CN111805573B - Robot joint and robot with same - Google Patents
Robot joint and robot with same Download PDFInfo
- Publication number
- CN111805573B CN111805573B CN202010700589.1A CN202010700589A CN111805573B CN 111805573 B CN111805573 B CN 111805573B CN 202010700589 A CN202010700589 A CN 202010700589A CN 111805573 B CN111805573 B CN 111805573B
- Authority
- CN
- China
- Prior art keywords
- robot
- mechanical arm
- sealing
- arm
- mounting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16J—PISTONS; CYLINDERS; SEALINGS
- F16J15/00—Sealings
- F16J15/02—Sealings between relatively-stationary surfaces
- F16J15/06—Sealings between relatively-stationary surfaces with solid packing compressed between sealing surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Rolling Contact Bearings (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot joint and a robot with the same. Wherein, the robot joint includes: the first mechanical arm is provided with a mounting hole; the bearing structure is arranged in the mounting hole; the second mechanical arm penetrates through the bearing structure so as to enable the first mechanical arm and the second mechanical arm to rotate relatively; the sealing assembly is arranged between the first mechanical arm and the second mechanical arm, at least part of the first mechanical arm and the sealing assembly surround to form a first closed space, and the joint of an outer ring of the bearing structure and a part of rolling bodies is positioned in the first closed space; at least one sealing assembly is arranged on one side, far away from the second mechanical arm, of the first mechanical arm, at least part of the first mechanical arm and the sealing assembly surround to form a second closed space, and the joint of the outer ring of the bearing structure and the other part of the rolling bodies is located in the second closed space. The invention solves the problem of poor sealing performance between two mechanical arms which are mutually connected in the prior art.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot joint and a robot with the same.
Background
At present, in the technical field of robots, a four-axis stacking robot and a large six-axis robot are generally designed in a mixed connection mode, namely a parallelogram structure is adopted, and a three-axis motor reducer is arranged below the four-axis stacking robot, so that the rigidity of the robot is increased, and the repeated positioning precision of the robot is also improved.
However, in the prior art, the two mechanical arms hinged to each other have poor sealing performance, so that the phenomenon of lubricating oil leakage is easily caused, and impurities such as dust easily enter the joint of the two mechanical arms to influence the normal operation of the robot.
Disclosure of Invention
The invention mainly aims to provide a robot joint and a robot with the same, and aims to solve the problem that in the prior art, the sealing performance between two mechanical arms which are connected with each other is poor.
In order to achieve the above object, according to one aspect of the present invention, there is provided a robot joint comprising: the first mechanical arm is provided with a mounting hole; the bearing structure is arranged in the mounting hole and is in interference fit with the mounting hole; the second mechanical arm penetrates through the bearing structure so as to enable the first mechanical arm and the second mechanical arm to rotate relatively; the sealing assembly is arranged between the first mechanical arm and the second mechanical arm, at least part of the first mechanical arm and the sealing assembly surround to form a first closed space, and the joint of an outer ring of the bearing structure and a part of rolling bodies is positioned in the first closed space; at least one sealing assembly is arranged on one side, far away from the second mechanical arm, of the first mechanical arm, at least part of the first mechanical arm and the sealing assembly surround to form a second closed space, and the joint of the outer ring of the bearing structure and the other part of the rolling bodies is located in the second closed space.
Further, each seal assembly includes: the mounting structure is connected with the second mechanical arm and is provided with a first mounting part; the first sealing structure is arranged on the first mounting portion and located between the mounting structure and the first mechanical arm, and at least part of the mounting structure, the first sealing structure and at least part of the first mechanical arm surround to form a first closed space and a second closed space.
Furthermore, the first sealing structure is cylindrical, the second mechanical arm comprises a mechanical arm body and a fixing shaft connected with the mechanical arm body, and the fixing shaft penetrates through the bearing structure; the central axis of the first sealing structure is coaxial with the central axis of the fixed shaft.
Further, the mounting structure has a second mounting portion, each seal assembly further comprising: and the second sealing structure is arranged on the second mounting part and is positioned between the mounting structure and the first mechanical arm, the second sealing structure is positioned in the first closed space and the second closed space, and one end, away from the second mounting part, of the second sealing structure is attached to the first mechanical arm.
