CN220051899U - Robot joint and robot - Google Patents

Abstract

The application relates to the technical field of robots, in particular to a robot joint and a robot. The robot joint comprises a first shell, a second shell, a first transmission module, a second transmission module and an output module. The first casing is provided with first mounting port, and the second casing sets up with first casing relative interval, and the second casing is provided with the second mounting port. The first transmission module is arranged on the first shell, and the second transmission module is arranged on the second shell. The output module is arranged between the first shell and the second shell; the output module comprises a third shell and an output flange, the third shell is rotatably arranged between the first shell and the second shell, and the third shell penetrates through the first mounting port and is in transmission connection with the first transmission module; the output flange is rotatably arranged on the third shell and is connected with the second transmission module through the second mounting port in a transmission way. The robot joint is high in modularization degree, convenient to install and small in influence on transmission precision.

Description

Robot joint and robot

Technical Field

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

Background

In order to meet application requirements of welding, carrying, polishing and the like of the robot, the compactness of the flange structure of the tail end of the robot is high. In the process of designing the joint structure, most of domestic and foreign robot manufacturers adopt a gear transmission scheme. For example, in the driving rotation of different dimensions, the transmission mechanisms of the rotation of each dimension are sequentially arranged along the same direction, and the transmission mechanisms are transmitted through gear transmission systems, in the gear transmission systems, a plurality of gears are often sequentially distributed along the same direction to form multi-stage transmission, and each stage of transmission gears have higher coupling, and because in the transmission systems sequentially arranged along the same direction, accumulated errors of a plurality of part combinations exist, so that precise assembly is relatively difficult.

Disclosure of Invention

The utility model provides a robot joint and a robot with the robot joint.

In a first aspect, the present utility model provides a robot joint, including a first housing, a second housing, a first transmission module, a second transmission module, and an output module. The first casing is provided with first mounting port, and the second casing sets up with first casing relative interval, and the second casing is provided with the second mounting port. The first transmission module is arranged on the first shell, and the second transmission module is arranged on the second shell. The output module is arranged between the first shell and the second shell. The output module comprises a third shell and an output flange, the third shell is rotatably arranged between the first shell and the second shell, and the third shell penetrates through the first mounting opening and is connected with the first transmission module in a transmission way so as to rotate around the first axis relative to the first shell under the drive of the first transmission module; the output flange is rotatably arranged on the third shell and is in transmission connection with the second transmission module through the second mounting port so as to rotate around a second axis relative to the third shell under the drive of the second transmission module; the first axis and the second axis intersect.

In some alternative examples, the third housing includes a first connection portion embedded in the first mounting port and rotatably connected with the first housing, and an output connection portion to which the output flange is rotatably disposed.

In some alternative examples, the first transmission module includes a first input gear and a first transmission gear rotatably disposed on the first housing and connected to the first connection portion; the first input gear is rotatably arranged on the first shell and meshed with the first transmission gear.

In some alternative examples, the third housing further includes a second connection portion connected to the output connection portion and disposed in a spaced apart relation to the first connection portion, the second connection portion being embedded in the second mounting port and rotatably connected to the second housing; the output connecting portion is provided with an inner hole for installing the output flange, the second connecting portion is provided with an installation cavity, and the installation cavity is communicated with the inner hole.

In some alternative examples, the output module comprises a first output gear and a second output gear meshed with each other, the first output gear is rotatably arranged in the mounting cavity and is in transmission connection with the second transmission module, and the second output gear is arranged in the inner hole and is in rotation-stopping connection with the output flange; the second transmission module comprises a second transmission gear, and the second transmission gear is in rotation-stopping connection with the first output gear.

In some alternative examples, the third housing further includes a cover adjustably disposed on the output connection, the cover abutting the second output gear, the cover moving relative to the output connection to control displacement of the second output gear on the second axis to adjust a center distance between the second output gear and the first output gear.

In some alternative examples, the second transmission module further includes a second input gear rotatably disposed in the second housing, the second input gear meshed with the second transmission gear.

In some alternative examples, the second transmission module further includes an adjusting member, the shaft portion of the first output gear is disposed through the second transmission gear, the adjusting member is in threaded connection with the shaft portion of the first output gear, the adjusting member abuts against one end of the second transmission gear, and the adjusting member is used for adjusting a center distance between the second transmission gear and the second input gear.

In some optional examples, the robotic joint further comprises a fourth housing, a first input module, and a second input module, the fourth housing being connected between the first housing and the second housing and being located at an end of the first housing remote from the third housing; the first input module is arranged in the fourth shell and is in transmission connection with the first transmission module, and the second input module is arranged in the fourth shell and is in transmission connection with the second transmission module.

In some alternative examples, the first input module includes a first motor, a first driving gear and a driven gear, the first driving gear is disposed at an output end of the first motor, the driven gear is meshed with the first driving gear, and a gear shaft of the driven gear is in transmission connection with the first transmission module.

In a second aspect, the application also provides a robot comprising a body and a robot joint according to any one of the above, the robot joint being connected to the body.

Compared with the prior art, in the robot joint provided by the application, the second shell and the first shell are oppositely arranged at intervals, the output module is arranged between the first shell and the second shell, the first transmission module and the second transmission module form a rotation relation of two dimensions, chain transmission which is not sequentially distributed is not performed, and the assembly accumulated error of long-chain transmission can be reduced to a certain extent. The third casing sets up between first casing and second casing, and adjustable its degree of depth of inserting in first casing and second casing when the third casing is installed to can indirectly adjust the clearance with first transmission module or/and second transmission module, its operation of adjusting the clearance is simple convenient. During installation, the first transmission module is assembled on the first shell, the second transmission module is assembled on the second shell, the first shell, the second shell and the output module are assembled one by one, the modularization degree of the three modules is high, the assembly process is simple and efficient, the influence of the assembly process on the transmission precision of the robot joint is reduced, and the compactness and high rigidity of the structure are met.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a block diagram of a robot according to an embodiment of the present application.

