A robot joint motor

Abstract

The utility model discloses a kind of robot joint motors, specifically related to joint motor technical field, comprising: first joint arm and second joint arm, the first joint arm top is provided with connecting groove, the second joint arm bottom is integrally fixed with connecting block, two rotating shafts are fixed on the connecting block;Bottom support plate, the bottom support plate inside is equipped with joint motor main body, the output end of the joint motor main body is fixed with hexagonal output shaft, one of the rotating shafts one end is provided with hexagonal groove.The utility model is by using bottom support plate, hinged top limiting plate and simple clamping block-limiting rod locking mechanism, constitutes a quick clamping structure.Compared with the complex structure needing to operate multiple knobs and electric push rod in prior art, the design only needs to screw a rotating block to complete the fixation and release of motor, greatly simplifies the installation and disassembly process of joint motor, so that maintenance work becomes more simple, fast.

Description

Technical Field

[0001] This utility model relates to the field of joint motor technology, specifically to a robot joint motor. Background Technology

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

[0003] The patent publication number "CN116766265A" describes a "robot joint motor." Rotating a first knob drives a lead screw, which in turn moves a moving block. The moving block, via a connecting plate, moves a first locking rod, separating it from a first locking slot. This activates an electric push rod, which in turn moves a second locking rod, separating it from a second locking slot. This moves the joint motor, causing its output shaft to separate from the mounting slot on the rotating rod, thus allowing the joint motor to be removed from the robot for easier maintenance of the joint arm. However, the fixing structure of this joint motor and its connection to the joint arm's rotating shaft are quite complex, making the installation and disassembly of the joint motor cumbersome and hindering the convenient maintenance of both the joint motor and the joint arm. Utility Model Content

[0004] The purpose of this invention is to provide a robot joint motor to address the aforementioned shortcomings in the technology.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a robot joint motor, comprising: A first articulated arm and a second articulated arm. The top end of the first articulated arm is provided with a connecting groove, and the bottom end of the second articulated arm is integrally fixed with a connecting block. Two rotating shafts are fixed on the connecting block, and the rotating shafts are rotatably connected to the inner wall of the connecting groove through bearings. A bottom support plate is fixedly installed at the outer end of the first joint arm. A joint motor body is installed inside the bottom support plate. A hexagonal output shaft is fixedly installed at the output end of the joint motor body. One end of the shaft has a hexagonal slot, and one end of the hexagonal output shaft extends into the hexagonal slot. A top limiting plate is installed at the top of the joint motor body. One side of the top limiting plate is hinged to one side of the bottom support plate. A limiting connection mechanism is installed between the other side of the top limiting plate and the other side of the bottom support plate. The limiting edge on the top limiting plate extends to the tail end of the joint motor body.

[0006] Preferably, the limiting connection mechanism includes a snap-fit ​​block fixedly disposed on the other side of the top limiting plate, a snap-fit ​​groove is provided on the other side of the bottom support plate, the snap-fit ​​block is disposed inside the snap-fit ​​groove, and a limiting component is provided on the snap-fit ​​block.

[0007] Preferably, the limiting component includes a movable groove formed on the inner wall of the snap-fit ​​groove, a limiting rod provided inside the movable groove, a limiting groove formed on the snap-fit ​​block, and one end of the limiting rod extending into the limiting groove.

[0008] Preferably, the movable groove is provided with a threaded rod, one end of which extends to the front end of the bottom support plate and is rotatably connected to the bottom support plate through a bearing. The other end of the limiting square rod is provided with a threaded groove, and the other end of the threaded rod extends into the threaded groove and is threadedly connected to the threaded groove. A rotating block is fixedly provided at one end of the threaded rod.

[0009] Preferably, the bottom end of the joint motor body is welded with multiple limiting strips, the inner end of the bottom support plate is provided with multiple limiting grooves, the multiple limiting strips are respectively disposed inside the multiple limiting grooves, and a thermally conductive silicone grease layer is provided between the limiting strips and the inner wall of the limiting groove.

[0010] Preferably, multiple heat dissipation fins are integrally fixed to the outer ends of the bottom support plate and the top limiting plate.

