CN217318005U - Servo motor capable of being stably installed on robot - Google Patents
Servo motor capable of being stably installed on robot Download PDFInfo
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- CN217318005U CN217318005U CN202221252247.9U CN202221252247U CN217318005U CN 217318005 U CN217318005 U CN 217318005U CN 202221252247 U CN202221252247 U CN 202221252247U CN 217318005 U CN217318005 U CN 217318005U
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- servo motor
- robot
- support system
- motor capable
- arm joint
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Abstract
The utility model discloses a but servo motor of stable installation on the robot, this servo motor of installing on the robot aim at solving the servo motor installation unstability that present robotic arm used, and the tie point often takes place not hard up technical problem when continuously carrying out circular motion. The servo motor arranged on the robot comprises a support system, a bearing system arranged at the upper end of the support system, a mechanical arm system arranged at the upper end of the bearing system, and a servo motor arranged between the mechanical arm system and the bearing system. This install servo motor on robot adopts the outside flexible locking head of level to peg graft and gets into arm system, locks servo motor's axle sleeve rather than, and the two can't take place level or vertical skew, and the transmission axostylus axostyle forms stable connection through the well jack-post on lead screw structure and the support system simultaneously, utilizes support system's bottom height balance, strengthens the stability of being connected between servo motor and the arm system.
Description
Technical Field
The utility model belongs to the electromechanical device field of robot, concretely relates to servo motor that can stably install on robot.
Background
With the rapid development of scientific technology, robots are more and more widely applied in life, more and more robots are applied to daily work of people, servo motors are driving mechanisms of the robots, and whether the servo motors work stably or not is very important for the robots when the robots work for a long time.
China utility model with the current bulletin number of CN210589385U discloses a conveniently change robot servo motor of maintenance, including robot and servo motor, robot's inside is seted up flutedly, the middle part of lateral wall has been seted up first draw-in groove, second draw-in groove, third draw-in groove and fourth draw-in groove from inside to outside in proper order about the recess, the internally mounted of first draw-in groove, second draw-in groove, third draw-in groove and fourth draw-in groove has the buckle, the buckle is including fixture block, connecting rod, threaded rod, rotatory piece and adjustable ring, fixture block and connecting rod fixed connection, the connecting hole has been seted up to the connecting rod, threaded rod and rotatory piece fixed connection, adjustable ring and rotatory piece swing joint, the inside corner of recess all is provided with joint portion, servo motor controls the lateral wall and has all seted up the fifth draw-in groove, the utility model discloses a design can improve robot servo motor's whole convenience, Stability, safety, economy and practicality. According to the patent document, the servo motor and the mechanical arm are locked in a threaded connection mode, the mounting and the dismounting are convenient, the stability is poor, and when the mechanical arm does circular motion, the threaded connection part is easy to loosen.
Therefore, aiming at the condition that the joint of the servo motor and the mechanical arm is easy to loose, a novel servo motor mounting structure is developed, and the elastic locking mechanism is utilized to enhance the connection stability between the servo motor and the mechanical arm.
SUMMERY OF THE UTILITY MODEL
(1) Technical problem to be solved
Not enough to prior art, the utility model aims to provide a but the servo motor of stable installation on the robot, this servo motor who installs on the robot aims at solving the servo motor installation unstability that present robotic arm used, and the tie point often takes place not hard up technical problem when continuously carrying out circular motion.
(2) Technical scheme
In order to solve the above technical problems, the utility model provides a servo motor which can be stably installed on a robot, the servo motor arranged on the robot comprises a support system, a bearing system arranged at the upper end of the support system, a mechanical arm system arranged at the upper end of the bearing system, and a servo motor arranged between the mechanical arm system and the bearing system, the middle of the upper end of the support system is fixedly connected with a middle shaft column, the upper end of the middle shaft column is provided with a screw hole, a shaft sleeve is fixedly arranged at the lower end of the servo motor, locking heads which can horizontally stretch and move are symmetrically distributed at the outer side of the shaft sleeve in a cross way, a transmission shaft lever driven by a servo motor is arranged at the inner side of the shaft sleeve, the lower end of the transmission shaft lever is fixedly connected with a screw rod, the transmission shaft lever and the screw rod are both hollow metal rod pieces, and the screw rod is in threaded connection with the inner side of the screw hole.