Fig. 2 is a schematic cross-sectional view of a robot joint according to an embodiment of the present application.

Fig. 3 is a schematic cross-sectional view of the first housing and the first transmission module of the robot joint shown in fig. 2.

Fig. 4 is a schematic cross-sectional view of an output module of the robot joint shown in fig. 2.

Fig. 5 is a schematic cross-sectional view of the output module and the second transmission module of the robot joint shown in fig. 2.

Fig. 6 is a schematic cross-sectional view of the fourth housing, the first input module, and the second input module of the robot joint shown in fig. 2.

Description of the reference numerals: 100. a robot joint; 10. a first housing; 11. a first chamber; 112. a boss; 12. a first mounting port; 13. a first connection port; 20. a second housing; 21. a second mounting port; 22. a second chamber; 23. a second connection port; 25. a fifth bearing; 27. a fourth oil seal; 30. a first transmission module; 32. a first input gear; 321. a shaft portion; 3212. a limit part; 323. an engagement portion; 34. a first transmission gear; 36. a first bearing; 37. a second bearing; 38. a first oil seal; 39. a first connecting gear; 40. a second transmission module; 41. a second input gear; 43. a second transmission gear; 45. an adjusting member; 49. a second connecting gear; 50. an output module; 51. a third bearing; 52. a third housing; 521. a first connection portion; 523. an output connection section; 5232. an inner bore; 525. a second connecting portion; 5252. a body portion; 5254. an end cap portion; 5256. a mounting cavity; 527. a cover body; 5272. an opening; 53. a second oil seal; 54. an output flange; 55. a fourth bearing; 56. a first output gear; 57. a third oil seal; 58. a second output gear; 60. a fourth housing; 61. a first mounting portion; 612. a third mounting port; 63. a second mounting portion; 632. a fourth mounting port; 70. a first input module; 72. a first motor; 74. a first drive gear; 76. a driven gear; 80. a second input module; 81. a second motor; 83. a second drive gear; 200. a robot; 201. a body; 203. and the execution end.

Detailed Description

In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present application with reference to the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

As a particular component is referred to by some of the terms used in the description and claims, it should be understood by those skilled in the art that a hardware manufacturer may refer to the same component by different terms. The description and claims do not take the difference in name as a way of distinguishing between components, but rather take the difference in functionality of the components as a criterion for distinguishing. As used throughout the specification and claims, the word "comprise" and "comprises" are to be construed as "including, but not limited to"; by "substantially" is meant that a person skilled in the art can solve the technical problem within a certain error range, essentially achieving the technical effect.

Referring to fig. 1, an embodiment of the present application provides a robot joint 100, and the robot joint 100 may be applied to a robot 200.

The specific type of the robot 200 is not limited in this specification, and for example, the robot 200 may be an industrial robot arm robot or a travelling robot, or may be a cooperative robot, and in this embodiment, the robot 200 is a cooperative robot. The cooperative robot is a robot type capable of realizing the co-location and cooperative work of personnel and the robot, and gradually permeates into various fields such as automobile parts, metal processing, electronics, medical equipment, consumption catering and the like by virtue of the man-machine safety of the cooperative robot, so that the labor operation efficiency is greatly improved.

The robot 200 may include a body 201, an execution end 203, and a robot joint 100. The robot joint 100 is connected between the actuator 203 and the body 201, and is configured to drive the actuator 203 to move relative to the body 201. The body 201 may be a base of the robot 200, for example, when the robot 200 is a cooperative robot, the body 201 may be a base (e.g., a fixed base) for supporting the robot joints, so that the robot joints are more stable; as another example, when the robot 200 is a biomimetic robot, the body 201 may be a biomimetic torso portion; when the robot 200 is a robot arm, the body 201 may be a mounting base or a robot arm at the front end.

In the present application, the terms "mounted," "connected," "secured," and the like are to be construed broadly, unless otherwise specifically indicated or defined. For example, the connection can be fixed connection, detachable connection or integral connection; can be mechanically or electrically connected; the connection may be direct, indirect via an intermediate medium, or communication between two elements, or only surface contact. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In some embodiments, the robot 200 may include a plurality of execution ends 203, and accordingly, the robot 200 also includes robot joints 100 in one-to-one correspondence with the plurality of execution ends 203, each execution end 203 being connected to the body 201 through a corresponding robot joint 100. Alternatively, the plurality of execution ends 203 may be sequentially connected, for example, two adjacent execution ends 203 may be connected by a joint module, the execution end 203 at the front end may be connected to the body 201 by the joint module, and the execution end 203 at the rear end (e.g., the end) may be connected to the execution end 203 at the front thereof by the joint module. The specific type of the robot joint 100 is not limited in this specification, and for example, the robot joint 100 may be a wrist joint of the robot 200 or an elbow joint of the robot 200, and in this embodiment, the robot joint 100 is a wrist joint of the robot 200.

