CN116021552A - Hollow shaft assembly, joint module and robot - Google Patents
Hollow shaft assembly, joint module and robot Download PDFInfo
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- CN116021552A CN116021552A CN202210987674.XA CN202210987674A CN116021552A CN 116021552 A CN116021552 A CN 116021552A CN 202210987674 A CN202210987674 A CN 202210987674A CN 116021552 A CN116021552 A CN 116021552A
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- hollow shaft
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- 230000000149 penetrating effect Effects 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 230000005489 elastic deformation Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 16
- 238000005299 abrasion Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 229920001169 thermoplastic Polymers 0.000 description 2
- 239000004416 thermosoftening plastic Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The invention relates to a hollow shaft assembly, a joint module and a robot, wherein the hollow shaft assembly comprises a hollow shaft, a first fixing piece and an elastic piece, the hollow shaft is provided with a wire harness channel penetrating through the hollow shaft along the axis direction of the hollow shaft, the wire harness channel comprises a first end and a second end which are arranged at intervals along the axis direction, a wire harness sequentially penetrates through the first end and the second end and is fixedly connected with the first end, and the wire harness is provided with an installation section exposed outside the second end; the first fixing piece is sleeved and fixed on the mounting section; the elastic piece is positioned between the second end and the first fixing piece, and is fixedly connected to the second end, and the wire harness is configured to rotate in the forward direction or the reverse direction in the wire harness channel; when the wire harness rotates forwards and is in a spiral state, the first fixing piece is abutted against the elastic piece; when the wire harness reversely rotates to be in a free state, the elastic piece can push the first fixing piece and the mounting section to move in the direction away from the first end along the axial direction through self resilience force.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a hollow shaft assembly, a joint module and a robot.
Background
The joint module comprises a speed reducer assembly and a motor assembly, a mechanical arm of the robot is arranged on the speed reducer assembly, the motor assembly and the speed reducer assembly are usually in hollow structures for facilitating wiring harness layout, and wiring harnesses sequentially penetrate through the motor assembly and the speed reducer assembly and the mechanical arm. In order to protect the wire harness, a hollow shaft is provided through the decelerator assembly and the motor assembly, and the wire harness is provided in the hollow shaft.
When the joint module drives the manipulator to rotate, the wire harness can be driven to twist in the hollow shaft, and the wire harness can also twist in the hollow shaft for a plurality of times along with the increase of the rotation times of the manipulator. When the wire harness rotates forward for a plurality of times, the wire harness outside the hollow shaft is pulled into the hollow shaft and is spirally positioned in the hollow shaft. The wire harness reversely rotates for a plurality of times, so that the wire harness in the hollow shaft is converted into a free state from a spiral state, but the wire harness which is pulled into the hollow shaft before can not move out of the hollow shaft along with the reverse rotation of the wire harness, so that the length of the wire harness outside the hollow shaft is shortened, and the subsequent manipulator operation is inconvenient.
Disclosure of Invention
Based on this, it is necessary to provide a hollow shaft assembly for the problem that the wire harness in the hollow shaft does not move out of the hollow shaft as the wire harness rotates in the opposite direction.
A hollow shaft assembly comprising:
the wire harness channel comprises a first end and a second end which are arranged at intervals along the axial direction, the wire harness sequentially passes through the first end and the second end and is fixedly connected with the first end, and the wire harness is provided with an installation section exposed out of the second end;
the first fixing piece is sleeved and fixed on the mounting section;
an elastic member located between the second end and the first fixing member, and fixedly connected to the second end, the wire harness being configured to rotate in a forward or reverse direction within the wire harness channel;
when the wire harness rotates forwards and is in a spiral state, the first fixing piece is abutted against the elastic piece;
when the wire harness reversely rotates to be in a free state, the elastic piece can push the first fixing piece and the mounting section to move along the axis direction in a direction away from the first end through self resilience force.
In one embodiment, the elastic member includes a body and a deformation portion connected to the body, the body is located at an outer side of the deformation portion along a radial direction of the deformation portion, the body is connected to the second end, and the first fixing member can abut against the deformation portion so as to elastically deform along the axial direction.
In one embodiment, the deformation portion is provided with a spiral ring groove.
In one embodiment, the elastic member is sleeved outside the first fixing member, the deformation portion is provided with a through hole for the first fixing member to pass through, and the annular groove is arranged around the circumference of the through hole.
