CN216030906U

CN216030906U - Joint and robot

Info

Publication number: CN216030906U
Application number: CN202122024413.1U
Authority: CN
Inventors: 高志民; 李鹏; 刘志超
Original assignee: Beijing Siling Robot Technology Co ltd
Current assignee: Beijing Siling Robot Technology Co ltd
Priority date: 2021-08-25
Filing date: 2021-08-25
Publication date: 2022-03-15
Anticipated expiration: 2031-08-25

Abstract

The present disclosure provides a joint, comprising: a drive device for providing a driving force; the harmonic reducer is connected to the driving device to receive the driving force provided by the driving device; wherein an output portion of the harmonic reducer is formed as an output member of the joint. The present disclosure also provides a robot.

Description

Joint and robot

Technical Field

The present disclosure relates to a joint and a robot.

Background

Robots are an important direction of development in recent years. Robots, particularly flexible force-controlled robots, typically employ modular joints. Harmonic reducers are mostly adopted as the reducers of the modular joints. The output part of the joint is mostly an independent structural part and is connected with a flexible gear or a rigid gear of the harmonic reducer by screws.

The joint output part of the prior art is an independent structural part and is connected with the harmonic reducer by screws, so that more parts are arranged in the modularized joint, and the compact arrangement is not easy to realize. In the joint output part of the prior art, a positioning structure and a mounting surface with high concentricity and high precision are required to be designed at the matching part for assembling with the harmonic wave, even by adopting the technical means, the joint of the prior art is still difficult to assemble with the harmonic wave and output part, and joint vibration, noise and the like are often caused by difficult assembly. In addition, the form in which the joint output portion and the harmonic are connected by a screw also reduces the rigidity of the joint output portion.

SUMMERY OF THE UTILITY MODEL

In order to solve one of the above technical problems, the present disclosure provides a joint and a robot.

According to one aspect of the present disclosure, there is provided a joint comprising:

a drive device for providing a driving force; and

the harmonic reducer is connected to the driving device to receive the driving force provided by the driving device;

wherein an output portion of the harmonic reducer is formed as an output member of the joint.

According to the joint of at least one embodiment of this disclosure, the harmonic reducer includes: the flexible gear is connected with the driving device, the flexible gear is formed as an output part of the joint, or the rigid gear is formed as an output part of the joint.

A joint according to at least one embodiment of the present disclosure further includes:

a housing, the harmonic reducer set up in the housing, wherein:

when the flexspline is formed as an output member of the joint, a rigid gear of the harmonic reducer is fixed to the housing;

when the rigid gear is formed as an output member of the joint, the flexspline of the harmonic speed reducer is fixed to the housing.

According to a joint of at least one embodiment of the present disclosure, the rigid wheel is rotatably supported to the housing by a first bearing.

According to a joint of at least one embodiment of the present disclosure, the first bearing is a cross roller bearing.

and the bearing outer pressure plate is fixed on the shell and used for limiting the axial position of the outer ring of the first bearing.

and the bearing inner pressing plate is fixed on the rigid wheel and used for limiting the axial position of the inner ring of the first bearing.

the driving device is connected to a wave generator of the harmonic reducer through the input shaft.

According to the joint of at least one embodiment of the present disclosure, one end of the input shaft is connected to the driving device, and the other end of the input shaft is fixed to the wave generator after passing through the harmonic reducer.

According to the joint of at least one embodiment of the present disclosure, the other end of the input shaft is rotatably supported to the rigid wheel through a second bearing.

According to the joint of at least one embodiment of the present disclosure, the flexible gear is fixed to the housing by a fixing plate.

According to a joint of at least one embodiment of the present disclosure, the driving device is a frameless motor.

According to a joint of at least one embodiment of the present disclosure, the frameless motor includes:

the motor shaft is connected to the harmonic reducer through an input shaft;

a rotor disposed on the motor shaft; and

a stator disposed in the housing.

According to a joint of at least one embodiment of the present disclosure, an outer circumferential surface of the rigid wheel forms a collar mounting portion to mount a first bearing on the collar mounting portion.

According to a joint of at least one embodiment of the present disclosure, one end of the rigid wheel is formed as an inner gear ring.

According to a joint of at least one embodiment of the present disclosure, a bearing mounting portion is formed on an inner surface of the rigid gear to mount a second bearing therein.

According to the joint of at least one embodiment of the present disclosure, the other end of the rigid wheel is formed with a positioning portion for positioning concentrically with a member driven by the joint and a fixing portion for connecting with the member driven by the joint.

and a hollow shaft, one end of which is fixed to an output part of the harmonic reducer, and which is provided to penetrate an input shaft and a driving device of the joint.