Referring to fig. 2, the robot joint 100 includes a first housing 10, a second housing 20, a first transmission module 30, a second transmission module 40, and an output module 50. The first transmission module 30 is disposed on the first housing 10, and the second transmission module 40 is disposed on the second housing 20 and is disposed opposite to the first transmission module 30 at a distance. The output module 50 is disposed between the first housing 10 and the second housing 20, the output module 50 includes a third housing 52 and an output flange 54, the third housing 52 is rotatably connected to the first housing 10, and the output flange 54 is rotatably connected to the third housing 52. The first transmission module 30 is drivingly connected to the third housing 52 and is configured to drive the third housing 52 to rotate about the first axis O1 relative to the first housing 10. The second drive module 40 is drivingly connected to the output flange 54 and is configured to drive rotation of the output flange 54 relative to the third housing 52 about a second axis O2, the second axis O2 intersecting (e.g., perpendicular to) the first axis O1.

In the present disclosure, the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.

During installation, the first transmission module 30 is assembled on the first shell 10, the second transmission module 40 is assembled on the second shell 20, the first shell 10, the second shell 20 and the output module 50 are assembled one by one, the modularization degree of the three modules is high, the assembly process is simple and efficient, the influence of the assembly process on the transmission precision of the robot joint 100 is reduced, and the compactness and high rigidity of the structure are met. In use, the first transmission module 30 drives the third housing 52 to rotate about the first axis O1 relative to the first housing 10, and the third housing 52 drives the output flange 54 to rotate about the first axis O1. The second transmission module 40 drives the output flange 54 to rotate about the second axis O2 relative to the third housing 52. The first transmission module 30, the second transmission module 40 and the output module 50 realize the motion of the robot joint 100 in two directions.

Referring to fig. 2 and 3, in the present embodiment, the first housing 10 is substantially hollow, and the first housing 10 is provided with a first cavity 11 and a first connection port 13. The first cavity 11 extends along a length direction of the first housing 10 and is disposed in the first housing 10, and the first cavity 11 is used for providing an installation space of the first transmission module 30. The first connection port 13 is disposed at an end of the first housing 10 away from the output module 50, and penetrates the first housing 10 along a length direction of the first housing 10, and the first connection port 13 communicates with the first cavity 11 and the outside.

The first connection port 13 is used for providing a mounting channel for mounting the first transmission module 30 to the first housing 10.

The first housing 10 is provided with a first mounting opening 12, and the first mounting opening 12 is used for mounting the output module 50. The specific position of the first mounting port 12 is not limited, and it may be provided at a middle or end position of the first housing 10, for example. In the present embodiment, the first mounting port 12 is provided at an end of the first housing 10 away from the first connection port 13, and the first mounting port 12 penetrates the side of the first housing 10 near the third housing 52 substantially in the width direction of the first housing 10 and communicates the first chamber 11 with the outside. In the present embodiment, the width direction of the first casing 10 is defined as a first direction X, and the length direction of the first casing 10 is defined as a second direction Y. The first mounting opening 12 has a substantially circular hole shape, and an axis thereof is substantially parallel to the first axis O1. The first mounting port 12 is for providing a mounting channel for mounting the third housing 52 to the first housing 10. When installed, the structure of the third housing 52 for mating with the first transmission module 30 is placed in the first mounting port 12 and rotatably connected to the first housing 10.

The first transmission module 30 is disposed in the first cavity 11, and the first transmission module 30 includes a first input gear 32 and a first transmission gear 34. The first input gear 32 includes a shaft portion 321 and an engagement portion 323, the shaft portion 321 is rotatably disposed in the first cavity 11 and extends in the second direction Y, and an axis of the shaft portion 321 is substantially parallel to the second axis O2. The engaging portion 323 is substantially coaxially connected to an end of the shaft 321 near the output module 50, and the engaging portion 323 may be integrally formed with the shaft 321. The first transmission gear 34 is rotatably disposed in the first chamber 11 near the first mounting port 12, and an axis of the first transmission gear 34 is substantially coaxial with the first axis O1. One end of the first transmission gear 34 is engaged with the engagement portion 323, and the other end is connected to the third housing 52. The first input gear 32 rotates about the second axis O2 relative to the first housing 10, and drives the first transmission gear 34 to rotate about the first axis O1 relative to the first housing 10, thereby driving the third housing 52 to rotate about the first axis O1 relative to the first housing 10, and thus, effecting rotation of the output flange 54. In the present embodiment, the first input gear 32 and the first transmission gear 34 are hypoid gears, and the outer diameter of the meshing portion 323 of the first input gear 32 is smaller than the outer diameter of the first transmission gear 34. The hypoid gear pair small wheels have larger helix angles, so that larger contact ratio is obtained when the hypoid gear pair small wheels are meshed, and the transmission is smoother.

In order to prevent the axial play of the shaft 321 from affecting the center distance between the engagement portion 323 and the first transmission gear 34, in the present embodiment, the shaft 321 is provided with a stopper portion 3212, and the stopper portion 3212 is formed on and protrudes from a peripheral wall of the shaft 321 near one end of the engagement portion 323. A boss 112 is provided in the first housing 10, and the boss 112 is formed on a sidewall of the first cavity 11 and protrudes with respect to the sidewall. When the engaging portion 323 and the first transmission gear 34 are engaged, the limiting portion 3212 abuts against a side of the boss 112 away from the engaging portion 323. One end of the shaft 321 away from the engagement portion 323 abuts against an inner wall of the first housing 10 near the first connection port 13. The inner wall of the first housing 10 near the first connection port 13 and the boss 112 limit the movement of the first input gear 32 in the axial direction together, so that the transmission stability between the engagement portion 323 and the first transmission gear 34 is improved, and the mounting accuracy of the first transmission module 30 is also improved.

