CN216464595U - Rotary joint assembly and mechanical arm - Google Patents
Rotary joint assembly and mechanical arm Download PDFInfo
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- CN216464595U CN216464595U CN202122187619.6U CN202122187619U CN216464595U CN 216464595 U CN216464595 U CN 216464595U CN 202122187619 U CN202122187619 U CN 202122187619U CN 216464595 U CN216464595 U CN 216464595U
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- sealing ring
- tail end
- sleeved
- rotary joint
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- 238000007789 sealing Methods 0.000 claims abstract description 113
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 2
- 239000004810 polytetrafluoroethylene Substances 0.000 description 2
- -1 Polytetrafluoroethylene Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002783 friction material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to the field of mechanical arms and discloses a rotary joint assembly and a mechanical arm. The motor includes a stator and a rotor. The first joint accommodates the motor and is fixedly connected with the stator. The tail end of the second joint is sleeved on the periphery of the tail end of the first joint and fixedly connected with the rotor, and a mounting gap is formed between the inner side wall of the tail end of the second joint and the outer side wall of the tail end of the first joint. The first sealing ring is sleeved between the tail end of the first joint and the tail end of the second joint. The second sealing ring is sleeved between the tail ends of the first sealing ring and the second joint, and the first sealing ring and the second sealing ring are filled in the mounting gap. The terminal in-process of the terminal periphery of first joint is located to the cover at the end of second joint, drives the second sealing ring and moves towards first sealing ring, until the periphery of first sealing ring is located to the second sealing ring cover, the periphery of first sealing ring can be located to the cover automatically to the second sealing ring.
Description
Technical Field
The utility model relates to the field of mechanical arms, in particular to a rotary joint assembly and a mechanical arm.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.
The gaps between the joints of the mechanical arm need to be subjected to dynamic sealing treatment, so that the assembly process of the mechanical arm is complex.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model aims to provide a rotary joint component and a mechanical arm with the rotary joint component, so as to solve the technical problem that the assembly process of joints is complex due to sealing treatment between the joints in the prior art.
The embodiment of the utility model adopts the following technical scheme for solving the technical problems: there is provided a rotary joint assembly comprising:
a motor including a stator and a rotor;
the first joint accommodates the motor and is fixedly connected with the stator;
the tail end of the second joint is sleeved on the periphery of the tail end of the first joint and fixedly connected with the rotor, and an installation gap is formed between the inner side wall of the tail end of the second joint and the outer side wall of the tail end of the first joint;
the first sealing ring is sleeved between the tail end of the first joint and the tail end of the second joint; and
the second sealing ring is sleeved between the first sealing ring and the tail end of the second joint, and the first sealing ring and the second sealing ring are filled in the mounting gap.
In some embodiments, the end of the first joint is in a step structure;
the first sealing ring is sleeved on the section with the smaller size of the stepped structure, and the end part of the second sealing ring abuts against the end face of the section with the larger size of the stepped structure.
In some embodiments, a limit groove is formed in the end of the first joint along the circumferential direction of the first joint, and the first sealing ring portion is accommodated in the limit groove to be fixed to the end of the first joint.
In some embodiments, a positioning groove is formed in the inner annular surface of the second sealing ring along the circumferential direction of the second sealing ring;
the positioning groove is used for partially accommodating the first sealing ring so as to position the first sealing ring on the second sealing ring.
In some embodiments, the width of the second seal ring is greater than the width of the first seal ring;
in an axial projection towards the rotor, a projection of the second sealing ring covers the first sealing ring.
In some embodiments, the second joint comprises a joint body and an adaptor;
the joint main body is fixedly connected to the adapter piece, and the tail end of the second joint is arranged on the adapter piece.
In some embodiments, the adaptor is sleeved on the outer periphery of the joint main body and fixedly connected with the joint main body through a radial bolt.
In some embodiments, the second joint further comprises a sheath;
the sheath is sleeved on the periphery of the adapter piece and covers the radial bolt.
In some embodiments, the adaptor is provided with a receiving groove along the circumferential direction;
the sheath is contained in the containing groove.
The embodiment of the utility model also adopts the following technical scheme for solving the technical problems: a robotic arm is provided comprising at least one set of revolute joint assemblies as described above.