In one embodiment, the first fixing member includes a first fixing portion and an abutting portion disposed on an outer wall of the first fixing portion, the first fixing portion is configured to be sleeved on the mounting section, and the abutting portion can abut against the elastic member.
In one embodiment, the hollow shaft assembly further comprises a second fixing member disposed at the first end, and the second fixing member is configured to be sleeved on the wire harness, and the second fixing member is capable of being in interference fit with the wire harness.
In one embodiment, the wire harness channel includes a first through hole and a second through hole that are sequentially communicated in the axial direction, a radial dimension of the second through hole is larger than a radial dimension of the first through hole, and a part of the second fixing member extends into the first through hole.
In one embodiment, the hollow shaft comprises a shaft body and a mounting portion which are arranged along the axis direction, the mounting portion extends from the outer circumferential surface of the shaft body along the radial direction of the mounting portion to the direction deviating from the shaft body, one end of the mounting portion deviating from the axis direction is a second end, the elastic piece is mounted on the mounting portion, and a gap for accommodating elastic deformation of the elastic piece is formed at the second end.
The invention also provides a joint module, which comprises a speed reducer assembly and the hollow shaft assembly, wherein the hollow shaft is arranged in the speed reducer assembly in a penetrating way and is connected with the speed reducer assembly.
The invention also provides a robot which is characterized by comprising a machine body and the joint module, wherein the joint module is arranged on the machine body.
The invention has the beneficial effects that:
above-mentioned cavity axle subassembly runs through in the axis direction of cavity axle and is provided with the pencil passageway, and the pencil passes the first end and the second end of pencil passageway in proper order, and fixed connection in first end. The pencil has the installation section that exposes outside the second end, and when the arm drove pencil forward rotation, the partial region of installation section is torn in the pencil passageway, and is the heliciform setting, drives pencil counter-rotation when the arm, and the installation section in the pencil passageway can be the free state. The first fixing piece is sleeved on the mounting section and synchronously rotates or moves along with the mounting section. The elastic piece is arranged between the second end and the first fixing piece, and is arranged on the second end, when the wire harness positively rotates to be in a spiral state, a part of the area of the installation section is pulled into the wire harness channel, and the first fixing piece moves along with the installation section towards the direction close to the first end and is abutted against one side of the elastic piece, which is away from the second end, so that the elastic piece is deformed; when the wire harness reversely rotates to be in a free state, the first fixing piece is not propped against the elastic piece, the elastic piece is in a reset state under the action of no external force, and the elastic piece pushes the first fixing piece and the mounting section to move in the direction away from the first end along the axial direction under the action of the self resilience force, so that the mounting section in the wire harness channel is pulled out. The hollow shaft assembly is reset through the elastic piece to drive the installation section in the wire harness channel to move out of the wire harness channel, so that the redundancy of the wire harness in the wire harness channel is reduced, the subsequent manipulator operation is facilitated, and the abrasion caused by friction between the wire harness 200 and the inner wall of the wire harness channel 110 is reduced.
Drawings
FIG. 1 is a schematic view of a hollow shaft assembly according to an embodiment of the present invention penetrating through a joint module;
FIG. 2 is a schematic view of a hollow shaft according to a first embodiment of the present invention;
FIG. 3 is a schematic view of a first fixing member sleeved on a wire harness according to a first embodiment of the hollow shaft assembly of the present invention;
FIG. 4 is a schematic view of an elastic member according to a first embodiment of the hollow shaft assembly of the present invention;
FIG. 5 is a schematic view of a portion of a first fastener according to a first embodiment of the hollow shaft assembly;
FIG. 6 is a schematic view of a portion of a first fastener according to a second embodiment of the hollow shaft assembly;
FIG. 7 is a schematic view of a hollow shaft assembly according to an embodiment of the present invention, wherein a second fixing member is sleeved on a wire harness;
fig. 8 is a schematic structural view of a first fixing member according to a first embodiment of the hollow shaft assembly of the present invention.