When the servo motor which can be stably installed on the robot is used, a user installs the bearing system on the support system through threaded connection with the middle shaft column, then the mechanical arm system is placed on the bearing system, the transmission shaft rod and the lead screw which are arranged at the lower part of the servo motor are inserted into and connected with the threaded hole, in the rotating process, the locking head clamps the mechanical arm system and the shaft sleeve to form a whole, the servo motor is started, the transmission shaft rod transmits the rotating acting force to the middle shaft column through the lead screw, and the servo motor and the shaft sleeve reversely rotate due to the reaction force generated by rotation because of the high static state of the support system and the middle shaft column, so that the mechanical arm system synchronously and horizontally rotates.
Preferably, the mechanical arm system comprises a large arm joint, a rotary pedestal arranged at the lower end of the large arm joint, and a small arm joint arranged at the upper end of the large arm joint. The servo motor is connected and locked with the rotary pedestal through the shaft sleeve, and the rotary pedestal is driven to synchronously rotate along with the rotation of the servo motor during starting.
Preferably, the servo motor is arranged on the upper side of the rotary pedestal, and another servo motor is arranged between the rotary pedestal and the large arm joint and between the large arm joint and the small arm joint. The other servo motor arranged between the large arm joint and the rotary pedestal and between the large arm joint and the small arm joint is the same as the servo motor arranged between the bearing system and the mechanical arm system in structure, and the servo motors are locked by adopting a plugging mode of a locking head and a locking hole.
Preferably, the support system comprises inclined strut wing plates supported on a working plane, an air duct arranged between the inclined strut wing plates, and a balance table arranged at the upper ends of the inclined strut wing plates and the air duct, the middle shaft column is fixedly connected to the upper end of the balance table, and the bearing system is arranged at the upper side of the balance table. The inclined strut wing plate and the balance platform form a highly stable support platform, and a solid plane is provided for the operation of the mechanical arm system.
Preferably, the bearing system comprises a fixed pedestal and a first through hole formed in the middle of the fixed pedestal, the fixed pedestal is installed at the upper end of the balance table, and the middle shaft column is in threaded connection with the inner side of the first through hole. The fixed pedestal is installed on the balance table through threaded connection, is convenient and quick to install and dismantle, and can change a more suitable bearing system according to different mechanical arm systems.
Preferably, the upper end of the fixed pedestal is provided with a groove, and balls are distributed between the inner side of the groove and the outer side of the top end of the middle shaft column. The rotating pedestal makes the horizontal rotation smoother by using the rolling friction generated by the balls on the fixed pedestal.
Preferably, No. two openings have been seted up in the middle of the gyration pedestal, the axle sleeve set up in No. two openings are inboard, No. two opening inner wall cross symmetric distribution have the locking hole. When the shaft sleeve enters the second through hole, the screw thread of the screw rod in the screw hole is screwed to descend and gradually go deep into the second through hole, and when the screw rod is screwed in place, the locking head is located on a distribution plane of the locking hole.
Preferably, telescopic holes are symmetrically distributed on the outer side of the shaft sleeve in a cross manner, an elastic part is connected between the inner side of each telescopic hole and the corresponding locking head, and the top end of each locking head is arranged on the inner side of the corresponding locking hole. The elastic piece generates outward elastic jacking force to the locking head, so that the locking head automatically enters the locking hole, and the shaft sleeve and the rotary pedestal are connected more stably by utilizing a cross-shaped radiation type horizontal insertion mode.
Preferably, the ventilation pipe is installed to the lead screw lower extreme, the ventilation pipe set up in the screw hole is inboard, screw hole lower extreme communicate in the ventilation duct is inboard. After the screw rod is in threaded connection with the screw hole, the screw hole and the cavity inside the transmission shaft rod are communicated with each other through the ventilation pipe.
Preferably, the heat dissipation fan is installed to the ventiduct outer end, transmission shaft pole surface distribution has the vent, the vent upper end communicates in the vent inboard. The heat dissipation fan blows outside cold air into the ventilation channel, enters the cavity inside the transmission shaft rod through the ventilation pipe, finally overflows from the ventilation opening, and carries out air cooling and cooling on a transmission mechanism between the servo motor and the rotary pedestal.
(3) Advantageous effects
Compared with the prior art, the beneficial effects of the utility model reside in that: the utility model discloses a but servo motor of stable installation on robot adopts the outside flexible locking head of level to peg graft and gets into mechanical arm system, rather than locking servo motor's axle sleeve, when the mechanical arm system carries out circular rotation motion, the two can't take place level or vertical skew, the well jack post formation stable connection on the transmission axostylus axostyle on the servo motor passes through the lead screw structure and the support system simultaneously, utilize support system's bottom high balance, strengthen the stability of being connected between servo motor and the mechanical arm system, avoid transmission axostylus axostyle and axle sleeve to receive the too big horizontal yawing force of mechanical arm system and warp the unstability.
