WO2021212890A1 - 工业机器人、机械臂、关节结构及其装配方法 - Google Patents

工业机器人、机械臂、关节结构及其装配方法 Download PDF

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Publication number
WO2021212890A1
WO2021212890A1 PCT/CN2020/139292 CN2020139292W WO2021212890A1 WO 2021212890 A1 WO2021212890 A1 WO 2021212890A1 CN 2020139292 W CN2020139292 W CN 2020139292W WO 2021212890 A1 WO2021212890 A1 WO 2021212890A1
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WO
WIPO (PCT)
Prior art keywords
hole
piece
sealing ring
joint structure
fixedly connected
Prior art date
Application number
PCT/CN2020/139292
Other languages
English (en)
French (fr)
Inventor
腾野
金明亮
孔令超
崔中
Original Assignee
珠海格力电器股份有限公司
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Filing date
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Publication of WO2021212890A1 publication Critical patent/WO2021212890A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0062—Lubrication means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/0421—Guidance of lubricant on or within the casing, e.g. shields or baffles for collecting lubricant, tubes, pipes, grooves, channels or the like
    • F16H57/0424—Lubricant guiding means in the wall of or integrated with the casing, e.g. grooves, channels, holes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/045—Lubricant storage reservoirs, e.g. reservoirs in addition to a gear sump for collecting lubricant in the upper part of a gear case
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H2057/0056—Mounting parts arranged in special position or by special sequence, e.g. for keeping particular parts in his position during assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02034—Gearboxes combined or connected with electric machines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications
    • F16H2057/02069—Gearboxes for particular applications for industrial applications
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Definitions

  • the present disclosure relates to the field of harmonic reducers, in particular to an industrial robot, a mechanical arm, a joint structure and an assembly method thereof.
  • the joint structure usually uses a harmonic reducer to connect two relatively rotating joints.
  • Common lubrication methods for harmonic reducers include grease lubrication and oil lubrication.
  • the grease lubrication method requires less sealing and does not exist. Because of the risk of oil leakage, grease lubrication is widely used.
  • the harmonic reducer with grease lubrication is not conducive to high-speed operation.
  • oil lubrication for the harmonic reducer facilitates the high-speed operation of the joint structure.
  • oil lubrication has higher requirements for sealing, which leads to a more complicated structure of the joint structure, and makes the assembly of the joint structure more difficult, resulting in a harmonic reducer The installation process is more complicated.
  • the present disclosure provides a joint structure and an assembly method thereof, a mechanical arm and an industrial robot, so as to facilitate the use of oil lubrication.
  • the first aspect of the present disclosure provides a joint structure, including a first body, a second body, a motor, and a harmonic reducer.
  • the harmonic reducer has a flexible wheel, a rigid wheel, and a wave generator.
  • the first body is opposite to the second body.
  • the axis of rotation is along the first direction;
  • the second body includes a first piece and a second piece fixedly connected to each other, a first sealing ring is extruded between the first piece and the second piece, and the first piece has a through In the first hole, the harmonic reducer is located in the first hole.
  • the harmonic reducer is located between the first body and the second part; the rigid wheel is fixedly connected to the first part, and the outer peripheral wall of the rigid wheel is connected to the The inner peripheral wall of the first hole is matched, the flexspline is fixedly connected with the first body, and a second sealing ring is arranged between the flexspline and the first body; the second part has a first boss and a second hole, and the first boss is along the first One direction protrudes toward the first part, the second hole penetrates the second part along the first direction, the outer peripheral wall of the first boss matches the inner peripheral wall of the first hole, and the motor body is fixed to the second part along the first direction On the side facing away from the first part, the rotating shaft of the motor is connected with the wave generator after passing through the second hole, and a third sealing ring is arranged between the rotating shaft and the hole wall of the second hole.
  • the flexspline and the rigid spline are already in a combined state.
  • the flexspline will be deformed. Therefore, if positioning measures are not taken, it may be As a result, the matching position of the flexible wheel and the wave generator in the radial direction is shifted, and the flexible wheel and the wave generator cannot be matched in place. Therefore, the wave generator and the rigid wheel need to be directly or indirectly positioned.
  • the present disclosure divides the second body into a first part and a second part, and the first part on the second part The boss is matched with the inner peripheral wall of the first hole.
  • the inner peripheral wall of the first hole is matched with the rigid wheel, so that the radial positioning of the first piece and the rigid wheel is accurate, and then the second
  • the two pieces, the combination of the wave generator and the motor are mounted to the combination of the flexible wheel, the rigid wheel, the first piece, and the first body.
  • the wave generator and the first boss are inserted into the first hole successively, and the wave generator and the flexible
  • the inner peripheral wall of the wheel is coordinated and installed, and the first boss and the inner peripheral wall of the first hole are coordinated and positioned.
  • the opening of the first hole facing the motor end needs to be larger, which will undoubtedly increase the difficulty of sealing the first hole, and the present disclosure can be covered by the second piece
  • a second hole with a smaller diameter is provided on the second part for the shaft to pass through, which is beneficial to reduce the difficulty of sealing the lower end of the first hole.
  • a second sealing ring is squeezed between the flexspline and the first body
  • a third sealing ring is squeezed between the rotating shaft and the wall of the second hole, and between the first part and the second part
  • the first sealing ring is extruded to form a sealed oil cavity on the radial inner side of the flexspline, which facilitates the oil lubrication of the harmonic reducer by injecting lubricating oil into the sealed oil cavity, and the joint structure is suitable for high-speed operation.
  • the second hole is a stepped hole, and the second hole has a large diameter section.
  • the large diameter section is located at the end of the second hole close to the harmonic reducer, and the third sealing ring is a lip seal The third sealing ring is placed in the large diameter section.
  • the setting of the large diameter section facilitates the installation of the third sealing ring, and the step between the large diameter section and the small diameter section faces the axial limit of the third sealing ring, which helps to avoid the third sealing ring from being too large under the action of oil pressure. Deformation helps to ensure good sealing performance of the third sealing ring.
  • the first hole is a stepped hole, the first hole has a first stepped surface, the first stepped surface faces the first body, and the end surface of the rigid wheel is matched with the first stepped surface.
  • the end surface of the rigid wheel is matched with the first step surface, which is beneficial to the axial positioning of the rigid wheel.
  • a fourth sealing ring is extruded between the rigid wheel and the first piece.
  • the arrangement of the fourth sealing ring is beneficial to prevent the lubricating oil from permeating to the radial outside of the harmonic reducer through between the rigid wheel and the first part, and is further beneficial to improving the sealing performance of the joint structure.
  • the first direction is a vertical direction
  • the first body is located above the second body
  • the first body is provided with an oil hole
  • the oil hole communicates with the first hole
  • the sealing requirement of the upper oil hole is low, which is beneficial to improve the economy.
