WO2023116766A1 - 用于转动关节的传动机构 - Google Patents
用于转动关节的传动机构 Download PDFInfo
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- WO2023116766A1 WO2023116766A1 PCT/CN2022/140704 CN2022140704W WO2023116766A1 WO 2023116766 A1 WO2023116766 A1 WO 2023116766A1 CN 2022140704 W CN2022140704 W CN 2022140704W WO 2023116766 A1 WO2023116766 A1 WO 2023116766A1
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- shaft
- transmission
- bearing
- installation shaft
- installation
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 124
- 230000007246 mechanism Effects 0.000 title claims abstract description 41
- 238000009434 installation Methods 0.000 claims description 125
- 238000009826 distribution Methods 0.000 abstract description 2
- 239000000853 adhesive Substances 0.000 description 11
- 230000001070 adhesive effect Effects 0.000 description 11
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 239000003292 glue Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
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Classifications
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- 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
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- 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
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
Definitions
- the present application relates to the technical field of automated machinery, in particular to a transmission mechanism for a rotary joint, a robot joint and a robot.
- Rotary joints are common components in automated machinery such as robots, robotic arms, and multi-layer rotary systems.
- the main parts of the transmission mechanism of the rotary joint are generally arranged in sequence along the axial direction of the joint.
- an input encoder, an input shaft, a motor/reducer system, an output shaft, and an output encoder can be sequentially arranged in the axial direction of the joint.
- this installation structure also has obvious disadvantages, such as occupying more axial space and low utilization rate of radial space.
- a transmission mechanism for a rotary joint including:
- a transmission member having an output end and an input end
- an input shaft is drivingly connected to both the driving end and the input end, and sleeved outside the output shaft;
- the casing is sheathed outside the input shaft.
- the transmission mechanism has a first side and a second side opposite to each other, the driving member and the transmission member are both arranged on the first side, and the output shaft and the input shaft are The first side extends to the second side.
- the output shaft, the input shaft and the end of the housing on the second side are sequentially arranged in a stepped shape, wherein the end of the output shaft protrudes beyond the input the end of the shaft and the end of the housing.
- the output shaft includes a first transmission shaft and a first installation shaft, and a part of the first transmission shaft close to the first side is drivingly connected to the output end of the transmission member, so The part of the first transmission shaft close to the second side is fixedly connected with the first installation shaft;
- the input shaft includes a second transmission shaft and a second installation shaft, and the part of the second transmission shaft close to the first installation shaft The part on one side is drivingly connected to the input end of the transmission member, the part of the second transmission shaft far away from the first side is fixedly connected to the second installation shaft, and the second transmission shaft is connected to the The driving end of the driving member is drivingly connected.
- the first installation shaft is at least partially inserted in the part of the first transmission shaft close to the second side; the second installation shaft is at least partially inserted in the second transmission shaft; In the portion of the shaft close to the second side.
- the outer diameter of the first transmission shaft is larger than the outer diameter of the first installation shaft, and the inner diameter of the second transmission shaft is smaller than the inner diameter of the second installation shaft.
- a first bearing is sleeved between the first installation shaft and the second installation shaft; a first shoulder is provided on the outer wall of the first installation shaft, and the first stop The shoulder is used to limit the movement of the first bearing in the direction of the first side.
- a second bearing is sleeved between the second installation shaft and the housing, and a second shoulder is provided on the inner wall of the housing, and the second shoulder is used to limit the The second bearing moves toward the first side.
- Another aspect of the present application proposes a robot joint, including the transmission mechanism described in any one of the above embodiments.
- Another aspect of the present application proposes a robot, including the robot described in the foregoing embodiments.
- FIG. 1 is a schematic structural view of a transmission mechanism according to an embodiment of the present application
- Fig. 2 is a sectional view of the transmission mechanism of Fig. 1 along the A-A line;
- Fig. 3 is a partially enlarged view of area B of the transmission mechanism of Fig. 2;
- Fig. 4 is a partial perspective view of the right part of the transmission mechanism of Fig. 2;
- Fig. 5 is a schematic diagram of the internal connection structure of the motor/reducer system in the transmission mechanism shown in Fig. 2;
- Fig. 6 is a schematic structural diagram of a robot according to an embodiment of the present application.
- Fig. 7 schematically shows a cross-sectional view of a transmission mechanism in the related art.
- Robot joint 10. Transmission mechanism, 101. Power system, 100. Driving part, 110. Rotor, 120. Stator, 110a. Driving end, 200. Transmission part, 210. Output end, 220. Input end, 300. Output shaft, 310, first transmission shaft, 320, first installation shaft, 321, first end, 322, second end, 330, first shoulder, 340, first annular boss, 400, input shaft, 410 , the second transmission shaft, 420, the second installation shaft, 421, the third end, 422, the fourth end, 430, the second annular boss, 440, the third annular boss, 500, the shell, 510, the annular groove , 520, fifth end, 530, sixth end, 540, accommodation groove, 550, second shoulder, 600, first bearing, 700, second bearing, 101a, power system, 300a, output shaft, 400a, input Shaft, 800a, input end encoder, 900a output end encoder.
- an embodiment of the present application proposes a transmission mechanism 10 for a rotary joint, which can be applied to related fields such as robots, mechanical arms, and multi-layer rotary system and occasions.
- the transmission mechanism 10 for a rotary joint includes a driving member 100 , a transmission member 200 , an output shaft 300 , an input shaft 400 , a housing 500 , a first bearing 600 and a second bearing 700 .
- the transmission mechanism 10 for the rotary joint can make full use of the radial space and save the axial space while satisfying good assembly coaxiality.
- transmission mechanism 10 has opposite first side (for example the left side in Fig. 2) and second side (for example the right side among Fig.
- Both extend from the first side to the second side with the input shaft 400 .
