CN219404329U - Robot joint and robot - Google Patents

Abstract

The utility model relates to the field of robots, and provides a robot joint and a robot. The robot joint comprises a joint shell, a driving device, a speed reducer, an output end code disc assembly and an elastic piece. The output end of the driving device is fixed with a motor output shaft with a hollow inside; the speed reducer and the driving device are coaxially arranged and positioned in the joint shell, the input end of the speed reducer is connected with the motor output shaft, the output end of the speed reducer is connected with the output connecting shaft, the output connecting shaft part is arranged in the motor output shaft in a penetrating way, and the output connecting shaft is coaxially connected with the motor output shaft; the output end code disc assembly is connected to one end of the output connecting shaft; the elastic piece is coaxially embedded between the output connecting shaft and the output end. The robot joint can effectively avoid internal stress generated by rigid contact during rotation between the output connecting shaft and the output shaft of the speed reducer, and improves the perception precision of the output end code disc assembly, so that the overall precision of the robot is improved.

Description

Robot joint and robot

Technical Field

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

Background

Along with the development of society, the productivity is improved, more and more industries replace manual work with robots, and the collaborative robots have the outstanding advantages of complementary advantages of human-computer, strong environment sensing capability, large working range, flexible operation, high working efficiency and the like, and become irreplaceable important equipment and automation means in future flexible manufacturing. Besides the manufacturing industry, the advanced collaborative robot technology can be widely applied to a plurality of industries such as household services, 3C electronics, automobile parts and the like, and special fields such as nuclear energy, manned aerospace, lunar exploration and the like, and has wide development prospect.

In the related art, in order to ensure that the position is not lost when the robot is powered down, a scheme of double encoders is often adopted, namely, one encoder is respectively arranged at the motor end and the output end. The output end code wheel is usually directly guided to the rear end of the joint through a rigid connection structure, and the structural stress of the rigid connection piece is overlarge, so that deformation and measurement accuracy are reduced.

Disclosure of Invention

The present utility model is directed to solving at least one of the technical problems existing in the related art. Therefore, the utility model provides the robot joint which can effectively avoid internal stress generated by rigid contact during rotation between the output connecting shaft and the output shaft of the speed reducer, and improve the perception precision of the code disc assembly at the output end, thereby improving the overall precision of the robot.

According to the utility model, a robot joint comprises: a joint housing;

the driving device is arranged in the joint shell, and the output end of the driving device is fixed with a motor output shaft with a hollow inside;

the speed reducer is coaxially arranged with the driving device and is positioned in the joint shell, the input end of the speed reducer is connected with the motor output shaft, the output end of the speed reducer is connected with an output connecting shaft, the output connecting shaft part is arranged in the motor output shaft in a penetrating way, and the output connecting shaft is coaxially connected with the motor output shaft;

the output end code disc assembly is connected to one end of the output connecting shaft; and

the elastic piece is coaxially embedded between the output connecting shaft and the output end.

According to one embodiment of the utility model, the elastic member is a metal thin-walled gasket arranged in an annular shape, and the metal thin-walled gasket extends along the axial direction of the output connecting shaft.

According to one embodiment of the utility model, the metal thin-wall gasket is provided with an elastic abutting part along the axial direction of the output connecting shaft, and the elastic abutting part abuts against the outer side of the output connecting shaft and the inner wall surface of the output end.

According to one embodiment of the utility model, the elastic abutment is provided in a wavy or zigzag form.

According to the robot joint provided by the embodiment of the utility model, the output end code disc assembly is connected with the output end of the speed reducer through the output connecting shaft, and then the elastic piece is connected between the output connecting shaft and the output end of the speed reducer in an embedded manner, so that the elastic deformation of the elastic piece is utilized, the rigid contact between the output connecting shaft and the output end of the speed reducer is reduced, the generation of internal stress is avoided, the synchronization between the output end code disc assembly and the output end of the speed reducer and between the output connecting shaft and the output end of the speed reducer is maintained, the perception precision of the output end code disc assembly is improved, and the overall precision of the robot is further improved.