  • the first body has at least one first convex ring protruding toward the first member
  • the first member has at least one second convex ring protruding toward the first body
  • the first hole is located in the first convex ring
  • each first convex ring and each second convex ring are staggered in the radial direction, and the first convex ring and the second convex ring form a labyrinth seal structure.
  • the lubricating oil on the radial inner side of the flexspline is not easy to leak outward, but a small amount of lubricating oil still leaks from between the flexspline and the rigid spline to the radially outer side of the flexspline.
  • This embodiment is provided with a labyrinth seal structure.
  • the labyrinth seal structure is not only conducive to improving the sealing performance of the joint structure, but also because the first convex ring and the second convex ring are not in contact, and the first body and the second body are not in contact, the labyrinth seal structure The relative rotation of the first body and the second body will not be affected, which is beneficial to the smooth operation of the first body relative to the second body.
  • the second member has a first groove
  • the first groove is located on the side of the second member facing away from the first member
  • the first groove is a circular cross-section groove whose center line coincides with the axis of rotation
  • the second hole is opened
  • the body has a second boss, and the outer peripheral wall of the second boss is matched with the inner peripheral wall of the first groove.
  • the first groove is provided, and when the body is rotated and adjusted, The first groove provides a radial limit position for the body, which is beneficial to the stability of the rotation axis of the body, avoids the radial displacement of the body during the rotation, and facilitates the smooth cooperation of the wave generator and the flexspline.
  • the flexspline and the first body are fixedly connected by a first connecting member, and the first connecting member is located on the radially outer side of the second sealing ring.
  • the location of the first connecting member on the radially outer side of the second sealing ring is beneficial to prevent the lubricating oil on the radial inner side of the flexspline from reaching the connecting hole of the first connecting member, and to prevent the lubricating oil on the radial inner side of the flexspline from being connected by the first connecting member
  • the hole leaks to the radial outside of the flexspline.
  • the rigid wheel and the first member are fixedly connected by a second connecting member, and the second connecting member is located at the radial inner side of the first sealing ring.
  • the location of the second connecting member on the radially inner side of the first sealing ring is beneficial to prevent the lubricating oil on the radially inner side of the flexspline from leaking out of the radially outer side of the first sealing ring through the connecting hole of the second connecting member.
  • the first piece and the second piece are fixedly connected by a third connecting piece, and the third connecting piece is located on the radially outer side of the first sealing ring.
  • the third connecting piece is located on the radially outer side of the first sealing ring, which helps to prevent the lubricating oil on the radial inner side of the flexspline from reaching the connecting hole of the third connecting piece, and to prevent the lubricating oil on the radial inner side of the flexspline from being connected by the third connecting piece.
  • the hole leaks out of the joint structure.
  • the second aspect of the present disclosure provides an assembling method of a joint structure, which is suitable for a high-speed joint structure, and the assembling process is simple.
  • the method for assembling the joint structure includes the following steps: installing the combination of the flexible wheel and the rigid wheel on the first body, the flexible wheel is fixedly connected with the first body, and the second sealing ring is squeezed between the flexible wheel and the first body , And then fixedly connect the first piece with the rigid wheel to form the first assembly; pass the shaft through the second hole, the third seal ring is sleeved on the shaft, the third seal ring is squeezed between the shaft and the second piece, and then the
  • the wave generator is fixedly connected with the rotating shaft to form a second component; the second component is inserted into the first component along the first direction, the wave generator is inserted into the inner cavity of the flexspline, and the first boss is inserted into the first hole, And fixedly connect the first piece with the second piece; rotate and adjust the body around the axis of rotation.
  • the body rotates under the restriction of the cooperation of the second boss and the first groove until the flexspline and the wave generator are matched.
  • the two pieces are fixedly
  • the fitting and installation accuracy of various parts in the joint structure is high, and the operation difficulty in the installation process is relatively low, which is convenient for oil lubrication of the joint structure and easy to realize the high-speed operation of the joint structure.
  • the third aspect of the present disclosure provides a method for assembling a joint structure, which is suitable for a joint structure that operates at a high speed and has a simple assembly process.
  • the method for assembling the joint structure includes the following steps: installing the combination of the flexible wheel and the rigid wheel on the first body, the flexible wheel is fixedly connected with the first body, and the second sealing ring is squeezed between the flexible wheel and the first body , And then fixedly connect the first piece with the rigid wheel to form the first assembly; pass the rotating shaft through the second hole, the third sealing ring is sleeved on the rotating shaft, and the third sealing ring is squeezed between the rotating shaft and the second piece to form the first assembly.
  • the second component is fixedly connected, and the wave generator is fixedly connected with the rotating shaft to form a second component; the second component is inserted into the first component along the first direction, and the wave generator is inserted into the inner cavity of the flexspline.
  • the boss is inserted into the first hole; the second component is adjusted by rotating around the axis of rotation. The second component rotates under the restriction of the cooperation of the first boss and the first hole.
  • the piece is fixedly connected with the second piece.
  • the fitting and installation accuracy of various parts in the joint structure is high, and the operation difficulty in the installation process is relatively low, which is convenient for oil lubrication of the joint structure and easy to realize the high-speed operation of the joint structure.
  • a fourth aspect of the present disclosure provides a mechanical arm including the aforementioned joint structure.
  • a fifth aspect of the present disclosure provides an industrial robot including the aforementioned robotic arm.
  • Figure 1 is a half cross-sectional view of an embodiment of a joint structure of the present disclosure
  • Figure 2 is a partial enlarged view of A in Figure 1;
  • Fig. 3 is a cross-sectional exploded view of part of the structure in the embodiment of the joint structure of the present disclosure.
  • the joint structure includes a first body 1, a second body 2, a harmonic reducer 3, a motor 4, and a plurality of sealing rings 5a, 5b, 5c, 5d, 5e.
  • the first body 1 is opposite to the first body 1
  • the rotation axis of the two main bodies 2 is in the vertical direction.
  • the first main body 1 is located above the second main body 2.
  • the harmonic reducer 3 has a flexible wheel 31, a rigid wheel 32 and a wave generator 33, and the rigid wheel 32 and the wave generator 33 Located at the lower part of the harmonic reducer 3.
  • the second body 2 includes a first piece 21, a second piece 22, and a cabinet 23.
  • the first piece 21 and the second piece 22 are both fixed on the upper side wall of the cabinet 23, and the second piece 22 is located on the lower side of the first piece 21 .
  • the first piece 21 has a first hole 211 penetrating in the vertical direction, the harmonic reducer 3 is located in the first hole 211, the first hole 211 is a stepped hole, the first hole 211 has a first section 2111, a second section 2112 And the third section 2113, the first section 2111, the second section 2112, and the third section 2113 are distributed from top to bottom. There is a first stepped surface 214 facing upwards between 2112 and the third section 2113.
