of the rotary motor includes a first sub-slot; each of the first connecting members is provided with a first limiting surface and a second limiting surface.

[0011] For any two adjacent rotary motors, the first end of the first connector is fixedly connected to the housing of the first rotary motor in the first sub-slot of the first rotary motor, and the second end of the first connector is fixedly connected to the first end of the output shaft of the second rotary motor in the second mounting slot of the second rotary motor, thus having a first rotational limit position and a second rotational limit position. When the first connector is located at the first rotational limit position, the first limiting surface abuts against the second end of the housing of the second rotary motor along the first orientation. The opening of the second mounting slot of the first rotary motor along the third orientation and the opening of the second mounting slot of the second rotary motor along the third orientation have the same orientation. When the first connector is located at the second rotational limit position, the second limiting surface abuts against the end of the housing of the second rotary motor along the third orientation near the second mounting slot.

[0012] As an alternative to the aforementioned modular motor, each of the second mounting slots is provided with a first slot wall;

[0013] The first connector is also provided with a third limiting surface. When the first connector is located at the second rotation limit position, the third limiting surface abuts against the first groove wall.

[0014] As an optional embodiment of the aforementioned modular motor, each of the two first mounting slots of the rotary motor further includes a second sub-slot; each of the rotary motor housings is further recessed at its second end along the first orientation, and the second and third mounting slots of each rotary motor are spaced apart along the second orientation and both penetrate the same side of its own housing along the third orientation; the second end of the output shaft of each rotary motor extends out of its own housing along the second orientation and is at least partially located within the third mounting slot of its own housing; the connecting member assembly further includes a second connecting member;

[0015] The first end of the second connector is fixedly connected to the housing of the first rotary motor in the second sub-slot of the first rotary motor, and the second end of the second connector is rotatably connected to the second end of the output shaft of the second rotary motor in the third mounting slot of the second rotary motor.

[0016] As an alternative to the aforementioned modular motor, each of the rotary motors has a through hole on its output shaft. One end of the through hole of each rotary motor passes through the second end of its own output shaft, and the other end of the through hole of each rotary motor passes through the outer peripheral surface of its own output shaft and is located inside its own housing. The through hole is used to pass wires.

[0017] As an alternative to the aforementioned modular motor, each of the two first mounting slots of the rotary motor includes a second sub-slot; each of the first connecting members is provided with a first limiting surface and a second limiting surface.

[0018] For any two adjacent rotary motors, the first end of the first connector is fixedly connected to the housing of the first rotary motor in the second sub-slot of the first rotary motor, and the second end of the first connector is fixedly connected to the first end of the output shaft of the second rotary motor in the second mounting slot of the second rotary motor, thus having a third rotation limit position and a fourth rotation limit position. When the first connector is located at the third rotation limit position, the second limiting surface abuts against the second end of the housing of the second rotary motor along the first orientation, and the openings of the second mounting slots of the first rotary motor and the second mounting slots of the second rotary motor along the third orientation face opposite directions. When the first connector is located at the fourth rotation limit position, the first limiting surface abuts against the end of the housing of the second rotary motor along the third orientation near the second mounting slot.

[0019] As an alternative to the aforementioned modular motor, each of the second mounting slots is provided with a second slot wall;

[0020] The first connector is also provided with a third limiting surface. When the first connector is located at the third rotation limit position, the third limiting surface abuts against the second groove wall.

[0021] As an optional embodiment of the aforementioned modular motor, each of the two first mounting slots of the rotary motor further includes a first sub-slot; each of the rotary motor housings is further recessed at its second end along the first orientation, and the second and third mounting slots of each rotary motor are spaced apart along the second orientation and both penetrate the same side of its own housing along the third orientation; the second end of the output shaft of each rotary motor extends out of its own housing along the second orientation and is at least partially located within the third mounting slot of its own housing; the connecting member assembly further includes a second connecting member;

[0022] The first end of the second connector is fixedly connected to the housing of the first rotary motor in the first sub-slot of the first rotary motor, and the second end of the second connector is rotatably connected to the second end of the output shaft of the second rotary motor in the third mounting slot of the second rotary motor.

[0023] As an alternative to the above-mentioned modular motor, the output shafts of each of the rotary motors are distributed at intervals along the first orientation and the midpoint of their own housing, and the output shafts of each of the rotary motors are distributed at intervals along the third orientation and the midpoint of their own housing.

[0024] And / or, the first connector is located between the two ends of the housing of the rotary motor along the second orientation;

[0025] And / or, each of the rotary motor housings has a first rotational clearance surface at a first end along the first orientation, and each of the rotary motor housings has a second rotational clearance surface at a second end along the first orientation. Along the third orientation, the first rotational clearance surface and the second rotational clearance surface on the housing of each rotary motor are located on the same side near its own second mounting slot.

[0026] The robotic arm includes the aforementioned modular motor.

[0027] The beneficial effects of this utility model are:

[0028] This utility model provides a modular motor, which includes at least two rotary motors. For any two adjacent rotary motors, one is a first rotary motor and the other is a second rotary motor. The first and second rotary motors are equipped with a connecting assembly. The connecting assembly includes a first connecting member. Each rotary motor's housing has two first mounting grooves recessed at its first end along a first orientation and spaced apart along a second orientation. Each rotary motor's housing also has a second mounting groove recessed at its second end along the first orientation, and the second mounting grooves of each housing penetrate the same side of its own housing along a third orientation. The first end of each rotary motor's output shaft extends out of its own housing along the second orientation and is at least partially located within the second mounting groove of its own housing. The first, second, and third orientations are perpendicular to each other. The first end of the first connecting member is fixedly connected to the housing of the first rotary motor in any one of the first mounting grooves, and the second end of the first connecting member is fixedly connected to the first end of the output shaft of the second rotary motor in the second mounting groove.