In this embodiment, the first transmission module 30 may further include a first bearing 36, where the first bearing 36 is disposed between the shaft 321 and the inner wall of the first housing 10, and the first bearing 36 is used to support the shaft 321, so as to improve stability of the first input gear 32. The first bearing 36 is located at a side of the limiting portion 3212 away from the boss 112, and the limiting portion 3212 abuts against an inner ring of the first bearing 36. As an example, the shaft 321 may further be provided with a protrusion for limiting the first bearing 36, where the protrusion abuts against an end of the first bearing 36 away from the inner ring of the limiting portion 3212, and limits the axial displacement of the first bearing 36 together with the limiting portion 3212, thereby improving the stability of the installation of the first bearing 36. The specific type of the first bearing 36 is not limited in this specification, and for example, the first bearing 36 may be an angular ball bearing, or the first bearing 36 may be a tapered roller bearing, a double row angular ball bearing, or the like. In the present embodiment, the first bearing 36 is an angular contact ball bearing.

The first transmission module 30 may further include a second bearing 37, the second bearing 37 being disposed at the first mounting port 12 and between the first transmission gear 34 and a sidewall of the first mounting port 12 for supporting the first transmission gear 34. The inner wall of the first mounting port 12 may be provided with a step for restricting the axial displacement of the second bearing 37, which may abut against one end of the outer race of the second bearing 37. The first transmission gear 34 is connected to the second bearing 37, and is rotatably engaged with the first housing 10 through the second bearing 37. In particular, in the present embodiment, the shaft portion of the first transmission gear 34 is connected to the inner ring of the end of the second bearing 37 remote from the first mounting port 12. The first transmission gear 34 restricts the axial displacement of the second bearing 37 together with the step on the inner wall of the first mounting port 12, improving the mounting stability of the second bearing 37.

The specific type of the second bearing 37 is not limited in this specification, and for example, the second bearing 37 may be a double row angular contact ball bearing, or the second bearing 37 may be a tapered roller bearing, a crossed roller bearing, or the like. In this embodiment, the second bearing 37 is a cross roller bearing. The crossed roller bearing is a special type bearing with split inner rings and rotating outer rings, and is easy to operate when the crossed roller collar is installed.

Referring to fig. 2, 3 and 4, in the present embodiment, the output module 50 is disposed between the first housing 10 and the second housing 20, the third housing 52 is disposed through the first mounting opening 12 and is in transmission connection with the first transmission module 30, and specifically, the third housing 52 is in transmission connection with the first transmission gear 34. The third housing 52 includes a first connection portion 521 and an output connection portion 523 connected to each other, the first connection portion 521 is mounted to the first mounting port 12, and the output flange 54 is provided to the output connection portion 523.

The first connection portion 521 is substantially cylindrical, and one end of the first connection portion 521 is fitted into the first mounting port 12, and the other end protrudes from the first mounting port 12. The first connecting portion 521 is fixedly connected to the inner ring of the second bearing 37, the first connecting portion 521 is connected to the first transmission gear 34 through the second bearing 37 in a rotation-stopping manner, and the first connecting portion 521, the second bearing 37 and the first transmission gear 34 are all substantially coaxial, and the axis is substantially parallel to the first axis O1. It should be understood that the "rotation-stopping connection" between the first connection 521 and the first transmission gear 34 should be understood as a relatively fixed connection between the first connection 521 and the first transmission gear 34, and the first connection 521 may rotate with the rotation of the first transmission gear 34. The outer peripheral wall of the first connecting portion 521 may be provided with a limiting step that abuts against an end of the inner ring of the second bearing 37 remote from the first transmission gear 34 to limit the axial displacement of the second bearing 37 in cooperation with the first transmission gear 34.

In the present embodiment, the robot joint 100 may further include a first oil seal 38, the first oil seal 38 being disposed between the outer circumferential wall of the first connection portion 521 and the first housing 10 and at an end of the second bearing 37 remote from the first transmission gear 34, the first oil seal 38 being for improving sealability between the first connection portion 521 and the first housing 10.

When the first transmission module 30 and the third housing 52 are installed, the first oil seal 38 and the second bearing 37 are assembled in the first housing 10, and then the first transmission gear 34 and the first connection 521 are fixed to the inner race of the second bearing 37. The first input gear 32 and the first bearing 36 are assembled into a small assembly and then assembled together in the first housing 10, and the backlash between the first input gear 32 and the first transmission gear 34 is achieved during installation. The first transmission module 30 is installed in a split mode, is simple to install, can achieve fixed constraint of the first input gear 32 and the first transmission gear 34, and can meet gap adjustment requirements between the first input gear 32 and the first transmission gear 34.

The output connection portion 523 is connected to an end of the first connection portion 521 located outside the first mounting port 12, and is located at a side of the first connection portion 521 away from the first input gear 32. The output connection portion 523 is substantially cylindrical and has an inner bore 5232 for mounting the output flange 54, and the inner bore 5232 penetrates an end of the output connection portion 523 remote from the first connection portion 521 in the direction of the second axis O2. The output flange 54 is rotatably disposed in the inner hole 5232, and the axis of the output flange 54 is the second axis O2.

In this embodiment, the third housing 52 may further include a second connecting portion 525, where the second connecting portion 525 is connected to a side of the output connecting portion 523 away from the first connecting portion 521 and is disposed opposite to the first connecting portion 521 at a distance, and the second connecting portion 525 is rotatably connected to the second housing 20. The second connection portion 525 includes a body portion 5252 and an end cap portion 5254, the body portion 5252 is connected to the output connection portion 523, and the end cap portion 5254 is connected to a side of the body portion 5252 remote from the first connection portion 521. The end cap portion 5254 and the body portion 5252 together define a mounting cavity 5256, the mounting cavity 5256 being in communication with the bore 5232.