In the figure:
100. a hollow shaft; 110. a harness passage; 111. a first through hole; 112. a second through hole; 120. a shaft body; 130. a mounting part; 131. a gap;
200. a wire harness;
300. a first fixing member; 310. a first fixing portion; 320. an abutting portion; 330. a connecting piece; 340. a fixing groove;
400. an elastic member; 410. a body; 420. a deformation section; 430. a through hole;
500. a second fixing member; 510. a second fixing portion; 520. a connection part;
600. a decelerator assembly;
700. a motor assembly;
800. a brake;
900. an encoder assembly; 910. an encoder mount;
950. and a rear cover.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
The embodiment of the invention provides a hollow shaft assembly, as shown in fig. 1 and 3, the hollow shaft assembly comprises a hollow shaft 100, a first fixing piece 300 and an elastic piece 400, wherein the hollow shaft 100 is provided with a wire harness channel 110 penetrating through the hollow shaft 100 along the axial direction, the wire harness channel 110 comprises a first end and a second end which are arranged at intervals along the axial direction, a wire harness 200 sequentially penetrates through the first end and the second end and is fixedly connected with the first end, and the wire harness 200 is provided with an installation section exposed outside the second end; the first fixing piece 300 is sleeved and fixed on the mounting section; the elastic member 400 is located between the second end and the first fixing member 300, and the elastic member 400 is fixedly connected to the second end, and the wire harness 200 is configured to rotate in a forward or reverse direction within the wire harness channel 110; when the wire harness 200 rotates forward in a spiral state, the first fixing member 300 abuts against the elastic member 400; when the wire harness 200 is reversely rotated to be in a free state, the elastic member 400 can push the first fixing member 300 and the mounting section to move in a direction away from the first end in the axial direction by its own resilience force.
The hollow shaft assembly is provided with a harness passage 110 penetrating through the hollow shaft 100 in the axial direction, and the harness 200 sequentially penetrates through the first end and the second end of the harness passage 110 and is fixedly connected to the first end. The wire harness 200 has an installation section exposed outside the second end, when the mechanical arm drives the wire harness 200 to rotate forward, a part of the installation section is pulled into the wire harness channel 110 and is spirally arranged, and when the mechanical arm drives the wire harness 200 to rotate reversely, the installation section in the wire harness channel 110 can be in a free state. The first fixing member 300 is sleeved on the mounting section, and the first fixing member 300 rotates or moves synchronously with the mounting section. The elastic member 400 is positioned between the second end and the first fixing member 300 and is mounted on the second end, when the wire harness 200 rotates forwards and is in a spiral state, a part of the area of the mounting section is pulled into the wire harness channel 110, and the first fixing member 300 moves along with the mounting section towards the direction close to the first end and abuts against one side of the elastic member 400, which is away from the second end, so that the elastic member 400 deforms; when the wire harness 200 reversely rotates to be in a free state, the first fixing piece 300 is not abutted against the elastic piece 400, the elastic piece 400 is in a reset state under the action of no external force, and the elastic piece 400 pushes the first fixing piece 300 and the mounting section to move in the direction away from the first end along the axial direction under the action of self resilience force, so that the mounting section in the wire harness channel 110 is pulled out. The hollow shaft assembly is reset through the elastic piece 400 so as to drive the installation section in the wire harness channel 110 to move out of the wire harness channel 110, so that the redundancy of the wire harness 200 in the wire harness channel 110 is reduced, the subsequent manipulator operation is facilitated, and the abrasion generated by the friction between the wire harness 200 and the inner wall of the wire harness channel 110 is reduced.
In some embodiments, as shown in fig. 1 and 2, the hollow shaft 100 includes a shaft body 120 arranged in an axial direction and a mounting portion 130, the mounting portion 130 extends from an outer circumferential surface of the shaft body 120 in a radial direction thereof in a direction away from the shaft body 120, one end of the mounting portion 130 away from the shaft body in the axial direction is a second end, the elastic member 400 is mounted on the mounting portion 130, and the second end is provided with a gap 131 for accommodating elastic deformation of the elastic member 400. The shaft body 120 and the mounting portion 130 of the hollow shaft 100 are provided with a harness passage 110 along the axial direction, so that the harness 200 can pass through, and the mounting portion 130 extends from the outer circumferential surface of the shaft body 120 along the radial direction thereof in a direction away from the shaft body 120, so that the elastic member 400 can be mounted. The mounting portion 130 has a second end at an end facing away from the axis, and a gap 131 is provided at the second end, and the gap 131 provides a space for elastic deformation of the elastic member 400.