Compared with the prior art, in the rotary joint assembly and the mechanical arm with the rotary joint assembly provided by the embodiment of the utility model, the tail end of the second joint drives the second sealing ring to move towards the first sealing ring in the process of being sleeved on the periphery of the tail end of the first joint until the second sealing ring is sleeved on the periphery of the first sealing ring, the second sealing ring can be automatically sleeved on the periphery of the first sealing ring, and the assembly process is simpler.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;
FIG. 2 is a disassembled schematic view of the rotary joint assembly of the robotic arm shown in FIG. 1;
FIG. 3 is a cross-sectional schematic view of the rotary joint assembly shown in FIG. 2;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is a cross-sectional schematic view of a first joint of the rotary joint assembly shown in FIG. 2;
fig. 6 is a cross-sectional schematic view of a second seal ring of the rotary joint assembly shown in fig. 2.
Detailed Description
In order to facilitate an understanding of the utility model, the utility model is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "connected" to another element, it can be directly on the other element or intervening elements may be present. The terms "upper", "lower", "left", "right", "upper", "lower", "top" and "bottom" used in the present specification indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus 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 relative importance.
Unless defined otherwise, 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 invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.
Referring to fig. 1, one embodiment of the present disclosure provides a robot arm 100 including at least one set of rotating joint assemblies 10.
Referring to fig. 2 and 3, in the present embodiment, a set of rotary joint assemblies 10 is taken as an example for description, and the rotary joint assembly 10 includes a motor 11, a first joint 12, a second joint 13, a first sealing ring 14 and a second sealing ring 15. The motor 11 includes a stator 110 and a rotor 112. The first joint 12 accommodates the motor 11 and is fixedly connected to the stator 110 of the motor 11. The end of the second joint 13 is sleeved on the outer circumference of the end of the first joint 12 and is fixedly connected with the rotor 112 of the motor 11. There is a mounting gap between the inside wall of the distal end of the second joint 13 and the outside wall of the distal end of the first joint 12. The first sealing ring 14 is sleeved between the end of the first joint 12 and the end of the second joint 13. The second sealing ring 15 is sleeved between the first sealing ring 14 and the end of the second joint 13. The first seal ring 14 and the second seal ring 15 are filled in the mounting gap to seal the mounting gap. When the motor 11 works, the motor 11 drives the first joint 12 to rotate relative to the second joint 13, in the process, the first joint 12 drives the first sealing ring 14 to rotate together through friction force, the second joint 13 enables the second sealing ring 15 to keep fixed through friction force, so that the first sealing ring 14 and the second sealing ring 15 rotate relatively, and dynamic sealing processing of the first joint 12 and the second joint 13 is achieved.
The terminal in-process of the terminal periphery of first joint 12 is located to the cover at the end of second joint 13, can drive second sealing ring 15 through frictional force and move towards first sealing ring 14, until the periphery of first sealing ring 14 is located to second sealing ring 15 cover, the periphery of first sealing ring 14 can be located to second sealing ring 15 cover automatically, and the assembling process is comparatively simple.
The first joint 12 includes a first cavity 120 and a first socket 122. The first engaging portion 122 is disposed at one side of the first cavity 120 and is connected to the first cavity 120.
The first cavity 120 is used for accommodating the motor 11. A motor fixing plate is convexly arranged on the wall of the first cavity 120 and is used for fixedly connecting the stator 110 of the motor 11.
The first nesting portion 122 is the end of the first joint 12.
Referring to fig. 4 and 5, the first engaging portion 122 has a step structure, and includes a first section 1220 with a smaller size and a second section 1222 with a larger size. The second section 1222 is connected between the first cavity 120 and the first section 1220. The first sealing ring 14 is sleeved on the outer periphery of the first section 1220, and the end surface of the second section 1222 abuts against the end of the second sealing ring 15.
The tail end of the second joint 13 drives the second sealing ring 15 to move toward the first sealing ring 14 in the process of being sleeved on the periphery of the first sleeving part 122 until the end of the second sealing ring 15 abuts against the end surface of the second section 1222. At this time, the second sealing ring 15 stops moving, and the position of the second sealing ring 15 corresponds to the position of the first sealing ring 14, so that the second sealing ring 15 is sleeved on the outer periphery of the first sealing ring 14.
The first segment 1220 is provided with a stopper groove 1223 along a circumferential direction thereof. The first sealing ring 14 is partially received in the limiting groove 1223 to be fixed to the first segment 1220, so that the first sealing ring 14 is not pushed away by the second sealing ring 15 when the second sealing ring 15 is sleeved on the outer circumference of the first sealing ring 14.