Further, the second sealing structure includes: one end of the connecting cylinder is connected with the second mounting part; the other end of the connecting cylinder body is connected with the flaring section; wherein the inner diameter of the flared section increases gradually in the direction from the mounting structure to the first robotic arm.
Further, the central axis of the connecting cylinder body is coaxially arranged with the central axis of the fixed shaft.
Further, the first mounting portion is a first annular recess, the first mechanical arm is provided with a second annular recess, one end of the first sealing structure is bonded with, or clamped with, or connected through a fastener with the first annular recess, and the second end of the first sealing structure is bonded with, or clamped with, or connected through a fastener with the second annular recess.
Furthermore, the second installation part is a third annular concave part, and the connecting cylinder body extends into the third annular concave part and is bonded with the third annular concave part, or clamped with the third annular concave part, or connected with the third annular concave part through a fastening piece.
Further, the plurality of sealing assemblies comprise a first sealing assembly and a second sealing assembly, the first sealing assembly is arranged between the first mechanical arm and the second mechanical arm, and a mounting structure of the first sealing assembly is in threaded connection with the mechanical arm body or is connected with the mechanical arm body through a fastener; the second sealing assembly is arranged on one side, far away from the second mechanical arm, of the first mechanical arm, and the mounting structure of the second sealing assembly is in threaded connection with the fixed shaft or is connected with the fixed shaft through a fastener.
Further, the mounting structure of the second seal assembly has an oil fill hole and an oil drain hole, both of which extend to the second end face of the bearing structure.
According to another aspect of the present invention, there is provided a robot comprising a robot joint; wherein the robot joint is the robot joint.
By applying the technical scheme of the invention, at least one sealing assembly is arranged between the first mechanical arm and the second mechanical arm, at least part of the first mechanical arm and the sealing assembly surround to form a first closed space, and the joint of the outer ring of the bearing structure and a part of rolling bodies is positioned in the first closed space. At least one sealing assembly is arranged on one side, far away from the second mechanical arm, of the first mechanical arm, at least part of the first mechanical arm and the sealing assembly surround to form a second closed space, and the joint of the outer ring of the bearing structure and the other part of the rolling bodies is located in the second closed space. Like this, bearing structure sets up in the mounting hole of first arm and with mounting hole interference fit, and the second arm is worn to establish in bearing structure, and two at least seal assembly set up respectively in bearing structure's both sides to seal the both sides of bearing structure respectively, and then seal the junction of second arm and first arm, solved the relatively poor problem of leakproofness between two arms of interconnect among the prior art. Simultaneously, the robot joint in this application not only can prevent that lubricating oil in the bearing structure from revealing outside the robot joint, and can avoid impurity such as dust to get into in first enclosure space and the second enclosure space and influence the normal use of robot arm, has promoted the operational reliability of robot joint.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
figure 1 shows a schematic front view of an embodiment of a robot joint according to the invention;
FIG. 2 shows a cross-sectional view A-A of the robot joint of FIG. 1; and
fig. 3 shows an enlarged schematic view at B of the robot joint in fig. 2.
Wherein the figures include the following reference numerals:
10. a first robot arm; 11. mounting holes; 12. a second annular recess; 20. a bearing structure; 30. a second mechanical arm; 31. a mechanical arm body; 311. a threaded hole; 32. a fixed shaft; 40. a seal assembly; 41. a mounting structure; 411. a first mounting portion; 412. a second mounting portion; 413. an oil filler hole; 414. an oil drain hole; 42. a first seal structure; 43. a second seal structure; 431. connecting the cylinder body; 432. a flared section; 44. a first seal assembly; 45. a second seal assembly; 51. a first enclosed space; 52. a second enclosed space.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
In the present invention, unless stated to the contrary, use of the directional terms "upper and lower" are generally directed to the orientation shown in the drawings, or to the vertical, or gravitational direction; likewise, for ease of understanding and description, "left and right" are generally to the left and right as shown in the drawings; "inner and outer" refer to the inner and outer relative to the profile of the respective member itself, but the above directional terms are not intended to limit the present invention.
In order to solve the relatively poor problem of leakproofness between two arms of interconnect among the prior art, this application provides a robot joint and has its robot.