In some embodiments, as shown in fig. 3 and 4, the elastic member 400 includes a body 410 and a deformation portion 420 connected to the body 410, the body 410 is located outside the deformation portion 420 along a radial direction of the deformation portion 420, the body 410 is connected to the second end, and the first fixing member 300 can abut against the deformation portion 420 to elastically deform along an axial direction. The body 410 of the elastic member 400 is circumferentially enclosed outside the deformation portion 420, the body 410 is mounted on the mounting portion 130 of the hollow shaft 100, the elastic member 400 is fixed, the first fixing member 300 can be abutted against the deformation portion 420 along the axial direction, so that the deformation portion 420 is elastically deformed along the axial direction, and when the wire harness 200 rotates and is in a free state, the deformation portion 420 is reset and pushes the first fixing member 300 and the mounting section to move under the action of self resilience force. Specifically, the body 410 and the deformation 420 each have a ring-shaped structure.
In some embodiments, the body 410 and the deformation 420 may have any structure, as long as the body 410 is disposed around the deformation 420.
Specifically, in some embodiments, as shown in fig. 2 and 4, the body 410 of the elastic member 400 is detachably connected to the mounting portion 130 of the hollow shaft 100, a first mounting hole is formed in the body 410, a second mounting hole is formed in the mounting portion 130 corresponding to the first mounting hole, and the locking member sequentially passes through the first mounting hole and the second mounting hole, thereby connecting the body 410 and the mounting portion 130. Specifically, the locking member is a screw. The second mounting hole is a threaded hole.
Specifically, as shown in fig. 4, in some embodiments, the deformation portion 420 is provided with a spiral ring groove. The annular groove is formed in the deformation portion 420, so that the resilience of the deformation portion 420 is increased, the thrust for pushing the first fixing member 300 and the mounting section to move in a direction away from the first end is increased, and the effect of pushing the first fixing member 300 to move is improved.
In some embodiments, as shown in fig. 1 and 4, the elastic member 400 is sleeved outside the first fixing member 300, the deformation portion 420 is provided with a through hole 430 for the first fixing member 300 to pass through, and the annular groove is disposed around the circumference of the through hole 430. The first fixing member 300 is passed through the through hole 430 of the deformation portion 420, so that the elastic member 400 is sleeved on the first fixing member 300, and the contact area between the first fixing member 300 and the deformation portion 420 is increased. And the circumferential direction of the deformation portion 420 is formed by the ring grooves, so that the pushing force provided by the elastic member 400 to the first fixing member 300 is uniformly distributed along the circumferential direction of the first fixing member 300, and the effect of pushing the first fixing member 300 to move is further increased.
In some embodiments, as shown in fig. 1 and 3, the first fixing member 300 includes a first fixing portion 310 and an abutting portion 320 disposed on an outer wall of the first fixing portion 310, where the first fixing portion 310 is configured to be sleeved on the mounting section, and the abutting portion 320 can abut against the elastic member 400. The first fixing portion 310 is sleeved on the mounting section, the abutting portion 320 is disposed on the outer peripheral surface of the first fixing portion 310 along the circumferential direction thereof, when the first fixing member 300 abuts against the elastic member 400, a partial region of the first fixing portion 310 extends into the through hole 430 of the elastic member 400, and the abutting portion 320 abuts against the deformation portion 420 of the elastic member 400.
In some embodiments, as shown in fig. 3 and 5, the first fixing portion 310 includes two first fixing blocks disposed opposite to and connected to each other, a wire harness hole through which the mounting section passes is formed between the two first fixing blocks, and an abutment portion 320 is disposed on an outer circumferential surface of each first fixing block. The first fixed blocks are provided with two, each first fixed block is of a semi-annular structure, the two first fixed blocks are oppositely arranged, and a wire harness hole for the installation section to pass through is formed between the two first fixed blocks.
Specifically, as shown in fig. 3 and 5, the first fixing portion 310 further includes a connection member 330, and two first fixing blocks are connected through the connection member 330. In some embodiments, the connector 330 is a thermoplastic tube that is sleeved outside of the two first securing blocks, thereby connecting the two first securing blocks. In some embodiments, the connector 330 is a hoop or cinch cord. In some embodiments, the connector 330 is a locking member such as a screw. In some embodiments, the connector 330 is glue.
Specifically, as shown in fig. 3 and 6, when the connector 330 is a clip or a binding rope, a fixing groove 340 is formed in the outer circumferential surface of the first fixing portion 310 along the axial direction thereof for mounting a limit clip or a binding rope.