The third housing 52 may be molded by casting to ensure high structural strength and transmission stability, so that the first connecting portion 521, the output connecting portion 523 and the second connecting portion 525 may refer to different portions of the third housing 52 by different designations, but these designations should not be construed as limiting the structure of the third housing 52, and these designations are made only for convenience of description, for example, the connection between the first connecting portion 521, the output connecting portion 523 and the second connecting portion 525 may be an integrally molded connection structure, and no distinct dividing line may be provided between the first connecting portion 521, the output connecting portion 523 and the second connecting portion 525. In other embodiments, the third housing 52 may be formed by assembling and connecting, so as to reduce the manufacturing difficulty, for example, after the first connecting portion 521, the output connecting portion 523, and the second connecting portion 525 are separately manufactured, they may be assembled together by fasteners to form an integral structure of the third housing 52, wherein the first connecting portion 521, the output connecting portion 523, and the second connecting portion 525 are formed by casting, and the first connecting portion 521, the output connecting portion 523, and the second connecting portion 525 may be connected together by fasteners (such as screw fasteners such as screws, bolts, and the like) or/and adhesives such as structural adhesives.

In this embodiment, the output module 50 may further include a first output gear 56 and a second output gear 58 meshed with each other, the first output gear 56 being rotatably disposed in the mounting cavity 5256 and drivingly connected to the second transmission module 40. The second output gear 58 is disposed in the inner hole 5232 and is rotationally connected to the output flange 54, and the second transmission module 40 can drive the first output gear 56 to rotate, and the second output gear 58 drives the output flange 54 to rotate in a second degree of freedom. In the present embodiment, the first output gear 56 and the second output gear 58 are bevel gears.

The gear end of the first output gear 56 is disposed within the mounting cavity 5256, with the axis of the first output gear 56 being generally coaxial with the first axis O1. The end cap portion 5254 can be provided with a relief hole communicating the mounting cavity 5256 with the second housing 20, through which the shaft portion of the first output gear 56 can extend out of the second connecting portion 525 for driving engagement with the second transmission module 40 within the second housing 20. In order to improve the stability of the installation of the first output gear 56, in the present embodiment, the output module 50 may further include a third bearing 51. The third bearing 51 is provided between the inner wall of the end cap portion 5254 and the shaft portion of the first output gear 56, and serves to support the first output gear 56. In the present embodiment, the third bearing 51 is an angular ball bearing. The number of the third bearings 51 may be plural in consideration of the size of the shaft portion of the first output gear 56, and the plurality of third bearings 51 may be arranged in the first direction X to further improve the transmission stability.

The second output gear 58 is disposed within the bore 5232 and is rotationally fixed to the output flange 54, facilitating rotationally fixed connection to the output flange 54 by a nested fit. The axis of the second output gear 58 is substantially coaxial with the second axis O2, and the second output gear 58 is meshed with the first output gear 56 through the communication between the mounting cavity 5256 and the internal bore 5232. In order to improve the sealability between the second output gear 58 and the output connection portion 523, in the present embodiment, the output module 50 may further include a second oil seal 53. The second oil seal 53 is provided between the second output gear 58 and the inner wall of the output connection portion 523.

In the present embodiment, the third housing 52 may further include a cover 527, and the cover 527 may be adjustably connected to an end of the output connection portion 523 remote from the first connection portion 521. The cover 527 abuts against the second output gear 58, and the cover 527 moves relative to the output connection portion 523 to control the displacement of the second output gear 58 on the second axis O2, so as to adjust the center distance between the second output gear 58 and the first output gear 56. The specific connection manner between the cover 527 and the output connection portion 523 is not limited in this specification, and for example, the cover 527 may be connected to the output connection portion 523 by a bolt, and the cover 527 may be screwed to the output connection portion 523.

It should be understood that "an element abuts against another element" in this specification, it should be understood that the two may abut directly or indirectly (e.g., when there is an intervening element therebetween), e.g., the other element is mounted on the intervening element, and the element may abut against the intervening element, thereby "abutting against the other element". In this embodiment, the cover 527 indirectly abuts against the second output gear 58 through the centering element.

In order to improve the stability of the installation of the second output gear 58 and the second output flange 54, in this embodiment, the output module 50 may further include a fourth bearing 55, and the cover 527 indirectly abuts against the second output gear 58 through the fourth bearing 55. A fourth bearing 55 is provided between the inner wall of the output connection portion 523 and the output flange 54, for supporting the output flange 54. The inner wall of the output connection portion 523 and the outer wall of the output flange 54 may be provided with a limit protrusion for limiting the axial displacement of the fourth bearing 55. In the present embodiment, the second output gear 58 abuts against one end of the inner ring of the fourth bearing 55. The cover 527 abuts against the outer ring of the end, far away from the second output gear 58, of the fourth bearing 55 so as to limit the axial displacement of the fourth bearing 55 together with the second output gear 58, and stability of the output module 50 is improved. The cover 527 is provided with an opening 5272 communicating the inner hole 5232 with the outside, and one end of the output flange 54 is exposed to the outside through the opening 5272 to be connected to the actuator 203 (shown in fig. 1).

In this embodiment, the output module 50 may further include a third oil seal 57. The third oil seal 57 is provided between the inner wall of the cover 527 and the output flange 54. The third oil seal 57 improves the sealing between the inner wall of the cover 527 and the output flange 54.

In the mounting, the second oil seal 53 is mounted on the output connection portion 523, and then the first output gear 56, the third bearing 51, and the end cap portion 5254 are assembled into a small assembly, and mounted and fixed on the main body portion 5252. The second output gear 58, the fourth bearing 55, and the output flange 54 are then assembled into a small assembly, which is mounted and secured to the output connection 523. Finally, the third oil seal 57 and the cover 527 are fixed to the output connection portion 523, thereby completing the assembly of the output module 50. The output module 50 has compact structure and simple assembly, can realize the fixed constraint of the first output gear 56 and the second output gear 58, and can also meet the gap adjustment requirement between the first output gear and the second output gear.