- Both the driving member 100 and the transmission member 200 are arranged on the first side, while the input shaft 400 and the output shaft 300 are arranged to extend from the first side to the second side.
- Other components such as encoders, etc.
- the input shaft 400 and the output shaft 300 also prevent the input shaft 400 and the output shaft 300 from interfering with the bulky and complex-structured drive member 100 (such as a motor, etc.) and transmission member 200 (such as a reducer, etc.) .
- the driving member 100 has a driving end 110a.
- the driving member 100 is a motor, and the motor has a stator 120 and a rotor 110, and the rotor 110 is a driving end 110a.
- the driving member 100 may also be other driving mechanisms such as air cylinders and oil cylinders.
- the transmission member 200 has an output end 210 and an input end 220 .
- the transmission member 200 is a speed reducer.
- the transmission member 200 may also be other forms of the transmission mechanism 10 .
- the driving member 100 and the transmission member 200 can be assembled into a power system 101 .
- both the output shaft 300 and the input shaft 400 are elongated hollow shafts, and the radial gap between the input shaft 400 and the output shaft 300 can be configured to be small.
- the input shaft 400 is sheathed outside the output shaft 300 .
- the output shaft 300 is drivingly connected to the output end 210 .
- the input shaft 400 is drivingly connected to the driving end 110 a and the input end 220 .
- the outer peripheral surface of the input shaft 400 is meshed with the driving end 100a through gear engagement.
- the input shaft 400 and the driving end 100a may also be end-face connected (such as through a flange connection) The way).
- the output shaft 300 includes a first transmission shaft 310 and a first installation shaft 320 .
- One end of the first transmission shaft 310 is drivingly connected to the output end 210 .
- the first mounting shaft 320 has a first end 321 and a second end 322, the first end 321 is disposed relatively close to the first side, and the second end 322 is disposed relatively close to the second side.
- the first end 321 is connected to the end of the first transmission shaft 310 away from the output end 210 , so that the output shaft 300 can output low-speed high-torque power decelerated by the transmission member 200 , that is, the reducer.
- a first shoulder 330 is disposed on the outer wall of the first installation shaft 320 .
- the first shoulder 330 is specifically an annular protrusion provided on the outer wall of the first installation shaft 320 .
- the outer wall of the first mounting shaft 320 is provided with a first annular boss 340, the part of the first mounting shaft 320 having the first end 321 is inserted into the first transmission shaft 310, and the first An end of the transmission shaft 310 far away from the output end 210 abuts against the first annular boss 340 .
- the first annular boss 340 is closer to the power system 101 (or the transmission member 200 ) than the first shoulder 330 , that is, in FIG. 2 , the first annular boss 340 is located on the left side of the first shoulder 330 .
- the input shaft 400 includes a second transmission shaft 410 and a second installation shaft 420 .
- One end of the second transmission shaft 410 is drivingly connected to the input end 220 , and one side of the second transmission shaft 410 is connected to the rotor 110 of the motor.
- the second installation shaft 420 has a third end 421 and a fourth end 422 , the third end 421 is disposed relatively close to the first side, and the fourth end 422 is disposed relatively close to the second side.
- the third end 421 is connected to the end of the second transmission shaft 410 away from the input end 220, so that the input shaft 400 can input the power of the high speed and low torque of the motor into the reducer.
- the inner wall of the second installation shaft 420 is provided with a second annular boss 430 , and the second annular boss 430 is closer to the power system 101 than the first shoulder 330 , that is, in FIG. 2 , The second annular boss 430 is located on the left side of the first shoulder 330 .
- the part of the second transmission shaft 410 away from the power system 101 is inserted into the second installation shaft 420 , and the end of the second transmission shaft 410 away from the input end 220 abuts against the second annular boss 430 .
- the fit tightness between the second transmission shaft 410 and the second installation shaft 420 is improved, and on the other hand, the length of the part of the second transmission shaft 410 inserted into the second installation shaft 420 can be limited.
- the assembling method of the second installation shaft 420 and the second transmission shaft 410 is not limited thereto, and the second installation shaft 420 and the second transmission shaft 410 may also be assembled in other ways.
- the outer diameter of the first transmission shaft 310 is larger than the outer diameter of the first installation shaft 320
- the inner diameter of the second transmission shaft 410 is smaller than the inner diameter of the second installation shaft 420 .
- the casing 500 is a hollow cylindrical structure.
- the housing 500 is sheathed on the input shaft 400 , specifically the second installation shaft 420 .
- an annular groove 510 matching the third annular boss 440 may be provided on the inner wall of the housing 500.
- the housing 500 has a fifth end 520 and a sixth end 530 .
- the fifth end 520 is disposed relatively close to the first side
- the sixth end 530 is disposed relatively close to the second side.
- the first end 321 , the third end 421 and the fifth end 520 are located on a side close to the power system 101
- the second end 322 , the fourth end 422 and the sixth end 530 are located on a side away from the power system 101 .
- the housing 500 is fixed and connected to the stator 120 .
- a second shoulder 550 is provided on the inner wall of the housing 500 .
- the second shoulder 550 is specifically an annular protrusion provided on the inner wall of the housing 500 .
- the third annular boss 440 is closer to the power system 101 (or the transmission member 200 ) than the second shoulder 550 , that is, in FIG. 2 , the third annular boss 440 is located on the left side of the second shoulder 550 .
- the transmission mechanism 10 for the rotary joint is generally formed by sequentially setting the input shaft 400a, the power system 101a and the output shaft 300a along the axial direction, and the ends of the input shaft 400a and the output shaft 300a
- the input end encoder 800a and the output end encoder 900a are respectively connected to each other.
- Such an arrangement will occupy more space in the axial direction and the utilization rate of space in the radial direction is low.
