CN208276938U

CN208276938U - A kind of the cross wiring structure and its robot of mechanical arm motor

Info

Publication number: CN208276938U
Application number: CN201721688068.9U
Authority: CN
Inventors: 恽为民; 李世利; 庞作伟
Original assignee: Shanghai Xpartner Robotics Co Ltd; Changzhou Xpartner Robotics Co Ltd
Current assignee: Shanghai Xpartner Robotics Co Ltd; Changzhou Xpartner Robotics Co Ltd
Priority date: 2017-12-07
Filing date: 2017-12-07
Publication date: 2018-12-25
Anticipated expiration: 2027-12-07

Abstract

The utility model discloses a kind of cross wiring structures of mechanical arm motor, for disposing electric wire, wherein including a first motor, the first motor is provided with driving disc spacing pressing；One runing rest, the upper surface of the runing rest are fixed on the driving disc spacing pressing；Second motor, fixed second motor of the holder part nesting of the lower end surface of the runing rest；And one intersect and sunken cord bracket, the intersection is sunken cord being set on the side of the runing rest of bracket, and the electric wire is picked out from the port of first motor, is sunken cord bracket, is connected on the port of the second motor across the intersection.

Description

A kind of the cross wiring structure and its robot of mechanical arm motor

Technical field

The present invention relates to robotic technology field more particularly to the cross wiring structures and its machine of a kind of mechanical arm motor People.

Background technique

Mechanical arm is one of component most crucial in service and humanoid robot, and the design is that one kind allows robot arm The Wiring structure design for working more reliable, more stable；Applied to robot field, so that robot is more reliable, beautifulization, the mankind Technology sense, the sense of security but will be felt by contacting.

Phenomena such as robot arm Wiring structure presence mill line currently on the market is serious and pulls line, is in machine by it It is even more serious that device human body connect shoulder joint position with mechanical arm；Lead to power supply and signal wire breakage and mill when problem is serious It is disconnected, so that robot arm cisco unity malfunction.

Summary of the invention

An object of the present invention is to provide a kind of electricity of humanoid robot mechanical arm for avoiding conductor cable from being worn Machine Wiring structure.

A kind of cross wiring structure of mechanical arm motor, for disposing electric wire, wherein including a first motor, described One motor is provided with driving disc spacing pressing；One runing rest, the upper surface of the runing rest are fixed on the driving disc spacing pressing；Second electricity Machine, fixed second motor of the holder part nesting of the lower end surface of the runing rest；And one intersect and sunken cord bracket, it is described Intersect being set on the side of the runing rest of bracket of sunkening cord, the electric wire is picked out from the port of first motor, passes through institute It states intersection to sunken cord bracket, be connected on the port of the second motor,

Preferably, intersection bracket of sunkening cord includes a U-shaped bottom seat, and one sunkens cord channel, the upper surface of the U-shaped bottom seat with The lower end surface in the channel of sunkening cord connects.

Preferably, with a H-type pedestal, the lower end of the H-type pedestal is fixed on the U-shaped bottom seat in the channel of sunkening cord End face and a tension disc, the upper surface of the detachably connected H-type pedestal of tension disc, the electric wire pass through the H-type The channel formed after the top half of pedestal and tension disc connection, and limited and fixed by the tension disc.

Preferably, the U-shaped bottom seat is provided with multiple threaded holes side by side, and is fixed on described by threaded fastener In corresponding multiple fixation holes side by side of two motors.

Preferably, output shaft is provided in the first motor, the driving disc spacing pressing is mounted on the output shaft.

It is another object of the present invention to propose a kind of humanoid robot, wherein including above-mentioned mechanical arm motor Cross wiring structure.

The design is equipped with wire pressing block structure part with trunking structural member and one by design one using required wire rod, Achieve the purpose that wire rod rotates out of line around robot arm intelligent electric machine output axis center, to reduce robot arm fortune It to the friction of wire rod and is pullled during row.To guarantee the service life and stability of robot arm.

Detailed description of the invention

Fig. 1 is the perspective view of the explosion for the motor Wiring structure that the preferred embodiment of the present invention provides；

Fig. 2 is the schematic diagram for the motor Wiring structure that the preferred embodiment of the present invention provides；

In figure: 1. first motors, 11. driving disc spacing pressings, 100. runing rests, 2. second motors, 3. electric wires, 4. runing rests, 200. intersect bracket of sunkening cord, 202. tension discs, 201.H type bracket

Specific embodiment

To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.