According to another aspect of the present disclosure, a robot is provided, which includes the joint described above.

The robot according to at least one embodiment of the present disclosure further includes:

and the connecting rod is connected to the output part of the harmonic reducer.

Drawings

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

Fig. 1 is a schematic structural view of a joint according to one embodiment of the present disclosure.

Fig. 2 is a schematic structural view of a rigid wheel according to one embodiment of the present disclosure.

Fig. 3 is a schematic structural view of another angle of a rigid wheel according to one embodiment of the present disclosure.

Fig. 4 is a cross-sectional view of a rigid wheel according to one embodiment of the present disclosure.

The reference numbers in the figures are in particular:

100 joint

110 flexible gear

120 rigid wheel

121 collar mounting part

122 Ring gear

123 bearing mounting part

124 positioning part

125 fixed part

126 tool withdrawal groove

130 wave generator

140 casing

150 first bearing

160 bearing outer press plate

170 bearing inner pressure plate

180 input shaft

190 fixed plate

200 motor shaft

210 rotor

220 stator

230 second bearing

240 hollow shaft

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Accordingly, unless otherwise indicated, features of the various embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.

The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise noted, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality between the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two processes described consecutively may be performed substantially simultaneously or in reverse order to that described. In addition, like reference numerals denote like parts.

When an element is referred to as being "on" or "on," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically, electrically, etc., and may or may not have intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "below … …," below … …, "" below … …, "" below, "" above … …, "" above, "" … …, "" higher, "and" side (e.g., as in "side wall") to describe one component's relationship to another (other) component as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below … …" can encompass both an orientation of "above" and "below". Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the presence of stated features, integers, steps, operations, elements, components and/or groups thereof are stated but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.

Fig. 1 is a schematic structural view of a joint 100 according to one embodiment of the present disclosure.

As shown in fig. 1, the joint 100 of the present disclosure includes:

a drive device for providing a driving force; and

wherein the output part of the harmonic reducer is formed as an output member of the joint 100.

According to the joint disclosed by the invention, the output part of the harmonic reducer is formed as the output part of the joint, so that the internal layout of the joint (modular joint) is more compact, the rigidity of the joint output part is improved, the assembly difficulty of the harmonic reducer in a joint module is reduced, and the problems of vibration, noise and the like of the joint caused by the assembly difficulty of the harmonic reducer are reduced.

In this disclosure, the harmonic speed reducer includes: a flexible gear 110, a rigid gear 120 and a wave generator 130, wherein the wave generator 130 is connected with the driving device, the flexible gear 110 is formed as an output component of the joint 100, or the rigid gear 120 is formed as an output component of the joint 100.

That is, as shown in fig. 1, the present disclosure may employ the fixed flexspline 110 to output power through the rigid spline 120, or may employ the fixed rigid spline 120 to output power through the flexspline 110, in which case the harmonic reducer may be installed in a reverse direction (i.e., in the opposite direction to that of fig. 1).

According to at least one implementation form of the present disclosure, the joint 100 further includes:

a housing 140, the harmonic reducer being disposed on the housing 140, wherein:

when the flexspline 110 is formed as an output member of the joint 100, the rigid spline 120 of the harmonic reducer is fixed to the housing 140; and

as shown in fig. 1, when the rigid gear 120 is formed as an output member of the joint 100, the flexspline 110 of the harmonic reducer is fixed to the housing 140.

In the present disclosure, as shown in fig. 1, the rigid wheel 120 is rotatably supported to the housing 140 by a first bearing 150.

At this time, the rigid wheel 120 may be located inside the case 140.

Preferably, the first bearing 150 is a cross roller bearing.

According to at least one embodiment of the present disclosure, the joint 100 further comprises:

a bearing outer pressure plate 160, the bearing outer pressure plate 160 being fixed to the housing 140 for limiting an axial position of an outer ring of the first bearing 150; also, the housing 140 is formed with a bearing positioning groove therein, and the bearing outer pressing plate 160 restricts the position of the outer ring of the first bearing 150 together with the bearing positioning groove.

In another aspect, the joint 100 further comprises:

and the bearing inner pressure plate 170 is fixed to the rigid wheel 120, and is used for limiting the axial position of the inner ring of the first bearing 150.

In the present disclosure, the joint 100 further includes:

an input shaft 180, through which the driving means is connected to the wave generator 130 of the harmonic reducer.

