CN116038751A

CN116038751A - Joint structure and robot

Info

Publication number: CN116038751A
Application number: CN202211666340.9A
Authority: CN
Inventors: 程宁; 吴智维; 冯时; 石锡棠
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2022-12-23
Filing date: 2022-12-23
Publication date: 2023-05-02

Abstract

The invention provides a joint structure and a robot, wherein the joint structure comprises: the harmonic reducer is arranged in the machine base and is connected with the machine base; the base flange is arranged on one side of the base and is connected with the fixed end of the harmonic reducer; the motor mounting plate is arranged on one side of the base flange far away from the base and is connected with the base flange; the motor comprises a motor body and a rotating shaft, wherein the motor body is connected with a motor mounting plate, and the free end of the rotating shaft penetrates through the motor mounting plate and a base flange and then is connected with the input end of the harmonic reducer; the first sealing ring is clamped between the fixed end of the harmonic reducer and the base flange, so that the problem of poor sealing performance of a joint structure of the robot in the prior art is solved.

Description

Joint structure and robot

Technical Field

The invention relates to the technical field of robots, in particular to a joint structure and a robot.

Background

At present, the joint structure of the existing robot is poor in tightness, and the risk of grease leakage exists.

Meanwhile, when the locking screws of the base flange and the harmonic reducer are installed, the locking screws of the motor are required to be detached, the motor is rotated, after the installation of the locking screws of the base flange and the harmonic reducer is completed, the locking screws of the motor are installed, the steps are complicated, the installation time is wasted, and the installation efficiency is low.

Disclosure of Invention

The invention mainly aims to provide a joint structure and a robot, which are used for solving the problem of poor sealing performance of the joint structure of the robot in the prior art.

In order to achieve the above object, according to one aspect of the present invention, there is provided a joint structure comprising: the harmonic reducer is arranged in the machine base and is connected with the machine base; the base flange is arranged on one side of the base and is connected with the fixed end of the harmonic reducer; the motor mounting plate is arranged on one side of the base flange far away from the base and is connected with the base flange; the motor comprises a motor body and a rotating shaft, wherein the motor body is connected with a motor mounting plate, and the free end of the rotating shaft penetrates through the motor mounting plate and a base flange and then is connected with the input end of the harmonic reducer; the first sealing ring is clamped between the fixed end of the harmonic reducer and the flange of the machine base.

Further, a first mounting groove for mounting the first sealing ring is formed in the end face of the fixed end of the harmonic reducer, which is close to one side of the base flange.

Further, the motor mounting plate comprises a first mounting section and a second mounting section which are sequentially connected along the direction far away from the motor body, and the outer diameter of the first mounting section is larger than that of the second mounting section; be provided with on the frame flange and be used for with the second installation section grafting complex first mounting hole, the external diameter of first mounting hole and second installation section is 63.5mm.

Further, a second sealing ring is clamped between the base flange and the first mounting section, and a second mounting groove for mounting at least part of the second sealing ring is formed in the end face of one side of the base flange, which is close to the first mounting section; the second mounting groove comprises a groove bottom surface and a groove outer side surface which are connected, and an accommodating space for accommodating the second sealing ring is formed by the groove bottom surface, the groove outer side surface, the outer peripheral surface of the second mounting section and the end surface of one side, close to the base flange, of the first mounting section.

Further, the inner diameter of the outer side surface of the groove was 68.3mm.

Further, the base flange is connected with the first mounting section through a first screw, a first through hole for the threaded end of the first screw to pass through is formed in the first mounting section, and a first threaded hole for being in threaded connection with the first screw is formed in the base flange.

Further, the number of the first screws, the first through holes and the first threaded holes is eight; and/or the nominal diameter of the threaded section of the first screw is 4mm, the diameter of the first through hole is 4.5mm; and/or the diameter of the circle where the center line of the first through hole and the center line of the first threaded hole are located is 80mm.

Further, a first avoiding hole for avoiding the rotating shaft is formed in the motor mounting plate; a weight-reducing groove is formed in one side, far away from the motor body, of the second mounting section, wherein the minimum inner diameter of the weight-reducing groove is larger than the aperture of the first avoidance hole, and the maximum inner diameter of the weight-reducing groove is smaller than the outer diameter of the second mounting section; and/or a third sealing ring is clamped between the first mounting section and the motor body; a third mounting groove for mounting at least part of a third sealing ring is formed in the end face of one side, close to the motor body, of the first mounting section; and/or one side of the first mounting section, which is close to the motor body, is provided with an annular positioning groove which is used for being in plug-in fit with the annular positioning protrusion on the motor body.