A kind of cross wiring structure of mechanical arm motor, for disposing electric wire 3, wherein described including a first motor 1 First motor 1 is provided with driving disc spacing pressing 11；One runing rest 4, the upper surface of the runing rest 4 are fixed on the driving disc spacing pressing 11 On；Second motor 2, fixed second motor 2 of the holder part nesting of the lower end surface of the runing rest 4；And one intersect It sunkens cord bracket 200, the intersection is sunken cord being set on the side of the runing rest 4 of bracket 200, the electric wire 3 from first The port of motor 1 picks out, and intersects bracket 200 of sunkening cord across described, is connected on the port of the second motor 2, so that the rotation branch Frame 4 has the freedom degree of radial rotary, and the friction with other components is avoided also cross electric wire 3 therein.

Preferably, intersection bracket 200 of sunkening cord includes a U-shaped bottom seat 100, and one sunkens cord channel, the U-shaped bottom seat 100 Upper surface connect with the lower end surface in the channel of sunkening cord.

Preferably, with a H-type pedestal 201, the lower end of the H-type pedestal 201 is fixed on described U-shaped in the channel of sunkening cord 100 upper surface of pedestal and a tension disc 202, the upper surface of the detachably connected H-type pedestal 201 of tension disc 202, The channel that the electric wire 3 is formed after top half and the tension disc 202 connection of the H-type pedestal 201, and by described The limit of tension disc 202 is fixed.

Preferably, the U-shaped bottom seat 100 is provided with multiple threaded holes side by side, and is fixed on institute by threaded fastener It states in corresponding multiple fixation holes side by side of the second motor 2.

Preferably, output shaft is provided in the first motor 1, the driving disc spacing pressing 11 is mounted on the output shaft.Make It is more stable to obtain connection structure, it is convenient for disassembly and assembly, efficient.

It is another object of the present invention to propose a kind of humanoid robot, wherein including above-mentioned mechanical arm motor Cross wiring structure.It avoids in 33 operational process of electric wire to the friction of wire rod and pulls.

Specifically, electric wire 3 is picked out from the port of first motor 1, the intersection being passed through on runing rest 4 is sunken cord bracket 200, which, which can be, collectively forms a channel of sunkening cord by H-type pedestal 201 and tension disc 202, and electric wire 3 passes through should It sunkens cord channel, and by the hoistway limit of sunkening cord, 3 other end of electric wire connects the port of the second motor 2 again.Reach wire rod around robot Mechanical arm intelligent electric machine output axis center rotates out of the purpose of line, is rubbed with reducing in robot arm operational process to wire rod Scrape along is pullled.To guarantee the service life and stability of robot arm.

Note that the technical principle that above are only presently preferred embodiments of the present invention and used.Those skilled in the art can manage Solution, the invention is not limited to the specific embodiments described herein, is able to carry out various apparent changes for a person skilled in the art Change, readjust and substitutes without departing from protection scope of the present invention.Therefore, although by above embodiments to the present invention into It has gone and has been described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, It can also include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.

Claims

1. a kind of cross wiring structure of mechanical arm motor, for disposing electric wire (3), which is characterized in that including a first motor (1), the first motor (1) is provided with driving disc spacing pressing (11)；The upper surface of one runing rest (4), the runing rest (4) is fixed On the driving disc spacing pressing (11)；Second motor (2), described in the holder part nesting of the lower end surface of the runing rest (4) is fixed Second motor (2)；And one intersect and sunken cord bracket (200), what the intersection sunken cord bracket (200) is set to the runing rest (4) on side, the electric wire (3) picks out from the port of first motor (1), sunkens cord bracket (200), connects across the intersection Onto the port of the second motor (2).

2. the cross wiring structure of mechanical arm motor according to claim 1, which is characterized in that described to intersect bracket of sunkening cord It (200) include a U-shaped bottom seat (100), one sunkens cord channel, the upper surface of the U-shaped bottom seat (100) and described sunkens cord under channel End face connection.

3. the cross wiring structure of mechanical arm motor according to claim 2, which is characterized in that the channel of sunkening cord has U-shaped bottom seat (100) upper surface and a tension disc are fixed in one H-type pedestal (201), the lower end of the H-type pedestal (201) (202), the upper surface of the detachably connected H-type pedestal (201) of the tension disc (202), the electric wire (3) pass through described The channel formed after top half and the tension disc (202) connection of H-type pedestal (201), and limited by the tension disc (202) Position is fixed.

4. the cross wiring structure of mechanical arm motor according to claim 3, which is characterized in that the U-shaped bottom seat (100) Be provided with multiple threaded holes side by side, and by threaded fastener be fixed on second motor (2) it is corresponding it is multiple side by side Fixation hole in.

5. the cross wiring structure of mechanical arm motor according to any one of claims 1 to 4, which is characterized in that described It is provided with output shaft in one motor (1), the driving disc spacing pressing (11) is mounted on the output shaft.

6. a kind of robot, which is characterized in that the intersection including the described in any item mechanical arm motors of such as Claims 1-4 is walked Cable architecture.