As shown in fig. 1 to 3, the robot joint includes a first robot arm 10, a bearing structure 20, a second robot arm 30, and two seal assemblies 40. Wherein the first robot arm 10 has a mounting hole 11. The bearing structure 20 is disposed in the mounting hole 11 and is in interference fit with the mounting hole 11. The second mechanical arm 30 is disposed through the bearing structure 20, so that the first mechanical arm 10 and the second mechanical arm 30 rotate relatively. A sealing assembly 40 is disposed between the first robot arm 10 and the second robot arm 30, at least a portion of the first robot arm 10 and the sealing assembly 40 surround to form a first enclosed space 51, and a junction of an outer ring of the bearing structure 20 and a portion of the rolling bodies is located in the first enclosed space 51. A sealing assembly 40 is arranged on the side of the first mechanical arm 10 far away from the second mechanical arm 30, at least part of the first mechanical arm 10 and the sealing assembly 40 surround to form a second closed space 52, and the joint of the outer ring of the bearing structure 20 and another part of rolling bodies is positioned in the second closed space 52.
The technical scheme of this embodiment is applied, bearing structure 20 sets up in the mounting hole 11 of first arm 10 and with mounting hole 11 interference fit, second arm 30 wears to establish in bearing structure 20, two seal assembly 40 set up respectively in bearing structure 20's both sides to seal the both sides of bearing structure 20 respectively, and then seal the junction of second arm 30 and first arm 10, the relatively poor problem of leakproofness between two arms of interconnect among the prior art has been solved. Meanwhile, the robot joint in the embodiment can prevent the lubricating oil in the bearing structure 20 from leaking out of the robot joint, and can prevent impurities such as dust from entering the first closed space 51 and the second closed space 52 to affect the normal use of the robot arm, thereby improving the operation reliability of the robot joint.
It should be noted that the number of the seal assemblies 40 is not limited to this, and may be adjusted according to the operating conditions. Alternatively, there are three seal assemblies 40, one seal assembly 40 is disposed between the first robot arm 10 and the second robot arm 30, and two seal assemblies 40 are disposed on the side of the first robot arm 10 away from the second robot arm 30. Optionally, the seal assemblies 40 are four or five or six or seven or more.
In the present embodiment, the bearing structure 20 is a self-aligning roller bearing.
As shown in fig. 2 and 3, each seal assembly 40 includes a mounting structure 41 and a first seal structure 42. Wherein the mounting structure 41 is connected to the second robot arm 30, the mounting structure 41 having a first mounting portion 411. The first seal structure 42 is disposed on the first mounting portion 411 between the mounting structure 41 and the first robot arm 10, and at least a portion of the mounting structure 41, the first seal structure 42, and at least a portion of the first robot arm 10 surround to form a first enclosed space 51 and a second enclosed space 52. Therefore, on one hand, the sealing assembly 40 is simpler in structure, easy to process and realize, and the processing cost of the sealing assembly 40 is reduced; on the other hand, the sealing reliability of the sealing assembly 40 is improved, and the sealing performance of the connection between the first robot arm 10 and the second robot arm 30 is improved.
Specifically, a first end of the first sealing structure 42 is disposed on the first mounting portion 411, a second end of the first sealing structure 42 is attached to the first robot arm 10, one side of the mounting structure 41 away from the first sealing structure 42 is connected to the second robot arm 30, the sealing assembly 40 disposed between the first robot arm 10 and the second robot arm 30 can seal a joint between the first robot arm 10 and the second robot arm 30, and the sealing assembly 40 disposed on one side of the first robot arm 10 away from the second robot arm 30 can seal one side of the bearing structure 20 away from the second robot arm 30, so as to prevent lubricating oil in the bearing structure 20 from leaking out of the robot joint.
As shown in fig. 2, the first sealing structure 42 is cylindrical, the second robot arm 30 includes a robot arm body 31 and a fixing shaft 32 connected to the robot arm body 31, and the fixing shaft 32 is inserted into the bearing structure 20. Wherein the central axis of the first seal 42 is disposed coaxially with the central axis of the stationary shaft 32. In this way, the arrangement ensures that the first sealing structure 42 can perform all-directional sealing on the bearing structure 20, so as to improve the sealing reliability of the sealing assembly 40, and prevent the lubricating oil in the bearing structure 20 from leaking out of the robot joint through the joint between the first mechanical arm 10 and the second mechanical arm 30 to affect the sealing performance of the robot joint.