- the casing 500, the input shaft 400 and the output shaft 300 have a three-layer nested structure, which can satisfy good assembly while At the same time as the axial degree, the total length of the joint is compressed, the axial space is saved, and the radial space is fully utilized.
- the rotor 110 of the motor rotates, and transmits the power of high speed and small torque to the reducer through the input shaft 400, and the reducer converts the power of high speed and small torque generated by the motor into power of low speed and high torque and transmits it to other motors through the output shaft 300. equipment. In this way, the power transmission process of the transmission mechanism 10 is completed.
- the second end 322 , the fourth end 422 and the sixth end 530 are arranged in a stepped shape. Specifically, the distance between the second end 322 and the power system 101 (or transmission member 200) is greater than the distance between the fourth end 422 and the power system 101 (or transmission member 200), and the distance between the fourth end 422 and the power system 101 (or transmission member 200) ) is greater than the distance between the sixth end 530 and the power system 101 (or transmission member 200), that is, the second end 322 protrudes from the plane where the fourth end 422 is located, and the fourth end 422 protrudes from the plane where the sixth end 530 is located
- the flat surface is set in this way to facilitate the installation and disassembly of the housing 500 , the first installation shaft 320 and the second installation shaft 420 .
- the distance between the second end 322 and the power system 101 (or transmission member 200) is smaller than the distance between the fourth end 422 and the power system 101 (or transmission member 200), the fourth end The distance between 422 and the power system 101 (or transmission member 200) is smaller than the distance between the sixth end 530 and the power system 101 (or transmission member 200), that is, the fourth end 422 protrudes from the plane where the second end 322 is located, and the sixth end 530 protrudes from the plane where the fourth end 422 is located.
- the first end 321 , the third end 421 and the fifth end 520 may also be arranged in a stepped shape.
- the first bearing 600 is arranged between the first installation shaft 320 and the second installation shaft 420, that is, the first bearing 600 is sleeved outside the first installation shaft 320, and the second installation The shaft 420 is sleeved outside the first bearing 600 .
- the first bearing 600 is located between the first installation shaft 320 and the second installation shaft 420 near the end of the fourth end 422 , and the first shoulder 330 is used to limit the movement of the first bearing 600 away from the fourth end 422 direction to move.
- the first bearing 600 when the first bearing 600 is installed between the first installation shaft 320 and the second installation shaft 420, one end of the first bearing 600 is against the first shoulder 330, and the other end of the first bearing 600 is against the fourth The plane where the end 422 is located is flush, the outer ring of the first bearing 600 is in contact with the inner wall of the second installation shaft 420 , and the inner ring of the first bearing 600 is in contact with the outer wall of the first installation shaft 320 .
- the first bearing 600 can play the role of supporting the side of the first installation shaft 320 and the second installation shaft 420 away from the transmission member 200, and at the same time can ensure that the first installation shaft 320 and the second installation shaft 420 rotate independently of each other. .
- the first bearing 600 is a deep groove ball bearing
- the deep groove ball bearing is a rolling bearing in which the rolling elements are balls, and each ferrule has a cross section approximately one-third of the circumference of the ball.
- the radial ball bearing of the continuous groove track has the characteristics of small frictional resistance and high speed. It can be used on the parts that bear radial load or the joint load of radial and axial action at the same time, and can also be used to bear axial load. on the machine.
- the first bearing 600 may also be other types of bearings.
- the first bearing 600 and the outer wall of the first installation shaft 320, and the first bearing 600 and the inner wall of the second installation shaft 420 are fixed by adhesive to realize The installation of the first bearing 600 between the first installation shaft 320 and the second installation shaft 420 .
- 609 glue is used as the adhesive, and the 609 glue has higher bonding strength, which can improve the cooperation strength between the first bearing 600 and the first installation shaft 320 and the second installation shaft 420 .
- other types of adhesives can also be selected according to needs.
- first bearing 600 and the outer wall of the first installation shaft 320 Between the first bearing 600 and the outer wall of the first installation shaft 320, between the first bearing 600 and the inner wall of the second installation shaft 420 can also be interference fit, to realize the first bearing 600 between the first installation shaft 320 and the second installation shaft 420. Installation between shafts 420 .
- the first bearing 600 and the outer wall of the first installation shaft 320 , and the first bearing 600 and the inner wall of the second installation shaft 420 are interference-fitted and fixed by adhesive. In this way, the cooperation strength between the first bearing 600 and the first installation shaft 320 and the second installation shaft 420 can be ensured.
- the second bearing 700 is disposed between the second installation shaft 420 and the casing 500, that is, the second bearing 700 is sleeved outside the second installation shaft 420, and the casing 500 is sleeved on the second installation shaft 420.
- the second bearing is 700 outside.
- the second bearing 700 is located between the second installation shaft 420 and the housing 500 near the sixth end 530 , and the second shoulder 550 is used to limit the movement of the second bearing 700 away from the sixth end 530 .
- an annular receiving groove 540 may be provided on the inner wall of the housing 500
- the second shoulder 550 may be provided on the bottom wall of the receiving groove 540 .
- the second bearing 700 When the second bearing 700 is installed between the second installation shaft 420 and the housing 500, the second bearing 700 is inserted in the receiving groove 540, one end of the second bearing 700 is against the second shoulder 550, and the other end of the second bearing 700 One end is flush with a side wall of the receiving groove 540 , the outer ring of the second bearing 700 is against the bottom wall of the receiving groove 540 , and the inner ring of the second bearing 700 is against the outer wall of the second installation shaft 420 . In this way, the second bearing 700 can support the second installation shaft 420 and the side of the housing 500 away from the transmission member 200 , while ensuring that the second installation shaft 420 can rotate relative to the housing 500 .