Referring to fig. 2 and fig. 5, in the present embodiment, the second housing 20 is connected to the second connecting portion 525 and is disposed opposite to the first housing 10, and the second housing 20 is used for mounting the second transmission module 40. The second housing 20 has a substantially hollow housing shape, and the second housing 20 is provided with a second chamber 22 and a second connection port 23. The second cavity 22 is disposed in the second housing 20 along the second direction Y, and the second cavity 22 is used for providing a mounting space of the second transmission module 40. The second connection port 23 is disposed at an end of the second housing 20 away from the output module 50, and penetrates the second housing 20 along the second direction Y, and the second connection port 23 communicates with the second cavity 22 and the outside. The second connection port 23 is used for providing a mounting channel for mounting the second transmission module 40 to the second housing 20.

The second housing 20 is provided with a second mounting port 21, and the second mounting port 21 is used for mounting the output module 50. The specific position of the second mounting port 21 is not limited, and it may be provided at a middle or end position of the second housing 20, for example. The second mounting opening 21 penetrates the side of the second housing 20 near the second connecting portion 525 substantially in the first direction X, and communicates the second chamber 22 with the outside. The second mounting opening 21 has a substantially circular hole shape, and an axis thereof is substantially parallel to the first axis O1. The second mounting port 21 is for providing a mounting passage for mounting the second connecting portion 525 to the second housing 20. When in installation, the end cover portion 5254 of the second connecting portion 525 is embedded in the second mounting opening 21 and rotatably connected to the second housing 20, and the first output gear 56 is arranged through the second mounting opening 21 and is in transmission connection with the second transmission module 40.

In order to improve the stability of the rotational fit between the end cap portion 5254 and the second housing 20, the robot joint 100 may further include a fifth bearing 25, the fifth bearing 25 being disposed at the second mounting port 21 between the outer wall of the end cap portion 5254 and the second housing 20. The inner wall of the second mounting port 21 may be provided with a step for restricting axial displacement of the fifth bearing 25, which may abut against one end of the inner race of the fifth bearing 25. In the present embodiment, the fifth bearing 25 is a deep groove ball bearing.

In the present embodiment, the robot joint 100 may further include a fourth oil seal 27, the fourth oil seal 27 being disposed between the end cap portion 5254 and the second housing 20 and being located at an end of the fifth bearing 25 near the mounting cavity 5256, the fourth oil seal 27 being for improving sealability between the second connecting portion 525 and the second housing 20.

The second transmission module 40 is disposed in the second cavity 22, and the second transmission module 40 includes a second input gear 41 and a second transmission gear 43. The second input gear 41 and the first input gear 32 have substantially the same structure, and the second input gear 41 also includes a shaft portion and a meshing portion, the shaft portion of the second input gear 41 being rotatably disposed in the second chamber 22 and extending in the second direction Y, and the axis of the shaft portion of the second input gear 41 being substantially parallel to the second axis O2. The meshing portion of the second input gear 41 is substantially coaxially connected to an end of its shaft portion near the output module 50. The second transmission gear 43 is non-rotatably connected to the first output gear 56 and rotatably disposed in the second chamber 22 via the first output gear 56. The second transmission gear 43 is fixed to the shaft portion of the first output gear 56, and the axis of the second transmission gear 43 is substantially parallel to the first axis O1. An end of the second transmission gear 43 remote from the first output gear 56 is engaged with the engagement portion of the second input gear 41.

The second input gear 41 rotates about the second axis O2 relative to the second housing 20, which rotates the second transfer gear 43 about the first axis O1 relative to the first housing 10, which rotates the first output gear 56 about the first axis O1 relative to the second housing 20, and the first output gear 56 effects rotation of the output flange 54 relative to the third housing 52 via the second output gear 38. In the present embodiment, the second input gear 41 and the second transmission gear 43 are hypoid gears, and the outer diameter of the meshing portion of the second input gear 41 is smaller than the outer diameter of the second transmission gear 43. The hypoid gear pair small wheels have larger helix angles, so that larger contact ratio is obtained when the hypoid gear pair small wheels are meshed, and the transmission is smoother.

In this embodiment, the second transmission module 40 may further include an adjusting member 45. The shaft portion of the first output gear 56 penetrates the second transmission gear 43 and protrudes from a side of the second transmission gear 43 away from the end cap portion 5254. The adjusting member 45 is sleeved on the shaft portion of the first output gear 56 and abuts against one side of the second transmission gear 43 away from the end cover portion 5254. Specifically, the inner peripheral wall of the regulating member 45 is provided with an external thread, and the portion of the shaft portion of the first output gear 56 protruding from the second transmission gear 43 is provided with an external thread, and the regulating member 45 is screwed to the shaft portion of the first output gear 56. The adjusting member 45 may be implemented by an adjusting sleeve or an adjusting nut, and in this embodiment, the adjusting member 45 is an adjusting nut. The adjusting member 45 is rotated with respect to the first output gear 56, and the adjusting member 45 is moved in the first direction X, thereby finely adjusting the position of the second transmission gear 43 in the first direction X, thereby achieving an effect of adjusting the center distance between the second input gear 41 and the second transmission gear 43.

Similar to the first bearing 36 of the first transmission module 30 for supporting the first input gear 32, the second transmission module 40 may also include an angular ball bearing for supporting the second input gear 41, which is substantially identical to the first bearing 36 in structure and installation, and specific reference is made to the description of the first bearing 36 and is not repeated herein. The limitation of the second input gear 41 in the axial direction in the second cavity 22 is also substantially the same as that of the first input gear 32, and the description of the first input gear 32 is referred to above, and will not be repeated here.

