CN219075730U

CN219075730U - Joint for robot

Info

Publication number: CN219075730U
Application number: CN202123443255.XU
Authority: CN
Inventors: 李鹏; 祝汉歧; 刘志超; 张庆超
Original assignee: Beijing Shunyi Siling Robot Technology Co ltd
Current assignee: Beijing Shunyi Siling Robot Technology Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2023-05-26
Anticipated expiration: 2031-12-31

Abstract

The present disclosure provides a joint for a robot, comprising: a driving device for providing a driving force; a harmonic reducer connected to the driving device so as to receive a driving force of the driving device; wherein the harmonic reducer comprises a flexspline; the flexible gear mounting plate is arranged on a flexible gear of the harmonic reducer and is positioned in the harmonic reducer; and a transmission shaft, one end of which is used for receiving the driving force of the driving device, and the other end of which passes through the harmonic reducer and transmits the driving force of the driving device to the harmonic reducer; the flexible gear mounting plate is arranged on the transmission shaft, and a first support bearing is arranged between the flexible gear mounting plate and the transmission shaft so that the transmission shaft and the flexible gear mounting plate can rotate relatively.

Description

Joint for robot

Technical Field

The present disclosure relates to a joint for a robot.

Background

Joints for robots, in particular joints for robotic arms, typically use harmonic reducers, but harmonic reducers generate axial forces during operation, which can wear the service life of the robot joint.

In the prior art, such losses are generally addressed by arranging bearings between the harmonic reducer and the output shaft, or between the harmonic reducer and the motor; however, this arrangement increases the axial length of the joint, affecting the flexibility of the robot joint, and is neither aesthetically pleasing nor convenient.

Disclosure of Invention

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

According to one aspect of the present disclosure, there is provided a joint for a robot, including:

a driving device for providing a driving force;

a harmonic reducer connected to the driving device so as to receive a driving force of the driving device; wherein the harmonic reducer comprises a flexspline;

the flexible gear mounting plate is arranged on a flexible gear of the harmonic reducer and is positioned in the harmonic reducer; and

one end of the transmission shaft is used for receiving the driving force of the driving device, and the other end of the transmission shaft penetrates through the harmonic reducer and transmits the driving force of the driving device to the harmonic reducer;

the flexible gear mounting plate is arranged on the transmission shaft, and a first support bearing is arranged between the flexible gear mounting plate and the transmission shaft so that the transmission shaft and the flexible gear mounting plate can rotate relatively.

A joint for a robot according to at least one embodiment of the present disclosure, further comprising:

the output shaft is connected with the harmonic reducer so as to output power outwards through the output shaft, and a second support bearing is arranged between the transmission shaft and the output shaft.

and a crossed roller bearing is arranged between the output shaft and the output end shell.

a power end housing disposed at least partially around the drive means and secured to the output end housing.

According to at least one embodiment of the present disclosure, the flexible gear is fixed to the power end housing.

A joint for a robot according to at least one embodiment of the present disclosure, the driving device includes:

the rotating shaft is connected with the transmission shaft;

a stator fixed to the power end housing; and

and the rotor is arranged on the rotating shaft and rotates synchronously with the rotating shaft.

the cover body is arranged on the power end shell, at least part of the rotating shaft is positioned outside the cover body, an encoder reading head is arranged on the cover body, and an encoder magnetic ring is arranged on the rotating shaft so as to form a high-speed side encoder through the encoder reading head and the encoder magnetic ring.

According to at least one embodiment of the present disclosure, the harmonic reducer includes a rigid wheel fixed with the output shaft.

a hollow shaft disposed at the output shaft and disposed at least partially through the joint for the robot.

According to at least one embodiment of the present disclosure, the joint for a robot, the flexible gear mounting plate and the transmission shaft are provided with a sealing device therebetween.

According to at least one embodiment of the present disclosure, the harmonic reducer includes a wave generator, and the transmission shaft is connected to the wave generator to drive the wave generator to rotate.

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 for a robot according to one embodiment of the present disclosure.