In some embodiments, the first fixing portion 310 is cylindrical, the abutting portion 320 is disposed on the outer peripheral surface of the first fixing portion 310, the abutting portion 320 is in an annular structure, the first fixing portion 310 and the abutting portion 320 are integrally formed, and a wire harness hole penetrating the first fixing portion 310 is disposed on the first fixing portion 310 and is used for the installation section to penetrate.
In some embodiments, as shown in fig. 1 and 7, the hollow shaft assembly further includes a second fixing member 500, the second fixing member 500 is fixedly connected to the first end, and the second fixing member 500 is configured to be sleeved on the wire harness 200, and the second fixing member 500 can be in interference fit with the wire harness 200. By sandwiching the second fixing member 500 between the first end and the wire harness 200, a part of the wire harness 200 passing through the first end is fixed, at which time, when the wire harness 200 rotates, only the mounting section is moved in the axial direction.
Specifically, as shown in fig. 7 and 8, the second fixing member 500 includes a second fixing portion 510 and a connection portion 520 extending in a direction of the second fixing portion 510 away from the second fixing portion 510 in a radial direction, the second fixing portion 510 is fixed to the wire harness 200 in a sleeved manner, the second fixing portion 510 is interposed between the wire harness channel 110 and the wire harness 200, and the connection portion 520 extends out of the wire harness channel 110 and is connected to the joint module, thereby fixing the second fixing member 500.
More specifically, the second fixing portion 510 includes two second fixing blocks disposed opposite to each other, and the two second fixing blocks are connected by a locking member. Specifically, the locking element is a thermoplastic cylinder or screw.
In some embodiments, as shown in fig. 2 and 7, the wire harness channel 110 includes a first through hole 111 and a second through hole 112 that communicate sequentially in an axial direction, a radial dimension of the second through hole 112 is larger than a radial dimension of the first through hole 111, and a portion of the second fixing member 500 protrudes into the first through hole 111. When the wire harness 200 rotates, the wire harness can be located in the second through hole 112, the radial dimension of the second through hole 112 is larger than that of the first through hole 111, a space for accommodating the wire harness 200 is provided, the aperture of the first through hole 111 is smaller than that of the second through hole 112, the second fixing portion 510 of the second fixing member 500 can extend into the first through hole 111, a gap is reserved between the second fixing portion 510 and the wall of the first through hole 111, and abrasion of the second fixing portion 510 and the wall of the first through hole 111 is reduced.
The embodiment of the present invention further provides a joint module, as shown in fig. 1, including a reducer assembly 600 and the hollow shaft assembly described above, where the hollow shaft 100 is disposed through the reducer assembly 600 and connected to the reducer assembly 600. The hollow shaft 100 is penetrated through the decelerator assembly 600, and the wire harness 200 is penetrated through the wire harness passage 110 of the hollow shaft 100, so that the wire harness 200 is conveniently laid out, and the mounting part 130 of the hollow shaft 100 is connected to the decelerator assembly 600, thereby fixing the hollow shaft 100.
Specifically, the joint module further includes a motor assembly 700, a brake 800, an encoder assembly 900 and a rear cover 950, the encoder assembly 900 includes an encoder mounting base 910, the reducer assembly 600, the motor assembly 700, the brake 800, the encoder assembly 900 and the rear cover 950 are sequentially arranged along the axial direction of the beam channel 110, the reducer assembly 600, the motor assembly 700, the brake 800 and the encoder assembly 900 are sequentially and coaxially connected in series and fixed together, after the motor of the motor assembly 700 is electrified, a motor rotor drives a high-speed rotating shaft of the reducer assembly 600 to rotate, after the speed is reduced by the reducer, the speed is output by a low-speed end of the reducer, the brake 800 is sleeved on a rotating shaft of a motor rotor, a code disc of the encoder assembly 900 is sleeved on the rotating shaft of the motor rotor, the brake 800 is located between the motor assembly 700 and the encoder assembly 900, the encoder assembly 900 can collect motion data of the motor assembly 700, and the motion and state of the joint module can be controlled by combining the data information collected by the encoder assembly 900.
Specifically, the hollow shaft 100 passes through the rear cover 950, the encoder assembly 900, the brake 800, the motor assembly 700, and the decelerator assembly 600 in this order, and the mounting portion 130 of the hollow shaft 100 is connected to the decelerator assembly 600, and the connection portion 520 of the second fixing member 500 protrudes out of the harness passage 110 and is connected to the rear cover 950.