  • the first body 1 and the flexspline 31 extending from the third section 2113 are connected by a first screw (not shown in the figure).
  • the first screw is A second sealing ring 5a is squeezed between the first connecting member, the flexspline 31 and the first main body 1.
  • the lower side wall of the first body 1 has a first annular groove 12, and the second sealing ring 5 a is placed in the first annular groove 12.
  • the rigid wheel 32 is located in the second section 2112.
  • the outer peripheral wall of the rigid wheel 32 is matched with the inner peripheral wall of the second section 2112.
  • the end surface of the rigid wheel 32 is matched with the first step surface 214.
  • a fourth sealing ring 5d is squeezed between the first step surface 214 and the end surface of the rigid wheel 32 to provide axial positioning for the rigid wheel 32.
  • the inner peripheral wall of the second section 2112 and the outer peripheral wall of the rigid wheel 32 cooperate to form the rigid wheel 32.
  • the radial positioning is provided, and then the radial and axial positioning between the rigid wheel 32 and the first piece 21 is realized.
  • the inner peripheral wall of the second section 2112 has a second annular groove 212 around the first hole 211, and the fourth sealing ring 5d is placed in the second annular groove 212; alternatively, in other embodiments of the present disclosure Here, the fourth sealing ring 5d can also be squeezed between the end surface of the rigid wheel 32 and the first step surface 214.
  • the second member 22 has a first boss 223, a second hole 221 and a first groove 222.
  • the first boss 223 is located on the upper side of the second member 22.
  • the second hole 221 penetrates the second member 22 in the vertical direction.
  • a groove 222 is recessed upward from the lower side wall surface of the second member 22, the first boss 223 is a circular cross-section boss with the center line in the vertical direction, and the first groove 222 is a circular cross-section groove with the center line in the vertical direction.
  • the second hole 221 is a circular cross-sectional hole opened at the center of the first boss 223. The rotation axis of the first body 1 relative to the second body 2, the central axis of the first boss 223, the center line of the first groove 222, and the The center lines of the two holes 221 coincide.
  • the first boss 223 is inserted into the first hole 211 from bottom to top.
  • the outer peripheral wall of the first boss 223 fits with the inner peripheral wall of the third section 2113.
  • the inner peripheral wall of the third section 2113 provides a radial direction to the first boss 223. Positioning, and then the radial positioning between the first piece 21 and the second piece 22 is realized.
  • the motor 4 includes a body 41 and a rotating shaft 42 which protrudes upward from the body 41.
  • the upper end surface of the body 41 has a second boss 411.
  • the second boss 411 is a boss with a circular cross-section with the axis in the vertical direction.
  • the rotating shaft 42 is located at the center of the second boss 411, the body 41 is located in the chassis 23, and the body 41 is fixed on the lower side wall of the second member 22.
  • the rotating shaft 42 passes through the second hole 221 from bottom to top and then extends to the first In the hole 211, the second boss 411 is inserted into the first groove 222, the outer peripheral wall of the second boss 411 matches the inner peripheral wall of the first groove 222, and the first groove 222 provides radial positioning for the second boss 411, Then the radial positioning of the body 41 and the second member 22 is realized.
  • the second hole 221 is a stepped hole, the large diameter section 2212 of the second hole 221 is located on the upper side of the small diameter section 2211, the large diameter section 2212 of the second hole 221 is provided with a third sealing ring 5b, and the third sealing ring 5b is a lip
  • the third sealing ring 5b is squeezed between the inner peripheral wall of the large diameter section 2212 and the peripheral wall of the rotating shaft 42, so that when the third sealing ring 5b receives pressure from the upper side, the large diameter section 2212 and the small diameter section 2211
  • the stepped surface between them can restrain the third sealing ring 5b from being excessively deformed, which is beneficial to improve the sealing effect of the third sealing ring 5b.
  • the lower side wall of the first member 21 is provided with a third annular groove 213, a first sealing ring 5c is placed in the third annular groove 213, and the first sealing ring 5c is pressed against the first member 21 and the second member 22 between.
  • the rigid wheel 32 and the first member 21 are connected by a second screw (not shown in the figure).
  • the second screw is the second connecting member.
  • the second screw is located on the radially inner side of the first sealing ring 5c. Under the block of the first sealing ring 5c, the lubricating oil cannot leak out of the first sealing ring 5c through the through hole 216 of the second screw on the first member 21, and the lubricating oil cannot leak out of the joint structure through the through hole 216 outside.
  • the first member 21 and the second member 22 are connected by a third screw (not shown in the figure), the third screw is the third connecting member, and preferably the third screw is located on the radially outer side of the first sealing ring 5c In this way, under the sealing action of the first sealing ring 5c, the lubricating oil cannot reach the through hole 225 of the third screw on the second member 22, and the lubricating oil cannot leak out of the joint structure through the through hole 225.
  • the lower side wall of the second member 22 is provided with a fourth annular groove 224, a fifth sealing ring 5e is placed in the fourth annular groove 224, and the fifth sealing ring 5e is squeezed between the body 41 and the second member 22 .
  • the first screw is located on the radially outer side of the second sealing ring 5a, which is beneficial to prevent the lubricating oil on the radially inner side of the flexspline 31 from reaching the through hole 311 of the first screw, and avoid the radially inner side of the flexspline 31
  • the lubricating oil leaks to the radially outer side of the flexspline 31 through the through-hole passage 311 of the first screw.
  • the first screw is connected to the threaded hole 13 of the first body 1 from bottom to top.
  • the threaded hole 13 is a blind hole, which is beneficial to prevent the leakage of lubricating oil through the threaded hole 13.
  • the first body 1 has two first convex rings 14 protruding downward, the first member 21 has a second convex ring 215 protruding upward, and the first hole 211 is located in the first convex ring. 14 and the radial inner side of the second convex ring 215, a first convex ring 14 is located radially outside of the second convex ring 215, the other first convex ring 14 is located radially inward of the second convex ring 215, and the first convex ring 14 is located radially inside the second convex ring 215.
  • the ring 14 and the second convex ring 215 form a labyrinth seal structure; due to the arrangement of the sealing rings, the lubricating oil on the radial inner side of the flexspline 31 is not easy to leak outward, but there is still a small amount of lubricating oil from the flexspline 31 and the rigid wheel 32 leaks to the radial outside of the flexspline 31. Therefore, this embodiment is provided with a labyrinth seal structure.
  • the labyrinth seal structure is not only helpful for improving the sealing performance of the joint structure, but also because the first convex ring 14 and the second convex ring 215 are not Contact, the first body 1 and the second body 2 are not in contact, so the labyrinth seal structure will not affect the relative rotation of the first body 1 and the second body 2, which is beneficial for the first body 1 to run smoothly relative to the second body 2.