As shown in fig. 2 and 3, the mounting structure 41 has a second mounting portion 412, and each seal assembly 40 further includes a second seal structure 43. The second sealing structure 43 is disposed on the second mounting portion 412 and located between the mounting structure 41 and the first robot arm 10, the second sealing structure 43 is located in the first enclosed space 51 and the second enclosed space 52, and one end of the second sealing structure 43 away from the second mounting portion 412 is attached to the first robot arm 10. In this way, the second sealing structure 43 provided in the first closed space 51 and the second closed space 52 can further improve the sealing reliability of the seal assembly 40, and even if the sealing performance of the first sealing structure 42 fails, the second sealing structure 43 can seal both sides of the bearing structure 20, and further the lubricating oil in the bearing structure 20 leaks out of the robot joint.
Specifically, along the radial direction of the mounting structure 41, the second mounting portion 412 is located inside the first mounting portion 411, one end of the second sealing structure 43 is connected to the second mounting portion 412, and the other end of the second sealing structure 43 is attached to the first robot arm 10, so as to perform double sealing on two sides of the bearing structure 20, and improve the sealing reliability of the sealing assembly 40.
In this embodiment, the mounting structure 41, the first sealing structure 42 and the second sealing structure 43 form the sealing assembly 40, and serve as a sealing assembly to reduce the number of parts of the robot joint, so that the robot can be more easily and conveniently disassembled and assembled during shutdown, the disassembling difficulty is reduced, and the production efficiency of the robot joint is also improved.
As shown in fig. 3, the second seal structure 43 includes a connection cylinder 431 and a flared section 432. One end of the connecting cylinder 431 is connected to the second mounting part 412. The other end of the connecting cylinder 431 is connected to a flared section 432. Wherein the inner diameter of the flared section 432 gradually increases in the direction from the mounting structure 41 to the first robot arm 10. Thus, the above arrangement ensures that the second sealing structure 43 can be attached to the first robot arm 10 on one hand, so as to ensure that the second sealing structure 43 can perform a sealing function; on the other hand, the structure of the second sealing structure 43 is simpler, the processing and the realization are easy, and the processing cost of the second sealing structure 43 is reduced.
In the present embodiment, the center axis of the connection cylinder 431 is coaxially disposed with the center axis of the fixed shaft 32. Specifically, the connecting cylinder 431 is coaxially arranged with the first sealing structure 42, so that the first sealing structure 42 and the second sealing structure 43 can be assembled and disassembled more easily and conveniently, and the labor intensity of workers is reduced. Meanwhile, the above arrangement prevents the first seal structure 42 and the second seal structure 43 from being structurally interfered with to affect the sealing reliability of the seal assembly 40.
In the present embodiment, the flared section 432 is made of rubber, and the flared section 432 is supported by steel sheets to ensure the sealing effect of the second sealing structure 43.
As shown in fig. 3, the first mounting portion 411 is a first annular recess, the first robot arm 10 has a second annular recess 12, one end of the first seal 42 is bonded to the first annular recess, and the second end of the first seal 42 is engaged with the second annular recess 12. In this way, the above arrangement makes the connection between the first sealing structure 42 and the mounting structure 41 and the first mechanical arm 10 more secure and stable, and further ensures that the first sealing structure 42 can achieve the sealing effect. Meanwhile, the structure of the first mounting portion 411 is simpler, the first mounting portion is easy to process and realize, and the processing cost of the sealing assembly 40 is reduced.
It should be noted that the connection manner of the second end of the first seal structure 42 and the second annular recess 12 is not limited to this. Optionally, the second end of the first seal structure 42 is bonded or connected by a fastener to the second annular recess 12.
It should be noted that the connection manner of the one end of the first seal structure 42 and the first annular recess is not limited to this. Optionally, one end of the first seal 42 snaps into the first annular recess or is connected by a fastener.
As shown in fig. 3, the second mounting portion 412 is a third annular recess, and the connecting cylinder 431 extends into and is bonded to the third annular recess. Thus, the above arrangement makes the connection between the second sealing structure 43 and the mounting structure 41 more secure and stable, and further ensures that the second sealing structure 43 can achieve the sealing effect. Meanwhile, the structure of the second mounting part 412 is simpler, the second mounting part is easy to process and realize, and the processing cost of the sealing assembly 40 is reduced.
It should be noted that the connection manner of the connection cylinder 431 and the third annular recess is not limited to this. Optionally, the connection cylinder 431 is snapped into the third annular recess or connected by fasteners.