According to one embodiment of the utility model, the output end code wheel assembly further comprises an output end code wheel bracket and an output end code wheel, the output end code wheel is connected with the output connecting shaft through the output end code wheel bracket, and the robot joint further comprises a positioning bearing, and an inner ring of the positioning bearing is sleeved on the wall surface of the output end code wheel bracket so as to position the output end code wheel.

According to one embodiment of the utility model, the robot joint further comprises a motor end code disc assembly, the motor end code disc assembly further comprises a motor end code disc bracket and a motor end code disc, the motor end code disc is connected with the motor output shaft through the motor end code disc bracket, and one end, close to the motor end code disc, of the motor end code disc bracket is sleeved on the outer ring of the positioning bearing so as to position the motor end code disc.

According to one embodiment of the utility model, the robot joint further comprises a braking device, the braking device and the speed reducer are arranged at two ends of the driving device in an opposite mode, the braking device comprises a brake and a braking shell, the brake is arranged in the braking shell and is connected with the motor output shaft, and an inner ring of one side, away from the driving device, of the braking shell is connected with the motor end code disc bracket.

According to one embodiment of the utility model, a flanging part is arranged at the port of the inner ring of the brake shell, a matching groove is arranged on the motor end code disc bracket corresponding to the flanging part, and a labyrinth sealing channel is formed between the flanging part and the matching groove.

According to one embodiment of the utility model, the robot joint further comprises a crossed roller bearing, a moment sensor, a sealing flange and a skeleton oil seal, wherein the crossed roller bearing, the moment sensor and the sealing flange are coaxially arranged, the crossed roller bearing is connected with the output end of the speed reducer, one end of the sealing flange is connected with the inner ring of the crossed roller bearing, the other end of the sealing flange extends towards the inner ring of the moment sensor, and the skeleton oil seal is tightly connected between the sealing flange and the remote-from-home sensor.

The utility model further provides a robot, which comprises the robot joint, wherein the robot joint comprises a joint shell, a driving device, a speed reducer, an output end code disc assembly and an elastic piece. The driving device is arranged in the joint shell, and the output end of the driving device is fixed with a motor output shaft with a hollow inside; the speed reducer is coaxially arranged with the driving device and is positioned in the joint shell, the input end of the speed reducer is connected with the motor output shaft, the output end of the speed reducer is connected with an output connecting shaft, the output connecting shaft part is arranged in the motor output shaft in a penetrating way, and the output connecting shaft is coaxially connected with the motor output shaft; the output end code disc assembly is connected to one end of the output connecting shaft; the elastic piece is coaxially embedded between the output connecting shaft and the output end.

The above technical solutions in the embodiments of the present utility model have at least one of the following technical effects: through being connected the output end code wheel subassembly through output connecting axle and the output of reduction gear, then the output connecting axle with embedded being connected with the elastic component between the output of reduction gear is in order to utilize the elastic deformation of elastic component self reduces rigid contact between the output connecting axle with the output of reduction gear, thereby avoid producing the internal stress, keep the output end code wheel subassembly with in the output connecting axle with synchronous between the output of reduction gear improves the perception precision of output end code wheel subassembly, and then improves the whole precision of robot.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

Fig. 1 is a schematic structural view of a robot joint according to an embodiment of the present utility model;

FIG. 2 is an enlarged view at A in FIG. 1;

FIG. 3 is an enlarged view at B in FIG. 1;

FIG. 4 is a schematic view of the structure of the elastic member in FIG. 1;

fig. 5 is a schematic view of the positioning bearing of fig. 1.

Reference numerals:

10. a robot joint;

100. a joint housing;

110. a driving device; 111. an output shaft of the motor;

120. a speed reducer; 121. an input end; 122. an output end;

130. an output end code wheel assembly; 131. an output end code disc; 132. an output end code disc bracket;

140. an elastic member; 141. an elastic abutting portion;

150. positioning a bearing;

160. a motor end code disc assembly; 161. a motor end code disc; 162. a motor end code disc bracket; 162a, mating grooves;

170. a braking device; 171. a brake; 172. a brake housing; 172a, a flange portion;

180. a crossed roller bearing;

190. a torque sensor.

Detailed Description

Embodiments of the present utility model are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the utility model but are not intended to limit the scope of the utility model.

In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In describing embodiments of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present utility model will be understood in detail by those of ordinary skill in the art.