  • the number of the first convex ring 14 and the second convex ring 215 can be adjusted.
  • the first convex ring 14 has two rings
  • the second convex ring 215 has three rings.
  • Each first convex ring 14 and each second convex ring 215 are alternately distributed in the radial direction.
  • the first body 1 has an oiling hole 11, the upper opening of the oiling hole 11 is covered with a cover plate 6, and the cover plate 6 has an oil injection port, and the oil injection port is blocked by an oil plug 7.
  • the joint structure of this embodiment forms a sealed oil cavity on the radial inner side of the flexspline 31.
  • the upper end of the sealed oil cavity is covered by the first body 1 and sealed by the fifth sealing ring 5e, and the lower end of the sealed oil cavity is covered by the second piece.
  • the third sealing ring 5b and the first sealing ring 5c which facilitates the oil lubrication of the harmonic reducer 3, which is conducive to the high-speed operation of the joint bearing; and, because the harmonic reducer 3 is located in the first hole 211
  • the fourth sealing ring 5d and the labyrinth seal structure even if a small amount of lubricating oil leaks from the flexspline 31 and the flexspline 32 to the radial outside of the flexspline 31, the lubricating oil can still be retained in the first hole In 211, it is further beneficial to reduce the leakage of lubricating oil; in addition, even if a small amount of lubricating oil leaks downward through the third sealing ring 5b, the fifth sealing ring 5e can prevent the lubricating oil from continuing to leak.
  • the first screw is used to fix the flexspline 31 and the first main body 1, and the second sealing ring 5a is squeezed between the flexspline 31 and the first main body 1.
  • the second step Set the first piece 21 on the rigid wheel 32, and use the second screw to fix the first piece 21 and the rigid wheel 32, and the fourth sealing ring 5d is squeezed between the rigid wheel 32 and the first piece 21;
  • the assembly of the second step and the second step forms the first assembly, which includes the first body 1, the first member 21, the second sealing ring 5a, the fourth sealing ring 5d, the flexible wheel 31 and the rigid wheel 32;
  • the third step Place the third sealing ring 5b in the large-diameter section 2212 of the second hole 221, pass the shaft 42 through the second hole 221 from bottom to top, and fix the wave generator 33 on the upper end of the shaft 42.
  • the third seal The ring 5b is squeezed between the shaft 42 and the inner peripheral wall of the large-diameter section 2212, and the second boss 411 is inserted into the first groove 222;
  • the third step of assembly forms a second component, which includes the motor 4 and the second Piece 22, the third sealing ring 5b and the wave generator 33;
  • the fourth step install the second assembly from bottom to top to the first assembly, the wave generator 33 and the first boss 223 are successively inserted into the first hole 211, and Use the third screw to fix the first piece 21 and the second piece 22;
  • in the fifth step rotate and adjust the body 41 around the axis of rotation until the flexspline 31 and the wave generator 33 are matched, then use the fourth screw (not shown in the figure). Shown) The body 41 is fixedly connected to the second member 22.
  • the order of forming the first component and forming the second component can be adjusted.
  • the wave generator 33 and the first boss 223 are both inserted into the first hole 211, the wave generator 33 is matched with the inner peripheral wall of the flexspline 31, and the first boss 223 and the first hole 211
  • the inner peripheral wall is matched, and the mating surfaces on the first component for radial positioning with the second component are all radially inner sides. It is not necessary to consider the alignment of the mating surfaces on both sides of the first component at the same time, and the wave generator 33 and the first component
  • the boss 223 is not inserted into the first hole 211 at the same time, which is beneficial to reduce the difficulty of fitting and installing the wave generator 33 and the flexspline 31, and helping to reduce the difficulty of fitting and installing the first component and the second component.
  • the body 41 and the second piece 22 can also be fixedly connected in the third step, and the first piece 21 and the second piece 22 are not connected in the fourth step, but in the fourth step
  • the second component is rotated and adjusted to complete the cooperation between the flexspline 31 and the wave generator 33, which can also achieve the purpose of disclosure; of course, since the second component is heavier, the operation of the fifth step is more difficult to perform.
  • the upper flange of the body 41 is in the shape of a rectangular plate, the four corners of the flange have mounting holes penetrating in the vertical direction, and the second piece 22 has four threaded holes, four mounting holes and four threads.
  • the holes correspond to each other.
  • the fourth screw penetrates the mounting hole from bottom to top and then is threadedly connected with the threaded hole; in the fifth step, in order to complete the flexspline 31 and the wave generator 33, it is necessary to rotate the body 41, so in the flexspline After 31 and the wave generator 33 are matched, the mounting hole on the body 41 may have a position deviation from the threaded hole on the second piece 22.
  • the body 41 needs to be rotated continuously to make each mounting hole communicate with each threaded hole one by one. , And then use screws to connect the body 41 and the second piece 22.
  • rotating the body 41 after the flexspline 31 and the wave generator 33 are completed will cause the flexspline 31 and the first body 1 to rotate, resulting in the completion of the joint structure installation Afterwards, the angle of the first body 1 relative to the second body 2 cannot be in a certain state. Therefore, after the joint structure is installed, the motor 4 needs to be energized.
  • the motor 4 drives the first body 1 to rotate, and then the first body 1 is opposite.
  • the angle of the second body 2 is adjusted to a certain state.
  • the mechanical arm of this embodiment adopts the aforementioned joint structure.
  • the mechanical arm of this embodiment adopts the aforementioned joint structure, the installation and operation of the mechanical arm are simple and convenient, and the mechanical arm can be suitable for high-speed operation.
  • the industrial robot of this embodiment adopts the aforementioned mechanical arm, the installation and operation of the industrial robot are simple and convenient, and the industrial robot can be suitable for high-speed operation.

