Motor protection mechanism for a robot dexterous hand

Abstract

The utility model belongs to the field of robot, especially relate to a motor protection mechanism for robot dexterous hand. The utility model provides a motor protection mechanism for robot dexterous hand, including dexterous hand main part, speed reducer and motor main body, the power output of speed reducer is connected with the power input of dexterous hand main body transmission, the driving shaft of motor main body is connected with the power input of speed reducer transmission, still include cover body, the cover body is detachable installation on the outside of driving shaft through dismantling connecting assembly, the inner wall of cover body is equipped with the mounting groove along the circumference, first sealing ring is inlayed in the mounting groove, through cover body and driving shaft synchronous rotation, can reduce the abrasion of first sealing ring because relatively rotating, cooperate and limit ring and ensure that the sealed position is stable, can reliably block water or dust and along driving shaft intrude motor main body.

Description

Technical Field

[0001] This utility model belongs to the field of robotics, and in particular relates to a motor protection mechanism for a robot's dexterous hand. Background Technology

[0002] As a high-precision manipulator, the robot's dexterous hand is often used in complex environments to perform delicate tasks such as grasping and assembly. During operation, it is easily exposed to impurities such as dust and moisture. The motor, as the core driving component of the dexterous hand, is connected to the reducer via a drive shaft to output power. However, the connection between the motor drive shaft and the reducer is a weak point in the sealing and protection.

[0003] Existing motor protection structures mostly use fixed seals for protection. However, during the movement of the dexterous hand, the continuous rotation of the drive shaft can easily cause the seals to wear, affecting the sealing effect and allowing impurities to enter the motor and cause malfunctions. This makes it difficult to meet the long-term stable operation requirements of the robot's dexterous hand. Summary of the Invention

[0004] The purpose of this utility model is to address the aforementioned technical problems by providing a motor protection mechanism for a robot's dexterous hand. By rotating the cover synchronously with the drive shaft, the wear of the first sealing ring caused by relative rotation can be reduced. Combined with the limiting ring, the sealing position is ensured to be stable, and water or dust can be reliably prevented from entering the motor body along the drive shaft.

[0005] In view of this, the present invention provides a motor protection mechanism for a robot dexterous hand, including a dexterous hand body, a reducer and a motor body. The power output end of the reducer is driven to the power input end of the dexterous hand body, and the drive shaft of the motor body is driven to the power input end of the reducer. It also includes a cover, which is detachably installed on the outside of the drive shaft through a detachable connection assembly. The inner wall of the cover is provided with a mounting groove along the circumference, and a first sealing ring is embedded in the mounting groove. The cover rotates synchronously with the drive shaft and forms a sealing fit through the first sealing ring to prevent water and dust from entering the inside of the motor body. A limiting ring is fixedly connected to the outer side of one end of the motor body near the drive shaft. The limiting ring is used to axially limit the assembly position of the cover.

[0006] In this technical solution, by rotating the cover synchronously with the drive shaft, the wear of the first sealing ring caused by relative rotation can be reduced. The limit ring ensures a stable sealing position and can reliably prevent water or dust from entering the motor body along the drive shaft.

[0007] Furthermore, the outer periphery of the cover is provided with a plurality of discharge ports, and the plurality of discharge ports are all connected to the inner cavity of the cover.

[0008] In this technical solution, the centrifugal force generated by the discharge port can promptly discharge water or impurities that have entered the inner cavity of the cover above the first sealing ring, preventing liquid and dust from seeping into the motor and enhancing the protective stability of the motor body.

[0009] Furthermore, the bottom ends of several discharge ports correspond to the top ends of the first sealing ring, and the bottom ends of the inner cavities of several discharge ports are inclined outwards from the discharge ports.

[0010] In this technical solution, by adjusting the position and tilt of the discharge port, water or impurities near the first sealing ring can be efficiently discharged, reducing the erosion of the sealing surface by water or impurities and further reducing the risk of leakage.