[0011] Preferably, the bottom support plate, the top limiting plate, and the multiple limiting strips are all made of thermally conductive metal material, and the heat generated on the joint motor body is dissipated outward through contact with the bottom support plate, the top limiting plate, and the multiple limiting strips.

[0012] The technical effects and advantages provided by this utility model in the above technical solution are as follows: 1. This utility model employs a bottom support plate, a hinged top limiting plate, and a simple locking mechanism with a locking block and limiting rod to form a quick-clamping structure. Compared with the complex structure of existing technologies that requires the operation of multiple knobs and electric push rods, this design only requires turning a single rotating block to complete the fixing and releasing of the motor, greatly simplifying the installation and disassembly process of the joint motor, making maintenance work simpler and faster, and effectively solving the problem of convenient maintenance.

[0013] 2. By configuring the hexagonal output shaft and hexagonal slot, as well as the limit strip and limit slot, not only is efficient power transmission and precise motor positioning achieved, but also a highly efficient thermal management channel is constructed through close metal-to-metal contact and the application of thermal grease. Combined with a heat dissipation system consisting of a bottom support plate, a top limit plate, and heat sink fins, the heat generated by the motor can be promptly dissipated, effectively reducing the motor's operating temperature and extending its service life and operational reliability.

[0014] 3. The overall structure is compact and the design is reasonable. While ensuring functionality and reliability, it is easy to manufacture and assemble, making it very suitable for use in robot joints. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the connection structure between the first joint arm and the second joint arm of this utility model; Figure 3 This is a three-dimensional structural diagram of the articulated motor body and the hexagonal output shaft of this utility model. Figure 4 This is a schematic diagram of the three-dimensional structure of the bottom support plate and the top limiting plate of this utility model. Figure 1 ; Figure 5 This is a schematic diagram of the three-dimensional structure of the bottom support plate and the top limiting plate of this utility model. Figure 2 ; Figure 6 This is a partial cross-sectional view of the bottom support plate and the top limiting plate of this utility model; Figure 7 For the present utility model Figure 6 A schematic diagram of the enlarged structure of A.

[0017] Explanation of reference numerals in the attached figures: 1. First articulated arm; 2. Second articulated arm; 3. Connecting groove; 4. Connecting block; 5. Rotating shaft; 6. Bottom support plate; 7. Articulated motor body; 8. Hexagonal output shaft; 9. Hexagonal slot; 10. Top limiting plate; 11. Snap-fit ​​block; 12. Snap-fit ​​slot; 13. Limiting strip; 14. Limiting slot; 15. Heat dissipation fins; 16. Movable slot; 17. Limiting square rod; 18. Limiting square slot; 19. Threaded rod; 20. Threaded slot; 21. Rotating block. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0019] A robot joint motor, such as Figure 1-7 As shown, it includes a first articulated arm 1, a second articulated arm 2, a bottom support plate 6, an articulated motor body 7, a top limiting plate 10, and related connecting and fixing mechanisms.

[0020] The top of the first articulated arm 1 has a connecting groove 3 machined in. The bottom of the second articulated arm 2 has a connecting block 4 fixedly attached using an integral molding technique. Two rotating shafts 5 are fixedly mounted on the connecting block 4. The rotating shafts 5 are rotatably connected to the inner wall of the connecting groove 3 through precision bearings, allowing the second articulated arm 2 to rotate flexibly relative to the first articulated arm 1.

[0021] The bottom support plate 6 is fixedly installed on the outer end of the first articulated arm 1 by welding or bolting. The articulated motor body 7 is housed inside the bottom support plate 6. A hexagonal output shaft 8 is fixedly installed at the output end of the articulated motor body 7 by key connection or interference fit. Correspondingly, a hexagonal groove 9 is machined on the end face of one of the rotating shafts 5. One end of the hexagonal output shaft 8 is precisely inserted into the hexagonal groove 9 to form a reliable power transmission connection.