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Abstract

一种关节结构包括第一主体（1）、第二主体（2）、电机（4）和谐波减速器（3），谐波减速器（3）具有柔轮（31）、刚轮（32）和波发生器（33），第二主体（2）包括互相固定连接的第一件（21）和第二件（22），第一件（21）具有第一孔（211），谐波减速器（3）位于第一孔（211）中，谐波减速器（3）位于第一主体与第二件（22）之间；刚轮（32）与第一件（21）固定连接，刚轮（32）的外周壁与第一孔（211）的内周壁配合，柔轮（31）与第一主体（1）固定连接；第二件（22）具有第一凸台（223）和第二孔（221），第一凸台（223）的外周壁与第一孔（211）的内周壁配合，电机（4）的机体固定在第二件（22）的背向第一件（21）的一侧，电机（4）的转轴穿过第二孔（221）后与波发生器（33）连接。此关节结构的安装操作简便，且关节结构能够适于高速运转。还提供一种工业机器人、一种机械臂和一种关节结构的装配方法。

Description

工业机器人、机械臂、关节结构及其装配方法
相关申请的交叉引用
本申请是以CN申请号为202010335008.9，申请日为2020年4月24日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及谐波减速器领域，具体是涉及一种工业机器人、机械臂、关节结构及其装配方法。
背景技术
工业机器人具有关节结构，关节结构常用谐波减速器对两相对转动的关节进行连接，常见的谐波减速器润滑方式包括脂润滑和油润滑，其中由于脂润滑方式对密封要求较低以及不存在漏油风险，因而脂润滑方式的使用较为广泛，然而，脂润滑的谐波减速器不利于高速运转。
对谐波减速器采用油润滑便于关节结构的高速运转，然而，油润滑对密封的要求较高，这导致关节结构的结构较复杂，并且导致关节结构的装配难度较大，导致谐波减速器的安装过程较为复杂。
发明内容
本公开提供一种关节结构及其装配方法、机械臂和工业机器人，以便于采用油润滑。
本公开的第一方面提供一种关节结构，包括第一主体、第二主体、电机和谐波减速器，谐波减速器具有柔轮、刚轮和波发生器，第一主体相对第二主体的转动轴线沿第一方向；第二主体包括互相固定连接的第一件和第二件，第一件与第二件之间挤压有第一密封圈，第一件具有沿第一方向贯通的第一孔，谐波减速器位于第一孔中，沿第一方向，谐波减速器位于第一主体与第二件之间；刚轮与第一件固定连接，刚轮的外周壁与第一孔的内周壁配合，柔轮与第一主体固定连接，柔轮与第一主体之间具有第二密封圈；第二件具有第一凸台和第二孔，第一凸台沿第一方向朝第一件凸出，第二孔沿第一方向贯通第二件，第一凸台的外周壁与第一孔的内周壁配合，沿第一方向， 电机的机体固定在第二件的背向第一件的一侧，电机的转轴穿过第二孔后与波发生器连接，转轴与第二孔的孔壁之间具有第三密封圈。
在波发生器与柔轮配合安装前，柔轮与刚轮已处于组合状态，在波发生器与柔轮的配合安装过程中，柔轮会发生变形，因而如果不采取定位措施，就可能会导致柔轮与波发生器在径向上的配合位置出现偏移，导致柔轮与波发生器不能配合到位，因而需要波发生器与刚轮能够进行直接或间接定位，然而，如果采用刚轮的外周壁与一体结构的第二主体配合进行径向定位，这样在波发生器与柔轮配合安装时，柔轮的内周壁及刚轮的外周壁均为配合面，两个不同朝向的配合面使得波发生器与柔轮配合安装的难度加大，不利于波发生器与柔轮的顺利装配；因而本公开将第二主体分为第一件与第二件，第二件上的第一凸台与第一孔的内周壁配合，在波发生器与柔轮配合安装前先将第一孔的内周壁与刚轮配合，使第一件与刚轮径向定位准确，然后再将第二件、波发生器与电机的组合体装向柔轮、刚轮、第一件、第一主体的组合体，波发生器与第一凸台先后插入第一孔中，波发生器与柔轮的内周壁配合安装，第一凸台与第一孔的内周壁配合定位，这样不仅能够为波发生器与柔轮的配合提供良好定位，而且由于在柔轮与波发生器配合安装时，柔轮的配合面及第一孔的配合面均为内侧壁面，使得波发生器与柔轮配合安装的操作难度较低。
并且，为了使波发生器能够顺利穿入第一孔，第一孔的朝向电机一端的孔口需要设置较大，这无疑会增加第一孔的密封难度，而本公开能够通过第二件覆盖第一孔下端孔口的大部分区域，仅在第二件上设置直径较小的第二孔供转轴穿设，有利于降低第一孔下端孔口的密封难度。
此外，本公开在柔轮与第一主体之间挤压有第二密封圈，在转轴与第二孔的孔壁之间挤压有第三密封圈，在第一件与第二件之间挤压有第一密封圈，这样在柔轮径向内侧形成密封油腔，便于通过向密封油腔注入润滑油实现对谐波减速器的油润滑，关节结构能够适用于高速运转。
在一些实施例中，第二孔为阶梯孔，第二孔具有大径段，沿第一方向，大径段位于第二孔的靠近谐波减速器的一端，第三密封圈为唇形密封圈，第三密封圈置于大径段中。
大径段的设置方便第三密封圈的安装，大径段与小径段之间的台阶面对第三密封圈轴向限位，这有利于避免第三密封圈在油压作用下发生过大变形，有利于保证第三密封圈的密封性能良好。
在一些实施例中，第一孔为阶梯孔，第一孔具有第一台阶面，第一台阶面朝向第一主体，刚轮的端面与第一台阶面配合。
刚轮的端面与第一台阶面配合，有利于对刚轮进行轴向定位。
在一些实施例中，刚轮与第一件之间挤压有第四密封圈。
第四密封圈的设置有利于避免润滑油通过刚轮与第一件之间渗至谐波减速器的径向外侧，进一步有利于提升关节结构的密封性能。
在一些实施例中，第一方向为竖直方向，第一主体位于第二主体上方，第一主体上开设有上油孔，上油孔与第一孔连通。
上油孔的密封要求较低，有利于提升经济性。
在一些实施例中，第一主体具有朝向第一件凸出的至少一个第一凸环，第一件具有朝向第一主体凸出的至少一个第二凸环，第一孔位于第一凸环与第二凸环的径向内侧，各第一凸环与各第二凸环沿径向交错分布，第一凸环与第二凸环组成迷宫密封结构。
由于前述各密封圈的设置，使得柔轮径向内侧的润滑油不容易向外泄漏，然而仍然会有少量润滑油从柔轮与刚轮之间泄漏至柔轮的径向外侧。该实施例设置迷宫密封结构，迷宫密封结构不仅有利于提升关节结构的密封性能，而且由于第一凸环与第二凸环并不接触，第一主体与第二主体不接触，因而迷宫密封结构不会影响第一主体与第二主体的相对转动，有利于第一主体相对第二主体运转顺畅。