[0029] This modular motor has a simple structure and few parts, which can effectively reduce production costs. Secondly, it can adapt to new selections of any two adjacent rotating motors according to actual working conditions, thereby effectively improving the assembly flexibility and practicality of the modular motor.

[0030] This invention also provides a robotic arm, including the aforementioned modular motor. By employing the modular motor, the structure of the robotic arm can be effectively simplified, improving its assembly flexibility and practicality. Attached Figure Description

[0031] Figure 1 This is a structural schematic diagram of the rotary motor provided in a specific embodiment of the present invention from a first perspective;

[0032] Figure 2This is a structural schematic diagram of the rotary motor provided in a specific embodiment of the present invention from a second perspective;

[0033] Figure 3 This is an exploded view of the connector assembly provided in a specific embodiment of this utility model;

[0034] Figure 4 This is a schematic diagram of the structure of a modular motor formed by three rotary motors and two connecting parts provided in a specific embodiment of this utility model;

[0035] Figure 5 This is a schematic diagram of the structure of a modular motor formed by two rotary motors and a connecting assembly in a specific embodiment of the present invention when it is in the first rotation limit position;

[0036] Figure 6 This is a schematic diagram of the structure of a modular motor formed by two rotary motors and a connecting assembly in a specific embodiment of the present invention when it is in the second rotation limit position;

[0037] Figure 7 This is a schematic diagram of the structure of a modular motor formed by two rotary motors and a connecting assembly in a specific embodiment of the present invention when it is in the third rotational limit position;

[0038] Figure 8 This is a schematic diagram of the structure of a modular motor formed by two rotary motors and a connecting assembly in a specific embodiment of the present invention when it is in the fourth rotational limit position.

[0039] In the picture:

[0040] 1. Rotary electric motor;

[0041] 11. Housing; 111. First mounting groove; 1111. First sub-groove; 1112. Second sub-groove; 112. Second mounting groove; 1121. First groove wall; 1122. Second groove wall; 113. Third mounting groove; 114. First rotation clearance surface; 115. Second rotation clearance surface; 116. Connecting hole; 117. Second threaded hole;

[0042] 12. Output shaft; 121. Through hole; 122. First anti-rotation surface; 123. First threaded hole; 124. Axial limiting surface;

[0043] 13. Electrical wires;

[0044] 2. Connecting parts assembly;

[0045] 21. First connecting member; 211. First limiting surface; 212. Second limiting surface; 213. Third limiting surface; 214. Anti-rotation hole; 2141. Second anti-rotation surface; 215. Through hole;

[0046] 22. Second connecting component;

[0047] 23. First fastener;

[0048] 24. Second fastener;

[0049] 25. Bearings. Detailed Implementation

[0050] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0051] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship 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 for 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, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Moreover, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0053] 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.

[0054] Example 1

[0055] like Figure 1-8 As shown, this utility model provides a modular motor, which includes a connector group 2 and at least two rotary motors 1. In this configuration, for any two adjacent rotary motors 1, one rotary motor 1 is a first rotary motor and the other rotary motor 1 is a second rotary motor. The first rotary motor and the second rotary motor are equipped with a connecting member group 2. The connecting member group 2 includes a first connecting member 21. Each rotary motor 1 has a housing 11 with two first mounting grooves 111 recessed at its first end along a first orientation and spaced apart along a second orientation. Each rotary motor 1 has a housing 11 with a second mounting groove 112 recessed at its second end along the first orientation. The second mounting grooves 112 of each housing 11 penetrate the same side of its own housing 11 along a third orientation. The first end of the output shaft 12 of each rotary motor 1 extends out of its own housing 11 along the second orientation and is at least partially located in the second mounting groove 112 of its own housing 11. The first orientation, the second orientation, and the third orientation are perpendicular to each other. The first end of the first connecting member 21 is fixedly connected to the housing 11 of the first rotary motor in any one of the first mounting grooves 111 of the first rotary motor, and the second end of the first connecting member 21 is fixedly connected to the first end of the output shaft 12 of the second rotary motor in the second mounting groove 112 of the second rotary motor.

[0056] For any two adjacent rotary motors 1: During the rotation of the output shaft 12 of the second rotary motor around its own central axis, the first connecting piece 21 and the first rotary motor rotate synchronously around the output shaft 12 of the second rotary motor, so that the resulting modular motor can extend or bend.