- the assembling manner of the second bearing 700 is not limited thereto, and the assembling of the second bearing 700 may also be realized in other manners.
- the second bearing 700 is also a deep groove ball bearing.
- the second bearing 700 may also be other types of bearings.
- the second bearing 700 is a deep groove ball bearing larger in size than the first bearing 600, so that the radial distance between the housing 500 and the second installation shaft 420 is greater than that between the second installation shaft 420 and the first installation shaft 420.
- the radial spacing between the shafts 320 is the case.
- the first bearing 600 and the second bearing 700 may also be deep groove ball bearings of the same size and model as required.
- the second bearing 700 is fixed to the outer wall of the second installation shaft 420 and the second bearing 700 and the inner wall of the housing 500 by adhesive to realize the second bearing 700 is mounted between the second mounting shaft 420 and the housing 500 .
- 609 glue is used as the adhesive, and the 609 glue has higher bonding strength, which can improve the cooperation strength between the second bearing 700 and the second installation shaft 420 and the housing 500 .
- other types of adhesives can also be selected according to needs.
- Between the second bearing 700 and the outer wall of the second installation shaft 420, between the second bearing 700 and the inner wall of the housing 500 can also be interference fit, so as to realize the second bearing 700 between the second installation shaft 420 and the housing 500 Install.
- the interference fit between the second bearing 700 and the outer wall of the second installation shaft 420 , and between the second bearing 700 and the inner wall of the casing 500 are fixed by adhesive. In this way, the matching strength between the second bearing 700 and the second installation shaft 420 and the housing 500 can be ensured.
- the first bearing 600 and the outer wall of the first installation shaft 320 , and the first bearing 600 and the inner wall of the second installation shaft 420 are fixed by adhesive and interference fit.
- the second bearing 700 press-fit the second bearing 700 into the receiving groove 540 of the casing 500, so that one end of the second bearing 700 is against the second shoulder 550, and the other end of the second bearing 700 is flush with a side wall of the receiving groove 540. flat.
- the second bearing 700 is fixed to the inner wall of the housing 500 through adhesive.
- the casing 500 and the second bearing 700 are sleeved and installed outside the second installation shaft 420 .
- the second bearing 700 is glued and fixed to the outer wall of the second installation shaft 420 by adhesive.
- the second bearing 700 and the outer wall of the second installation shaft 420 , and the second bearing 700 and the inner wall of the housing 500 are fixed by interference fit.
- the combination of the housing 500 and the second bearing 700 can be disassembled from the second installation shaft 420, and then the second installation shaft 420 can be disassembled from the second transmission shaft 410 with a special jig, and at the same time the second installation shaft 420 can be disassembled from the second transmission shaft 410.
- a bearing 600 is disassembled from the first installation shaft 320 , and finally the first installation shaft 320 is disassembled from the first transmission shaft 310 using a special jig.
- the housing 500, the second mounting shaft 420, and the first mounting shaft 320 are arranged in a stepped shape on the side away from the power system 101 (that is, the second end 322, the fourth end 422, and the sixth end 530), it is convenient for the housing 500, the second The layer-by-layer installation of the second installation shaft 420 and the first installation shaft 320 is also convenient for the layer-by-layer disassembly of the shell 500, the second installation shaft 420 and the first installation shaft 320, especially to facilitate the special fixture to hold the parts that need to be disassembled. part. Moreover, the overall structure is compact and the appearance is small and vibrant, and it is easy to be integrated into other structures.
- the arrangement of the first bearing 600 and the second bearing 700 realizes the mutual independent rotation of the second installation shaft 420 and the first installation shaft 320, or in other words, the output shaft 300 and the input shaft 400, and also realizes the rotation of the output shaft. 300, the radial reliable rigid support of the input shaft 400 and the housing 500.
- both the first bearing 600 and the second bearing 700 are fixed between the first installation shaft 320 and the second installation shaft 420 , between the second installation shaft 420 and the housing 500 by means of adhesive bonding and interference fit.
- the position is limited by the first shoulder 330 and the second shoulder 550, without additional fixing or position-limiting parts, which greatly simplifies the three-layer nesting structure and reduces manufacturing difficulty and cost.
- an embodiment of the present application also proposes a robot joint 1 having the transmission mechanism 10 described in any of the above-mentioned embodiments.
- an embodiment of the present application also proposes a robot, which has at least one robot joint 1 described above.
- the above-mentioned transmission mechanism 10 for a rotary joint has at least the following beneficial effects:
- the input shaft 400 is drivingly connected to the driving end 110 a and the input end 220 , so that the kinetic energy output by the driving end 110 a of the driving member 100 is transmitted to the transmission member 200 through the input shaft 400
- the input end 220; the output shaft 300 is drivingly connected to the output end 210, so as to output the kinetic energy of the transmission member 200, thereby realizing the transmission of kinetic energy from the drive member 100 to the transmission member 200.
- the shell 500, the input shaft 400 and the output shaft 300 are in a three-layer nested structure, compared with the traditional arrangement that is linearly distributed along the axial direction from right to left, it can satisfy good assembly coaxiality , the total length of the compression joint, for example, the length of the three-layer sleeve structure can be shortened to less than 20 mm. And compared with the traditional linear distribution along the axial direction, about 26% of the axial space is saved, and the radial space is fully utilized.