In embodiments of the utility model, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Along with the development of society, the productivity is improved, more and more industries replace manual work with robots, and the collaborative robots have the outstanding advantages of complementary advantages of human-computer, strong environment sensing capability, large working range, flexible operation, high working efficiency and the like, and become irreplaceable important equipment and automation means in future flexible manufacturing. Besides the manufacturing industry, the advanced collaborative robot technology can be widely applied to a plurality of industries such as household services, 3C electronics, automobile parts and the like, and special fields such as nuclear energy, manned aerospace, lunar exploration and the like, and has wide development prospect.

In the related art, in order to ensure that the position is not lost when the robot is powered down, a scheme of double encoders is often adopted, namely, one encoder is respectively arranged at the motor end and the output end. The output end code wheel is usually directly guided to the rear end of the joint through a rigid connection structure, and the structural stress of the rigid connection piece is overlarge, so that deformation and measurement accuracy are reduced.

The utility model provides a robot joint.

In an embodiment of the utility model, referring to fig. 1-2, a robotic joint 10 includes a joint housing 100, a drive 110, a reducer 120, an output code wheel assembly 130, and an elastic member 140. The driving device 110 is arranged in the joint shell 100, and an output end 122 of the driving device 110 is fixed with a motor output shaft 111 with a hollow inside; the reducer 120 is coaxially arranged with the driving device 110 and is positioned in the joint housing 100, an input end 121 of the reducer 120 is connected with the motor output shaft 111, an output end 122 of the reducer 120 is connected with an output connecting shaft, the output connecting shaft part is arranged in the motor output shaft 111 in a penetrating way, and the output connecting shaft is coaxially connected with the motor output shaft 111; the output end code wheel assembly 130 is connected to one end of the output connecting shaft; the elastic member 140 is coaxially embedded between the output connection shaft and the output end 122.

Specifically, in the embodiment of the present utility model, the robot joint 10 of the present embodiment refers to an integrated robot joint. The robot joint 10 includes a joint housing 100, the shape of the joint housing 100 may be set to different shapes according to actual needs of the joint, and a receiving cavity for receiving internal components of the robot joint is formed in the joint housing 100, it may be understood that the joint housing 100 may include a housing of the driving device 110, a housing of the reducer 120, a housing of the brake 171, and the like, which are integrally formed, or may be formed by separate connection, so as to perform installation supporting and protecting functions on internal components of the robot joint 10.

In the embodiment of the present utility model, the robot joint 10 includes a driving device 110, and the driving device 110 is configured to provide a driving force for the robot joint 10, so that the robot joint 10 can implement a predetermined action. The driving device 110 includes a driving motor, which may include a motor frame, a rotor, a motor output shaft 111, a stator, a rotor shaft supporting main bearing, a rotor shaft supporting sub bearing, and a motor oil seal. The motor output shaft 111 is supported by a rotor shaft support main bearing and a rotor shaft support sub bearing, and is connected to the inside of the speed reducer 120 via an input shaft of the speed reducer 120. The motor oil seal prevents grease or oil that lubricates the inside of the reduction gear 120 from entering between the rotor and the stator.

In the embodiment of the present utility model, the robot joint 10 further includes a decelerator 120, and the decelerator 120 is connected to the driving device 110 so as to receive the driving force of the driving device 110. The reducer 120 is composed of a reducer 120 frame, a reducer 120 input end 121, a reducer 120 output end 122, a reducer 120 oil seal, a joint support bearing and a gear mechanism. The reducer 120 housing is connected to the output connecting rod via a motor housing, and the reducer 120 output 122. The input 121 of the speed reducer 120 is connected to the motor output shaft 111 inside the speed reducer 120, and torque generated by the motor is increased by a gear mechanism, taken out to the output 122 of the speed reducer 120, and transmitted to the output connection shaft by the output 122, thereby driving the output connection shaft.

In the embodiment of the present utility model, the robot joint 10 further includes an output end code wheel assembly 130, the output end code wheel assembly 130 is disposed in the joint housing 100, the output end code wheel assembly 130 is connected to the other end of the output connecting shaft opposite to the speed reducer 120, and the output end code wheel assembly 130 rotates synchronously with the output connecting shaft, so as to measure the rotation angle of the output connecting shaft.