[0057] like Figure 1 and Figure 2As shown, each rotary motor 1 has two first mounting slots 111 defined as a first sub-slot 1111 and a second sub-slot 1112. The first end of the first connector 21 is fixedly connected to the housing 11 of the first rotary motor within any one of the first mounting slots 111, and the second end of the first connector 21 is fixedly connected to the first end of the output shaft 12 of the second rotary motor within the second mounting slot 112. It can be understood that the two first mounting slots 111 of each rotary motor 1 have identical shape and size; that is, the first end of the first connector 21 is fixedly connected to the housing 11 of the first rotary motor within the first sub-slot 1111, and the second end of the first connector 21 is fixedly connected to the first end of the output shaft 12 of the second rotary motor within the second mounting slot 112, forming a configuration as shown. Figure 5 and Figure 6 The modular motor shown can also be configured such that: the first end of the first connector 21 is fixedly connected to the housing 11 of the first rotary motor in the second sub-slot 1112 of the first rotary motor, and the second end of the first connector 21 is fixedly connected to the first end of the output shaft 12 of the second rotary motor in the second mounting slot 112 of the second rotary motor, forming a modular motor as shown. Figure 7 and Figure 8 The modular motor shown above. Both connection methods enable the first and second rotary motors to form a modular motor that can extend or bend.

[0058] Specifically, such as Figure 5 and Figure 6 As shown, taking the example of fixing the first end of the first connector 21 to the housing 11 of the first rotary motor in the first sub-slot 1111 of the first rotary motor, and replacing it with fixing the first end of the first connector 21 to the housing 11 of the first rotary motor in the second sub-slot 1112 of the first rotary motor: The first connector 21 is translated along the second orientation, moving the first end of the first connector 21 from the first sub-slot 1111 to the second sub-slot 1112 of the first rotary motor, and then the first end of the first connector 21 is fixedly connected to the housing 11 of the first rotary motor in the second sub-slot 1112. Then, the second rotary motor is flipped so that the second mounting slot 112 and the first end of the output shaft 12 of the second rotary motor are both distributed on the same side of the first rotary motor along the second orientation with the first connector 21. Finally, the second end of the first connector 21 is fixedly connected to the first end of the output shaft 12 of the second rotary motor in the second mounting slot 112.

[0059] Specifically, such as Figure 7 and Figure 8As shown, taking the example of fixing the first end of the first connector 21 to the housing 11 of the first rotary motor in the second sub-slot 1112 of the first rotary motor, and replacing it with fixing the first end of the first connector 21 to the housing 11 of the first rotary motor in the first sub-slot 1111 of the first rotary motor: The first connector 21 is translated along the second orientation, moving the first end of the first connector 21 from the second sub-slot 1112 of the first rotary motor to the first sub-slot 1111 of the first rotary motor, and then fixing the first end of the first connector 21 to the housing 11 of the first rotary motor in the first sub-slot 1111 of the first rotary motor. Then, the second rotary motor is flipped so that the second mounting slot 112 of the second rotary motor and the first end of the output shaft 12 are both distributed on the same side of the first rotary motor along the second orientation with the first connector 21, and then the second end of the first connector 21 is fixedly connected to the first end of the output shaft 12 of the second rotary motor in the second mounting slot 112 of the second rotary motor.

[0060] Therefore, the modular motor has a simple structure and fewer parts, which can effectively reduce production costs. Secondly, it can adapt to new selections of any two adjacent rotary motors 1 according to actual working conditions, thereby effectively improving the assembly flexibility and practicality of the modular motor.

[0061] Specifically, the first orientation is Figure 1 and Figure 2 The ab direction; the second orientation is Figure 1 and Figure 2 The cd direction in the middle; the third orientation is Figure 1 and Figure 2 The ef direction in the middle.

[0062] Optionally, such as Figure 1 and Figure 3 As shown, the first end of the output shaft 12 of the rotary motor 1 has a first anti-rotation surface 122 on its outer periphery, and the second end of the first connector 21 has an anti-rotation hole 214. The inner peripheral wall of the anti-rotation hole 214 has a second anti-rotation surface 2141. When the first end of the output shaft 12 of the rotary motor 1 is inserted into the anti-rotation hole 214, the first anti-rotation surface 122 and the second anti-rotation surface 2141 at least partially fit together to prevent the first end of the output shaft 12 of the rotary motor 1 from rotating relative to the first connector 21. Further, as... Figure 1 , Figure 3-8 As shown, the first end face of the output shaft 12 of the rotary motor 1 is recessed with a first threaded hole 123. The connecting component assembly 2 also includes a first fastener 23, which passes through the anti-rotation hole 214 and is threadedly connected to the first threaded hole 123. This achieves a fixed connection between the second end of the first connecting component 21 and the first end of the output shaft 12 of the second rotary motor within the second mounting groove 112 of the second rotary motor. Specifically, the first fastener 23 is a screw.

[0063] In this embodiment, as Figure 1 , Figure 4 and Figure 5 As shown, the exemplary configuration includes two first anti-rotation surfaces 122 and two second anti-rotation surfaces 2141, with the two first anti-rotation surfaces 122 and the two second anti-rotation surfaces 2141 completely fitted together in a one-to-one correspondence.

[0064] Furthermore, in this embodiment, as Figure 1 and Figure 5 As shown, the first end of the output shaft 12 of the rotary motor 1 is also provided with an axial limiting surface 124, which can abut against the first connecting member 21 along a second orientation. This allows the relative position of the first connecting member 21 and the output shaft 12 of the rotary motor to be limited along the second orientation.

[0065] As an alternative, the first end of the output shaft 12 of the rotary motor 1 has a rectangular cross-sectional shape, and the second end of the first connector 21 is provided with a rectangular anti-rotation hole 214. The first end of the output shaft 12 of the rotary motor 1 is inserted into the anti-rotation hole 214 to prevent the first end of the output shaft 12 of the rotary motor 1 from rotating relative to the first connector 21. In other embodiments, the first end of the output shaft 12 of the rotary motor 1 may also be provided with a square or other anti-rotation shape, and the second end of the first connector 21 may be provided with a square anti-rotation hole 214 or other anti-rotation shape.