Abstract
本申请涉及一种用于转动关节的传动机构(10)，该用于转动关节的传动机构(10)包括驱动件(100)、传动件(200)、输出轴(300)、输入轴(400)和外壳(500)。驱动件(100)具有驱动端(110a)。传动件(200)具有输出端(210)和输入端(220)。输出轴(300)与输出端(210)驱动连接。输入轴(400)与驱动端(110a)和输入端(220)均驱动连接，且套设于输出轴(300)外。外壳(500)套设于输入轴(400)外。外壳(500)、输入轴(300)和输出轴(300)呈三层套合的结构，相比于传统的从右往左沿轴向呈线性分布的布置方式，能在满足良好的装配同轴度的同时，压缩关节总长度，节省轴向空间，充分利用径向空间。
Description
相关技术的交叉引用
本申请要求于2021年12月23日提交国家知识产权局、申请号为2021115881384、发明名称为“用于转动关节的传动结构”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
[根据细则91更正 05.01.2023]
本申请涉及自动化机械技术领域，特别是涉及一种用于转动关节的传动机构、机器人关节及机器人。
本申请涉及自动化机械技术领域，特别是涉及一种用于转动关节的传动机构、机器人关节及机器人。
转动关节是机器人、机械臂、多层回转体转动系统等自动化机械中的常用部件。转动关节的传动机构的主要零件一般是沿关节的轴向依次布置。例如，输入端编码器、输入转轴、电机/减速器系统、输出转轴和输出端编码器可以在关节的轴向上依次设置。但是，这种安装结构也存在明显的弊端，例如占用较多的轴向空间、径向空间利用率低等。
申请内容
根据本申请的各种实施例，提供一种用于转动关节的传动机构，包括：
驱动件，具有驱动端；
传动件，具有输出端和输入端；
输出轴，与所述输出端驱动连接；
输入轴，与所述驱动端和所述输入端均驱动连接，且套设于所述输出轴外；及
外壳，套设于所述输入轴外。
在其中一个实施例中，所述传动机构具有相对的第一侧和第二侧，所述驱动件和所述传动件均设置于所述第一侧，所述输出轴与所述输入轴从所述第一侧延伸至所述第二侧。
在其中一个实施例中，所述输出轴、所述输入轴和所述外壳在所述第二侧的端部依次呈阶梯状设置，其中，所述输出轴的端部凸出于所述输入轴的端部和所述外壳的端部。
在其中一个实施例中，所述输出轴包括第一传动轴和第一安装轴，所述第一传动轴靠近所述第一侧的部分与所述传动件的所述输出端驱动连接，所述第一传动轴的靠近所述第二侧的部分与所述第一安装轴固定连接；所述输入轴包括第二传动轴和第二安装轴，所述第二传动轴的靠近所述第一侧的部分与所述传动件的所述输入端驱动连接，所述第二传动轴的远离所述第一侧的部分与所述第二安装轴固定连接，所述第二传动轴与所述驱动件的所述驱动端驱动连接。
在其中一个实施例中，所述第一安装轴至少部分插设于所述第一传动轴靠近所述第二侧的部分中；所述第二安装轴至少部分插设于所述第二传动轴的靠近所述第二侧的部分中。
在其中一个实施例中，所述第一传动轴的外径大于所述第一安装轴的外径，所述第二传动轴的内径小于所述第二安装轴的内径。
在其中一个实施例中，所述第一安装轴和所述第二安装轴之间套设有第一轴承；所述第一安装轴的外壁上设有第一挡肩，所述第一挡肩用于限制所述第一轴承向所述第一侧的方向移动。
在其中一个实施例中，所述第二安装轴和所述外壳之间套设有第二轴承，所述外壳的内壁上设有第二挡肩，所述第二挡肩用于限制所述第二轴承向靠近所述第一侧的方向移动。
本申请另一方面提出一种机器人关节，包括上述任一实施例所述的传动机构。
本申请另一方面提出一种机器人，包括上述实施例所述的机器人。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其他特征、目的和优点将从说明书、附图以及权利要求书变得明显。
为了更好地描述和说明这里公开的那些申请的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的申请、目前描述的实施例和/或示例以及目前理解的那些申请的最佳模式中的任何一者的范围的限制。
图1为本申请一实施例的传动机构的结构示意图；
图2为图1的传动机构沿A-A线的剖视图；
图3为图2的传动机构的区域B局部放大图；
图4为图2的传动机构的右侧部分的局部立体图；
图5为图2所示的传动机构中的电机/减速器系统的内部连接结构的示意图；
图6为本申请一实施例的机器人的结构示意图；
图7示意性示出了有关技术中的一种传动机构的剖视图。
附图标记说明
1、机器人关节，10、传动机构，101、动力系统，100、驱动件，110、转子，120、定子，110a、驱动端，200、传动件，210、输出端，220、输入端，300、输出轴，310、第一传动轴，320、第一安装轴，321、第一端，322、第二端，330、第一挡肩，340、第一环形凸台，400、输入轴，410、第二传动轴，420、第二安装轴，421、第三端，422、第四端，430、第二环形凸台，440、第三环形凸台，500、外壳，510、环形凹槽，520、第五端，530、第六端，540、容纳槽，550、第二挡肩，600、第一轴承，700、第二轴承,101a、动力系统，300a、输出轴，400a、输入轴，800a、输入端编码器，900a输出端编码器。