The embodiment of the invention also provides a robot which comprises a robot body and the joint module, wherein the joint module is arranged on the robot body. The joint module is installed on the robot body, so that the installation section extending into the wire harness channel 110 is conveniently pulled out, the length of the wire harness 200 positioned outside the wire harness channel 110 is increased, and the subsequent work of the manipulator of the robot is facilitated.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. A hollow shaft assembly, comprising:
a hollow shaft (100) having a harness passage (110) penetrating through the hollow shaft (100) in an axial direction thereof, the harness passage (110) including a first end and a second end disposed at intervals in the axial direction, a harness (200) passing through the first end and the second end in sequence and being fixedly connected to the first end, the harness having a mounting section exposed outside the second end;
a first fixing piece (300) sleeved and fixed on the mounting section;
an elastic member (400) located between the second end and the first fixing member (300), and fixedly connected to the second end, the wire harness (200) being configured to rotate in a forward or reverse direction within the wire harness channel (110);
when the wire harness rotates forwards and is in a spiral state, the first fixing piece (300) is abutted against the elastic piece (400);
when the wire harness reversely rotates to be in a free state, the elastic member (400) can push the first fixing member (300) and the mounting section to move in a direction away from the first end along the axis direction by self resilience force.
2. The hollow shaft assembly according to claim 1, wherein the elastic member (400) comprises a body (410) and a deformation portion (420) connected to the body (410), the body (410) being located outside the deformation portion (420) in a radial direction of the deformation portion (420), the body (410) being connected to the second end, the first fixing member (300) being capable of abutting against the deformation portion (420) to elastically deform it in the axial direction.
3. A hollow shaft assembly according to claim 2, wherein the deformation (420) is provided with a spiral groove.
4. A hollow shaft assembly according to claim 3, wherein the elastic member (400) is sleeved outside the first fixing member (300), the deformation portion (420) is provided with a through hole (430) through which the first fixing member passes, and the ring groove is disposed around the circumference of the through hole (430).
5. The hollow shaft assembly according to claim 1, wherein the first fixing member (300) comprises a first fixing portion (310) and an abutment portion (320) provided on an outer wall of the first fixing portion (310), the first fixing portion (310) is configured to be sleeved on the mounting section, and the abutment portion (320) is configured to abut against the elastic member (400).
6. The hollow shaft assembly according to claim 1, further comprising a second securing member (500), the second securing member (500) being disposed at the first end, and the second securing member (500) being configured to be sleeved over the wire harness (200), the second securing member (500) being capable of an interference fit with the wire harness (200).
7. The hollow shaft assembly according to claim 6, wherein the harness passage (110) includes a first through hole (111) and a second through hole (112) communicating in sequence in the axial direction, a radial dimension of the second through hole (112) being larger than a radial dimension of the first through hole (111), and a part of the second fixing member (500) protruding into the first through hole (111).
8. The hollow shaft assembly according to claim 1, wherein the hollow shaft (100) includes a shaft body (120) arranged in the axial direction and a mounting portion (130), the mounting portion (130) extends from an outer peripheral surface of the shaft body (120) in a direction in which the mounting portion is directed radially away from the shaft body (120), an end of the mounting portion (130) directed axially away from the shaft body (120) is a second end, the elastic member (400) is mounted on the mounting portion (130), and the second end is provided with a gap (131) for accommodating elastic deformation of the elastic member (400).
9. A joint module comprising a reducer assembly (600) and a hollow shaft assembly according to any of claims 1-8, said hollow shaft (100) being threaded through said reducer assembly (600) and connected to said reducer assembly (600).
10. A robot comprising a body and the joint module of claim 9, the joint module being mounted on the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210987674.XA CN116021552A (en) | 2022-08-17 | 2022-08-17 | Hollow shaft assembly, joint module and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210987674.XA CN116021552A (en) | 2022-08-17 | 2022-08-17 | Hollow shaft assembly, joint module and robot |
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| Publication Number | Publication Date |
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| CN116021552A true CN116021552A (en) | 2023-04-28 |
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| CN202210987674.XA Pending CN116021552A (en) | 2022-08-17 | 2022-08-17 | Hollow shaft assembly, joint module and robot |
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Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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