[0066] Specifically, in this embodiment, the rotary motor 1 is exemplaryly configured as a miniature rotary motor. The specific internal structure of the miniature rotary motor 1 is prior art and will not be described in detail here.

[0067] Optionally, such as Figure 1-8 As shown, the connector assembly 2 also includes a second fastener 24. The first end of the first connector 21 has a through hole 215, and the inner wall of the first mounting groove 111 has a second threaded hole 117. The second fastener 24 passes through the through hole 215 and is threadedly connected to the second threaded hole 117. This allows the first end of the first connector 21 to be fixedly connected to the housing 11 of the first rotary motor within any of the first mounting grooves 111. Furthermore, it facilitates the inspection and replacement of the first connector 21 and the first rotary motor. Specifically, the second fastener 24 is a screw.

[0068] Further optional, such as Figure 1-8As shown, the number of second fasteners 24 in the connector group 2 is at least two, the number of through holes 215 in the first connector 21 is at least two, and the number of second threaded holes 117 recessed in the inner wall of the first mounting groove 111 is at least two. At least two second fasteners 24, at least two through holes 215, and at least two second threaded holes 117 are all correspondingly provided, and the at least two second threaded holes 117 are distributed along a third directional interval. This further improves the reliability of the first end of the first connector 21 being fixedly connected to the housing 11 of the first rotating motor within any of the first mounting grooves 111 of the first rotating motor.

[0069] In this embodiment, as Figure 1-8 As shown, the exemplary configuration of the connector group 2 includes two second fasteners 24, two through holes 215 in the first connector 21, and two second threaded holes 117 recessed in the inner wall of the first mounting groove 111. The two second fasteners 24, the two through holes 215, and the two second threaded holes 117 are all correspondingly provided.

[0070] In other embodiments, the first end of the first connector 21 can also be fixedly connected to the housing 11 of the first rotary motor in any of the first mounting slots 111 of the first rotary motor by welding or other means.

[0071] In this embodiment, as Figure 1 , Figure 2 and Figure 4-8 As shown, the first mounting groove 111 is exemplaryly configured to extend through both ends of the housing 11 of the rotary motor along the third orientation. In other embodiments, the first mounting groove 111 may also extend through one end of the housing 11 of the rotary motor along the third orientation. In other embodiments, the first mounting groove 111 may also be configured not to extend through both ends of the housing 11 of the rotary motor along the third orientation.

[0072] Optionally, such as Figure 1 , Figure 2 and Figure 4-8 As shown, the output shafts 12 of each rotary motor 1 are spaced apart from the center of its housing 11 along a first orientation, and are also spaced apart from the center of its housing 11 along a third orientation. It can be understood that the output shafts 12 of each rotary motor 1 are arranged off-center from the center of the housing 11 along the first orientation and off-center from the center of the housing 11 along the third orientation. That is, the output shafts 12 of each rotary motor 1 are eccentrically positioned, which effectively increases the maximum angle of synchronous rotation between the first connecting member 21 and the first rotary motor for any two adjacent rotary motors 1.

[0073] Optionally, in this embodiment, as Figure 4-8As shown, along the second orientation, the first connector 21 is located between the two ends of the housing 11 of the rotary motor 1. This effectively reduces the space occupancy of the formed modular motor along the second orientation.

[0074] Further, optionally, in this embodiment, as Figure 1 , Figure 5 and Figure 6 As shown, along the second orientation, the first end of the output shaft 12 of each rotary motor 1 is completely located within the second mounting slot 112. This further reduces the space occupancy of the formed modular motor along the second orientation. In other embodiments, at least one output shaft 12 of the rotary motor 1 may also be provided with a portion of its first end extending out of the second mounting slot 112 along the second orientation.

[0075] Optionally, in this embodiment, as Figure 2 As shown, the first connector 21 is a plate-shaped connector. This configuration reduces the weight of the first connector 21 and allows the first connector 21 to be directly and fixedly connected to the housing 11 of the first rotary motor in the second sub-slot 1112 after being translated along the second orientation from the first sub-slot 1111 of the first rotary motor.

[0076] Among them, such as Figure 1 , Figure 2 and Figure 4-8 As shown, each rotary motor 1's housing 11 has a first rotational clearance surface 114 at its first end along the first orientation, and a second rotational clearance surface 115 at its second end along the first orientation. Along the third orientation, the first rotational clearance surface 114 and the second rotational clearance surface 115 on each rotary motor 1's housing 11 are located on the same side near its own second mounting groove 112. This arrangement ensures that both the first connector 21 and the second connector 22 can rotate, extend, or bend smoothly without interference.

[0077] In this embodiment, as Figure 1 , Figure 2 and Figure 4-8 As shown, the first rotational clearance surface 114 is configured as an inclined surface and the second rotational clearance surface 115 is configured as an arc surface.

[0078] Optionally, such as Figure 1 , Figure 2 and Figure 4-8 As shown, each rotary motor 1 is further provided with a connecting hole 116 at its second end along the first orientation, and the connecting holes 116 and the second mounting grooves 112 are spaced apart along the third orientation. This facilitates the installation of other structures on the rotary motor 1.