为使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及具体实施方式，对 本申请进行进一步的详细说明。应当理解的是，此处所描述的具体实施方式仅用以解释本申请，并不限定本申请的保护范围。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1、图2和图5所示，本申请一实施例提出一种用于转动关节的传动机构10，该传动机构10可应用于机器人、机械臂、多层回转体转动系统等相关领域及场合。该用于转动关节的传动机构10包括驱动件100、传动件200、输出轴300、输入轴400、外壳500、第一轴承600和第二轴承700。该用于转动关节的传动机构10能在满足良好的装配同轴度的同时，充分利用径向空间、节省轴向空间。其中传动机构10具有相对的第一侧(例如图2中的左侧)和第二侧(例如图2中的右侧)，驱动件100和传动件200均设置于第一侧，输出轴300与输入轴400均从第一侧延伸至第二侧。驱动件100和传动件200均设置在第一侧，而输入轴400和输出轴300设置为从第一侧延伸至第二侧，一方面可以在第二侧预留充足的空间以便设置关节的其他部件(如编码器等)，另一方面也使得输入轴400和输出轴300不会与体型庞大且结构复杂的驱动件100(如电机等)和传动件200(如减速器等)发生干涉。
具体地，如图5所示，驱动件100具有驱动端110a。本实施例中，驱动件100为电机，电机具有定子120和转子110，转子110为驱动端110a。当然，在其他实施例中，驱动件100也可以为气缸、油缸等其他驱动机构。
具体地，如图2和图5所示，传动件200具有输出端210和输入端220。本实施例中，传动件200为减速器。当然，在其他实施例中，传动件200也可以为其他形式的传动机构10。本实施例中，驱动件100和传动件200可以装配成动力系统101。
进一步地，如图2和图4所示，输出轴300和输入轴400均为细长的中空轴，且输入轴400和输出轴300之间的径向间隙可配置为较小。本实施例中，输入轴400套设于输出轴300外。如图5所示，输出轴300与输出端210驱动连接。输入轴400与驱动端110a、输入端220均驱动连接。本实施例中，输入轴400的外周面通过齿轮啮合的方式与驱动端100a啮合，当然，在其他实施例中，输入轴400与驱动端100a之间也可以是端面连接(例如通过法兰连接的方式)。
具体地，如图2和图5所示，输出轴300包括第一传动轴310和第一安装轴320。第一传动轴310的一端与输出端210驱动连接。第一安装轴320具有第一端321和第二端322，第一端321相对靠近第一侧设置，第二端322相对靠近第二侧设置。第一端321与第一传动轴310远离输出端210的一端连接，如此，通过输出轴300可将经传动件200，即减速器减速的低转速大扭矩的动力输出。如图3所示，第一安装轴320的外壁上设有第一挡肩330。本实施例中，第一挡肩330具体为设于第一安装轴320的外壁上的环形凸起。如图2和图3所示，第一安装轴320的外壁设有第一环形凸台340，第一安装轴320具有第一端321的部分插设于第一传动轴310内，且第一传动轴310远离输出端210的一端与第一环形凸台340相抵。第一环形凸台340相对于第一挡肩330更靠近动力系统101(或传动件200)，即在图2中，第一环形凸台340位于第一挡肩330的左侧。
具体地，如图2和图5所示，输入轴400包括第二传动轴410和第二安装轴420。第二传动轴410的一端与输入端220驱动连接，第二传动轴410的一侧与电机的转子110连接。具体地，如图2和图5所示，第二安装轴420具有第三端421和第四端422，第三端421相对靠近第一侧设置，第四端422相对靠近第二侧设置。第三端421与第二传动轴410远离输 入端220的一端连接，如此，输入轴400可将电机的高转速小扭矩的动力输入减速器。如图2和图3所示，第二安装轴420的内壁设有第二环形凸台430，第二环形凸台430相对于第一挡肩330更靠近动力系统101，即在图2中，第二环形凸台430位于第一挡肩330的左侧。第二传动轴410远离动力系统101的部分插设于第二安装轴420中，第二传动轴410远离输入端220的一端与第二环形凸台430相抵。如此，一方面提高第二传动轴410与第二安装轴420的配合紧密度，另一方面也能限制第二传动轴410插设于第二安装轴420内的部分的长度。当然，第二安装轴420与第二传动轴410的装配方式不限于此，第二安装轴420与第二传动轴410也可通过其他方式进行装配。
进一步地，第一传动轴310的外径大于第一安装轴320的外径，第二传动轴410的内径小于第二安装轴420的内径。如此，一方面可以在传动机构的第二侧提供足够的轴承安装空间，另一方面也能使得第一安装轴320和第二安装轴420之间的间隙尽量小，让传动机构的整体结构更加紧凑。
进一步地，如图2和图3所示，外壳500为中空筒状结构。本实施例中，外壳500套设于输入轴400外，具体为套设于第二安装轴420外。具体可以为外壳500的内壁上设有与第三环形凸台440相匹配的环形凹槽510，外壳500套设于第二安装轴420外时，第三环形凸台440插设于环形凹槽510内。如此，能提高输入轴400与外壳500之间的配合紧密度。
外壳500具有第五端520和第六端530。第五端520相对靠近第一侧设置，第六端530相对靠近第二侧设置。第一端321、第三端421和第五端520同位于靠近动力系统101的一侧，第二端322、第四端422和第六端530同位于远离动力系统101的一侧。外壳500固定不动且与定子120连接。如图3所示，外壳500的内壁上设有第二挡肩550，本实施例中，第二挡肩550具体为设于外壳500的内壁上的环形凸起。具体地，第三环形凸台440相对于第二挡肩550更靠近动力系统101(或传动件200)，即在图2中，第三环形凸台440位于第二挡肩550的左侧。
在有关技术中，如图7所示，用于转动关节的传动机构10一般是由输入轴400a、动力系统101a和输出轴300a沿轴向依次设置而成，输入轴400a和输出轴300a的端部分别连接有输入端编码器800a和输出端编码器900a。这样的设置将占用较多的轴向空间且径向空间利用率低。而在本申请中，外壳500、输入轴400和输出轴300呈三层套合的结构，相比于传统的从右往左沿轴向呈线性分布的布置方式，能在满足良好的装配同轴度的同时，压缩关节总长度，节省轴向空间，充分利用径向空间。