The reference numerals in the drawings specifically are:

100 joints for robots

110 driving device

111 stator

112 rotor

113 rotating shaft

120 harmonic speed reducer

121 flexspline

122 rigid wheel

123 wave generator

130 flexspline mounting plate

140 transmission shaft

150 first support bearing

160 jump ring

170 output shaft

180 second support bearing

190 output end housing

200 crossed roller bearing

210 power end shell

220 bearing outer pressing plate

230 bearing inner pressing plate

240 cover body

250 encoder reading head

260 encoder magnetic ring

270 hollow shaft

280 sealing means.

Detailed Description

The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.

In addition, embodiments of the present disclosure and features of the embodiments may be combined with each other without conflict. The technical aspects of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the exemplary implementations/embodiments shown 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. Thus, unless otherwise indicated, features of the various implementations/embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concepts of the present disclosure.

The use of cross-hatching and/or shading in the drawings is typically used to clarify the boundaries between adjacent components. As such, the presence or absence of cross-hatching or shading does not convey or represent any preference or requirement for a particular material, material property, dimension, proportion, commonality between illustrated components, and/or any other characteristic, attribute, property, etc. of a component, unless indicated. In addition, in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or descriptive purposes. While the exemplary embodiments may be variously implemented, the specific process sequences may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in reverse order from that described. Moreover, like reference numerals designate like parts.

When an element is referred to as being "on" or "over", "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 this reason, the term "connected" may refer to physical connections, electrical connections, and the like, with or without intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "under … …," under … …, "" under … …, "" lower, "" above … …, "" upper, "" above … …, "" higher "and" side (e.g., as in "sidewall"), etc., to describe one component's relationship to another (other) component as illustrated in the figures. In addition to the orientations depicted in the drawings, the spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture. For example, if the device in the figures is turned over, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "below" … … can encompass both an orientation of "above" and "below". Furthermore, the device 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 only 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 the present specification, the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof is described, but the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximation terms and not as degree terms, and as such, are used to explain the inherent deviations of measured, calculated, and/or provided values that would be recognized by one of ordinary skill in the art.

As shown in fig. 1, the present disclosure provides a joint 100 for a robot, comprising: the device comprises a driving device 110, a harmonic reducer 120, a flexible gear mounting plate 130, a transmission shaft 140 and the like.

The driving device 110 is used for providing driving force; in the present disclosure, the driving device 110 includes a stator 111, a rotor 112, and a rotating shaft 113, where the stator 111 is disposed on the power end housing 210, and the stator 111 is fixed to the power end housing 210 by, for example, gluing.

The rotor 112 is provided to the rotation shaft 113 and rotates in synchronization with the rotation shaft 113, and thereby the driving device 110 is formed as a frameless motor.

The harmonic reducer 120 is connected to the driving device 110 so as to receive the driving force of the driving device 110; the harmonic reducer 120 comprises a flexspline 121, a rigid spline 122 and a wave generator.

The flexible gear mounting plate 130 is disposed on the flexible gear 121 of the harmonic reducer 120 and is located inside the harmonic reducer 120, and the flexible gear 121 is fixed on the power end housing 210, that is, the flexible gear mounting plate 130, the flexible gear 121 and the power end housing 210 are fixed together.

In the present disclosure, a sealing device 280 is disposed between the flexspline mounting plate 130 and the transmission shaft 140, so as to prevent grease in the harmonic reducer 120 from leaking to the driving device 110 through the sealing device 280.

When the flexible gear 121 is fixed, power is output through the rigid gear 122 of the harmonic reducer 120; of course, the joint for a robot of the present disclosure may fix the rigid gear 122 and output power to the outside through the flexible gear 121.

The wave generator 123 is configured to receive a driving force of the driving device 110, and transmit the driving force of the driving device 110 to the wave generator 123 through the transmission shaft 140, for example.

Accordingly, one end of the driving shaft 140 is used for receiving the driving force of the driving device 110, and the other end of the driving shaft 140 passes through the harmonic reducer 120 and transmits the driving force of the driving device 110 to the harmonic reducer 120; specifically, the rotation shaft 113 is connected to the transmission shaft 140.

A first support bearing 150 is disposed between the flexspline mounting plate 130 and the transmission shaft 140, so that the transmission shaft 140 and the flexspline mounting plate 130 can rotate relatively.