In the mounting, the fourth oil seal 27 and the fifth bearing 25 are assembled on the second housing 20, and then axially positioned by the end cap portion 5254 and the inner race of the fifth bearing 25, and at the same time, the second transmission gear 43 is fixed to the first output gear 56 by the regulating member 45. The second input gear 41 and its bearings are assembled into a small assembly and then fixed to the second housing 20. The second transmission module 40 has compact structure and simple assembly, can realize the fixed constraint of the second transmission gear 43 and the second input gear 41, and can also meet the gap adjustment requirement between the second transmission gear 43 and the second input gear 41.

Referring to fig. 2 and 6, in the present embodiment, the robot joint 100 further includes a fourth housing 60, a first input module 70 and a second input module 80, the fourth housing 60 is connected between the first housing 10 and the second housing 20 and is located at an end of the first housing 10 away from the third housing 52, and the fourth housing 60 includes a first mounting portion 61 and a second mounting portion 63 that are relatively spaced apart; the first input module 70 is disposed at the first mounting portion 61 and is in transmission connection with the first transmission module 30, and the second input module 80 is disposed at the second mounting portion 63 and is in transmission connection with the second transmission module 40. The first input module 70 is used for driving the first transmission module 30, and the second input module 80 is used for driving the second transmission module 40.

When the fourth housing 60 is connected between the first housing 10 and the second housing 20, the first mounting portion 61 is connected to the first housing 10, and the second mounting portion 63 is connected to the second housing 20. The fourth housing 60 may be molded by casting to ensure high structural strength and transmission stability, so that the first mounting portion 61 and the second mounting portion 63 may refer to different portions of the fourth housing 60 by different designations, but these designations should not be considered as limiting the structure of the fourth housing 60, and these designations are made only for convenience of description, for example, the connection between the first mounting portion 61 and the second mounting portion 63 may be an integrally molded connection structure, and no distinct dividing line may be provided between the first mounting portion 61 and the second mounting portion 63. In other embodiments, the fourth housing 60 may be formed by assembling and connecting, so as to reduce the manufacturing difficulty, for example, the first mounting portion 61 and the second mounting portion 63 may be assembled together by fasteners after being manufactured independently, so as to form an integral structure of the fourth housing 60, wherein the first mounting portion 61 and the second mounting portion 63 may be formed by casting, and the first mounting portion 61 and the second mounting portion 63 may be connected together by fasteners (e.g. screw fasteners such as screws, bolts and studs) or/and adhesives such as structural adhesives.

In the present embodiment, the first mounting portion 61 is substantially in the shape of a housing, the first mounting portion 61 is provided with a third mounting port 612, the third mounting port 612 penetrates substantially in the second direction Y through a side of the first mounting portion 61 near the first housing 10, and the third mounting port 612 communicates with the first connection port 13. The third mounting opening 612 is generally circular in shape with an axis generally parallel to the second axis O2.

The first input module 70 includes a first motor 72, a first driving gear 74 and a driven gear 76, the first driving gear 74 is disposed at an output end of the first motor 72, the driven gear 76 is meshed with the first driving gear 74, and a gear shaft of the driven gear 76 is in transmission connection with the first transmission module 30.

Referring to fig. 3 and 6, the first motor 72 is disposed on the first mounting portion 61 and is disposed along the second direction Y. The axis of the first drive gear 74 is substantially parallel to the second direction Y, and the first drive gear 74 is non-rotatably connected to the output shaft of the first motor 72. The axis of the driven gear 76 is substantially parallel to the second axis O2, and the gear shaft of the driven gear 76 is disposed to extend in the second direction Y. One end of the driven gear 76 is engaged with the first drive gear 74 and the other end extends to the third mounting port 612 and is drivingly connected to the first input gear 32 through the third mounting port 612. Specifically, the first transmission module 30 may further include a first connecting gear 39, where the first connecting gear 39 is sleeved outside the shaft 321 of the first input gear 32 and is fixedly connected with the first input gear 32. One end of the driven gear 76 away from the first driving gear 74 can be meshed with the first connecting gear 39 through the third mounting hole 612, so that the first input gear 32 is driven to rotate through the first connecting gear 39. The first driving gear 74, the driven gear 76, and the first connecting gear 39 are all cylindrical gears.

The first motor 72 is a servo motor, and in some embodiments, the output shaft of the first motor 72 may be customized, and the first driving gear 74 and the output shaft of the first motor 72 are combined into one, so that the first input module 70 may not include the first driving gear 74. A deep groove ball bearing may be provided between the driven gear 76 and the first mounting portion 61 to improve the stability of the driving of the driven gear 76. In use, the first motor 72 drives the first driving gear 74 to rotate, the first driving gear 74 rotates to drive the driven gear 76 to rotate, and the driven gear 76 rotates to drive the first input gear 32 to rotate through the first connecting gear 39, so as to drive the first transmission module 30.

Referring to fig. 2 and 6, in the present embodiment, the second mounting portion 63 is substantially shaped as a housing, the second mounting portion 63 is provided with a fourth mounting port 632, the fourth mounting port 632 penetrates through a side of the second mounting portion 63 near the second housing 20 substantially along the second direction Y, and the fourth mounting port 632 communicates with the second connection port 23. The fourth mounting opening 632 is substantially circular and has an axis substantially parallel to the second direction Y.