The second joint 13 includes an adaptor 130 and a joint body 132. The adaptor 130 is fixedly connected to the joint body 132.
The adaptor 130 includes a second socket connection portion 1300, a third socket connection portion 1302, and a rotor connection portion 1304. The second socket 1300 is disposed at one side of the third socket 1302 and is connected to the third socket 1302, and the rotor connecting part 1304 is protruded from an inner wall of a junction between the second socket 1300 and the third socket 1302. The second socketing portion 1300 is an end of the second joint 13, that is, the end of the second joint 13 is disposed on the adaptor 130.
The third engaging portion 1302 is configured to engage with the outer periphery of the joint main body 132.
The rotor connecting portion 1304 is used for fixedly connecting the rotor 112 of the motor 11.
The fourth nesting portion 1320 is nested on the inner periphery of the third nesting portion 1302, and is fixedly connected to the third nesting portion 1302 by the radial bolt 134, so as to fixedly connect the adaptor 130 to the joint body 132. The third socket 1302 is provided with a countersunk hole, and the head of the radial bolt 134 is received in the countersunk hole, so as to prevent the head of the radial bolt 134 from protruding out of the outer surface of the third socket 1302, thereby providing an attractive appearance and facilitating sealing, and the specific manner of sealing is as the sheath 135 described later.
The second cavity 1322 is used to house the motor of the second joint 13.
In some embodiments, second joint 13 further includes a sheath 135. The sheath 135 is generally annular in shape, as shown in FIG. 2. The sheath 135 is sleeved on the outer periphery of the third sleeved portion 1302 and covers the radial bolt 134. The sheath 135 may be made of a rubber material having elasticity, and is used to shield and seal a gap between the radial bolt 134 and the third engaging portion 1302.
In some embodiments, the third nesting portion 1302 has a receiving groove 136 formed along the circumferential direction thereof. The sheath 135 is accommodated in the accommodating groove 136, so that the sheath 135 is prevented from protruding out of the outer surface of the third sleeving part 1302, the appearance is attractive, and the sheath 135 is not easy to fall off due to accidental collision.
The first seal ring 14 has a circular, oval or racetrack cross-section and may be made of an elastomeric material, such as rubber. When the first sealing ring 14 is fitted between the end of the first joint 12 and the second sealing ring 15, there is some compression of the first sealing ring 14 to provide sufficient sealing pressure between the end of the first joint 12 and the second sealing ring 15.
The second seal ring 15 may be made of a soft, low coefficient of friction material, such as Polytetrafluoroethylene (PTFE). The second sealing ring 15 is made of soft material, a good sealing effect can be formed between the tail end of the second joint 13 and the first sealing ring 15, and the friction coefficient between the material and the first sealing ring 15 is small, so that the second sealing ring is wear-resistant, and the friction resistance generated when the first joint 12 rotates relative to the second joint 13 is small, thereby being beneficial to reducing the influence of friction on joint force perception and improving the precision of load force perception.
The width of the second sealing ring 15 is greater than the width of the first sealing ring 14. In the axial projection towards the rotor 112 of the electric machine 11, the projection of the second sealing ring 15 can completely cover the first sealing ring 14, ensuring the sealing effect.
Referring to fig. 6, in some embodiments, a positioning groove 150 is formed on the inner annular surface of the second sealing ring 15 along the circumferential direction thereof. The positioning groove 150 is used for partially receiving the first sealing ring 14 to position the first sealing ring 14 on the second sealing ring 15.
During assembly, the following are specific:
the motor 11 is fitted to the first joint 12. The motor 11 is accommodated in the first cavity 120, and the stator 110 of the motor 11 can be fixedly connected with the motor connecting plate through screws. The rotor 112 of the motor 11 extends from the first cavity 120 to the first socket 122.