In the present disclosure, in one aspect, the flexspline mounting plate 130 is formed with a bearing seat, and when the first support bearing 150 is disposed on the bearing seat of the flexspline mounting plate 130, a position of one direction of the first support bearing 150 is restricted, that is, a position of one direction (right end) of an outer ring of the first support bearing 150 is restricted.

Further, the transmission shaft 140 is provided with a snap spring 160, and the position of the first support bearing 150 in the other direction is restricted by the snap spring 160, that is, the position of the inner ring of the first support bearing 150 in the other direction (left end) is restricted by the snap spring 160.

In the present disclosure, one end of the driving shaft 140 is located outside the harmonic reducer 120, and the other end of the driving shaft 140 passes through the harmonic reducer 120, is located outside the harmonic reducer 120, and is connected to the rotating shaft 113.

The joint 100 for a robot further includes an output shaft 170, the output shaft 170 being connected to the harmonic reducer 120 so as to output power outwardly through the output shaft 170, wherein a second support bearing 180 is provided between one end of the transmission shaft 140 and the output shaft 170, thereby enabling relative rotation between the output shaft 170 and the transmission shaft 140.

In the present disclosure, the output shaft 170 is formed with a bearing housing, and when the second support bearing 180 is disposed in the bearing housing of the output shaft 170, the output shaft 170 can restrict a position of the second support bearing 180 in one direction, that is, a position of an outer ring of the second support bearing 180 in one direction (left end).

Further, the outer wall surface of the driving shaft 140 is formed with a stopper portion, and the position of the second support bearing 180 in the other direction, that is, the position of the inner ring of the second support bearing 180 in the other direction (right end) may be restricted by the stopper portion.

In the present disclosure, the joint 100 for a robot further includes: an output housing 190, a cross roller bearing 200 is disposed between the output shaft 170 and the output housing 190.

Preferably, the output housing 190 is provided with a bearing outer pressure plate 220 to limit the axial position of the outer ring of the crossed roller bearing 200 by the bearing outer pressure plate 220; also, the output shaft 170 is provided with a bearing inner pressure plate 230 to restrict the axial position of the inner ring of the crossed roller bearing 200 by the bearing inner pressure plate 230.

The joint 100 for a robot further includes: a power end housing 210, said power end housing 210 being at least partially disposed around said drive means 110 and being secured to said output housing 190.

In the present disclosure, the joint 100 for a robot further includes: the cover 240, the cover 240 is disposed on the power end housing 210, wherein at least part of the rotating shaft 113 is located outside the cover 240, the cover 240 is provided with an encoder reading head 250, and the rotating shaft 113 is provided with an encoder magnetic ring 260, so that a high-speed side encoder is formed by the encoder reading head 250 and the encoder magnetic ring 260, and the position and the speed of the rotating shaft 113 are obtained by the high-speed side encoder.

In the present disclosure, the joint 100 for a robot further includes: a hollow shaft 270, the hollow shaft 270 being provided to the output shaft 170 and being provided at least partially through the joint 100 for a robot so that various cables can pass through the hollow shaft.

The first support bearing is arranged inside the harmonic reducer, and the first support bearing is used for bearing the axial force of the harmonic reducer, so that the axial length of the joint can be effectively shortened.

In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the present application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner 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/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.

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

It will be appreciated by those skilled in the art that the above-described 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 will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.

Claims

1. A joint for a robot, comprising:

a driving device for providing a driving force;

2. The joint for a robot of claim 1, further comprising:

3. The joint for a robot of claim 2, further comprising:

4. A joint for a robot as recited in claim 3, further comprising:

5. The joint for a robot of claim 4, wherein the flexspline is secured to the power end housing.

6. The joint for a robot of claim 4, wherein the driving means comprises:

the rotating shaft is connected with the transmission shaft;

a stator fixed to the power end housing; and

7. The joint for a robot of claim 6, further comprising:

8. The joint for a robot of claim 2, wherein the harmonic reducer comprises a rigid wheel fixed with the output shaft.

9. The joint for a robot of claim 2, further comprising:

10. The joint for a robot of claim 1, wherein a sealing device is provided between the flexspline mounting plate and the drive shaft;

and/or the harmonic reducer comprises a wave generator, and the transmission shaft is connected with the wave generator so as to drive the wave generator to rotate.