In the embodiment of the present utility model, the robot joint 10 further includes an elastic member 140, where the elastic member 140 has a certain radial deformation capability, and the elastic member 140 is coaxially disposed with the output connection shaft and the output end 122 of the speed reducer 120, and the elastic member 140 is embedded between the output connection shaft and the output end 122, elastically abuts against an outer peripheral wall of the output connection shaft opposite to the output end 122, and elastically abuts against an inner peripheral wall of the output end 122, so as to improve the coaxiality between the output connection shaft and the output end 122, and prevent rigid contact between an outer peripheral wall of the output connection shaft and the inner peripheral wall of the output end 122, so as to avoid internal stress generated between the output connection shaft and the output end 122, so as to affect the coaxiality between the output connection shaft and the output end 122, and further affect the measurement accuracy of the output end code wheel assembly 130.

The robotic joint 10 of the present utility model includes a joint housing 100, a drive 110, a reducer 120, an output code wheel assembly 130, and an elastic member 140. The driving device 110 is arranged in the joint shell 100, and an output end 122 of the driving device 110 is fixed with a motor output shaft 111 with a hollow inside; the reducer 120 is coaxially arranged with the driving device 110 and is positioned in the joint housing 100, an input end 121 of the reducer 120 is connected with the motor output shaft 111, an output end 122 of the reducer 120 is connected with an output connecting shaft, the output connecting shaft part is arranged in the motor output shaft 111 in a penetrating way, and the output connecting shaft is coaxially connected with the motor output shaft 111; the output end code wheel assembly 130 is connected to one end of the output connecting shaft; the elastic member 140 is coaxially embedded between the output connection shaft and the output end 122. According to the method, the output end code disc assembly 130 is connected with the output end 122 of the speed reducer 120 through the output connecting shaft, then the elastic piece 140 is connected between the output connecting shaft and the output end 122 of the speed reducer 120 in an embedded mode, so that elastic deformation of the elastic piece 140 is utilized, rigid contact between the output connecting shaft and the output end 122 of the speed reducer 120 is reduced, internal stress is avoided, synchronization between the output end code disc assembly 130 and the output end 122 of the speed reducer 120 is kept, sensing precision of the output end code disc assembly 130 is improved, and overall precision of a robot is improved.

Referring to fig. 1 and 3, according to an embodiment of the present utility model, the output end code wheel assembly 130 further includes an output end code wheel bracket 132 and an output end code wheel 131, the output end code wheel 131 is connected to the output connection shaft through the output end code wheel bracket 132, and the robot joint 10 further includes a positioning bearing 150, and an inner ring of the positioning bearing 150 is sleeved on a wall surface of the output end code wheel bracket 132 to position the output end code wheel 131. It will be appreciated that for the purpose of and in connection with the output end code wheel 131 and the output connection shaft, an output end code wheel bracket 132 is provided, although in other embodiments, the output end code wheel 131 may be connected to the output connection shaft by other means or therebetween. Further, in order to better locate the output end code disc 131 on the output connection shaft, the present embodiment further provides a locating bearing 150 to locate the output end code disc 131, and improve the coaxiality between the output connection shaft and the output end 122, thereby improving the measurement accuracy of the output end code disc 131.

Referring to fig. 1 and 3, according to an embodiment of the present utility model, the robot joint 10 further includes a motor end code wheel assembly 160, the motor end code wheel assembly 160 further includes a motor end code wheel bracket 162 and a motor end code wheel 161, the motor end code wheel 161 is connected to the motor output shaft 111 through the motor end code wheel bracket 162, and one end of the motor end code wheel bracket 162, which is close to the motor end code wheel 161, is sleeved on an outer ring of the positioning bearing 150 to position the motor end code wheel 161. It will be appreciated that the motor end code wheel assembly 160 is used in this embodiment to measure the angle of rotation of the motor output shaft 111 of the drive apparatus 110. Specifically, the motor end code wheel assembly 160 includes a motor end code wheel 161 and a motor end code wheel bracket 162, and the motor end code wheel 161 is connected to the motor output shaft 111 through the motor end code wheel bracket 162 to measure a rotation angle of the motor end output shaft. In order to improve the coaxiality between the motor end code wheel 161 and the output end code wheel 131, one end of the motor end code wheel bracket 162, which is close to the motor end code wheel 161, is sleeved on the outer ring of the positioning bearing 150, so that the motor end code wheel 161 and the output end code wheel 131 are coplanar, the installation space for separately arranging the motor end code wheel 161 and the output end code wheel 131 can be saved, the size of the robot joint 10 is reduced, the integration level is improved, and the wiring space is greatly convenient to operate. Meanwhile, the motor end code wheel 161 and the output end code wheel 131 are positioned and coplanar through the positioning bearing 150, so that the excessive positioning of the connecting structure can be prevented, the structural stress is overlarge, and the deformation and the reduction of the measurement precision are further caused. The motor end code disc 161 and the output end code disc 131 are positioned relatively in one plane by utilizing the positioning bearing 150, so that the reading head chips of the two code discs are integrated on one reading head plate.