Further, the maximum outer diameter of the motor mounting plate is 89mm; and/or the outer diameter of the first mounting groove is 71mm, the inner diameter of the first mounting groove is 67mm, and the depth of the first mounting groove is 1mm.

According to another aspect of the present invention, there is provided a robot including the above-described joint structure.

By applying the technical scheme of the invention, the joint structure comprises: the harmonic reducer is arranged in the machine base and is connected with the machine base; the base flange is arranged on one side of the base and is connected with the fixed end of the harmonic reducer; the motor mounting plate is arranged on one side of the base flange far away from the base and is connected with the base flange; the motor comprises a motor body and a rotating shaft, wherein the motor body is connected with a motor mounting plate, and the free end of the rotating shaft penetrates through the motor mounting plate and a base flange and then is connected with the input end of the harmonic reducer; the first sealing ring is clamped between the fixed end of the harmonic reducer and the flange of the machine base. Therefore, the joint structure improves the sealing performance of the engine base, reduces the risk of grease leakage, improves the reliability of the robot and solves the problem of poor sealing performance of the joint structure of the robot in the prior art by arranging the first sealing ring between the fixed end of the harmonic reducer and the engine base flange.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 shows a schematic structural view of an embodiment of a joint structure according to the invention;

FIG. 2 illustrates a bottom view of the harmonic reducer of the joint structure illustrated in FIG. 1;

FIG. 3 illustrates a side view of the harmonic reducer illustrated in FIG. 2;

FIG. 4 illustrates a bottom view of the foundation flange of the articulating structure of FIG. 1;

FIG. 5 illustrates a front view of the housing flange shown in FIG. 4;

FIG. 6 illustrates a bottom view of the motor mounting plate of the articulating structure of FIG. 1;

fig. 7 shows a cross-sectional view of the motor mounting plate shown in fig. 6.

Wherein the above figures include the following reference numerals:

1. a harmonic reducer; 11. a first mounting groove; 12. a second threaded hole; 13. a shaft mounting hole;

2. a base;

3. a base flange; 31. a first mounting hole; 32. a second mounting groove; 321. a bottom surface of the groove; 322. the outer side surface of the groove; 33. a first threaded hole; 34. a second through hole;

4. a motor mounting plate; 41. a first mounting section; 411. a third mounting groove; 412. an annular positioning groove; 42. a second mounting section; 421. a weight-reducing groove; 43. a first through hole; 44. a first avoidance hole; 45. a second avoidance hole;

5. a motor; 51. a motor body; 511. annular positioning protrusions; 52. a rotating shaft; 6. a first seal ring; 7. a second seal ring; 8. a first screw; 9. and a third sealing ring.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

As shown in fig. 1 to 7, the present invention provides a joint structure including: the harmonic reducer 1 is arranged in the machine base 2 and is connected with the machine base 2; the base flange 3 is arranged on one side of the base 2 and is connected with the fixed end of the harmonic reducer 1; the motor mounting plate 4 is arranged on one side of the base flange 3 far away from the base 2 and is connected with the base flange 3; the motor 5 comprises a motor body 51 and a rotating shaft 52, the motor body 51 is connected with the motor mounting plate 4, and the free end of the rotating shaft 52 penetrates through the motor mounting plate 4 and the base flange 3 and then is connected with the input end of the harmonic reducer 1; wherein, a first sealing ring 6 is clamped between the fixed end of the harmonic reducer 1 and the base flange 3.

In this way, the joint structure of the invention improves the sealing performance of the engine base 2, reduces the risk of grease leakage, improves the reliability of the robot and solves the problem of poor sealing performance of the joint structure of the robot in the prior art by arranging the first sealing ring 6 between the fixed end of the harmonic reducer 1 and the engine base flange 3.

As shown in fig. 1 to 7, a first mounting groove 11 for mounting the first seal ring 6 is provided on an end face of the fixed end of the harmonic reducer 1 on the side close to the housing flange 3.

As shown in fig. 1 to 7, the motor mounting plate 4 includes a first mounting section 41 and a second mounting section 42 that are sequentially connected in a direction away from the motor body 51, the first mounting section 41 having an outer diameter larger than that of the second mounting section 42; the frame flange 3 is provided with a first mounting hole 31 which is used for being in plug-in fit with the second mounting section 42, and the inner diameter of the first mounting hole 31 and the outer diameter of the second mounting section 42 are 63.5mm.