[0079] Example 2

[0080] This embodiment is a direct translation of the description in Embodiment 1: Figure 5 and Figure 6 As shown, the first end of the first connector 21 is fixedly connected to the housing 11 of the first rotary motor in the first sub-slot 1111 of the first rotary motor, and the corresponding structure is further described.

[0081] Among them, such as Figure 2 , Figure 5 and Figure 6 As shown, each first connector 21 is provided with a first limiting surface 211 and a second limiting surface 212.

[0082] Specifically, such as Figure 5 and Figure 6 As shown, for any two adjacent rotary motors 1, the first end of the first connector 21 is fixedly connected to the housing 11 of the first rotary motor in the first sub-slot 1111 of the first rotary motor, and the second end of the first connector 21 is fixedly connected to the first end of the output shaft 12 of the second rotary motor in the second mounting slot 112 of the second rotary motor, thus having a first rotational limit position and a second rotational limit position. When the first connector 21 is located at the first rotational limit position, the first limiting surface 211 abuts against the second end of the housing 11 of the second rotary motor along the first orientation. The opening of the second mounting slot 112 of the first rotary motor along the third orientation is oriented in the same direction as the opening of the second mounting slot 112 of the second rotary motor along the third orientation. When the first connector 21 is located at the second rotational limit position, the second limiting surface 212 abuts against the end of the housing 11 of the second rotary motor along the third orientation near the second mounting slot 112. With this configuration, for the first end of the first connector 21 fixedly connected to the housing 11 of the first rotary motor within the first sub-slot 1111 of the first rotary motor, the rotation range in which the output shaft 12 of the second rotary motor drives the first connector 21 and the first rotary motor to rotate synchronously can be limited. Secondly, setting the first limiting surface 211 to abut against the second end of the housing 11 of the second rotary motor along the first orientation can effectively improve the support stability of supporting the first rotary motor and the first connector 21 at the first rotation limit position. Thirdly, setting the second limiting surface 212 to abut against the end of the housing 11 of the second rotary motor along the third orientation near the second mounting groove 112 can effectively improve the support stability of supporting the first rotary motor and the first connector 21 at the second rotation limit position.

[0083] Optionally, in this embodiment, as Figure 1 , Figure 4 , Figure 5 and Figure 6As shown, each second mounting slot 112 is provided with a first slot wall 1121; the first connector 21 is also provided with a third limiting surface 213. When the first connector 21 is located at the second rotation limit position, the third limiting surface 213 abuts against the first slot wall 1121. This can further improve the stability of supporting the first rotary motor and the first connector 21 at the second rotation limit position.

[0084] Specifically, in this embodiment, as Figure 1 , Figure 4 , Figure 5 and Figure 6 As shown, each second mounting groove 112 is also provided with a second groove wall 1122; when the first connector 21 is located at the first rotation limit position, the second groove wall 1122 and the first connector 21 are distributed at intervals.

[0085] Specifically, in this embodiment, along the second orientation, the first connector 21 is located between the two ends of the housing 11 of the rotary motor 1. That is, the first end of the first connector 21 is completely located within the first sub-slot 1111, and the second end of the first connector 21 is completely located within the second mounting slot 112. This effectively reduces the space occupancy of the formed modular motor along the second orientation. In other embodiments, the first connector 21 may also be configured to partially extend out of the first sub-slot 1111 along the second orientation.

[0086] In this embodiment, the angle through which the first connecting member 21 rotates from the first rotational limit position to the second rotational limit position is 105°, as an example. In other embodiments, the angle through which the first connecting member 21 rotates from the first rotational limit position to the second rotational limit position can be adjusted larger or smaller according to actual working conditions.

[0087] Optionally, in this embodiment, as Figure 2 and Figure 4As shown, each rotary motor 1's housing 11 is further recessed at its second end along the first orientation, with a third mounting groove 113. The second mounting groove 112 and the third mounting groove 113 of each rotary motor 1 are spaced apart along the second orientation and both penetrate the same side of its own housing 11 along the third orientation. The second end of the output shaft 12 of each rotary motor 1 extends out of its own housing 11 along the second orientation and is at least partially located within the third mounting groove 113 of its own housing 11. The connecting member assembly 2 also includes a second connecting member 22. The first end of the second connecting member 22 is fixedly connected to the housing 11 of the first rotary motor within the second sub-groove 1112 of the first rotary motor, and the second end of the second connecting member 22 is rotatably connected to the second end of the output shaft 12 of the second rotary motor within the third mounting groove 113 of the second rotary motor. The output shaft 12 of the second rotary motor drives the first connecting member 21, the second connecting member 22, and the first rotary motor to rotate synchronously. This further improves the stability of the synchronous rotation of the first connecting member 21 and the first rotary motor driven by the output shaft 12 of the second rotary motor, thereby further improving the working performance and service life of the formed modular motor.