在一些实施例中，第二件具有第一槽，第一槽位于第二件的背向第一件的一侧，第一槽为中心线与转动轴线重合的圆截面槽，第二孔开设于第一槽的槽底中心处，机体具有第二凸台，第二凸台的外周壁与第一槽的内周壁配合。
在波发生器插入柔轮径向内侧过后，还需要操作波发生器与柔轮相对转动来使柔轮与波发生器完成配合，本公开实施例通过设置第一槽，在转动调节机体时，第一槽对机体提供径向限定位，有利于机体转动轴线稳定，避免机体在转动过程中发生径向位移，有利于使波发生器与柔轮顺利完成配合。
在一些实施例中，柔轮与第一主体通过第一连接件固定连接，第一连接件位于第二密封圈的径向外侧。
第一连接件位于第二密封圈的径向外侧有利于避免柔轮径向内侧的润滑油到达第一连接件的连接孔路，避免柔轮径向内侧的润滑油通过第一连接件的连接孔路泄漏至柔轮的径向外侧。
在一些实施例中，刚轮与第一件通过第二连接件固定连接，第二连接件位于第一密封圈的径向内侧。
第二连接件位于第一密封圈的径向内侧有利于避免柔轮径向内侧的润滑油通过第二连接件的连接孔路泄漏出第一密封圈的径向外侧。
在一些实施例中，第一件与第二件通过第三连接件固定连接，第三连接件位于第一密封圈的径向外侧。
第三连接件位于第一密封圈的径向外侧有利于避免柔轮径向内侧的润滑油到达第三连接件的连接孔路，避免柔轮径向内侧的润滑油通过第三连接件的连接孔路泄漏出关节结构外。
本公开的第二方面提供一种关节结构的装配方法，该装配方法适于高速运转的关节结构，装配过程简便。
该关节结构的装配方法包括如下步骤：将柔轮与刚轮的组合体安装至第一主体上，柔轮与第一主体固定连接，第二密封圈挤压于柔轮与第一主体之间，然后将第一件与刚轮固定连接，形成第一组件；将转轴穿过第二孔，第三密封圈套于转轴上，第三密封圈挤压于转轴与第二件之间，然后将波发生器与转轴固定连接，形成第二组件；将第二组件沿第一方向插向第一组件，波发生器插于柔轮的内腔中，第一凸台插于第一孔中，并将第一件与第二件固定连接；绕转动轴线转动调整机体，机体在第二凸台与第一槽的配合限制下转动，直至柔轮与波发生器配合完成后，将机体与第二件固定连接。
关节结构中各零部件的配合安装精度较高，安装过程操作难度较低，便于为关节结构进行油润滑，便于实现关节结构高速运转。
本公开的第三方面提供一种关节结构的装配方法，该装配方法适于高速运转的关节结构且装配过程简便。
该关节结构的装配方法包括如下步骤：将柔轮与刚轮的组合体安装至第一主体上，柔轮与第一主体固定连接，第二密封圈挤压于柔轮与第一主体之间，然后将第一件与刚轮固定连接，形成第一组件；将转轴穿过第二孔，第三密封圈套于转轴上，第三密封圈挤压于转轴与第二件之间，将机体与第二件固定连接，并将波发生器与转轴固定连接，形成第二组件；将第二组件沿第一方向插向第一组件，波发生器插于柔轮的内腔中，第一凸台插于第一孔中；绕转动轴线转动调整第二组件，第二组件在第一凸台与第一孔的配合限制下转动，直至柔轮与波发生器配合完成后，将第一件与第二 件固定连接。
关节结构中各零部件的配合安装精度较高，安装过程操作难度较低，便于为关节结构进行油润滑，便于实现关节结构高速运转。
本公开的第四方面提供一种机械臂，包括前述的关节结构。
本公开的第五方面提供一种工业机器人，包括前述的机械臂。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开中记载的一些实施例，对于本领域普通技术人员来讲，还可以根据这些附图获得其他的附图。
图1是本公开关节结构实施例的半剖视图；
图2是图1中A处的局部放大图；
图3是本公开关节结构实施例中部分结构的剖视分解图。
具体实施方式
为了使本公开的目的、技术方案及优点更加清楚明白，以下通过实施例，并结合附图，对本公开的关节结构及其装配方法、机械臂、工业机器人进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本公开，并不用于限定本公开。
关节结构及其装配方法实施例：
请参照图1至图3，关节结构包括第一主体1、第二主体2、谐波减速器3、电机4和多个密封圈5a、5b、5c、5d、5e，第一主体1相对第二主体2的转动轴线沿竖直方向，第一主体1位于第二主体2的上方，谐波减速器3具有柔轮31、刚轮32和波发生器33，刚轮32及波发生器33位于谐波减速器3下部。
第二主体2包括第一件21、第二件22和机箱23，第一件21与第二件22均固定在机箱23的上侧壁上，第二件22位于第一件21的下侧。
第一件21具有沿竖直方向贯通的第一孔211，谐波减速器3位于第一孔211中，第一孔211为阶梯孔，第一孔211具有第一段2111、第二段2112和第三段2113，第一段2111、第二段2112与第三段2113由上至下依次分布，第一段2111、第二段2112与第三段2113的孔径依次减小，第二段2112与第三段2113之间具有朝上的第一台阶 面214，第一主体1与伸于第三段2113的柔轮31通过第一螺钉(图中未示出)连接，第一螺钉即第一连接件，柔轮31与第一主体1之间挤压有第二密封圈5a。
具体地，第一主体1的下侧壁上具有第一环形槽12，第二密封圈5a置于第一环形槽12中。
刚轮32位于第二段2112，刚轮32的外周壁与第二段2112的内周壁配合，刚轮32的端面与第一台阶面214配合，刚轮32的外周壁与第一件21之间挤压有第四密封圈5d，第一台阶面214与刚轮32端面的配合为刚轮32提供轴向定位，第二段2112的内周壁与刚轮32外周壁的配合为刚轮32提供径向定位，继而实现刚轮32与第一件21之间的径向和轴向定位。
具体地，第二段2112的内周壁上具有绕第一孔211一周的第二环形槽212，第四密封圈5d置于第二环形槽212中；可选择地，在本公开的其它实施例中，第四密封圈5d也可以挤压于刚轮32端面与第一台阶面214之间。
第二件22具有第一凸台223、第二孔221和第一槽222，第一凸台223位于第二件22的上侧，第二孔221沿竖直方向贯通第二件22，第一槽222从第二件22的下侧壁面向上凹陷，第一凸台223为中心线沿竖直方向的圆截面凸台，第一槽222为中心线沿竖直方向的圆截面槽，第二孔221为开设于第一凸台223的中心处的圆截面孔，第一主体1相对第二主体2的转动轴线、第一凸台223的中心轴线、第一槽222的中心线、第二孔221的中心线重合。
第一凸台223从下至上插于第一孔211中，第一凸台223的外周壁与第三段2113的内周壁配合，第三段2113的内周壁对第一凸台223提供径向定位，继而实现第一件21与第二件22之间的径向定位。