Drawings
Fig. 1 is a schematic view of an assembly structure of an embodiment of a servo motor of the present invention, which can be stably mounted on a robot;
fig. 2 is a schematic view of an installation structure of a support system and a bearing system of a specific embodiment of a servo motor of the present invention, which can be stably installed on a robot;
fig. 3 is a schematic view of the mechanical arm system and the installation structure of the servo motor according to the embodiment of the present invention, which can be stably installed on the robot.
The labels in the figures are: 1. a support system; 2. a central shaft column; 3. a silk hole; 4. a load bearing system; 5. a robotic arm system; 6. a servo motor; 7. a shaft sleeve; 8. a locking head; 9. a drive shaft; 10. a screw rod; 11. a large arm joint; 12. a rotating pedestal; 13. a forearm joint; 14. a sprag wing plate; 15. an air duct; 16. a balancing table; 17. a fixed pedestal; 18. a first through port; 19. a groove; 20. a ball bearing; 21. a second through opening; 22. a locking hole; 23. a telescopic hole; 24. an elastic member; 25. a vent pipe; 26. a heat dissipation fan; 27. and a vent.
Detailed Description
The specific embodiment is a servo motor which can be stably installed on a robot, the assembly structure schematic diagram of the servo motor is shown in figure 1, the installation structure schematic diagram of a support system 1 and a bearing system 4 is shown in figure 2, the installation structure schematic diagram of a mechanical arm system 5 and a servo motor 6 is shown in figure 3, the servo motor installed on the robot comprises a support system 1, a bearing system 4 installed at the upper end of the support system 1, a mechanical arm system 5 installed at the upper end of the bearing system 4, and a servo motor 6 installed between the mechanical arm system 5 and the bearing system 4, a middle shaft post 2 is fixedly connected in the middle of the upper end of the support system 1, a screw hole 3 is arranged at the upper end of the middle shaft post 2, a shaft sleeve 7 is fixedly installed at the lower end of the servo motor 6, locking heads 8 which can horizontally stretch and move are symmetrically distributed at the outer side of the shaft sleeve 7 in a crossed manner, a transmission shaft rod 9 which is driven by the servo motor 6 is arranged at the inner side of the shaft sleeve 7, the lower end of the transmission shaft lever 9 is fixedly connected with a screw rod 10, the transmission shaft lever 9 and the screw rod 10 are both hollow metal rod pieces, and the screw rod 10 is in threaded connection with the inner side of the screw hole 3.
In the present embodiment, the other servo motor 6 installed between the large arm joint 11 and the rotation pedestal 12 and between the large arm joint 11 and the small arm joint 13 has the same structure as the servo motor 6 installed between the carrier system 4 and the robot arm system 5, and both adopt the insertion and connection mode of the locking head 8 and the locking hole 22 for locking, and have the same height stability.
The mechanical arm system 5 comprises a large arm joint 11, a rotary pedestal 12 arranged at the lower end of the large arm joint 11 and a small arm joint 13 arranged at the upper end of the large arm joint 11, the servo motor 6 is arranged on the upper side of the rotary pedestal 12, and another servo motor 6 is arranged between the rotary pedestal 12 and the large arm joint 11 and between the large arm joint 11 and the small arm joint 13. The servo motor 6 is connected and locked with the rotary pedestal 12 through the shaft sleeve 7, the rotary pedestal 12 is driven to synchronously rotate along with the rotation of the servo motor 6 when the rotary pedestal is started, the other servo motor 6 arranged between the large arm joint 11 and the rotary pedestal 12 and between the large arm joint 11 and the small arm joint 13 has the same structure as the servo motor 6 arranged between the bearing system 4 and the mechanical arm system 5, and the servo motors are all locked by adopting the plugging mode of the locking head 8 and the locking hole 22.