[0088] Specifically, in this embodiment, as Figure 1 and Figure 2 As shown, the second mounting groove 112 and the third mounting groove 113 have the same structure, that is, the shape of the second mounting groove 112 is the same as the shape of the third mounting groove 113, and the size of the second mounting groove 112 is the same as the size of the third mounting groove 113. Further, in this embodiment, as... Figure 2 As shown, the outer contours of the first connector 21 and the second connector 22 are the same. It can be understood that, along the second orientation, the orthographic projections of the first connector 21 and the second connector 22 completely overlap. With this configuration, when the first connector 21 is at its first rotational limit position, the second connector 22 can also abut against the second rotary motor at the same position, thereby further improving the stability of confining the first connector 21 and the first rotary motor at the first rotational limit position; similarly, when the first connector 21 is at its second rotational limit position, the second connector 22 can also abut against the second rotary motor at the same position, thereby further improving the stability of confining the first connector 21 and the first rotary motor at the second rotational limit position.

[0089] Optionally, in this embodiment, as Figure 4 As shown, along the second orientation, the second connector 22 is located between the two ends of the housing 11 of the rotary motor 1. Specifically, the first end of the second connector 22 is completely located within the second sub-slot 1112, and the second end of the second connector 22 is completely located within the third mounting slot 113. This minimizes the space occupancy of the formed modular motor along the second orientation. In other embodiments, the second connector 22 may also be configured to partially extend out of the second sub-slot 1112 along the second orientation.

[0090] Optionally, in this embodiment, as Figure 3 As shown, the second connector 22 is also a plate-shaped connector. This arrangement allows the second connector 22 to be directly and fixedly connected to the housing 11 of the first rotary motor after being translated along the second orientation from the second sub-slot 1112 of the first rotary motor to the first sub-slot 1111 of the first rotary motor.

[0091] Further, optionally, in this embodiment, as Figure 2 and Figure 4 As shown, along the second orientation, the second end of the output shaft 12 of each rotary motor 1 is completely located within the third mounting slot 113. This further reduces the space occupancy of the formed modular motor along the second orientation. In other embodiments, at least one output shaft 12 of the rotary motor 1 may also be provided with a portion of its second end extending out of the third mounting slot 113 along the second orientation.

[0092] Optionally, such as Figure 2-4 As shown, the connecting assembly 2 also includes a bearing 25. The inner ring of the bearing 25 is fixedly sleeved on the outer periphery of the second end of the output shaft 12 of the rotary motor 1, and the second end of the second connecting member 22 is fixedly sleeved on the outer ring of the bearing 25. This enables the second end of the second connecting member 22 to be rotatably connected to the second end of the output shaft 12 of the second rotary motor within the third mounting groove 113 of the second rotary motor, and effectively improves the smoothness of the rotation of the second end of the second connecting member 22 relative to the output shaft 12 of the second rotary motor.

[0093] In other embodiments, the second end of the second connector 22 can also be directly rotatably sleeved onto the second end of the output shaft 12 of the second rotary motor. This also allows the second end of the second connector 22 to be rotatably connected to the second end of the output shaft 12 of the second rotary motor within the third mounting groove 113 of the second rotary motor.

[0094] Optionally, such as Figure 2 and Figure 4 As shown, each rotary motor 1 has an output shaft 12 with a through hole 121. One end of the through hole 121 of each rotary motor 1 passes through the second end of its own output shaft 12, and the other end of the through hole 121 of each rotary motor 1 passes through the outer peripheral surface of its own output shaft 12 and is located inside its own housing 11. The through hole 121 is used to pass through the wire 13. This allows the wire 13 inside the rotary motor 1 to be led out and improves the aesthetics.

[0095] Specifically, in this embodiment, as Figure 2-6As shown, for any two adjacent rotary motors 1, the first end of the second connecting member 22 is fixedly connected to the housing 11 of the first rotary motor in the second sub-slot 1112 of the first rotary motor. The specific structure is similar to that of the first end of the first connecting member 21 being fixedly connected to the housing 11 of the first rotary motor in the first sub-slot 1111 of the first rotary motor, so it will not be described again here.

[0096] Example 3

[0097] This embodiment is a direct translation of the description in Embodiment 1: Figure 7 and Figure 8 As shown, the first end of the first connector 21 is fixedly connected to the housing 11 of the first rotary motor in the second sub-slot 1112 of the first rotary motor, and the corresponding structure is further described.

[0098] The difference between this embodiment and Embodiment 2 is that:

[0099] like Figure 7 and Figure 8 As shown, for any two adjacent rotary motors 1, the first end of the first connector 21 is fixedly connected to the housing 11 of the first rotary motor in the second sub-slot 1112 of the first rotary motor, and the second end of the first connector 21 is fixedly connected to the first end of the output shaft 12 of the second rotary motor in the second mounting slot 112 of the second rotary motor, thus having a third rotation limit position and a fourth rotation limit position. When the first connector 21 is located in the third rotation limit position, the second limiting surface 212 abuts against the second end of the housing 11 of the second rotary motor along the first orientation, and the opening of the second mounting slot 112 of the first rotary motor along the third orientation and the opening of the second mounting slot 112 of the second rotary motor along the third orientation face opposite directions. When the first connector 21 is located in the fourth rotation limit position, the first limiting surface 211 abuts against the end of the housing 11 of the second rotary motor along the third orientation near the second mounting slot 112. With this configuration, for the first end of the first connector 21 fixedly connected to the housing 11 of the first rotary motor within the second sub-slot 1112 of the first rotary motor, the rotation range in which the output shaft 12 of the second rotary motor drives the first connector 21 and the first rotary motor to rotate synchronously can be limited. Secondly, the second limiting surface 212 abuts against the second end of the housing 11 of the second rotary motor along the first orientation, which can effectively improve the support stability of supporting the first rotary motor and the first connector 21 at the third rotation limit position. Furthermore, setting the first limiting surface 211 to abut against the end of the housing 11 of the second rotary motor along the third orientation near the second mounting slot 112 can effectively improve the support stability of supporting the first rotary motor and the first connector 21 at the fourth rotation limit position.