电机4包括机体41和转轴42，转轴42从机体41上向上伸出，机体41的上侧端面上具有第二凸台411，第二凸台411为轴线沿竖直方向的圆截面凸台，转轴42位于第二凸台411的中心处，机体41位于机箱23中，且机体41固定在第二件22的下侧壁上，转轴42从下至上穿过第二孔221后伸于第一孔211中，第二凸台411插于第一槽222中，第二凸台411的外周壁与第一槽222的内周壁配合，第一槽222对第二凸台411提供径向定位，继而实现机体41与第二件22的径向定位。
第二孔221为阶梯孔，第二孔221的大径段2212位于小径段2211的上侧，第二孔221的大径段2212中设有第三密封圈5b，第三密封圈5b为唇形密封圈，第三密封圈5b挤压于大径段2212的内周壁与转轴42的周壁之间，这样在第三密封圈5b受到来自上侧的压力时，大径段2212与小径段2211之间的台阶面能够限制第三密封圈5b 发生过度变形，有利于提升第三密封圈5b的密封效果。
具体地，第一件21的下侧壁上具有第三环形槽213，第三环形槽213中放置有第一密封圈5c，第一密封圈5c挤压于第一件21与第二件22之间。
具体地，刚轮32与第一件21通过第二螺钉(图中未示出)连接，第二螺钉即第二连接件，优选第二螺钉位于第一密封圈5c的径向内侧，这样在第一密封圈5c的阻挡下，润滑油不能够通过第二螺钉在第一件21上的贯穿孔路216泄漏出第一密封圈5c的外侧，润滑油不能通过贯穿孔路216泄漏出关节结构外。
具体地，第一件21与第二件22之间通过第三螺钉(图中未示出)连接，第三螺钉即第三连接件，优选第三螺钉位于第一密封圈5c的径向外侧，这样在第一密封圈5c的密封作用下，润滑油不能到达第三螺钉在第二件22上的贯穿孔路225处，润滑油不能通过贯穿孔路225泄漏至关节结构外。
具体地，第二件22的下侧壁上具有第四环形槽224，第四环形槽224中放置有第五密封圈5e，第五密封圈5e挤压于机体41与第二件22之间。
在一些实施例中，第一螺钉位于第二密封圈5a的径向外侧，这样有利于避免柔轮31径向内侧的润滑油到达第一螺钉的贯穿孔路311，避免柔轮31径向内侧的润滑油通过第一螺钉的贯穿孔路311泄漏至柔轮31的径向外侧。
具体地，第一螺钉从下至上连接至第一主体1的螺纹孔13中，优选地，螺纹孔13为盲孔，这样有利于防止润滑油通过螺纹孔13泄漏。
在一些实施例中，第一主体1具有朝下凸出的两个第一凸环14，第一件21具有朝上凸出的一个第二凸环215，第一孔211位于第一凸环14与第二凸环215的径向内侧，一个第一凸环14位于第二凸环215的径向外侧，另一个第一凸环14位于第二凸环215的径向内侧，第一凸环14与第二凸环215组成迷宫密封结构；由于各密封圈的设置，使得柔轮31径向内侧的润滑油不容易向外泄漏，然而仍然会有少量润滑油从柔轮31与刚轮32之间泄漏至柔轮31的径向外侧，因而本实施例设置迷宫密封结构，迷宫密封结构不仅有利于提升关节结构的密封性能，而且由于第一凸环14与第二凸环215并不接触，第一主体1与第二主体2不接触，因而迷宫密封结构不会影响第一主体1与第二主体2的相对转动，有利于第一主体1相对第二主体2运转顺畅。
在一些实施例中，在本公开的其它实施例中，第一凸环14与第二凸环215的数量可以调整，例如第一凸环14具有两圈，第二凸环215具有三圈，各第一凸环14与各第二凸环215在径向上交错分布。
具体地，第一主体1上具有上油孔11，上油孔11的上侧开口处覆盖有盖板6， 盖板6上具有注油口，注油口采用油塞7封堵。
本实施例的关节结构在柔轮31的径向内侧形成一个密封油腔，密封油腔的上端由第一主体1覆盖，并由第五密封圈5e密封，密封油腔的下端由第二件22覆盖，并由第三密封圈5b和第一密封圈5c密封，这样便于对谐波减速器3进行油润滑，有利于关节轴承高速运转；并且，由于谐波减速器3位于第一孔211内，且由于第四密封圈5d和迷宫密封结构的设置，即使有少量润滑油从柔轮31与刚轮32泄漏至柔轮31的径向外侧，润滑油也仍然能够被保持在第一孔211中，进一步有利于减少润滑油的泄漏；此外，即使有少量润滑油通过第三密封圈5b向下泄漏，也能通过第五密封圈5e防止润滑油继续泄漏。
在装配生产关节结构时，第一步，采用第一螺钉将柔轮31与第一主体1固定连接，第二密封圈5a挤压于柔轮31与第一主体1之间；第二步，将第一件21套于刚轮32上，并采用第二螺钉将第一件21与刚轮32固定连接，第四密封圈5d挤压于刚轮32与第一件21之间；第一步与第二步的装配形成第一组件，第一组件包括第一主体1、第一件21、第二密封圈5a、第四密封圈5d、柔轮31和刚轮32；第三步，将第三密封圈5b置于第二孔221的大径段2212，将转轴42由下至上穿过第二孔221，并将波发生器33固定在转轴42的上端，此时，第三密封圈5b挤压于转轴42与大径段2212的内周壁之间，第二凸台411插于第一槽222中；第三步的装配形成第二组件，第二组件包括电机4、第二件22、第三密封圈5b和波发生器33；第四步，将第二组件从下至上装向第一组件，波发生器33和第一凸台223先后插入第一孔211中，并采用第三螺钉将第一件21与第二件22固定连接；第五步，绕转动轴线转动调整机体41，直至柔轮31与波发生器33配合完成后，采用第四螺钉(图中未示出)将机体41与第二件22固定连接。
上述各步骤中，形成第一组件与形成第二组件的顺序可以调整。
上述的第四步中，由于波发生器33与第一凸台223均插入第一孔211中，波发生器33与柔轮31的内周壁配合，第一凸台223与第一孔211的内周壁配合，第一组件上用来与第二组件径向定位的配合面均为径向内侧面，不用同时考虑第一组件内外两侧配合面的对准，并且波发生器33与第一凸台223并不同时插入第一孔211，这有利于降低波发生器33与柔轮31的配合安装难度，有利于降低第一组件与第二组件的配合安装难度。
当然，在本公开的其它实施例中，也可以在第三步中先将机体41与第二件22固定连接，并且在第四步中不连接第一件21与第二件22，而在第五步中通过转动调整 第二组件来使柔轮31与波发生器33完成配合，也能实现公开目的；当然由于第二组件的重量更大，这样第五步的操作执行难度较大。