More specifically, one end of the input shaft 180 is connected to the driving device, and the other end of the input shaft 180 is fixed to the wave generator 130 after passing through the harmonic reducer.

In the present disclosure, the other end of the input shaft 180 is rotatably supported to the rigid wheel 120 by a second bearing 230.

According to at least one embodiment of the present disclosure, the flexspline 110 is fixed to the housing 140 by a fixing plate 190.

In the present disclosure, the housing 140 may be integrally formed or may be separately formed, that is, the reducer housing and the motor housing are fixed together.

In the present disclosure, preferably, the driving device is a frameless motor.

More specifically, the frameless motor includes:

a motor shaft 200, said motor shaft 200 being connected to said harmonic reducer through an input shaft 180; a rotor 210, the rotor 210 being disposed on the motor shaft 200; and

a stator 220, wherein the stator 220 is disposed on the housing 140.

Fig. 2 is a schematic structural view of a rigid wheel according to one embodiment of the present disclosure. Fig. 3 is a schematic structural view of another angle of a rigid wheel according to one embodiment of the present disclosure. Fig. 4 is a cross-sectional view of a rigid wheel according to one embodiment of the present disclosure.

In the present disclosure, as shown in fig. 2 to 4, a collar mounting portion 121 is formed on an outer circumferential surface of the ring gear 120 to mount the first bearing 150 on the collar mounting portion 121.

Also, one end of the rigid gear 120 is formed as an inner gear ring 122. A bearing mounting portion 123 is formed on an inner surface of the rigid gear 120 to mount a second bearing 230 in the bearing mounting portion 123.

More preferably, the other end of the rigid wheel 120 is formed with a positioning portion 124 and a fixing portion 125, the positioning portion 124 is used for positioning concentrically with the member driven by the joint 100, and the fixing portion 125 is used for connecting with the member driven by the joint 100.

In the present disclosure, the rigid wheel 120 further includes a relief groove 126, so that the processing of the ring gear 122 is facilitated by the design of the relief groove 126.

In the present disclosure, the joint further includes a hollow shaft 240, one end of the hollow shaft 240 is fixed to an output portion of the harmonic reducer, preferably to the rigid wheel, and is disposed through the input shaft and the motor shaft of the joint.

According to another aspect of the present disclosure, a robot is provided, which includes the joint 100 described above.

In this disclosure, preferably, the robot further includes:

a link (i.e. a member driven by a joint) connected to the output of the harmonic reducer, preferably a rigid wheel fixed to the harmonic reducer.

In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.

Claims

1. A joint, comprising:

a drive device for providing a driving force; and

2. The joint of claim 1, wherein the harmonic reducer comprises: the flexible gear is connected with the driving device, the flexible gear is formed as an output part of the joint, or the rigid gear is formed as an output part of the joint.

3. The joint of claim 2, further comprising:

a housing, the harmonic reducer set up in the housing, wherein:

4. A joint as set forth in claim 3 wherein said rigid wheel is rotatably supported to said housing by a first bearing.

5. The joint of claim 4, wherein the first bearing is a cross roller bearing.

6. The joint of claim 4, further comprising:

7. The joint of claim 4, further comprising:

8. The joint of claim 3, further comprising:

9. The joint of claim 8, wherein one end of the input shaft is connected to the driving device, and the other end of the input shaft is fixed to the wave generator after passing through the harmonic reducer.

10. The joint of claim 9, wherein the other end of the input shaft is rotatably supported to the rigid wheel by a second bearing.

11. The joint of claim 4, wherein the flex spline is secured to the shell by a fixation plate.

12. A joint according to claim 4, wherein the drive means is a frameless motor.

13. The joint of claim 12, wherein the frameless motor comprises:

the motor shaft is connected to the harmonic reducer through an input shaft;

a rotor disposed on the motor shaft; and

a stator disposed in the housing.

14. A joint as claimed in claim 4, wherein the outer peripheral surface of the rigid wheel forms a collar mounting portion to which a first bearing is mounted.

15. The joint of claim 14, wherein one end of the rigid wheel is formed as an annular gear.

16. The joint of claim 15, wherein the inner surface of the rigid wheel is formed with a bearing mount to mount a second bearing within the bearing mount.

17. The joint of claim 16, wherein the other end of the rigid wheel is formed with a positioning portion for positioning concentrically with the member driven by the joint and a fixing portion for connecting with the member driven by the joint.

18. The joint of claim 1, further comprising:

19. A robot comprising a joint according to any of claims 1-18.

20. The robot of claim 19, further comprising:

and the connecting rod is connected to the output part of the harmonic reducer.