Referring to fig. 2 and 4, according to an embodiment of the present utility model, the elastic member 140 is a metal thin-walled washer disposed in a ring shape, which extends in an axial direction of the output connection shaft. It will be appreciated that the elastic member 140 is disposed in a ring shape to uniformly abut between the output connecting shaft and the output end 122, so as to reduce internal stress generated in the cross section and affect the coaxiality between the output connecting shaft and the output end 122. Of course, in other embodiments, the elastic member 140 may be formed by enclosing a gasket, which is not limited herein. The elastic member 140 is a gasket made of a thin metal wall, which can improve the service life of the elastic member 140, and the thin wall can improve the elastic performance of the elastic member 140.

Referring to fig. 4, according to an embodiment of the present utility model, a metal thin-walled gasket is provided with an elastic abutment portion 141 along an axial direction of the output connection shaft, and the elastic abutment portion 141 abuts against an inner wall surface of the output end 122 outside the output connection shaft. The elastic abutment 141 is provided in a wavy or zigzag shape. It can be understood that, in order to enhance the elastic abutting action between the output connection shaft and the output end 122, in this embodiment, the metal thin-wall gasket is provided with an elastic abutting portion 141 along the axial direction of the output connection shaft, and the cross section of the elastic abutting portion 141 is generally in a wavy or zigzag shape, which is not limited thereto. By reducing the circumferential contact surface in this way, the contact reliability between the elastic contact portion 141 and the inner wall surface of the output end 122, which is the outer side of the output connection shaft, in the circumferential direction is improved.

Referring to fig. 1 and 3, according to an embodiment of the present utility model, the robot joint 10 further includes a brake 170, the brake 170 is disposed at two ends of the driving device 110 opposite to the speed reducer 120, the brake 170 includes a brake 171 and a brake housing 172, the brake 171 is disposed in the brake housing 172, the brake 171 is connected to the motor output shaft 111, and an inner ring of a side of the brake housing 172 facing away from the driving device 110 is connected to the motor end code disc bracket 162. It can be appreciated that in this embodiment, the robot joint 10 is provided with the brake 171 for braking the motor output shaft 111, so that the position of the mechanical arm is kept unchanged when the robot stops working, and the mechanical arm and objects around the mechanical arm are protected from collision when the power supply fails, thereby improving the safety performance.

Referring to fig. 3, according to an embodiment of the present utility model, a flange portion 172a is provided at an inner ring port of the brake housing 172, a mating groove 162a is provided on the motor end code wheel bracket 162 corresponding to the flange portion 172a, and the flange portion 172a and the mating groove 162a form a labyrinth seal passage. It will be appreciated that, since the brake 171 generates relative friction when braking the motor output shaft 111, thereby generating dust particles, the output end code disc 131 and the motor end code disc 161 are disposed close to the brake 171 in the present application, so as to prevent the dust particles from polluting the output end code disc 131, which affects the sensing accuracy of the encoder. In this embodiment, a labyrinth channel is formed between the output end code disc 131 and the housing of the brake 171, so as to avoid dust leakage generated by the brake 171 from affecting the sensing accuracy of the encoder.