具体地，机体41的上端法兰呈矩形板状，法兰的四个角部具有沿竖直方向贯通的安装孔，第二件22上具有四个螺纹孔，四个安装孔与四个螺纹孔一一对应，第四螺钉从下至上贯穿安装孔后与螺纹孔螺纹连接；在第五步中，为了使柔轮31与波发生器33能够配合完成，需要转动机体41，因而在柔轮31与波发生器33配合完成后，机体41上的安装孔可能与第二件22上的螺纹孔具有位置偏差，此时需要继续转动机体41，使各安装孔与各螺纹孔一一对应连通，然后再采用螺钉连接机体41与第二件22，当然，在柔轮31与波发生器33配合完成后转动机体41，会引起柔轮31和第一主体1转动，导致在关节结构安装完成后第一主体1相对第二主体2的角度不能处于确定的状态，因而在关节结构安装完成后，需要为电机4通电，通过电机4运转带动第一主体1转动，继而将第一主体1相对第二主体2的角度调节到确定的状态。
机械臂实施例：
本实施例的机械臂采用前述的关节结构。
本实施例的机械臂由于采用前述的关节结构，机械臂的安装操作简便，且机械臂能够适于高速运转。
工业机器人实施例：
本实施例的工业机器人采用前述的机械臂，工业机器人的安装操作简便，且工业机器人能够适于高速运转。
最后需要强调的是，以上所述仅为本公开的优选实施例，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种变化和更改，凡在本公开的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (14)

  1. 一种关节结构，包括第一主体、第二主体、电机和谐波减速器，所述谐波减速器包括柔轮、刚轮和波发生器，所述第一主体相对所述第二主体的转动轴线沿第一方向设置；其中，
    所述第二主体包括互相固定连接的第一件和第二件，所述第一件与所述第二件之间挤压有第一密封圈，所述第一件具有沿所述第一方向贯通的第一孔，所述谐波减速器位于所述第一孔中，沿所述第一方向，所述谐波减速器位于所述第一主体与所述第二件之间；
    所述刚轮与所述第一件固定连接，所述刚轮的外周壁与所述第一孔的内周壁配合，所述柔轮与所述第一主体固定连接，所述柔轮与所述第一主体之间设置有第二密封圈；
    所述第二件具有第一凸台和第二孔，所述第一凸台沿所述第一方向朝所述第一件凸出，所述第二孔沿所述第一方向贯通所述第二件，所述第一凸台的外周壁与所述第一孔的内周壁配合，沿所述第一方向，所述电机的机体固定在所述第二件的背向所述第一件的一侧，所述电机的转轴穿过所述第二孔后与所述波发生器连接，所述转轴与所述第二孔的孔壁之间设置有第三密封圈。
  2. 根据权利要求1所述的关节结构，其中，
    所述第二孔为阶梯孔，所述第二孔具有大径段，沿所述第一方向，所述大径段位于所述第二孔的靠近所述谐波减速器的一端，所述第三密封圈为唇形密封圈，所述第三密封圈置于所述大径段中。
  3. 根据权利要求1所述的关节结构，其中，
    所述第一孔为阶梯孔，所述第一孔具有第一台阶面，所述第一台阶面朝向所述第一主体，所述刚轮的端面与所述第一台阶面配合。
  4. 根据权利要求1所述的关节结构，其中，所述刚轮与所述第一件之间挤压有第四密封圈。
  5. 根据权利要求1所述的关节结构，其中，
    所述第一方向为竖直方向，所述第一主体位于所述第二主体上方，所述第一主体上开设有上油孔，所述上油孔与所述第一孔连通。
  6. 根据权利要求1至5任一项所述的关节结构，其中，
    所述第一主体具有朝向所述第一件凸出的至少一个第一凸环，所述第一件具有朝向所述第一主体凸出的至少一个第二凸环，所述第一孔位于所述第一凸环与所述第二凸环的径向内侧，各所述第一凸环与各所述第二凸环沿径向交错分布，所述第一凸环与所述第二凸环组成迷宫密封结构。
  7. 根据权利要求1至5任一项所述的关节结构，其中，
    所述第二件具有第一槽，所述第一槽位于所述第二件的背向所述第一件的一侧，所述第一槽为中心线与所述转动轴线重合的圆截面槽，所述第二孔开设于所述第一槽的槽底中心处，所述机体具有第二凸台，所述第二凸台的外周壁与所述第一槽的内周壁配合。
  8. 根据权利要求1至5任一项所述的关节结构，其中，
    所述柔轮与所述第一主体通过第一连接件固定连接，所述第一连接件位于所述第二密封圈的径向外侧。
  9. 根据权利要求1至5任一项所述的关节结构，其中，
    所述刚轮与所述第一件通过第二连接件固定连接，所述第二连接件位于所述第一密封圈的径向内侧。
  10. 根据权利要求1至5任一项所述的关节结构，其中，
    所述第一件与所述第二件通过第三连接件固定连接，所述第三连接件位于所述第一密封圈的径向外侧。
  11. 一种基于权利要求7所述的关节结构的装配方法，包括如下步骤：
    将所述柔轮与所述刚轮的组合体安装至所述第一主体上，所述柔轮与所述第一主体固定连接，所述第二密封圈挤压于所述柔轮与所述第一主体之间，然后将所述第一件与所述刚轮固定连接，形成第一组件；
    将所述转轴穿过所述第二孔，所述第三密封圈套于转轴上，所述第三密封圈挤压于所述转轴与所述第二件之间，并将所述波发生器与所述转轴固定连接，形成第二组件；
    将所述第二组件沿第一方向插向所述第一组件，所述波发生器插于所述柔轮的内腔中，所述第一凸台插于所述第一孔中，并将所述第一件与所述第二件固定连接；和
    绕所述转动轴线转动调整所述机体，所述机体在所述第二凸台与所述第一槽的配合限制下转动，直至所述柔轮与所述波发生器配合完成后，将所述机体与所述第二件固定连接。
  12. 一种基于权利要求1至10任一项所述的关节结构的装配方法，包括如下步骤：
    将所述柔轮与所述刚轮的组合体安装至所述第一主体上，所述柔轮与所述第一主体固定连接，所述第二密封圈挤压于所述柔轮与所述第一主体之间，然后将所述第一件与所述刚轮固定连接，形成第一组件；
    将所述转轴穿过所述第二孔，所述第三密封圈套于所述转轴上，所述第三密封圈挤压于所述转轴与所述第二件之间，将所述机体与所述第二件固定连接，并将所述波发生器与所述转轴固定连接，形成第二组件；
    将所述第二组件沿第一方向插向所述第一组件，所述波发生器插于所述柔轮的内腔中，所述第一凸台插于所述第一孔中；和
    绕所述转动轴线转动调整所述第二组件，所述第二组件在所述第一凸台与所述第一孔的配合限制下转动，直至所述柔轮与所述波发生器配合完成后，将所述第一件与所述第二件固定连接。
  13. 一种机械臂，
    包括如权利要求1至10任一项所述的关节结构。
  14. 一种工业机器人，
    包括如权利要求13所述的机械臂。
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