As shown in fig. 2, the two seal assemblies 40 include a first seal assembly 44 and a second seal assembly 45, the first seal assembly 44 is disposed between the first robot arm 10 and the second robot arm 30, and the mounting structure 41 of the first seal assembly 44 is connected to the robot arm body 31 by a fastener. The second sealing assembly 45 is disposed on a side of the first robot arm 10 away from the second robot arm 30, and the mounting structure 41 of the second sealing assembly 45 is threadedly coupled to the fixed shaft 32. Thus, the first sealing assembly 44, the second sealing assembly 45 and the fixed shaft 32 are easier and simpler to disassemble and assemble due to the arrangement, and the disassembling and assembling difficulty is reduced.
Specifically, the robot arm body 31 has threaded holes 311, and fasteners are inserted through the threaded holes 311 and the mounting structure 41 of the first seal assembly 44 to couple the mounting structure 41 and the second robot arm 30 together.
It should be noted that the connection manner of the mounting structure 41 of the first seal assembly 44 and the robot arm body 31 is not limited to this. Optionally, the mounting structure 41 of the first seal assembly 44 is threadably connected to the robot arm body 31.
It should be noted that the connection manner of the mounting structure 41 of the second sealing assembly 45 and the fixed shaft 32 is not limited to this. Optionally, the mounting structure 41 of the second seal assembly 45 is coupled to the stationary shaft 32 with fasteners.
As shown in fig. 2, the mounting structure 41 of the second seal assembly 45 has an oil filler hole 413 and an oil drain hole 414, both the oil filler hole 413 and the oil drain hole 414 extending to the second end face of the bearing structure 20. Thus, when the robot joint is stopped for maintenance, a worker may inject the lubricating oil into the bearing structure 20 through the oil injection hole 413 to lubricate the rolling elements of the bearing structure 20. During the lubrication injection, the lubrication may be discharged out of the bearing structure 20 through the oil discharge hole 414.
In this embodiment, the robot joint mounting steps are as follows:
1. mounting the second seal structure 43 in the second mounting portion 412 and adhering with a sealant to prevent the second seal structure 43 from falling off from the mounting structure 41; then the first sealing structure 42 is bonded on the first mounting part 411, thereby forming a sealing assembly 40;
2. pressing the bearing structure 20 into the mounting hole 11 of the first mechanical arm 10, and enabling an outer ring of the bearing structure 20 to be in interference fit with the mounting hole 11, so as to prevent the bearing structure 20 from axially moving relative to the first mechanical arm 10;
3. the mounting structure 41 of the first sealing assembly 44 is fixed with the fixed shaft 32 of the second mechanical arm 30 by a fastener, and then the bearing structure 20 is sleeved outside the fixed shaft 32. Then, the mounting structure 41 of the second seal assembly 45 is screwed with the fixed shaft 32, thereby fixing the inner ring of the bearing structure 20;
4. the oil filling hole 413 and the oil discharging hole 414 of the second sealing assembly 45 are opened, lubricating oil is filled in the oil filling hole 413 until the lubricating oil uniformly flows out of the oil discharging hole 414, and the oil plug is installed after the bearing structure 20 operates for a period of time.
The present application also provides a robot (not shown) comprising a robot joint. Wherein the robot joint is the robot joint.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
bearing arrangement sets up in the mounting hole of first arm and with mounting hole interference fit, and the second arm is worn to establish in bearing arrangement, and two at least seal assembly set up respectively in bearing arrangement's both sides to seal the both sides of bearing arrangement respectively, and then seal the junction of second arm and first arm, solved the relatively poor problem of leakproofness between two arms of interconnect among the prior art. Simultaneously, the robot joint in this application not only can prevent that lubricating oil in the bearing structure from revealing outside the robot joint, and can avoid impurity such as dust to get into in first enclosure space and the second enclosure space and influence the normal use of robot arm, has promoted the operational reliability of robot joint.