In some embodiments, the robotic joint 10 further includes a cross roller bearing 180, a torque sensor 190, a sealing flange, and a skeleton oil seal, where the cross roller bearing 180, the torque sensor 190, and the sealing flange are coaxially disposed, the cross roller bearing 180 is connected to the output end 122 of the reducer 120, one end of the sealing flange is connected to an inner ring of the cross roller bearing 180, the other end extends toward the inner ring of the torque sensor 190, and the skeleton oil seal is tightly connected between the sealing flange and the remote sensor. Thus, the sealing flange and the framework oil seal are matched and arranged between the inner ring of the torque sensor 190 and the inner ring of the bearing to play a role in saving space and preventing corrosion.

The present utility model also provides a robot including the above robot joint 10, the specific structure of the robot joint 10 referring to the above embodiment; it can be understood that, since the robot joint 10 is used in the robot, the embodiments of the robot include all the technical solutions of all the embodiments of the robot joint 10, and the achieved technical effects are identical, and are not described in detail herein.

Finally, it should be noted that the above-mentioned embodiments are merely illustrative of the utility model, and not limiting. While the utility model has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various combinations, modifications, or equivalent substitutions can be made to the technical solutions of the present utility model without departing from the spirit and scope of the technical solutions of the present utility model, and it is intended to be covered by the scope of the claims of the present utility model.

Claims (10)

1. A robotic joint, comprising:

a joint housing;

the driving device is arranged in the joint shell, and the output end of the driving device is fixed with a motor output shaft with a hollow inside;

the speed reducer is coaxially arranged with the driving device and is positioned in the joint shell, the input end of the speed reducer is connected with the motor output shaft, the output end of the speed reducer is connected with an output connecting shaft, the output connecting shaft part is arranged in the motor output shaft in a penetrating way, and the output connecting shaft is coaxially connected with the motor output shaft;

the output end code disc assembly is connected to one end of the output connecting shaft; and

the elastic piece is coaxially embedded between the output connecting shaft and the output end.

2. The robotic joint of claim 1, wherein the resilient member is a metal thin-walled washer disposed in an annular shape, the metal thin-walled washer extending axially of the output connection shaft.

3. The robot joint according to claim 2, wherein the metal thin-walled washer is provided with an elastic abutment portion in an axial direction of the output connection shaft, the elastic abutment portion being abutted against an outer side of the output connection shaft and an inner wall surface of the output end.

4. A robotic joint as claimed in claim 3 in which the resilient abutment is provided in a wave or zigzag arrangement.

5. The robotic joint of any one of claims 1-4, wherein the output code wheel assembly further comprises an output code wheel bracket and an output code wheel, the output code wheel is connected with the output connecting shaft through the output code wheel bracket, and the robotic joint further comprises a positioning bearing, wherein an inner ring of the positioning bearing is sleeved on a wall surface of the output code wheel bracket to position the output code wheel.

6. The robotic joint of claim 5, further comprising a motor end code wheel assembly, the motor end code wheel assembly further comprising a motor end code wheel bracket and a motor end code wheel, the motor end code wheel being connected to the motor output shaft by the motor end code wheel bracket, an end of the motor end code wheel bracket adjacent to the motor end code wheel being sleeved on an outer ring of the positioning bearing to position the motor end code wheel.

7. The robotic joint of claim 6, further comprising a brake device disposed opposite the decelerator at both ends of the drive device, the brake device comprising a brake and a brake housing, the brake being disposed within the brake housing, the brake being coupled to the motor output shaft, an inner race of a side of the brake housing facing away from the drive device being coupled to the motor end code disc bracket.

8. The robot joint according to claim 7, wherein a flange portion is provided at an inner ring port of the brake housing, a mating groove is provided on the motor end code wheel bracket corresponding to the flange portion, and a labyrinth seal passage is formed between the flange portion and the mating groove.

9. The robot joint according to any one of claims 1-4, further comprising a cross roller bearing, a torque sensor, a sealing flange and a skeleton oil seal, wherein the cross roller bearing, the torque sensor and the sealing flange are coaxially arranged, the cross roller bearing is connected with an output end of the speed reducer, one end of the sealing flange is connected with an inner ring of the cross roller bearing, the other end of the sealing flange extends towards an inner ring of the torque sensor, and the skeleton oil seal is tightly connected between the sealing flange and the torque sensor.

10. A robot, characterized in that it comprises a robot joint according to any one of claims 1 to 9.