[0022] A top limiting plate 10 is provided at the top of the articulated motor body 7. One side of the top limiting plate 10 is hinged to one side of the bottom support plate 6 via a hinge or hinge, allowing it to open and close like a lid. A limiting connection mechanism is provided between the other side of the top limiting plate 10 and the other side of the bottom support plate 6. It is particularly noteworthy that the top limiting plate 10 is designed with a limiting edge, which extends and covers the tail end of the articulated motor body 7 when closed, thereby effectively limiting its axial movement.

[0023] The limiting connection mechanism includes a snap-fit ​​block 11 welded to the other side of the top limiting plate 10, and a snap-fit ​​groove 12 machined at the corresponding position on the other side of the bottom support plate 6. When the top limiting plate 10 is closed, the snap-fit ​​block 11 is precisely embedded inside the snap-fit ​​groove 12.

[0024] The locking block 11 is equipped with a limiting component for locking the open / closed state. This limiting component includes a movable groove 16 formed on the inner wall of the locking slot 12, and a limiting rod 17 is provided inside the movable groove 16. A corresponding limiting groove 18 is formed on the locking block 11. When locking is required, one end of the limiting rod 17 is inserted into the limiting groove 18 under the action of the drive mechanism, achieving mechanical interlocking.

[0025] The mechanism driving the movement of the limiting square rod 17 is as follows: A threaded rod 19 is installed inside the movable groove 16. One end of the threaded rod 19 extends to the front end face of the bottom support plate 6 and is rotatably connected to the bottom support plate 6 via a bearing. The other end of the limiting square rod 17 has a threaded groove 20. The other end of the threaded rod 19 is screwed into the threaded groove 20 to form a threaded transmission pair. A rotating block 21 is fixedly installed on the end of the threaded rod 19 that protrudes from the bottom support plate 6 for easy manual operation. By turning the rotating block 21, the threaded rod 19 can be driven to rotate, thereby driving the limiting square rod 17 to move along its axial direction, realizing engagement or disengagement with the limiting square groove 18.

[0026] To enhance the installation stability and heat dissipation performance of the joint motor body 7, multiple limiting strips 13 (preferably 4-6) are welded to the bottom end of the joint motor body 7. Multiple limiting grooves 14 are correspondingly formed on the inner end face of the bottom support plate 6. During installation, the multiple limiting strips 13 are precisely inserted into the multiple limiting grooves 14. Furthermore, a high-performance thermally conductive silicone grease layer is coated between the limiting strips 13 and the inner walls of the limiting grooves 14 to reduce contact thermal resistance and optimize the heat conduction path.

[0027] To further improve heat dissipation, multiple heat dissipation fins 15 are fixed to the outer ends of the bottom support plate 6 and the top limiting plate 10 using an integrated molding technology, thereby increasing the heat dissipation surface area.

[0028] Preferably, the bottom support plate 6, the top limiting plate 10, and all the limiting strips 13 are made of a metal material with high thermal conductivity (such as aluminum alloy or copper alloy). The heat generated by the joint motor body 7 during operation is efficiently conducted away through the bottom support plate 6, the top limiting plate 10, and the multiple limiting strips 13 that are in direct contact with it, and is finally dissipated into the surrounding air through the heat dissipation fins 15.

[0029] When the joint motor is working normally, the hexagonal output shaft 8 is inserted into the hexagonal slot 9 of the rotating shaft 5, transmitting the motor torque to the second joint arm 2 and driving it to rotate. The top limiting plate 10 is in a closed and locked state, axially fixing the joint motor body 7 through the limiting edge. The bottom limiting strip 13 cooperates with the limiting slot 14 to perform radial positioning and circumferential limiting, ensuring smooth motor operation.

[0030] When maintenance or replacement of the articulated motor body 7 or the articulated arm is required, the operator only needs to turn the rotating block 21. The threaded rod 19 rotates accordingly, and through the threaded transmission, the limiting square rod 17 disengages from the limiting square groove 18 of the locking block 11, thereby releasing the lock on the top limiting plate 10. Subsequently, the top limiting plate 10 can be easily flipped open around the hinge point. After flipping open, the upper constraint of the articulated motor body 7 is released, and the operator can directly remove the articulated motor body 7 upwards, allowing its hexagonal output shaft 8 to disengage from the hexagonal groove 9 of the rotating shaft 5, completing quick disassembly. The installation process is the reverse: first, insert the motor, close the top limiting plate 10, and then tighten the rotating block 21 to complete the fixation.