[0100] Optionally, in this embodiment, as Figure 1 , Figure 4 , Figure 7 and Figure 8 As shown, each second mounting slot 112 is provided with a second slot wall 1122; the first connector 21 is also provided with a third limiting surface 213, and when the first connector 21 is located at the third rotation limit position, the third limiting surface 213 abuts against the second slot wall 1122. This can further improve the support stability of supporting the first rotary motor and the first connector 21 at the third rotation limit position.

[0101] Specifically, in this embodiment, as Figure 1 , Figure 4 , Figure 7 and Figure 8 As shown, each second mounting groove 112 is also provided with a first groove wall 1121; when the first connector 21 is located at the fourth rotation limit position, the first groove wall 1121 and the first connector 21 are distributed at intervals.

[0102] Optionally, in this embodiment, as Figure 1 , Figure 4 , Figure 7 and Figure 8 As shown, each rotary motor 1's housing 11 is further recessed at its second end along the first orientation, with a third mounting groove 113. The second mounting groove 112 and third mounting groove 113 of each rotary motor 1 are spaced apart along the second orientation and both penetrate the same side of its own housing 11 along the third orientation. The second end of the output shaft 12 of each rotary motor 1 extends out of its own housing 11 along the second orientation and is at least partially located within the third mounting groove 113 of its own housing 11. The connecting member assembly 2 also includes a second connecting member 22. The first end of the second connecting member 22 is fixedly connected to the housing 11 of the first rotary motor within the first sub-groove 1111 of the first rotary motor, and the second end of the second connecting member 22 is rotatably connected to the second end of the output shaft 12 of the second rotary motor within the third mounting groove 113 of the second rotary motor. The output shaft 12 of the second rotary motor drives the first connecting member 21, the second connecting member 22, and the first rotary motor to rotate synchronously. This further improves the stability of the synchronous rotation of the first connecting member 21 and the first rotary motor driven by the output shaft 12 of the second rotary motor, thereby further improving the working performance and service life of the formed modular motor.

[0103] Specifically, in this embodiment, along the second orientation, such as Figure 4 , Figure 7 and Figure 8 As shown, the first connector 21 is located between the two ends of the housing 11 of the rotary motor 1. That is, the first end of the first connector 21 is completely located within the second sub-slot 1112, and the second end of the first connector 21 is completely located within the second mounting slot 112. This effectively reduces the space occupancy of the formed modular motor along the second orientation. In other embodiments, the first connector 21 may also be configured to partially extend out of the first sub-slot 1111 along the second orientation.

[0104] Optionally, in this embodiment, as Figure 4 As shown, along the second orientation, the second connector 22 is located between the two ends of the housing 11 of the rotary motor 1. Specifically, the first end of the second connector 22 is completely located within the first sub-slot 1111, and the second end of the second connector 22 is completely located within the third mounting slot 113. This minimizes the space occupancy of the formed modular motor along the second orientation. In other embodiments, the second connector 22 may also be configured to partially extend out of the first sub-slot 1111 along the second orientation.

[0105] Example 4

[0106] This utility model also provides a robotic arm, including the modular motor described in Embodiment 1, or the modular motor described in Embodiment 2, or the modular motor described in Embodiment 3. By adopting the above-mentioned modular motors, the structure of the robotic arm can be effectively simplified, and the assembly flexibility and practicality of the robotic arm can be improved.

[0107] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A modular motor, characterized in that, Includes at least two rotating motors (1); For any two adjacent rotary motors (1), one of the rotary motors (1) is a first rotary motor and the other rotary motor (1) is a second rotary motor. The first rotary motor and the second rotary motor are equipped with a connecting member group (2); the connecting member group (2) includes a first connecting member (21). Each of the rotary motors (1) has a housing (11) with two first mounting grooves (111) recessed at a first end along a first orientation and spaced apart along a second orientation; each of the rotary motors (1) has a housing (11) with a second mounting groove (112) recessed at a second end along the first orientation, and the second mounting groove (112) of each housing (11) extends through the same side of its own housing (11) along a third orientation; the first end of the output shaft (12) of each rotary motor (1) extends out of its own housing (11) along the second orientation and is at least partially located in the second mounting groove (112) of its own housing (11); the first orientation, the second orientation, and the third orientation are perpendicular to each other; The first end of the first connector (21) is fixedly connected to the housing (11) of the first rotary motor in any of the first mounting slots (111) of the first rotary motor, and the second end of the first connector (21) is fixedly connected to the first end of the output shaft (12) of the second rotary motor in the second mounting slot (112).