[0011] Furthermore, the inner wall of the cover facing the limiting ring is provided with a spiral groove, the bottom axial end of the spiral groove is connected to one axial end of the cover, and the top axial end of the spiral groove is not connected to the inner cavity of the cover.

[0012] In this technical solution, as the spiral groove rotates with the cover, centrifugal force guides water or impurities between the cover and the limiting ring out, forming a barrier that actively prevents water or impurities from entering, reducing the possibility of them entering the inner cavity.

[0013] Furthermore, the detachable connection assembly includes a circular groove formed on the outer periphery of the cover, a fixing bolt passing through the circular groove, and the fixing bolt being threadedly connected to the surface of the drive shaft.

[0014] In this technical solution, the detachable connection assembly with the fixed bolt and the drive shaft threaded connection has a simple structure, is easy to disassemble and assemble, facilitates quick maintenance or replacement of parts, and ensures continuous and effective protection.

[0015] Furthermore, the outer periphery of the cover is provided with an upper ring slope and a lower ring slope, and the outer radial opening of the lower ring slope gradually increases in the downward direction.

[0016] In this technical solution, the lower ring slope can initially block splashed water or impurities, while the upper ring slope helps guide water or impurities to be thrown out by centrifugal force, reducing the chance of water or impurities contacting the sealing parts from the source and enhancing the protective effect.

[0017] Furthermore, a second sealing ring is installed on the inner wall of the cover on the upper side of the top of the spiral groove.

[0018] In this technical solution, the second sealing ring and the spiral groove work together to form double protection. Even if a small amount of water or impurities break through the spiral groove, they can still be effectively blocked, further improving the sealing reliability against water or impurities.

[0019] The beneficial effects of this utility model are: 1. This utility model reduces wear on the first sealing ring caused by relative rotation by rotating the cover synchronously with the drive shaft. The limiting ring ensures a stable sealing position and can reliably prevent water or dust from entering the motor body along the drive shaft.

[0020] 2. This utility model can promptly discharge water or impurities that have entered the inner cavity of the cover above the first sealing ring by using the discharge port in conjunction with the centrifugal force of rotation, thus preventing liquid and dust from seeping into the motor and enhancing the protective stability of the motor body. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the main body of a robot dexterity hand in existing technology; Figure 2 This is a schematic diagram of the external structure of the cover of this utility model; Figure 3 This is a schematic diagram of the inner structure of the bottom end of the cover of this utility model; Figure 4 This is a front sectional view of the cover body of this utility model; Figure 5 This is a sectional front view of the connection between the cover and the drive shaft of this utility model; Figure 6 This is a schematic diagram of the overall external structure of the cover, drive shaft, and motor body of this utility model.

[0022] In the diagram: 1. Cover; 2. Circular groove; 3. Discharge port; 4. Fixing bolt; 5. First sealing ring; 6. Spiral groove; 7. Second sealing ring; 8. Mounting groove; 9. Drive shaft; 10. Motor body; 11. Limiting ring; 12. Reducer. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0024] In the description of this application, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0025] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and are not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0026] It should be noted that in the description of this application, the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this application. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0027] It should be noted that, in this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0028] Example 1: As Figure 1-6 As shown, this utility model provides a motor protection mechanism for a robot dexterous hand, including a dexterous hand body, a reducer 12, and a motor body 10. The power output end of the reducer 12 is connected to the power input end of the dexterous hand body, and the drive shaft 9 of the motor body 10 is connected to the power input end of the reducer 12. It also includes a cover 1, which is detachably installed on the outside of the drive shaft 9 through a detachable connection assembly. The inner wall of the cover 1 has a mounting groove 8 along the circumference, and a first sealing ring 5 is embedded in the mounting groove 8. The cover 1 rotates synchronously with the drive shaft 9, and forms a sealing fit through the first sealing ring 5 to prevent water and dust from entering the interior of the motor body 10. The first sealing ring 5 is made of nitrile rubber. A limiting ring 11 is fixedly connected to the outer side of one end of the motor body 10 near the drive shaft 9. The limiting ring 11 is used to axially limit the assembly position of the cover 1.