[0031] This invention employs a bottom support plate, a hinged top limiting plate, and a simple locking mechanism with a locking block and limiting rod to create a quick-clamping structure. Compared to the complex structures in existing technologies that require operating multiple knobs and electric push rods, this design only requires turning a single rotating block to fix and release the motor, greatly simplifying the installation and disassembly process of the joint motor and making maintenance simpler and faster. This implementation specifically addresses the problem in existing technologies where the fixing structure of the robot joint motor and the shaft connection structure of the joint arm are relatively complex, making the installation and disassembly of the joint motor cumbersome and the maintenance of the joint motor and joint arm inconvenient.

[0032] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A robot joint motor, characterized in that, include: The first joint arm (1) and the second joint arm (2) are provided with a connecting groove (3) at the top end of the first joint arm (1) and a connecting block (4) is integrally fixed at the bottom end of the second joint arm (2). Two rotating shafts (5) are fixed on the connecting block (4) and the rotating shafts (5) are rotatably connected to the inner wall of the connecting groove (3) through bearings. A bottom support plate (6) is fixedly installed at the outer end of the first joint arm (1). The bottom support plate (6) is provided with a joint motor body (7) inside. The output end of the joint motor body (7) is fixedly provided with a hexagonal output shaft (8). One of the rotating shafts (5) has a hexagonal groove (9) at one end. One end of the hexagonal output shaft (8) extends into the hexagonal groove (9). The top of the joint motor body (7) is provided with a top limiting plate (10). One side of the top limiting plate (10) is hinged to one side of the bottom support plate (6). The other side of the top limiting plate (10) and the other side of the bottom support plate (6) are provided with a limiting connection mechanism. The limiting edge on the top limiting plate (10) extends to the tail end of the joint motor body (7).

2. A robot joint motor according to claim 1, characterized in that: The limiting connection mechanism includes a snap-fit ​​block (11) fixedly disposed on the other side of the top limiting plate (10), and a snap-fit ​​groove (12) is provided on the other side of the bottom support plate (6). The snap-fit ​​block (11) is disposed inside the snap-fit ​​groove (12), and a limiting component is provided on the snap-fit ​​block (11).

3. A robot joint motor according to claim 2, characterized in that: The limiting component includes a movable groove (16) opened on the inner wall of the snap-fit ​​groove (12), a limiting rod (17) is provided inside the movable groove (16), a limiting groove (18) is opened on the snap-fit ​​block (11), and one end of the limiting rod (17) extends into the limiting groove (18).

4. A robot joint motor according to claim 3, characterized in that: The movable groove (16) is provided with a threaded rod (19). One end of the threaded rod (19) extends to the front end of the bottom support plate (6) and is rotatably connected to the bottom support plate (6) through a bearing. The other end of the limiting square rod (17) is provided with a threaded groove (20). The other end of the threaded rod (19) extends into the threaded groove (20) and is connected to the threaded groove (20) through a thread. One end of the threaded rod (19) is fixedly provided with a rotating block (21).

5. A robot joint motor according to claim 1, characterized in that: The joint motor body (7) has multiple limiting strips (13) welded to its bottom end. The bottom support plate (6) has multiple limiting grooves (14) opened at its inner end. The multiple limiting strips (13) are respectively located inside the multiple limiting grooves (14). A thermally conductive silicone grease layer is provided between the limiting strips (13) and the inner wall of the limiting grooves (14).

6. A robot joint motor according to claim 5, characterized in that: Multiple heat dissipation fins (15) are integrally fixed to the outer ends of the bottom support plate (6) and the top limiting plate (10).

7. A robot joint motor according to claim 6, characterized in that: The bottom support plate (6), the top limiting plate (10), and the multiple limiting strips (13) are all made of heat-conducting metal material. The heat generated on the joint motor body (7) is dissipated outward through contact with the bottom support plate (6), the top limiting plate (10), and the multiple limiting strips (13).

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