2. The modular motor according to claim 1, characterized in that: Each of the two first mounting slots (111) of the rotary motor (1) includes a first sub-slot (1111); each of the first connectors (21) is provided with a first limiting surface (211) and a second limiting surface (212); For any two adjacent rotary motors (1), the first end of the first connector (21) is fixedly connected to the housing (11) of the first rotary motor in the first sub-slot (1111) of the first rotary motor, and the second end of the first connector (21) is fixedly connected to the first end of the output shaft (12) of the second rotary motor in the second mounting slot (112) of the second rotary motor, thus having a first rotation limit position and a second rotation limit position. When the first connector (21) is located at the first rotation limit position, the first limiting surface (211) abuts against the second end of the housing (11) of the second rotary motor along the first orientation. The opening of the second mounting slot (112) of the first rotary motor along the third orientation and the opening of the second mounting slot (112) of the second rotary motor along the third orientation are oriented in the same direction. When the first connector (21) is located at the second rotation limit position, the second limiting surface (212) abuts against the end of the housing (11) of the second rotary motor along the third orientation near the second mounting slot (112).

3. The modular motor according to claim 2, characterized in that: Each of the second mounting slots (112) is provided with a first slot wall (1121); The first connector (21) is also provided with a third limiting surface (213). When the first connector (21) is located at the second rotation limit position, the third limiting surface (213) abuts against the first groove wall (1121).

4. The modular motor according to claim 2, characterized in that, Each of the two first mounting slots (111) of the rotary motor (1) further includes a second sub-slot (1112); the housing (11) of each rotary motor (1) is further recessed at the second end along the first orientation and has a third mounting slot (113); the second mounting slot (112) and the third mounting slot (113) of each rotary motor (1) are spaced apart along the second orientation and both penetrate the same side of the housing (11) along the third orientation; the second end of the output shaft (12) of each rotary motor (1) extends out of the housing (11) along the second orientation and is at least partially located in the third mounting slot (113) of the housing (11); the connecting member group (2) further includes a second connecting member (22); The first end of the second connector (22) is fixedly connected to the housing (11) of the first rotary motor in the second sub-slot (1112) of the first rotary motor, and the second end of the second connector (22) is rotatably connected to the second end of the output shaft (12) of the second rotary motor in the third mounting slot (113).

5. The modular motor according to claim 4, characterized in that, Each of the rotary motors (1) has an output shaft (12) with a through hole (121). One end of the through hole (121) of each rotary motor (1) passes through the second end of its own output shaft (12), and the other end of the through hole (121) of each rotary motor (1) passes through the outer peripheral surface of its own output shaft (12) and is located inside its own housing (11). The through hole (121) is used to pass through the wire (13).

6. The modular motor according to claim 1, characterized in that: Each of the two first mounting slots (111) of the rotary motor (1) includes a second sub-slot (1112); each of the first connectors (21) is provided with a first limiting surface (211) and a second limiting surface (212); For any two adjacent rotary motors (1), the first end of the first connector (21) is fixedly connected to the housing (11) of the first rotary motor in the second sub-slot (1112) of the first rotary motor, and the second end of the first connector (21) is fixedly connected to the first end of the output shaft (12) of the second rotary motor in the second mounting slot (112) of the second rotary motor, thus having a third rotation limit position and a fourth rotation limit position. When the first connector (21) is located at the third rotation limit position, the second limiting surface (212) abuts against the second end of the housing (11) of the second rotary motor along the first orientation. The opening of the second mounting slot (112) of the first rotary motor along the third orientation and the second mounting slot (112) of the second rotary motor along the third orientation face opposite directions. When the first connector (21) is located at the fourth rotation limit position, the first limiting surface (211) abuts against the end of the housing (11) of the second rotary motor along the third orientation near the second mounting slot (112).

7. The modular motor according to claim 6, characterized in that: Each of the second mounting slots (112) is provided with a second slot wall (1122); The first connector (21) is also provided with a third limiting surface (213). When the first connector (21) is located at the third rotation limit position, the third limiting surface (213) abuts against the second groove wall (1122).

8. The modular motor according to claim 6, characterized in that, Each of the two first mounting slots (111) of the rotary motor (1) further includes a first sub-slot (1111); the housing (11) of each of the rotary motors (1) is further recessed at the second end along the first orientation and a third mounting slot (113) is provided; the second mounting slot (112) and the third mounting slot (113) of each of the rotary motors (1) are spaced apart along the second orientation and both penetrate the same side of their own housing (11) along the third orientation; the second end of the output shaft (12) of each of the rotary motors (1) extends out of its own housing (11) along the second orientation and is at least partially located in the third mounting slot (113) of its own housing (11); the connecting member group (2) further includes a second connecting member (22); The first end of the second connector (22) is fixedly connected to the housing (11) of the first rotary motor in the first sub-slot (1111) of the first rotary motor, and the second end of the second connector (22) is rotatably connected to the second end of the output shaft (12) of the second rotary motor in the third mounting slot (113).

9. The modular motor according to any one of claims 1-8, characterized in that: The output shaft (12) of each of the rotary motors (1) is distributed at intervals along the first orientation and the middle position of its own housing (11), and the output shaft (12) of each of the rotary motors (1) is distributed at intervals along the third orientation and the middle position of its own housing (11); And / or, the first connector (21) is located between the two ends of the housing (11) of the rotary motor (1) along the second orientation; And / or, each of the rotary motors (1) housings (11) is provided with a first rotation avoidance surface (114) at a first end along the first orientation, and each of the rotary motors (1) housings (11) is provided with a second rotation avoidance surface (115) at a second end along the first orientation. Along the third orientation, the first rotation avoidance surface (114) and the second rotation avoidance surface (115) on the housings (11) of each rotary motor (1) are located on the same side near its own second mounting groove (112).

10. A robotic arm, characterized in that, Includes the modular motor as described in any one of claims 1-9.

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