[0029] In the example of this application, the cover 1 is fixed to the drive shaft 9 by a detachable connecting component, so that the two rotate synchronously. This prevents relative rotational movement between the first sealing ring 5 and the corresponding sealing surface, thereby reducing wear caused by friction from the source. At the same time, the limiting ring 11 on the motor body 10 forms an axial limit on the cover 1, ensuring that the first sealing ring 5 is always in the preset sealing position and maintains a stable fit with the sealing surface. Thus, through the elastic sealing effect of the first sealing ring 5, water or dust is continuously and reliably prevented from entering the interior of the motor body 10 along the gap between the drive shaft 9 and the cover 1.

[0030] As a preferred example of this application, the outer periphery of the cover 1 is provided with a plurality of discharge ports 3, and the plurality of discharge ports 3 are all connected to the inner cavity of the cover 1.

[0031] In the example of this application, the cover 1 generates centrifugal force when it rotates with the drive shaft 9. When a small amount of water or impurities enter the inner cavity of the cover 1 and accumulate above the first sealing ring 5, under the action of centrifugal force, these water or impurities will move towards the inner wall of the cover 1. The discharge port 3 on the outer periphery of the cover 1 is connected to the inner cavity to form a discharge channel, so that water or impurities can be discharged in time through the discharge port 3 under the drive of centrifugal force, avoiding liquid accumulation or buildup in the inner cavity, thereby preventing it from seeping into the motor body 10 and effectively enhancing the protective stability of the motor body 10.

[0032] As a preferred example of this application, the bottom ends of a plurality of discharge ports 3 correspond to the top ends of the first sealing ring 5, and the bottom ends of the inner cavities of a plurality of discharge ports 3 are inclined outward from the discharge ports 3.

[0033] In the example of this application, the bottom end of the discharge port 3 corresponds to the top end of the first sealing ring 5, so that water or impurities near the first sealing ring 5 can be accurately guided to the discharge port 3. At the same time, the design of the bottom end of the inner cavity of the discharge port 3 tilting outward utilizes the combined effect of gravity and centrifugal force to provide a smoother discharge path for water or impurities, accelerate their removal from the sealing surface area, reduce the residence time of water or impurities near the sealing surface, thereby reducing the risk of corrosion to the sealing surface and further improving the anti-leakage effect.

[0034] As a preferred example of this application, the inner wall of the cover 1 facing the limiting ring 11 is provided with a spiral groove 6, the bottom axial end of the spiral groove 6 is connected to one axial end of the cover 1, and the top axial end of the spiral groove 6 is not connected to the inner cavity of the cover 1.

[0035] In the example of this application, the spiral groove 6 opened on the inner wall of the cover 1 facing the limiting ring 11, when rotated synchronously with the cover 1, will guide water or impurities entering the gap between the cover 1 and the limiting ring 11. Driven by centrifugal force, water or impurities will move along the trajectory of the spiral groove 6 towards its axial bottom end. The bottom end of the spiral groove 6 is connected to one axial end of the cover 1, so that water or impurities can be discharged from it. At the same time, the top end of the spiral groove 6 is not connected to the inner cavity of the cover 1, forming a physical barrier, thereby actively guiding water or impurities to the outside and reducing the possibility of them entering the inner cavity of the cover 1.

[0036] As a preferred example of this application, the detachable connection assembly includes a circular groove 2 formed on the outer periphery of the cover 1, a fixing bolt 4 passing through the circular groove 2, and the fixing bolt 4 being threadedly connected to the surface of the drive shaft 9.

[0037] In the example of this application, the fixing bolt 4 passes through the circular groove 2 on the outer periphery of the cover 1 and is threaded onto the surface of the drive shaft 9. The self-locking characteristic of the thread achieves a stable connection between the cover 1 and the drive shaft 9, ensuring that the two move synchronously. When maintenance or replacement of parts is required, the connection can be released simply by loosening the fixing bolt 4, without complicated operations. This structural design not only ensures the reliability of the assembly, but also simplifies the disassembly and assembly process, facilitates quick maintenance, and ensures that the protective function remains effective.