It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robotic joint, comprising:
a first robot arm (10), the first robot arm (10) having a mounting hole (11);
the bearing structure (20) is arranged in the mounting hole (11) and is in interference fit with the mounting hole (11);
the second mechanical arm (30), the second mechanical arm (30) is arranged in the bearing structure (20) in a penetrating mode, so that the first mechanical arm (10) and the second mechanical arm (30) rotate relatively;
a plurality of sealing assemblies (40), at least one sealing assembly (40) is arranged between the first mechanical arm (10) and the second mechanical arm (30), at least part of the first mechanical arm (10) and the sealing assembly (40) surround to form a first closed space (51), and the joint of the outer ring of the bearing structure (20) and a part of the rolling bodies is positioned in the first closed space (51); at least one sealing assembly (40) is arranged on one side of the first mechanical arm (10) far away from the second mechanical arm (30), at least one part of the first mechanical arm (10) and the sealing assembly (40) surround to form a second closed space (52), and the joint of the outer ring of the bearing structure (20) and another part of rolling bodies is positioned in the second closed space (52);
wherein each of the seal assemblies (40) comprises:
a mounting structure (41) connected to the second robot arm (30), the mounting structure (41) having a first mounting portion (411);
a first seal structure (42) disposed on the first mounting portion (411) and located between the mounting structure (41) and the first robot arm (10), wherein at least a portion of the mounting structure (41), the first seal structure (42), and at least a portion of the first robot arm (10) surround to form the first enclosed space (51) and the second enclosed space (52).
2. The robot joint according to claim 1, wherein the first sealing structure (42) is cylindrical, the second robot arm (30) comprises a robot arm body (31) and a fixing shaft (32) connected with the robot arm body (31), and the fixing shaft (32) is arranged in the bearing structure (20) in a penetrating manner; wherein a central axis of the first seal structure (42) is disposed coaxially with a central axis of the stationary shaft (32).
3. A robot joint according to claim 2, characterized in that the mounting structure (41) has a second mounting portion (412), each sealing assembly (40) further comprising:
the second sealing structure (43) is arranged on the second mounting portion (412) and located between the mounting structure (41) and the first mechanical arm (10), the second sealing structure (43) is located in the first closed space (51) and the second closed space (52), and one end of the second mounting portion (412) is far away from the second sealing structure (43) and the first mechanical arm (10) is attached to each other.
4. A robot joint according to claim 3, characterized in that the second sealing structure (43) comprises:
a connection cylinder (431), one end of the connection cylinder (431) being connected to the second mounting part (412);
a flared section (432), the other end of the connecting cylinder (431) being connected to the flared section (432);
wherein the inner diameter of the flared section (432) gradually increases in the direction from the mounting structure (41) to the first robot arm (10).
5. Robot joint according to claim 4, characterized in that the centre axis of the connection cylinder (431) is arranged coaxially with the centre axis of the fixed shaft (32).
6. The robot joint according to claim 1, wherein the first mounting portion (411) is a first annular recess, the first robot arm (10) has a second annular recess (12), one end of the first sealing structure (42) is bonded to, or snapped into, or connected by a fastener to the first annular recess, and a second end of the first sealing structure (42) is bonded to, or snapped into, or connected by a fastener to the second annular recess (12).
7. The robot joint according to claim 4, wherein the second mounting portion (412) is a third annular recess, and the connection cylinder (431) extends into the third annular recess and is bonded to the third annular recess, or is snapped into the third annular recess, or is connected to the third annular recess by a fastener.
8. The robotic joint of claim 2, wherein the plurality of seal assemblies (40) comprises a first seal assembly (44) and a second seal assembly (45), the first seal assembly (44) being disposed between the first robotic arm (10) and the second robotic arm (30), the mounting structure (41) of the first seal assembly (44) being threaded or connected by fasteners to the robotic arm body (31); the second sealing assembly (45) is arranged on one side, away from the second mechanical arm (30), of the first mechanical arm (10), and a mounting structure (41) of the second sealing assembly (45) is in threaded connection with the fixed shaft (32) or is connected with the fixed shaft through a fastener.
9. Robot joint according to claim 8, characterized in that the mounting structure (41) of the second sealing assembly (45) has an oil filler hole (413) and an oil drain hole (414), the oil filler hole (413) and the oil drain hole (414) each extending to the second end face of the bearing structure (20).