以下具体说明本申请所提出的用于转动关节的传动机构10的动力传输过程：
电机的转子110转动，并将高转速小扭矩的动力经输入轴400传递至减速器，减速器将电机产生的高转速小扭矩的动力转换成低转速大扭矩的动力经输出轴300传递给其他设备。如此，即完成传动机构10的动力传输过程。
进一步地，如图2和图3所示，第二端322、第四端422和第六端530呈阶梯状设置。具体地，第二端322与动力系统101(或传动件200)的距离大于第四端422与动力系统101(或传动件200)的距离，第四端422与动力系统101(或传动件200)的距离大于第六端530与动力系统101(或传动件200)的距离，即第二端322凸出于第四端422所在的平面，第四端422凸出于第六端530所在的平面，如此设置，方便外壳500、第一安装轴320和第二安装轴420的安装和拆卸。当然，在其他实施例中，也可以反过来，第二端322与动力系统101(或传动件200)的距离小于第四端422与动力系统101(或传动件200)的距离，第四端422与动力系统101(或传动件200)的距离小于第六端530与动力系统101(或传动件200)的距离，即第四端422凸出于第二端322所在的平面，第六端530凸出于第四端422所在的平面。在其他实施例中，也可以是第一端321、第三端421和第五端520呈阶梯状设置。
进一步地，如图2和图3所示，第一轴承600设置于第一安装轴320和第二安装轴420之间，即第一轴承600套设于第一安装轴320外，第二安装轴420套设于第一轴承600外。本实施例中，第一轴承600位于第一安装轴320和第二安装轴420之间靠近第四端422的一 端，第一挡肩330用于限制第一轴承600向远离第四端422的方向移动。本实施例中，第一轴承600安装于第一安装轴320和第二安装轴420之间时，第一轴承600的一端与第一挡肩330相抵，第一轴承600的另一端与第四端422所在的平面平齐，第一轴承600的外圈与第二安装轴420的内壁相抵，第一轴承600的内圈与第一安装轴320的外壁相抵。如此，第一轴承600能起到支撑第一安装轴320和第二安装轴420的远离传动件200的一侧的作用，同时能保证第一安装轴320和第二安装轴420相互独立的转动。本实施例中，第一轴承600为深沟球轴承，深沟球轴承是一种滚动体为球的滚动轴承，是每个套圈均具有横截面大约为球的周长的三分之一的连续沟型轨道的向心球轴承，具有摩擦阻力小，转速高的特点，能用于承受径向负荷或径向和轴向同时作用的联合负荷的机件上，也可用于承受轴向负荷的机件上。当然，在其他实施例中，第一轴承600也可以为其他类型的轴承。
可选地，如图2和图3所示，第一轴承600与第一安装轴320的外壁之间、第一轴承600与第二安装轴420的内壁之间通过胶黏剂固定，以实现第一轴承600在第一安装轴320和第二安装轴420之间的安装。具体地，采用609胶水作为胶黏剂，609胶水具有较高的粘合强度，能提高第一轴承600与第一安装轴320、第二安装轴420的配合强度。当然，也可以根据需要选择其他类型的胶黏剂。第一轴承600与第一安装轴320的外壁之间、第一轴承600与第二安装轴420的内壁之间也可以过盈配合，以实现第一轴承600在第一安装轴320和第二安装轴420之间的安装。本实施例中，第一轴承600与第一安装轴320的外壁之间、第一轴承600与第二安装轴420的内壁之间过盈配合，同时通过胶黏剂固定。如此，可以保证第一轴承600与第一安装轴320、第二安装轴420的配合强度。
进一步地，如图2和图3所示，第二轴承700设置于第二安装轴420和外壳500之间，即第二轴承700套设于第二安装轴420外，外壳500套设于第二轴承700外。本实施例中，第二轴承700位于第二安装轴420和外壳500之间靠近第六端530的一端，第二挡肩550用于限制第二轴承700向远离第六端530的方向移动。具体可在外壳500的内壁上设置环形的容纳槽540，第二挡肩550设于容纳槽540的底壁上。第二轴承700安装于第二安装轴420和外壳500之间时，第二轴承700插设于容纳槽540内，第二轴承700的一端与第二挡肩550相抵，第二轴承700的另一端与容纳槽540的一个侧壁齐平，第二轴承700的外圈与容纳槽540的底壁相抵，第二轴承700的内圈与第二安装轴420的外壁相抵。如此，第二轴承700能起到支撑第二安装轴420和外壳500的远离传动件200的一侧的作用，同时保证第二安装轴420能相对外壳500转动。当然，第二轴承700的装配方式不限于此，还可通过其他方式实现第二轴承700的装配。
本实施例中，第二轴承700也为深沟球轴承。当然，在其他实施例中，第二轴承700也可以为其他类型的轴承。本实施例中，第二轴承700为比第一轴承600尺寸更大的深沟球轴承，以适应外壳500与第二安装轴420之间的径向间距大于第二安装轴420与第一安装轴320之间的径向间距的情况。当然，在其他实施例中，第一轴承600和第二轴承700根据需要也可以为相同尺寸、型号的深沟球轴承。
可选地，如图2和图3所示，第二轴承700与第二安装轴420的外壁之间、第二轴承700与外壳500的内壁之间通过胶黏剂固定，以实现第二轴承700在第二安装轴420和外壳500之间的安装。具体地，采用609胶水作为胶黏剂，609胶水具有较高的粘合强度，能提高第二轴承700与第二安装轴420、外壳500之间的配合强度。当然，也可以根据需要选择其他类型的胶黏剂。第二轴承700与第二安装轴420的外壁之间、第二轴承700与外壳500的内壁之间也可以过盈配合，以实现第二轴承700在第二安装轴420和外壳500之间的安装。本实施例中，第二轴承700与第二安装轴420的外壁之间、第二轴承700与外壳500的内壁之间过盈配合，同时通过胶黏剂固定。如此，可以保证第二轴承700与第二安装轴420、外壳500的配合强度。