[0038] As a preferred example of this application, the outer periphery of the cover 1 is provided with an upper ring slope and a lower ring slope, and the outer radial opening of the lower ring slope gradually increases in the downward direction.

[0039] In the example of this application, the lower ring slope of the outer periphery of the cover 1 gradually increases in the downward opening direction of its outer radial direction, which can initially block splashing water or impurities, change their trajectory, and reduce the amount of water directly contacting the sealing part. At the same time, the upper ring slope, in conjunction with the centrifugal force generated by rotation, will throw outward along the slope when a small amount of water or impurities comes into contact with the surface of the upper ring slope under the action of centrifugal force, thereby reducing the chance of water or impurities reaching the sealing area from the source, thus enhancing the overall protective effect.

[0040] As a preferred example of this application, a second sealing ring 7 is installed on the inner wall of the cover 1 on the upper side of the top of the spiral groove 6. The second sealing ring 7 is made of fluororubber.

[0041] In the example of this application, the spiral groove 6 forms the first active barrier against water or impurities through rotational centrifugal force, and most of the water or impurities will be guided out. For a small amount of water or impurities that break through the spiral groove 6, the second sealing ring 7 on the top side of the spiral groove 6 will form a tightly fitting sealing surface with it, and the elastic deformation of the sealing ring will fill the gap to form a second sealing barrier. Through the synergistic effect of dual protection, the sealing reliability against water or impurities is further improved.

[0042] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A motor protection mechanism for a robot dexterous hand, comprising a dexterous hand body, a reducer (12), and a motor body (10), wherein the power output end of the reducer (12) is connected to the power input end of the dexterous hand body, and the drive shaft (9) of the motor body (10) is connected to the power input end of the reducer (12), characterized in that, It also includes a cover (1), which is detachably installed on the outside of the drive shaft (9) via a detachable connection assembly. The inner wall of the cover (1) is provided with a mounting groove (8) along the circumferential direction. A first sealing ring (5) is embedded in the mounting groove (8). The cover (1) rotates synchronously with the drive shaft (9) and forms a sealing fit through the first sealing ring (5) to prevent water and dust from entering the motor body (10). A limiting ring (11) is fixedly connected to the outer side of one end of the motor body (10) near the drive shaft (9). The limiting ring (11) is used to axially limit the assembly position of the cover (1).

2. The robot dexterous hand motor protection mechanism according to claim 1, characterized in that, The outer periphery of the cover (1) is provided with a plurality of discharge ports (3), and the plurality of discharge ports (3) are all connected to the inner cavity of the cover (1).

3. The motor protection mechanism for a robot dexterous hand according to claim 2, characterized in that, The bottom ends of several discharge ports (3) correspond to the top ends of the first sealing ring (5), and the bottom ends of the inner cavities of several discharge ports (3) are inclined to the outside of the discharge ports (3).

4. The robot dexterous hand motor protection mechanism according to claim 1, characterized in that, The cover (1) has a spiral groove (6) on its inner wall facing the limiting ring (11). The bottom axial end of the spiral groove (6) is connected to one axial end of the cover (1), and the top axial end of the spiral groove (6) is not connected to the inner cavity of the cover (1).

5. The motor protection mechanism for a robot dexterous hand according to claim 1, characterized in that, The detachable connection assembly includes a circular groove (2) formed on the outer periphery of the cover (1), a fixing bolt (4) passing through the circular groove (2), and the fixing bolt (4) being threadedly connected to the surface of the drive shaft (9).

6. The robot dexterous hand motor protection mechanism according to claim 1, characterized in that, The outer periphery of the cover (1) is provided with an upper ring slope and a lower ring slope, and the outer radial opening of the lower ring slope gradually increases in the downward direction.

7. The robot dexterous hand motor protection mechanism according to claim 4, characterized in that, A second sealing ring (7) is installed on the inner wall of the cover (1) on the upper side of the top of the spiral groove (6).

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