10. A robot, comprising a robot joint; wherein the robot joint is the robot joint of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010700589.1A CN111805573B (en) | 2020-07-20 | 2020-07-20 | Robot joint and robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010700589.1A CN111805573B (en) | 2020-07-20 | 2020-07-20 | Robot joint and robot with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111805573A CN111805573A (en) | 2020-10-23 |
| CN111805573B true CN111805573B (en) | 2021-10-22 |
Family
ID=72865873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010700589.1A Active CN111805573B (en) | 2020-07-20 | 2020-07-20 | Robot joint and robot with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111805573B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2379684Y (en) * | 1998-12-30 | 2000-05-24 | 陈模 | Sealing ring for quick action pipeline |
| JP2001018186A (en) * | 1999-07-09 | 2001-01-23 | Teijin Seiki Co Ltd | Welding robot |
| CN101134319B (en) * | 2006-08-31 | 2010-06-02 | 发那科株式会社 | Sealing device for joint section of robot and articulated robot having the same |
| CN107791275A (en) * | 2016-08-31 | 2018-03-13 | 发那科株式会社 | Articulation structure and robot |
| CN208323432U (en) * | 2018-06-25 | 2019-01-04 | 珠海格力智能装备有限公司 | joint structure |
| CN110315518A (en) * | 2018-03-30 | 2019-10-11 | 发那科株式会社 | Robot driving unit and robot |
| CN210724423U (en) * | 2019-08-16 | 2020-06-09 | 河北电机股份有限公司 | Sealing device for preventing oil leakage of motor bearing chamber |
-
2020
- 2020-07-20 CN CN202010700589.1A patent/CN111805573B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2379684Y (en) * | 1998-12-30 | 2000-05-24 | 陈模 | Sealing ring for quick action pipeline |
| JP2001018186A (en) * | 1999-07-09 | 2001-01-23 | Teijin Seiki Co Ltd | Welding robot |
| CN101134319B (en) * | 2006-08-31 | 2010-06-02 | 发那科株式会社 | Sealing device for joint section of robot and articulated robot having the same |
| CN107791275A (en) * | 2016-08-31 | 2018-03-13 | 发那科株式会社 | Articulation structure and robot |
| CN110315518A (en) * | 2018-03-30 | 2019-10-11 | 发那科株式会社 | Robot driving unit and robot |
| CN208323432U (en) * | 2018-06-25 | 2019-01-04 | 珠海格力智能装备有限公司 | joint structure |
| CN210724423U (en) * | 2019-08-16 | 2020-06-09 | 河北电机股份有限公司 | Sealing device for preventing oil leakage of motor bearing chamber |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111805573A (en) | 2020-10-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109667909B (en) | Short-cylinder harmonic reducer with clearance compensation function | |
| CN107575482B (en) | Rotary roller bearing with sealing arrangement | |
| CN111805573B (en) | Robot joint and robot with same | |
| CN102135135B (en) | Combined bearing | |
| CN219362303U (en) | High-sealing conveyer belt carrier roller | |
| CN112648287A (en) | Double-row crossed cylindrical roller bearing | |
| CN214221788U (en) | Connecting structure between small arm part and wrist part of four-joint industrial robot | |
| CN208323432U (en) | joint structure | |
| CN104071536B (en) | A kind of spiral conveyor hanging hanging scroll bearing assembly | |
| CN110836223A (en) | Crossed roller bearing and speed reducer | |
| KR20140049711A (en) | Structure for whist shaft of painting robot | |
| CN209599256U (en) | The location structure of joint of robot intermodule | |
| CN215890781U (en) | Double-row crossed cylindrical roller bearing | |
| CN112240393A (en) | Shaft body sealing device and method for high-rotating-speed, high-jumping and high-vibration equipment | |
| CN211145102U (en) | Crossed roller bearing and speed reducer | |
| CN217355217U (en) | Light slewing bearing | |
| CN205226371U (en) | Electrostatic precipitator and dust cleaning mechanism and this dust cleaning mechanism's rotary seal device thereof | |
| CN205578701U (en) | Inside planet wheel bearing structure of cage planet carrier | |
| CN220101825U (en) | Novel multi-channel sealing device for slewing bearing | |
| CN215334015U (en) | Novel coal feeder driving wheel bearing seat external member | |
| CN211623953U (en) | Adjustable multidirectional rotary type slewing bearing | |
| CN220286324U (en) | Rotary speed reducer and working machine | |
| CN217481891U (en) | Wave generator subassembly, harmonic speed reducer ware and robot | |
| CN215634978U (en) | Combined oil seal | |
| US10260340B2 (en) | Cutter assembly with cutter device and method of assembling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |