CN218082780U - Robot joint and robot - Google Patents
Robot joint and robot Download PDFInfo
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- CN218082780U CN218082780U CN202222645364.8U CN202222645364U CN218082780U CN 218082780 U CN218082780 U CN 218082780U CN 202222645364 U CN202222645364 U CN 202222645364U CN 218082780 U CN218082780 U CN 218082780U
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Abstract
The utility model provides a robot joint and robot, robot joint includes the first part, the second part, first reduction gear is vice, second reduction gear is vice, output spare and first bearing, first reduction gear is vice to contain the action wheel and follow the driving wheel of meshing, second reduction gear is vice to contain first bevel gear and the second bevel gear of meshing, first bevel gear's inside is formed with the first space that runs through along the axial, output spare is connected respectively with first bevel gear and first part, inside is formed with the second space that runs through along the axial, axial position corresponds and feeds through between first space and the second space, be equipped with first shaft shoulder on the first bevel gear, first bearing nestification is in first bevel gear's the outside, its outer lane is connected with the second part, the inner circle is connected with first bevel gear, its inner circle is spacing by the axial between first shaft shoulder and output spare. The robot joint has a large hollow structure while meeting the transmission ratio, and the first bearing has a simple structure and is convenient to process.
Description
Technical Field
The utility model relates to a robot field, in particular to robot joint and robot.
Background
The robot joint is an important component of the robot, a plurality of gears are arranged in the robot joint, various motions of the robot arm body are realized through gear transmission, and the arrangement of the gears in the joint can influence the transmission ratio and the utilization rate of the inner space of the robot joint. The existing robot joint structure cannot have high transmission ratio and large-capacity space, the bearing structure for supporting the gear is complex, the space occupation is large, and the connecting structure needs to be customized to be matched with the gear for use.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a robot joint and robot, this robot joint has great hollow structure when satisfying drive ratio, and support bearing's simple structure, convenient processing.
In order to solve the technical problem, the utility model adopts the following technical scheme:
in a technical solution of the present invention, the utility model provides a robot joint, include:
a first component and a second component;
the first reduction gear pair comprises a driving wheel and a driven wheel which are meshed with each other;
the second reduction gear pair comprises a first bevel gear and a second bevel gear which are meshed with each other, a first space which penetrates through the first bevel gear along the axial direction is formed inside the first bevel gear, and the second bevel gear is connected with the driven wheel;
the output piece is positioned at one axial end of the first bevel gear and is respectively connected with the first bevel gear and the first component, a second space which penetrates through the output piece along the axial direction is formed inside the output piece, the first space and the second space correspond to each other in the axial direction and are communicated with each other, and a first shaft shoulder is arranged at one end, close to the output piece, of the first bevel gear;
the first bearing is nested on the outer side of the first bevel gear, the outer ring of the first bearing is connected with the second component, the inner ring of the first bearing is connected with the first bevel gear, and the inner ring of the first bearing is axially limited between the first shaft shoulder and the output part.
The utility model discloses an among the technical scheme, first bevel gear includes first ring shape body and ring gear, the ring gear sets up the axial one end of first ring shape be provided with first mounting groove on the lateral surface of first ring shape body, first mounting groove axial run through extremely first ring shape body is kept away from the terminal surface position of the one end of ring gear, the axial one end of the inner circle of first bearing stretches into in the first mounting groove, the lateral wall face of first mounting groove regards as first shaft shoulder.
The utility model discloses an among the technical scheme, output is close to first bevel gear's one end nestification is in the inboard of first bearing, output with these both adjacent ends of first bevel gear are in axial position sets up correspondingly among the inner circle of first bearing be provided with the second shoulder on the output, the inner circle of first bearing is spacing by the axial first shoulder with between the second shoulder.
The utility model discloses an among the technical scheme, output is annular flange be provided with the second mounting groove on the lateral surface of flange, second mounting groove axial run through to the flange is close to the terminal surface position of first bevel gear's one end, the axial one end of the inner circle of first bearing stretches into in the second mounting groove, the lateral wall face of second mounting groove is regarded as the second shoulder.
In a technical solution of the present invention, the second member defines an inner cavity, the first bearing and the first bevel gear are both accommodated in the inner cavity, and a stop boss is convexly arranged on an inner surface of the inner cavity;
the robot joint further comprises a cover plate, the cover plate is nested on the outer side of the output part and connected with the second part, and the outer ring of the first bearing is axially limited between the stop boss and the cover plate.
In a technical solution of the present invention, the robot joint further includes:
the bearing seat is arranged in the second component in a penetrating mode, the second bevel gear comprises a connector and a gear tooth portion, the connector is arranged in the bearing seat in a penetrating mode, at least one bearing component is arranged between the connector and the bearing seat, one end of the connector extends out of the bearing seat, the extending end of the connector is provided with the gear tooth portion, the gear tooth portion is meshed with the first bevel gear, and the driven gear is connected to one end, far away from the gear tooth portion, of the connector.
In a technical solution of the present invention, the bearing seat defines a step hole, and the step hole includes a first hole with a larger aperture, a second hole with a smaller aperture, and a step surface transiting between the first hole and the second hole;
the connector is arranged in the stepped hole in a penetrating mode, a positioning table is arranged on the connector, a second bearing serving as the bearing component is arranged between the connector and the first hole, the outer ring of the second bearing is axially limited by the stepped surface, the inner ring of the second bearing is axially limited between the driven wheel and the positioning table, a third bearing serving as the bearing component is arranged between the connector and the second hole, and the third bearing is axially limited by the positioning table.
In one technical solution of the present invention, the first bevel gear and the second bevel gear are both hypoid gears; and/or
The driving wheel and the driven wheel are straight gears; and/or
The first bearing is a crossed roller bearing; and/or
The third bearing is a needle bearing; and/or
The second bearing is a double-row angular contact bearing or a combination of at least two single-row angular contact bearings.
In a technical solution of the present invention, the robot joint further includes:
a spacer disposed between the bearing housing and the second component.
In a technical solution of the present invention, the robot joint further includes:
and the sealing element is positioned on one side of the first bevel gear, which is far away from the output element, the sealing element is connected with the first bevel gear, a third space which penetrates through the sealing element along the axial direction is formed inside the sealing element, and the third space and the first space correspond to each other in axial position and are communicated with each other.
In a technical solution of the present invention, the robot joint further includes:
the driver is connected with the driving wheel, and the driving wheel can rotate under the driving of the driver.
The utility model discloses an among the technical scheme, be provided with the regulating part between first bevel gear and the first bearing, this regulating part is located first bevel gear with between the inner circle of first shaft shoulder or first bearing, can be used for adjusting first bevel gear's axial position.
In another aspect of the present invention, the utility model provides a robot, include:
a cable;
in the robot joint according to the above, the cable is inserted into the first space and the second space.
The utility model has the advantages that:
the robot joint of this application carries out the transmission through using first bevel gear and the second bevel gear of meshing to and form the second space through the inside at first bevel gear forms first space and at the inside of output spare, make the joint satisfy big drive ratio simultaneously inside the great hollow structure in space that has formed, and through set up first shoulder on first bevel gear, make first bearing simple structure, convenient processing and connect reliably.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 is a schematic cross-sectional configuration diagram of a robot joint according to an embodiment of the present invention.
Fig. 2 is an enlarged schematic view of a portion a of the robot joint shown in fig. 1 according to the present invention.
Fig. 3 is a partially enlarged schematic view of a cross-sectional structure of the robot joint shown in fig. 2 according to the present invention.
The reference numerals are explained below:
1. a first member; 2. a second component; 21. a stop boss; 31. a driving wheel; 32. a driven wheel; 41. a first bevel gear; 410. a first space; 411. a first shoulder; 412. a first annular body; 413. a ring gear; 414. a first mounting groove; 42. a second bevel gear; 420. a connector; 421. a wheel tooth portion; 422. a positioning table; 5. an output member; 51. a second space; 52. a second shoulder; 53. a second mounting groove; 61. a first bearing; 62. a second bearing; 63. a third bearing; 7. a cover plate; 8. a bearing seat; 81. a stepped bore; 811. a first hole; 812. a second hole; 813. a step surface; 82. a gasket; 9. a seal member; 91. a third space; 100. a driver; 101. an adjustment member; 102. and (7) oil sealing.
Detailed Description
While the present invention may be susceptible to embodiment in different forms, there is shown in the drawings and will herein be described in detail only some specific embodiments, with the understanding that the present description is to be considered as an exemplification of the principles of the invention and is not intended to limit the invention to that as illustrated herein.
Thus, a feature indicated in this specification will serve to explain one of the features of an embodiment of the invention, and not to imply that every embodiment of the invention must have the described feature. Further, it should be noted that this specification describes many features. Although some features may be combined to show a possible system design, these features may also be used in other combinations not explicitly described. Thus, the combinations illustrated are not intended to be limiting unless otherwise specified.
In the embodiments shown in the drawings, directional references (such as upper, lower, inner, outer, left, right, front, rear, etc.) are used to explain the structure and motion of the various components of the invention not absolutely, but relatively. These illustrations are appropriate when these components are in the positions shown in the figures. If the description of the positions of these components changes, the indication of these directions changes accordingly.
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present invention, which are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and a repetitive description thereof will be omitted.
The preferred embodiments of the present invention will be further described in detail with reference to the accompanying drawings.
With the development of multi-functions of robots, the number of accessories connected to the robots is increasing, and the number of cables required to pass through joints of the robots is increasing. Therefore, it is particularly important to design a robot joint having a large hollow structure. As described above, the conventional robot joint structure cannot satisfy both a high transmission ratio and a large capacity space. And need use the bearing support gear among the joint structure, current bearing structure is complicated, leads to the joint inner space to be occupied, and some bearings use for cooperating the gear, need customize extra connection structure in order to match the gear on its surface, leads to processing complicacy.
A robot joint according to an embodiment of the present invention is described below with reference to fig. 1 to 3.
As shown in fig. 1 to 3, the robot joint according to the embodiment of the present invention includes a first component 1, a second component 2, a first reduction gear pair, a second reduction gear pair, an output member 5, and a first bearing 61, wherein the first reduction gear pair includes a driving wheel 31 and a driven wheel 32 that are engaged with each other, the second reduction gear pair includes a first bevel gear 41 and a second bevel gear 42 that are engaged with each other, a first space 410 that penetrates in an axial direction is formed inside the first bevel gear 41, and the second bevel gear 42 is connected to the driven wheel 32; the output piece 5 is positioned at one axial end of the first bevel gear 41 and is respectively connected with the first bevel gear 41 and the first component 1, a second space 51 which penetrates along the axial direction is formed inside the output piece 5, the first space 410 and the second space 51 correspond to each other in axial position and are communicated with each other, and a first shaft shoulder 411 is arranged at one end, close to the output piece 5, of the first bevel gear 41; the first bearing 61 is nested outside the first bevel gear 41, the outer ring of the first bearing 61 is connected with the second component 2, the inner ring of the first bearing 61 is connected with the first bevel gear 41, and the inner ring of the first bearing 61 is axially limited between the first shoulder 411 and the output member 5.
In the present embodiment, the driving wheel 31 is used as a power input end, the input power is transmitted through the driven wheel 32 and the second bevel gear 42, the first bevel gear 41 is used as a power output end, and the first component 1 is driven to rotate relative to the second component 2 through the output member 5 respectively connected with the first component 1 and the first component. The first reduction gear pair and the second reduction gear pair form two-stage speed reduction, and the transmission ratio in a wider range is realized. The differential steering is realized through the first bevel gear 41 and the second bevel gear 42 which are meshed with each other, the rotating axis I of the first bevel gear 41 is perpendicular to the rotating axis II of the second bevel gear 42, so that the first bevel gear 41 is not coaxial with the second bevel gear 42, the space occupation can be reduced, especially the space occupation in the axial direction is reduced, the layout of components inside the joint is convenient, and the first bevel gear 41 and the second bevel gear 42 can provide large output torque to meet the requirement of large rotation ratio.
Further, by forming the first space 410 penetrating axially inside the first bevel gear 41 and forming the second space 51 penetrating axially inside the output member 5, a hollow cavity is formed in the axial direction of the robot joint after one axial end of the first bevel gear 41 is connected with one axial end of the output member 5, and the hollow cavity will further facilitate the layout of components inside the joint, such as the routing of robot cables. Wherein the first bevel gear 41 and the output member 5 may be connected by any suitable means, such as by fasteners, welding, fusing, adhesives, etc. In some embodiments of the present application, the first bevel gear 41 and the output member 5 are connected by screws.
Further, the first bearing 61 is sleeved on the outer side of the first bevel gear 41 to provide support for the first bevel gear 41, the first bearing 61 comprises an inner ring and an outer ring which can rotate relative to each other, the first bevel gear 41 is rotatably arranged on the second part 2 by connecting the outer ring of the first bearing 61 with the second part 2 and connecting the inner ring of the first bearing 61 with the first bevel gear 41, the support mode is simple in structure, and the first bearing 61 does not occupy the inner space of the first bevel gear 41. In addition, through set up first shaft shoulder 411 on first bevel gear 41, after first bevel gear 41 is connected with output 5, the inner circle of first bearing 61 is spacing between first shaft shoulder 411 and output 5 by the axial for first bearing 61 simple structure, convenient processing and connection are reliable, need not to set up extra connection structure in order to match first bevel gear 41 on its inner circle.
The first bevel gear 41 and the second bevel gear 42 may be straight bevel gears or helical bevel gears, and may be specifically selected according to needs.
The robot joint may be any joint in a robot, and for example, the robot joint may be a joint of a fourth axis in a six-axis robot.
In a technical solution of the present invention, the first bevel gear 41 includes a first ring body 412 and a ring gear 413, the ring gear 413 is disposed at one end of the first ring body 412 in the axial direction, a first mounting groove 414 is disposed on the outer side surface of the first ring body 412, the first mounting groove 414 axially penetrates through the end surface position of the end of the ring gear 413 far away from the first ring body 412, one end of the inner ring of the first bearing 61 in the axial direction extends into the first mounting groove 414, and the side wall surface of the first mounting groove 414 serves as a first shoulder 411.
In the present embodiment, a first mounting groove 414 is provided on an outer side surface of an end of the first annular body 412 remote from the ring gear 413, a side wall surface of the first mounting groove 414 forms a first shoulder 411, the first bearing 61 is nested on the first bevel gear 41, an inner surface of an inner race of the first bearing 61 is in mating contact with a groove surface of the first mounting groove 414, and one axial end surface of the inner race of the first bearing 61 is in mating contact with a side wall surface of the first mounting groove 414.
The utility model discloses an among the technical scheme, output 5 is close to the one end nestification of first bevel gear 41 in the inboard of first bearing 61, and output 5 sets up with the adjacent end between these two axial position correspondence among the inner circle of first bearing 61 with first bevel gear 41, is provided with second shoulder 52 on output 5, and the inner circle of first bearing 61 is spacing between first shoulder 411 and second shoulder 52 by the axial.
In the present embodiment, the first bevel gear 41 is provided with a first shoulder 411 at an end close to the output member 5, the output member 5 is provided with a second shoulder 52 at an end close to the first bevel gear 41, and the end of the output member 5 close to the first bevel gear 41 and the end of the first bevel gear 41 close to the output member 5 are provided in the inner race of the first bearing 61 in an axial position corresponding thereto, so as to limit the axial displacement of the first bearing 61 by the first shoulder 411 and the second shoulder 52 abutting against both axial ends of the first bearing 61. The first bearing 61 can realize synchronous support of the first bevel gear 41 and the output member 5, so that the connection between the first bevel gear 41 and the output member 5 is more stable.
The utility model discloses an among the technical scheme, output 5 is annular flange, is provided with second mounting groove 53 on the lateral surface of flange, and second mounting groove 53 axial runs through to the flange and is close to the terminal surface position of the one end of first bevel gear 41, and the axial one end of the inner circle of first bearing 61 stretches into in second mounting groove 53, and the lateral wall face of second mounting groove 53 is as second shoulder 52.
In the present embodiment, a second mounting groove 53 is provided on an outer side surface of one end of the flange close to the first bevel gear 41, a second shoulder 52 is formed on a side wall surface of the second mounting groove 53, the first mounting groove 414 and the second mounting groove 53 communicate to form a groove body for disposing the first bearing 61, the first bearing 61 is nested in the groove body, a part of an inner surface of the inner race of the first bearing 61 is in mating contact with a groove surface of the first mounting groove 414, another part of the inner surface of the inner race of the first bearing 61 is in mating contact with a groove surface of the second mounting groove 53, one axial end surface of the inner race of the first bearing 61 is in mating contact with a side wall surface of the first mounting groove 414, and the other axial end surface of the inner race of the first bearing 61 is in mating contact with a side wall surface of the first mounting groove 414. This mode realizes the location installation of first bearing 61, and easy to assemble also can ensure the positional stability of first bearing 61.
In one technical solution of the present invention, the second part 2 defines an inner cavity, the first bearing 61 and the first bevel gear 41 are both accommodated in the inner cavity, and a stop boss 21 is convexly arranged on an inner surface of the inner cavity;
the robot joint further comprises a cover plate 7, the cover plate 7 is nested on the outer side of the output part 5, the cover plate 7 is connected with the second part 2, and the outer ring of the first bearing 61 is axially limited between the stop boss 21 and the cover plate 7.
In this embodiment, the second member 2 has a hollow interior in which the first bearing 61, the first bevel gear 41 and the first reduction gear pair are accommodated, and the first bevel gear 41 and the first reduction gear pair are rotatably disposed with respect to the interior. Wherein, the inner surface of the inner cavity is provided with a stop boss 21 which is protruded relative to the inner surface and is used for limiting the movement of the first bearing 61; the cover plate 7 is sleeved on the outer side of the output part 5 and is connected with the second part 2 to cover the opening of the inner cavity, one axial end of the outer ring of the first bearing 61 is abutted to the cover plate 7, and the other axial end of the outer ring of the first bearing 61 is abutted to the stopping boss 21, so that the outer ring of the first bearing 61 is axially limited between the stopping boss 21 and the cover plate 7. Wherein the cover plate 7 and the second component 2 may be connected by any suitable means, such as by fasteners, welding, fusing, adhesives, etc. In some embodiments of the present application, the cover plate 7 and the second component 2 are connected by screws.
The utility model discloses an among the technical scheme, the robot joint still includes bearing frame 8, wears to establish in second part 2, second bevel gear 42 includes connector 420 and teeth of a cogwheel portion 421, connector 420 wears to establish in bearing frame 8, and is provided with at least one bearing part between connector 420 and the bearing frame 8, the one end of connector 420 is stretched out bearing frame 8 and is provided with teeth of a cogwheel portion 421 in the end that stretches out of connector 420, teeth of a cogwheel portion 421 and the meshing of first bevel gear 41, connect the one end of keeping away from teeth of a cogwheel portion 421 at connector 420 from driving wheel 32.
In this embodiment, a bearing seat 8 is provided in the interior cavity of the second component 2 for providing a bearing member to provide structural support for the second bevel gear 42. The second bevel gear 42 comprises a connecting body 420 and a gear tooth portion 421 arranged on the connecting body 420, the gear tooth portion 421 is arranged on one axial side of the connecting body 420 to be meshed with the gear ring 413, one axial side of the connecting body 420 is connected with the driven wheel 32, the driven wheel 32 drives the second bevel gear 42 to rotate, and the connecting body 420 is arranged in the bearing seat 8 in a penetrating mode and is supported on the bearing seat 8 through at least one bearing component.
In a technical solution of the present invention, as shown in fig. 2, the bearing seat 8 defines a step hole 81, and the step hole 81 includes a first hole 811 with a larger aperture, a second hole 812 with a smaller aperture, and a step surface 813 transitioning between the first hole 811 and the second hole 812; the connecting body 420 is inserted into the stepped hole 81, the positioning table 422 is provided on the connecting body 420, the second bearing 62 as the bearing member is provided between the connecting body 420 and the first hole 811, the outer ring of the second bearing 62 is axially limited by the stepped surface 813, the inner ring of the second bearing 62 is axially limited between the driven wheel 32 and the positioning table 422, the third bearing 63 as the bearing member is provided between the connecting body 420 and the second hole 812, and the third bearing 63 is axially limited by the positioning table 422.
In the present embodiment, the bearing housing 8 has a stepped hole 81, the connecting body 420 is inserted into the stepped hole 81, and the cross-sectional areas of the stepped holes 81 in the axial direction are different. Specifically, the lower end (the end close to the driven wheel 32) of the stepped hole 81 is a first hole 811, the upper end (the end close to the wheel tooth portion 421) is a second hole 812, the hole diameter of the first hole 811 is larger than that of the second hole 812, a stepped surface 813 is formed between the first hole 811 and the second hole 812, the second bearing 62 and the third bearing 63 are accommodated in the stepped hole 81, the second bearing 62 is disposed between the connecting body 420 and the first hole 811, and the third bearing 63 is disposed between the connecting body 420 and the second hole 812, that is, the second bearing 62 and the third bearing 63 have a distance in the axial direction of the connecting body 420, so as to provide reliable structural support. Wherein, the connecting body 420 penetrating the step hole 81 is provided with a positioning platform 422 protruding towards the step surface 813.
The second bearing 62 and the third bearing 63 respectively comprise an inner ring and an outer ring which can rotate relative to each other, the outer ring of the second bearing 62 is axially limited by the step surface 813, the inner ring of the second bearing 62 is axially limited between the driven wheel 32 and the positioning table 422, and the third bearing 63 is axially limited by the positioning table 422 to prevent axial movement. Wherein, a limit structure matched with the step surface 813 and the positioning table 422 can be arranged in the inner cavity of the second component 2 to limit the second bearing 62 and the third bearing 63. For example, a bottom plate may be provided on the second member 2 at the lower end (end near the driven wheel 32) of the bearing seat 8, and the outer race of the second bearing 62 is axially retained between the step surface 813 and the bottom plate.
Wherein, the contact area with the second bevel gear 42 is increased and the support stability is improved by the second bearing 62 and the third bearing 63 arranged at a distance along the axial direction of the connecting body 420.
In an embodiment of the present invention, the first bevel gear 41 and the second bevel gear 42 are hypoid gears. The hypoid gear axis has offset distance, makes the transmission design arrange more nimble, also can increase drive ratio and transmission stationarity simultaneously.
In a technical solution of the present invention, the driving wheel 31 and the driven wheel 32 are straight gears. The structural composition of the spur gear transmission is selected to be simpler, the rotation axis of the second bevel gear 42 is coincident with the rotation axis of the driven wheel 32, and the rotation axis of the second bevel gear 42 is parallel to the rotation axis of the driving wheel 31 and has radial spacing.
It should be noted that the driving wheel 31 and the driven wheel 32 are not limited to be spur gears, and can meet the above-mentioned meshing transmission effect, for example, they can be bevel gears, crown gears or other shaped gears, and they can be specifically selected according to the needs, and are not limited here.
In a technical solution of the present invention, the first bearing 61 is a crossed roller bearing. The crossed roller bearing has the advantages of small moment required for starting, high rotation precision, convenience in selection and the like due to the fact that the outer ring is divided and the inner ring rotates, can bear large radial force and axial force, and can obtain high-precision rotation motion.
In a preferred embodiment of the present invention, the third bearing 63 is a needle bearing. The needle roller bearing has small friction coefficient and high transmission efficiency, and can further improve the rotation stability of the second bevel gear 42.
In one aspect of the present invention, the second bearing 62 is a double row angular contact bearing or a combination of at least two single row angular contact bearings. The double row angular contact bearing can bear radial load and axial load acting in two directions, and can provide a bearing configuration with higher rigidity. Or at least two single row angular contact bearings stacked axially, the contact area between the second bevel gear 42 and the second bearing 62 may be increased to provide reliable structural support.
And, the installation and the regulation of bearing, double row angular contact bearing and single row angular contact bearing are comparatively convenient for this application has simplified installation and regulation step when promoting support strength.
In a technical solution of the present invention, the robot joint further includes a gasket 82 disposed between the bearing seat 8 and the second member 2.
Specifically, as shown in fig. 2, the outer surface of the bearing seat 8 corresponding to the step surface has a flange, the gasket 82 is sleeved on the flange, a boss is arranged on the second component 2 corresponding to the flange, and the gasket 82 is clamped between the flange and the boss to adjust the axial position of the second bevel gear 42, so as to facilitate the matching of the second bevel gear 42 and the first bevel gear 41.
In a technical solution of the present invention, the robot joint further includes a sealing member 9, and is located one side of the first bevel gear 41 away from the output member 5, the sealing member 9 is connected with the first bevel gear 41, a third space 91 running through along the axial direction is formed inside the sealing member 9, and the axial position between the third space 91 and the first space 410 corresponds to and communicates with each other.
In this embodiment, the sealing element 9 is connected at one end of the first bevel gear 41 remote from the output element 5, and cooperates with the cover body to form an externally isolated cavity in the joint, in which the cable is threaded. The first space 410, the second space 51 and the third space 91 are sequentially communicated, a large hollow structure is formed inside the joint, the large hollow structure is convenient for arrangement of components in the joint, and sufficient space is provided for arrangement of cables and the like. Wherein, for the first bevel gear 41, the output member 5 and the seal member 9 are located on both axial sides thereof, respectively.
In a technical solution of the present invention, as shown in fig. 1, the robot joint further includes a driver 100 connected to the driving wheel 31, and the driving wheel 31 is driven by the driver to rotate.
Specifically, the driving wheel 31 is connected to an input end of the driver 100, the driving wheel 31 rotates to drive the driven wheel 32 to rotate, the driven wheel 32 rotates to drive the second bevel gear 42 to rotate, and the second bevel gear 42 rotates to drive the first bevel gear 41 to rotate, so as to drive the first component 1 to rotate relative to the second component 2. Wherein the driver 100 may be a motor.
The utility model discloses an among the technical scheme, be provided with regulating part 101 between first bevel gear 41 and the first bearing 61, this regulating part 101 is located between first bevel gear 41 and the first shoulder 411, perhaps is located between the inner circle of first bevel gear 41 and first bearing 61, is used for adjusting first bevel gear 41's axial position. The adjusting member 101 can adjust the axial distance of the first bevel gear 41 relative to the second bevel gear 42, so as to facilitate the matching of the two.
The utility model discloses an among the technical scheme, between sealing member 9 and second part 2 to and be provided with oil blanket 102 between apron 7 and output 5, with further with the hollow structure and external isolated that form in the joint, reinforcing hollow structure's seal, with the emergence that gets into hollow structure such as reduction of external steam or dust and cause the condition such as cable life-span reduction, connection failure.
In another aspect of the present invention, the present invention provides a robot, including a cable and the robot joint as described above, the cable is inserted into the first space 410 and the second space 51. Wherein, the first part 1 of the robot joint can be selected from a robot arm body or a wrist, and the second part 2 of the robot joint can be selected from a robot base or a robot arm body. For example, when the second part 2 is a robot base, the first part 1 may be a robot arm, which may be rotatable relative to the robot base. For another example, when the second part 2 is a robot arm, the first part 1 may be a wrist, which may be rotated relative to the robot arm. The robot of the embodiment has the beneficial effects of high transmission ratio, large inner middle part and simple supporting structure by applying the robot joint.
While the present application has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present application may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.
Claims (13)
1. A robotic joint, comprising:
a first component and a second component;
the first reduction gear pair comprises a driving wheel and a driven wheel which are meshed with each other;
the second reduction gear pair comprises a first bevel gear and a second bevel gear which are meshed with each other, a first space which penetrates through the first bevel gear along the axial direction is formed inside the first bevel gear, and the second bevel gear is connected with the driven wheel;
the output piece is positioned at one axial end of the first bevel gear and is respectively connected with the first bevel gear and the first component, a second space which penetrates through the output piece along the axial direction is formed inside the output piece, the first space and the second space correspond to each other in the axial direction and are communicated with each other, and a first shaft shoulder is arranged at one end, close to the output piece, of the first bevel gear;
the first bearing is nested on the outer side of the first bevel gear, the outer ring of the first bearing is connected with the second component, the inner ring of the first bearing is connected with the first bevel gear, and the inner ring of the first bearing is axially limited between the first shaft shoulder and the output part.
2. A robot joint according to claim 1,
the first bevel gear comprises a first annular body and a gear ring, the gear ring is arranged at one axial end of the first annular body, a first mounting groove is formed in the outer side face of the first annular body, the first mounting groove axially penetrates to the end face position of one end, away from the gear ring, of the first annular body, one axial end of an inner ring of the first bearing extends into the first mounting groove, and the side wall face of the first mounting groove serves as the first shaft shoulder.
3. A robot joint according to claim 1 or 2,
one end of the output piece close to the first bevel gear is nested on the inner side of the first bearing, the adjacent ends of the output piece and the first bevel gear are correspondingly arranged in the inner ring of the first bearing in the axial direction, a second shaft shoulder is arranged on the output piece, and the inner ring of the first bearing is axially limited between the first shaft shoulder and the second shaft shoulder.
4. A robot joint according to claim 3,
the output piece is an annular flange, a second mounting groove is formed in the outer side face of the flange, the second mounting groove axially penetrates to the end face position, close to one end of the first bevel gear, of the flange, one axial end of the inner ring of the first bearing extends into the second mounting groove, and the side wall face of the second mounting groove serves as the second shaft shoulder.
5. A robot joint according to claim 1 or 2,
the second part encloses an inner cavity, the first bearing and the first bevel gear are both accommodated in the inner cavity, and a stop boss is convexly arranged on the inner surface of the inner cavity;
the robot joint further comprises a cover plate, the cover plate is nested on the outer side of the output part and connected with the second part, and the outer ring of the first bearing is axially limited between the stop boss and the cover plate.
6. A robot joint according to claim 1 or 2, further comprising:
the bearing seat is arranged in the second component in a penetrating mode, the second bevel gear comprises a connector and a gear tooth portion, the connector is arranged in the bearing seat in a penetrating mode, at least one bearing component is arranged between the connector and the bearing seat, one end of the connector extends out of the bearing seat, the extending end of the connector is provided with the gear tooth portion, the gear tooth portion is meshed with the first bevel gear, and the driven gear is connected to one end, far away from the gear tooth portion, of the connector.
7. A robot joint according to claim 6,
the bearing seat is enclosed to form a step hole, and the step hole comprises a first hole with a larger aperture, a second hole with a smaller aperture and a step surface transiting between the first hole and the second hole;
the connector is arranged in the stepped hole in a penetrating mode, a positioning table is arranged on the connector, a second bearing serving as the bearing component is arranged between the connector and the first hole, the outer ring of the second bearing is axially limited by the stepped surface, the inner ring of the second bearing is axially limited between the driven wheel and the positioning table, a third bearing serving as the bearing component is arranged between the connector and the second hole, and the third bearing is axially limited by the positioning table.
8. A robot joint according to claim 7,
the first bevel gear and the second bevel gear are both hypoid gears; and/or
The driving wheel and the driven wheel are straight gears; and/or
The first bearing is a crossed roller bearing; and/or
The third bearing is a needle bearing; and/or
The second bearing is a double-row angular contact bearing or a combination of at least two single-row angular contact bearings.
9. The robotic joint of claim 6, further comprising:
a spacer disposed between the bearing seat and the second component.
10. A robot joint according to claim 1 or 2, further comprising:
and the sealing element is positioned on one side of the first bevel gear, which is far away from the output element, the sealing element is connected with the first bevel gear, a third space which penetrates through the sealing element along the axial direction is formed inside the sealing element, and the third space and the first space correspond to each other in axial position and are communicated with each other.
11. A robot joint according to claim 1 or 2, further comprising:
the driver is connected with the driving wheel, and the driving wheel can rotate under the driving of the driver.
12. A robot joint according to claim 1 or 2,
an adjusting piece is arranged between the first bevel gear and the first bearing, is positioned between the first bevel gear and the first shaft shoulder or the inner ring of the first bearing, and can be used for adjusting the axial position of the first bevel gear.
13. A robot, comprising:
a cable;
the robot joint according to any one of claims 1 to 12, wherein the cable is threaded in the first space and the second space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222645364.8U CN218082780U (en) | 2022-10-09 | 2022-10-09 | Robot joint and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222645364.8U CN218082780U (en) | 2022-10-09 | 2022-10-09 | Robot joint and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218082780U true CN218082780U (en) | 2022-12-20 |
Family
ID=84456877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222645364.8U Active CN218082780U (en) | 2022-10-09 | 2022-10-09 | Robot joint and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218082780U (en) |
-
2022
- 2022-10-09 CN CN202222645364.8U patent/CN218082780U/en active Active
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