The second joint 13 is fitted to the first joint 12. On one hand, the first sealing ring 14 is sleeved on the outer periphery of the first section 1220 and is partially accommodated in the limiting groove 1223, and on the other hand, the second sealing ring 15 is sleeved on the inner periphery of the second sleeving part 1300. When the first sealing ring 14 is sleeved on the periphery of the first section 1220 and the second sealing ring 15 is sleeved on the inner periphery of the second sleeving part 1300, the second sleeving part 1300 is sleeved on the periphery of the first sleeving part 122, in this process, the second sealing ring 15 moves towards the first sealing ring 14 under the driving of the friction force of the second sleeving part 1300 until the end part of the second sealing ring 15 abuts against the end surface of the second section 1222, and at this time, the second sealing ring 15 stops moving and is sleeved on the periphery of the first sealing ring 14. It should be noted that, when the second socketing portion 1300 is socketed at the outer periphery of the first socketing portion 122, the second socketing portion 1300 may not be completely socketed at the outer periphery of the first socketing portion 122. When the second sleeving part 1300 is completely sleeved on the periphery of the first sleeving part 122, the rotor connecting part 1304 contacts the rotor 112 of the motor 11, and the rotor connecting part 1304 can be fixedly connected to the rotor 112 of the motor 11 through the axial bolt, so that the fixed connection between the adaptor 130 and the rotor 112 of the motor 11 is realized.
Compared with the prior art, in the rotary joint assembly and the mechanical arm with the rotary joint assembly provided by the embodiment of the utility model, the tail end of the second joint drives the second sealing ring to move towards the first sealing ring in the process of being sleeved on the periphery of the tail end of the first joint until the second sealing ring is sleeved on the periphery of the first sealing ring, and the second sealing ring is automatically sleeved on the periphery of the first sealing ring, so that the assembly process is simpler.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the utility model, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the utility model as described above, which are not provided in detail for the sake of brevity; while the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A rotary joint assembly, comprising:
a motor including a stator and a rotor;
the first joint accommodates the motor and is fixedly connected with the stator;
the tail end of the second joint is sleeved on the periphery of the tail end of the first joint and fixedly connected with the rotor, and an installation gap is formed between the inner side wall of the tail end of the second joint and the outer side wall of the tail end of the first joint;
the first sealing ring is sleeved between the tail end of the first joint and the tail end of the second joint; and
the second sealing ring is sleeved between the first sealing ring and the tail end of the second joint, and the first sealing ring and the second sealing ring are filled in the mounting gap.
2. The rotary joint assembly of claim 1, wherein the end of the first joint is a step structure;
the first sealing ring is sleeved on the section with the smaller size of the stepped structure, and the end part of the second sealing ring abuts against the end face of the section with the larger size of the stepped structure.
3. The rotary joint assembly according to claim 1, wherein a limit groove is formed in a distal end of the first joint along a circumferential direction thereof, and the first seal ring portion is received in the limit groove so as to be fixed to the distal end of the first joint.
4. The rotary joint assembly according to claim 1, wherein a positioning groove is formed on the inner annular surface of the second seal ring along the circumferential direction thereof;
the positioning groove is used for partially accommodating the first sealing ring so as to position the first sealing ring on the second sealing ring.
5. The rotary joint assembly of claim 1, wherein the width of the second seal ring is greater than the width of the first seal ring;
in an axial projection towards the rotor, a projection of the second sealing ring covers the first sealing ring.
6. The rotary joint assembly according to any one of claims 1 to 5, wherein the second joint comprises a joint body and an adaptor;
the joint main body is fixedly connected to the adapter piece, and the tail end of the second joint is arranged on the adapter piece.
7. The rotary joint assembly according to claim 6, wherein the adaptor is sleeved on the outer circumference of the joint body and fixedly connected to the joint body by a radial bolt.
8. The rotary joint assembly of claim 7, wherein the second joint further comprises a sheath;
the sheath is sleeved on the periphery of the adapter piece and covers the radial bolt.
9. The rotary joint assembly according to claim 8, wherein the adaptor has a receiving groove formed along a circumferential direction thereof;
the sheath is contained in the containing groove.
10. A robot arm comprising at least one set of rotary joint assemblies according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122187619.6U CN216464595U (en) | 2021-09-10 | 2021-09-10 | Rotary joint assembly and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122187619.6U CN216464595U (en) | 2021-09-10 | 2021-09-10 | Rotary joint assembly and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216464595U true CN216464595U (en) | 2022-05-10 |
Family
ID=81436525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122187619.6U Active CN216464595U (en) | 2021-09-10 | 2021-09-10 | Rotary joint assembly and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216464595U (en) |
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2021
- 2021-09-10 CN CN202122187619.6U patent/CN216464595U/en active Active
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