The second input module 80 includes a second motor 81 and a second driving gear 83, the second driving gear 83 is disposed at an output end of the second motor 81, and the second driving gear 83 is in transmission connection with the second transmission module 40. The second motor 81 is disposed at the second mounting portion 63 and is disposed along the second direction Y. The axis of the second drive gear 83 is substantially parallel to the second axis O2, and the second drive gear 83 is non-rotatably connected to the output shaft of the second motor 81. The end of the second driving gear 83 remote from the second motor 81 extends to the fourth mounting port 632 and is drivingly connected to the second input gear 41 through the fourth mounting port 632. Specifically, the second transmission module 40 may further include a second connecting gear 49, where the second connecting gear 49 is sleeved outside the shaft portion of the second input gear 41 and is fixedly connected with the second input gear 41. The second driving gear 83 is engaged with the second connecting gear 49, so that the second input gear 41 is driven to rotate by the second connecting gear 49. The second drive gear 83 and the second connecting gear 49 are cylindrical gears.

The second motor 81 is a servo motor, in some embodiments, the output shaft of the second motor 81 may be customized, and the second driving gear 83 and the output shaft of the second motor 81 are combined into one, so that the second input module 80 may not include the second driving gear 83. In use, the second motor 81 drives the second driving gear 83 to rotate, and the second driving gear 83 rotates to drive the second input gear 41 to rotate through the second connecting gear 49, so as to drive the second transmission module 40.

In summary, when the robot joint 100 provided in the embodiment of the present application is assembled, the first transmission module 30, the output module 50, the second transmission module 40, the first input module 70 and the second input module 80 are respectively assembled into one module, and finally, five modules are assembled into the robot joint 100. The adjustment of the center distance of the gears contained in each module and the installation of the oil seals contained in each module are completed in the respective assembly processes of the first transmission module 30, the output module 50, the second transmission module 40, the first input module 70 and the second input module 80, and the accuracy of gear transmission and the tightness of joints are well ensured when the final assembly is integrated. The robot joint 100 of the application not only has simple assembly, but also satisfies the compactness and high rigidity of the structure by the split joint design, thereby realizing the fixed constraint of the gear sets, the clearance adjustment between the gear sets and the sealing of the joint.

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 present application. 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.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting. Although the application has been described in detail with reference to the foregoing embodiments, it will be appreciated by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents. Such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (11)

1. A robotic joint, comprising:

a first housing provided with a first mounting port;

the second shell is arranged at intervals relative to the first shell, and is provided with a second mounting port;

the first transmission module is arranged on the first shell;

the second transmission module is arranged on the second shell;

the output module is arranged between the first shell and the second shell; the output module comprises a third shell and an output flange, the third shell is rotatably arranged between the first shell and the second shell, and the third shell penetrates through the first mounting opening and is connected with the first transmission module in a transmission way so as to rotate around a first axis relative to the first shell under the drive of the first transmission module; the output flange is rotatably arranged on the third shell and is in transmission connection with the second transmission module through the second mounting port so as to rotate around a second axis relative to the third shell under the drive of the second transmission module; the first axis and the second axis intersect.

2. The robotic joint of claim 1, wherein the third housing comprises a first connection portion and an output connection portion, the first connection portion being embedded in the first mounting port and rotatably connected with the first housing, the output flange being rotatably disposed at the output connection portion.

3. The robotic joint of claim 2, wherein the first transmission module comprises a first input gear and a first transmission gear rotatably disposed in the first housing and connected to the first connection portion; the first input gear is rotatably arranged on the first shell and meshed with the first transmission gear.

4. The robotic joint of claim 2, wherein the third housing further comprises a second connection portion connected to the output connection portion and disposed in spaced relation to the first connection portion, the second connection portion being embedded in the second mounting port and rotatably connected to the second housing; the output connecting portion is provided with an inner hole for installing the output flange, the second connecting portion is provided with an installation cavity, and the installation cavity is communicated with the inner hole.

5. The robotic joint of claim 4, wherein the output module comprises a first output gear and a second output gear intermeshed, the first output gear rotatably disposed in the mounting cavity and drivingly coupled to the second drive module, the second output gear disposed in the bore and rotationally coupled to the output flange; the second transmission module comprises a second transmission gear, and the second transmission gear is in rotation-stopping connection with the first output gear.

6. The robotic joint of claim 5, wherein the third housing further comprises a cover adjustably disposed to the output connection, the cover abutting the second output gear, the cover moving relative to the output connection to control displacement of the second output gear on the second axis to adjust a center-to-center distance between the second output gear and the first output gear.

7. The robotic joint of claim 5, wherein the second transmission module further comprises a second input gear rotatably disposed to the second housing, the second input gear meshed with the second transmission gear.

8. The robotic joint of claim 7, wherein the second transmission module further comprises an adjusting member, the shaft portion of the first output gear is disposed through the second transmission gear, the adjusting member is in threaded connection with the shaft portion of the first output gear, the adjusting member abuts against one end of the second transmission gear, and the adjusting member is used for adjusting a center distance between the second transmission gear and the second input gear.

9. The robotic joint of any one of claims 1-8, further comprising a fourth housing, a first input module, and a second input module, the fourth housing being connected between the first housing and the second housing and being located at an end of the first housing remote from the third housing; the first input module is arranged in the fourth shell and is in transmission connection with the first transmission module, and the second input module is arranged in the fourth shell and is in transmission connection with the second transmission module.

10. The robotic joint of claim 9, wherein the first input module comprises a first motor, a first drive gear and a driven gear, the first drive gear is disposed at an output end of the first motor, the driven gear is meshed with the first drive gear, and a gear shaft of the driven gear is in driving connection with the first transmission module.

11. A robot comprising a body and a robot joint according to any one of claims 1 to 10, said robot joint being connected to said body.