Meanwhile, the support system 1 comprises inclined strut wing plates 14 supported on a working plane, an air duct 15 arranged between the inclined strut wing plates 14, a balance table 16 installed at the upper ends of the inclined strut wing plates 14 and the air duct 15, a middle shaft column 2 is fixedly connected to the upper end of the balance table 16, a bearing system 4 is arranged on the upper side of the balance table 16, the bearing system 4 comprises a fixing pedestal 17, a one-number through opening 18 arranged in the middle of the fixing pedestal 17, the fixing pedestal 17 is installed at the upper end of the balance table 16, the middle shaft column 2 is in threaded connection with the inner side of the one-number through opening 18, a groove 19 is formed in the upper end of the fixing pedestal 17, and balls 20 are distributed between the inner side of the groove 19 and the outer side of the top end of the middle shaft column 2. The inclined strut wing plate 14 and the balance table 16 form a highly stable supporting platform, a solid plane is provided for the operation of the mechanical arm system 5, the fixed pedestal 17 is installed on the balance table 16 through threaded connection, the mounting and dismounting are convenient and fast, the more appropriate bearing system 4 can be replaced according to different mechanical arm systems 5, and the rotary pedestal 12 enables the horizontal rotation to be smoother by utilizing rolling friction generated by the balls 20 on the fixed pedestal 17.
In addition, a second through hole 21 is formed in the middle of the rotary pedestal 12, the shaft sleeve 7 is arranged on the inner side of the second through hole 21, locking holes 22 are symmetrically distributed on the inner wall of the second through hole 21 in a cross manner, telescopic holes 23 are symmetrically distributed on the outer side of the shaft sleeve 7 in a cross manner, an elastic piece 24 is connected between the inner side of each telescopic hole 23 and the locking head 8, and the top end of the locking head 8 is arranged on the inner side of each locking hole 22. When the shaft sleeve 7 enters the second through hole 21, the screw thread of the screw rod 10 in the screw hole 3 is screwed to descend and gradually enters the second through hole 21, when the screw rod 10 is screwed in place, the locking head 8 is located on the distribution plane of the locking hole 22, the elastic piece 24 generates outward elastic jacking force for the locking head 8, the locking head automatically enters the locking hole 22, and the shaft sleeve 7 is connected with the rotary pedestal 12 more stably by utilizing a cross radiation type horizontal splicing mode.
In addition, the ventilation pipe 25 is installed to the lead screw 10 lower extreme, and the ventilation pipe 25 sets up in silk hole 3 inboard, and 3 lower extremes in the ventiduct 15 inboards of silk hole intercommunication, and heat dissipation fan 26 is installed to the ventiduct 15 outer end, and transmission shaft lever 9 surface distribution has vent 27, and the ventilation pipe 25 upper end communicates in vent 27 inboardly. After the lead screw 10 threaded connection connects into the screw hole 3, the ventilation pipe 25 communicates the screw hole 3 and the cavity inside the transmission shaft lever 9 with each other, and the heat dissipation fan 26 blows the outside cold air into the ventilation duct 15, and enters the cavity inside the transmission shaft lever 9 through the ventilation pipe 25, finally overflows from the ventilation opening 27, and carries out air cooling to the transmission mechanism between the servo motor 6 and the rotary pedestal 12.
When the servo motor which can be stably arranged on the robot is used, a user installs the bearing system 4 on the support system 1 through the threaded connection with the first through hole 18 and the middle shaft column 2, then places the rotary pedestal 12 on the mechanical arm system 5 on the bearing system 4, sequentially inserts the shaft sleeve 7, the transmission shaft rod 9 and the screw rod 10 at the lower part of the servo motor 6 into the second through hole 21 and the screw hole 3 and is connected into the screw hole 3 through the threads, during the rotation process, the shaft sleeve 7 gradually extends into the second through hole 21, the elastic piece 24 pushes the locking head 8 to extend out from the telescopic hole 23 to enter the locking hole 22, the rotary pedestal 12 and the shaft sleeve 7 are clamped into a whole, the servo motor 6 is started, the transmission shaft rod 9 transmits the rotation acting force to the middle shaft column 2 through the screw rod 10, because of the support system 1 and the middle shaft column 2 are in a high static state, the reaction force generated by the rotation makes the servo motor 6 and the shaft sleeve 7 rotate reversely, so that the mechanical arm system 5 synchronously and horizontally rotates, and the rotary table base 12 makes the horizontal rotation smoother by using the rolling friction generated by the balls 20 on the fixed table base 17.
Claims (10)
1. A servo motor capable of being stably installed on a robot comprises a support system (1), a bearing system (4) installed at the upper end of the support system (1), a mechanical arm system (5) installed at the upper end of the bearing system (4), and a servo motor (6) installed between the mechanical arm system (5) and the bearing system (4); the support system is characterized in that a middle shaft column (2) is fixedly connected to the middle of the upper end of the support system (1), a screw hole (3) is formed in the upper end of the middle shaft column (2), a shaft sleeve (7) is fixedly mounted at the lower end of the servo motor (6), locking heads (8) capable of horizontally moving in a telescopic mode are symmetrically distributed on the outer side of the shaft sleeve (7) in a cross mode, a transmission shaft rod (9) driven by the servo motor (6) is arranged on the inner side of the shaft sleeve (7), a screw rod (10) is fixedly connected to the lower end of the transmission shaft rod (9), the transmission shaft rod (9) and the screw rod (10) are both hollow metal rod pieces, and the screw rod (10) is in threaded connection with the inner side of the screw hole (3).