As shown in fig. 1 to 7, a second sealing ring 7 is clamped between the base flange 3 and the first mounting section 41, and a second mounting groove 32 for mounting at least part of the second sealing ring 7 is formed in the end face of the base flange 3 on the side close to the first mounting section 41; the second mounting groove 32 comprises a groove bottom surface 321 and a groove outer side surface 322 which are connected, and the groove bottom surface 321, the groove outer side surface 322, the outer peripheral surface of the second mounting section 42 and the end surface of the side of the first mounting section 41, which is close to the base flange 3, jointly enclose an accommodating space for accommodating the second sealing ring 7.

Specifically, the inner diameter of the groove outer side 322 is 68.3mm.

As shown in fig. 1 to 7, the base flange 3 and the first mounting section 41 are connected by a first screw 8, a first through hole 43 for passing through a threaded end of the first screw 8 is provided on the first mounting section 41, and a first threaded hole 33 for threaded connection with the first screw 8 is provided on the base flange 3.

Specifically, the number of the first screws 8, the first through holes 43, and the first screw holes 33 is eight; and/or the nominal diameter of the threaded section of the first screw 8 is 4mm (i.e. the first screw 8 is a screw of M4), the diameter of the first through hole 43 is 4.5mm; and/or the diameter of the circle in which the center line of the first through hole 43 and the center line of the first screw hole 33 are located is 80mm.

As shown in fig. 1 to 7, the motor mounting plate 4 is provided with a first avoidance hole 44 for avoiding the rotation shaft 52; the side of the second mounting section 42, which is far away from the motor body 51, is provided with a weight-reducing groove 421, wherein the minimum inner diameter of the weight-reducing groove 421 is larger than the aperture of the first avoiding hole 44, and the maximum inner diameter of the weight-reducing groove 421 is smaller than the outer diameter of the second mounting section 42.

As shown in fig. 1 to 7, the third seal ring 9 is interposed between the first mounting section 41 and the motor body 51; a third mounting groove 411 for mounting at least part of the third seal ring 9 is provided on an end surface of the first mounting section 41 on a side close to the motor body 51; and/or the side of the first mounting section 41 near the motor body 51 is provided with an annular positioning groove 412 for plug-in fitting with the annular positioning protrusion 511 on the motor body 51.

Specifically, the maximum outer diameter of the motor mounting plate 4 is 89mm.

Wherein, the external diameter of the first mounting groove 11 is 71mm, the internal diameter of the first mounting groove 11 is 67mm, and the depth of the first mounting groove 11 is 1mm.

As shown in fig. 1 and 2, a second through hole 34 through which a second screw passes is formed in the base flange 3, a second threaded hole 12 for being in threaded connection with the second screw is formed in the fixed end of the harmonic reducer 1, and one end of the second screw passes through the second through hole 34 and is in threaded connection with the second threaded hole 12; the motor mounting plate is further provided with a second avoiding hole 45 for avoiding the second screw, and the inner diameter of the second avoiding hole 45 is larger than the outer diameter of a screw cap of the second screw; the input end of the harmonic reducer 1 is provided with a spindle mounting hole 13 for fixedly connecting with the free end of the spindle 52.

In addition, the harmonic reducer 1 with the joint structure provided by the invention eliminates the original setting of countersunk head screw holes, locking screws and the like, avoids the problem of repeated disassembly and assembly of the locking screws of the motor, and optimizes the assembly manufacturability of the joint structure.

The invention also provides a robot comprising the joint structure.

From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

the joint structure of the present invention includes: the harmonic reducer 1 is arranged in the machine base 2 and is connected with the machine base 2; the base flange 3 is arranged on one side of the base 2 and is connected with the fixed end of the harmonic reducer 1; the motor mounting plate 4 is arranged on one side of the base flange 3 far away from the base 2 and is connected with the base flange 3; the motor 5 comprises a motor body 51 and a rotating shaft 52, the motor body 51 is connected with the motor mounting plate 4, and the free end of the rotating shaft 52 penetrates through the motor mounting plate 4 and the base flange 3 and then is connected with the input end of the harmonic reducer 1; wherein, a first sealing ring 6 is clamped between the fixed end of the harmonic reducer 1 and the base flange 3. In this way, the joint structure of the invention improves the sealing performance of the engine base 2, reduces the risk of grease leakage, improves the reliability of the robot and solves the problem of poor sealing performance of the joint structure of the robot in the prior art by arranging the first sealing ring 6 between the fixed end of the harmonic reducer 1 and the engine base flange 3.

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 in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present application, it should be understood that, where azimuth terms such as "front, rear, upper, lower, left, right", "transverse, vertical, horizontal", and "top, bottom", etc., indicate azimuth or positional relationships generally based on those shown in the drawings, only for convenience of description and simplification of the description, these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are merely for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms have no special meaning, and thus should not be construed as limiting the scope of the present application.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A joint structure, comprising:

the harmonic reducer (1) is arranged in the machine base (2) and is connected with the machine base (2);

the base flange (3) is arranged on one side of the base (2) and is connected with the fixed end of the harmonic reducer (1);

the motor mounting plate (4) is arranged on one side, far away from the base (2), of the base flange (3) and is connected with the base flange (3);

the motor (5) comprises a motor body (51) and a rotating shaft (52), the motor body (51) is connected with the motor mounting plate (4), and the free end of the rotating shaft (52) penetrates through the motor mounting plate (4) and the base flange (3) and then is connected with the input end of the harmonic reducer (1);

the first sealing ring (6) is clamped between the fixed end of the harmonic reducer (1) and the base flange (3).

2. Joint structure according to claim 1, characterized in that the end face of the fixed end of the harmonic reducer (1) on the side close to the housing flange (3) is provided with a first mounting groove (11) for mounting the first sealing ring (6).

3. The joint structure according to claim 1, wherein,

the motor mounting plate (4) comprises a first mounting section (41) and a second mounting section (42) which are sequentially connected along a direction far away from the motor body (51), and the outer diameter of the first mounting section (41) is larger than that of the second mounting section (42);

the base flange (3) is provided with a first mounting hole (31) which is used for being in plug-in fit with the second mounting section (42), and the inner diameter of the first mounting hole (31) and the outer diameter of the second mounting section (42) are 63.5mm.

4. The joint structure according to claim 3, wherein,

a second sealing ring (7) is clamped between the base flange (3) and the first mounting section (41), and a second mounting groove (32) for mounting at least part of the second sealing ring (7) is formed in the end face of one side, close to the first mounting section (41), of the base flange (3);

the second mounting groove (32) comprises a groove bottom surface (321) and a groove outer side surface (322) which are connected, wherein the groove bottom surface (321), the groove outer side surface (322), the outer peripheral surface of the second mounting section (42) and the end surface of one side, close to the base flange (3), of the first mounting section (41) jointly enclose an accommodating space for accommodating the second sealing ring (7).

5. The joint structure according to claim 4, characterized in that the inner diameter of the groove lateral surface (322) is 68.3mm.

6. A joint structure according to claim 3, characterized in that the base flange (3) and the first mounting section (41) are connected by a first screw (8), a first through hole (43) for the threaded end of the first screw (8) to pass through is provided in the first mounting section (41), and a first threaded hole (33) for threaded connection with the first screw (8) is provided in the base flange (3).

7. The joint structure according to claim 6, wherein,

the number of the first screws (8), the first through holes (43) and the first threaded holes (33) is eight; and/or

The nominal diameter of the threaded section of the first screw (8) is 4mm, and the diameter of the first through hole (43) is 4.5mm; and/or

The diameter of the circle where the center line of the first through hole (43) and the center line of the first threaded hole (33) are located is 80mm.

8. The joint structure according to claim 3, wherein,

a first avoiding hole (44) for avoiding the rotating shaft (52) is formed in the motor mounting plate (4); a weight-reducing groove (421) is formed in one side, far away from the motor body (51), of the second mounting section (42), wherein the minimum inner diameter of the weight-reducing groove (421) is larger than the aperture of the first avoidance hole (44), and the maximum inner diameter of the weight-reducing groove (421) is smaller than the outer diameter of the second mounting section (42); and/or

A third sealing ring (9) is clamped between the first mounting section (41) and the motor body (51); a third mounting groove (411) for mounting at least part of the third sealing ring (9) is arranged on the end surface of the first mounting section (41) close to one side of the motor body (51); and/or

An annular positioning groove (412) used for being in plug-in fit with an annular positioning protrusion (511) on the motor body (51) is formed in one side, close to the motor body (51), of the first mounting section (41).

9. The joint structure according to claim 2, wherein,

the maximum outer diameter of the motor mounting plate (4) is 89mm; and/or

The outer diameter of the first mounting groove (11) is 71mm, the inner diameter of the first mounting groove (11) is 67mm, and the depth of the first mounting groove (11) is 1mm.

10. A robot comprising the joint structure of any one of claims 1 to 9.