2. A servo motor which can be stably mounted on a robot as claimed in claim 1, wherein the arm system (5) comprises a large arm joint (11), a rotary pedestal (12) which is mounted at the lower end of the large arm joint (11), and a small arm joint (13) which is mounted at the upper end of the large arm joint (11).
3. A servo motor capable of being stably installed on a robot according to claim 2, wherein the servo motor (6) is installed on the upper side of the rotary base (12), and another servo motor (6) is installed between the rotary base (12) and the large arm joint (11) and between the large arm joint (11) and the small arm joint (13).
4. A servo motor capable of being stably installed on a robot as claimed in claim 1, wherein the support system (1) comprises inclined support wing plates (14) supported on a working plane, an air duct (15) arranged between the inclined support wing plates (14), a balance table (16) installed on the upper ends of the inclined support wing plates (14) and the air duct (15), the central shaft column (2) is fixedly connected to the upper end of the balance table (16), and the bearing system (4) is arranged on the upper side of the balance table (16).
5. A servo motor capable of being stably installed on a robot as claimed in claim 4, wherein the bearing system (4) comprises a fixed pedestal (17) and a first opening (18) arranged in the middle of the fixed pedestal (17), the fixed pedestal (17) is installed at the upper end of the balance table (16), and the middle shaft column (2) is connected to the inner side of the first opening (18) in a threaded mode.
6. The servo motor capable of being stably installed on a robot as claimed in claim 5, wherein a groove (19) is formed at the upper end of the fixed pedestal (17), and balls (20) are distributed between the inner side of the groove (19) and the outer side of the top end of the central shaft column (2).
7. The servo motor capable of being stably installed on a robot as claimed in claim 2, wherein a second through opening (21) is formed in the middle of the rotary table base (12), the shaft sleeve (7) is arranged inside the second through opening (21), and locking holes (22) are distributed on the inner wall of the second through opening (21) in a cross-shaped symmetrical manner.
8. The servo motor capable of being stably installed on a robot as claimed in claim 7, wherein telescopic holes (23) are crossly and symmetrically distributed on the outer side of the shaft sleeve (7), an elastic member (24) is connected between the inner side of the telescopic hole (23) and the locking head (8), and the top end of the locking head (8) is arranged on the inner side of the locking hole (22).
9. The servo motor capable of being stably installed on a robot according to claim 4, wherein a ventilation pipe (25) is installed at the lower end of the screw rod (10), the ventilation pipe (25) is arranged inside the screw hole (3), and the lower end of the screw hole (3) is communicated with the inside of the ventilation channel (15).
10. The servo motor capable of being stably installed on a robot as claimed in claim 9, wherein a heat dissipation fan (26) is installed at an outer end of the air duct (15), a ventilation opening (27) is distributed on the surface of the transmission shaft rod (9), and an upper end of the ventilation pipe (25) is communicated with an inner side of the ventilation opening (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221252247.9U CN217318005U (en) | 2022-05-24 | 2022-05-24 | Servo motor capable of being stably installed on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221252247.9U CN217318005U (en) | 2022-05-24 | 2022-05-24 | Servo motor capable of being stably installed on robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217318005U true CN217318005U (en) | 2022-08-30 |
Family
ID=82987376
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221252247.9U Active CN217318005U (en) | 2022-05-24 | 2022-05-24 | Servo motor capable of being stably installed on robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217318005U (en) |
-
2022
- 2022-05-24 CN CN202221252247.9U patent/CN217318005U/en active Active
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Legal Events
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230616 Address after: B-12-22, No.1 Hunnan Fourth Road, Hunnan New District, Shenyang City, Liaoning Province, 110000 Patentee after: Shenyang Tops Technology Co.,Ltd. Address before: 341000 Zhenxing Road, Ganzhou high tech Industrial Development Zone, Ganxian District, Ganzhou City, Jiangxi Province (between Taiyangping road and yantangli Road) Patentee before: Ganzhou Zhongke Tuo Da Da Intelligent Equipment Technology Co.,Ltd. |
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| TR01 | Transfer of patent right |