以下具体说明本申请所提出的用于转动关节的传动机构10的安装和拆卸过程：
安装时，先将第一安装轴320的第一端321安装于第一传动轴310上，将第二安装轴420 的第三端421安装于第二传动轴410上。然后，从图2中的右侧，即三层套合结构远离动力系统101(或传动件200)的一侧将第一轴承600压装到第一安装轴320和第二安装轴420之间，使得第一轴承600的一端与第一挡肩330的相抵、第一轴承600的另一端与第四端422的所在平面平齐。第一轴承600与第一安装轴320的外壁之间、第一轴承600与第二安装轴420的内壁之间通过胶黏剂胶黏和过盈配合进行固定。之后，再将第二轴承700压装到外壳500的容纳槽540中，使得第二轴承700的一端与第二挡肩550相抵、第二轴承700的另一端与容纳槽540的一个侧壁齐平。第二轴承700与外壳500的内壁之间通过胶黏剂胶黏进行固定。最后，将外壳500和第二轴承700一起套设安装于第二安装轴420外。第二轴承700与第二安装轴420的外壁之间通过胶黏剂胶黏固定。同时，第二轴承700与第二安装轴420的外壁之间、第二轴承700与外壳500的内壁之间通过过盈配合进行固定。如此即完成转动关节的传动机构10的安装过程。先将第二轴承700压装到外壳500上，再将第二轴承700和外壳500的组合体安装至第二安装轴420上，此时只需考虑第二轴承700与第二安装轴420的外壁之间的配合即可，可减少安装间隙误差，同时减少安装难度。
拆卸时，可先将外壳500和第二轴承700的组合体从第二安装轴420上拆卸下来，再用专用治具将第二安装轴420从第二传动轴410上拆卸下来，同时将第一轴承600从第一安装轴320上拆卸下来，最后则再使用专用治具将第一安装轴320从第一传动轴310上拆卸下来。
由于外壳500、第二安装轴420和第一安装轴320远离动力系统101的一侧(即第二端322、第四端422和第六端530)呈阶梯状设置，因此便于外壳500、第二安装轴420和第一安装轴320的逐层安装，同时也便于外壳500、第二安装轴420和第一安装轴320的逐层拆卸，尤其是方便专用治具夹持住需要拆卸的零部件。而且整体结构紧凑、外观小巧，便于集成到其他结构上。
再者，第一轴承600和第二轴承700的设置在实现第二安装轴420和第一安装轴320，或者说输出轴300和输入轴400的相互独立旋转的同时，也实现了对输出轴300、输入轴400和外壳500的径向的可靠的刚性支撑。
同时，第一轴承600和第二轴承700均通过胶黏剂胶黏和过盈配合相结合的方式固定于第一安装轴320和第二安装轴420之间、第二安装轴420和外壳500之间，同时通过第一挡肩330、第二挡肩550进行限位，无需额外的固定或限位部件，大大简化了三层套合结构，降低了制造难度和成本。
如图6所示，本申请一实施例还提出一种机器人关节1，该机器人关节1具有上述任一实施例所述的传动机构10。
如图6所示，本申请一实施例还提出一种机器人，该机器人具有至少一个上述机器人关节1。
上述用于转动关节的传动机构10至少具有以下有益效果：
该传动机构10中，如图2和图5所示，输入轴400与驱动端110a和输入端220驱动连接，从而将驱动件100的驱动端110a输出的动能通过输入轴400传递至传动件200的输入端220；输出轴300与输出端210驱动连接，从而将传动件200的动能输出，从而实现动能从驱动件100到传动件200的传递。其中，外壳500、输入轴400和输出轴300呈三层套合的结构，相比于传统的从右往左沿轴向呈线性分布的布置方式，能在满足良好的装配同轴度的同时，压缩关节总长度，例如三层套合结构的长度可缩短至20毫米以下。且相比于传统的沿轴向呈线性分布的布置方式节省约26％的轴向空间，充分利用径向空间。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因 此，本申请专利的保护范围应以所附权利要求为准。
Claims (10)
- 一种用于转动关节的传动机构，其特征在于，包括：驱动件，具有驱动端；传动件，具有输出端和输入端；输出轴，与所述输出端驱动连接；输入轴，与所述驱动端和所述输入端均驱动连接，且套设于所述输出轴外；及外壳，套设于所述输入轴外。
- 根据权利要求1所述的传动机构，其特征在于，所述传动机构具有相对的第一侧和第二侧，所述驱动件和所述传动件均设置于所述第一侧，所述输出轴与所述输入轴从所述第一侧延伸至所述第二侧。
- 根据权利要求2所述的用于转动关节的传动机构，其特征在于，所述输出轴、所述输入轴和所述外壳在所述第二侧的端部依次呈阶梯状设置，其中，所述输出轴的端部凸出于所述输入轴的端部和所述外壳的端部。
- 根据权利要求2所述的传动机构，其特征在于，所述输出轴包括第一传动轴和第一安装轴，所述第一传动轴靠近所述第一侧的部分与所述传动件的所述输出端驱动连接，所述第一传动轴的靠近所述第二侧的部分与所述第一安装轴固定连接；所述输入轴包括第二传动轴和第二安装轴，所述第二传动轴的靠近所述第一侧的部分与所述传动件的所述输入端驱动连接，所述第二传动轴的远离所述第一侧的部分与所述第二安装轴固定连接，所述第二传动轴与所述驱动件的所述驱动端驱动连接。
- 根据权利要求4所述的传动机构，其特征在于，所述第一安装轴至少部分插设于所述第一传动轴靠近所述第二侧的部分中；所述第二安装轴至少部分插设于所述第二传动轴的靠近所述第二侧的部分中。
- 根据权利要求4所述的传动机构，其特征在于，所述第一传动轴的外径大于所述第一安装轴的外径，所述第二传动轴的内径小于所述第二安装轴的内径。
- 根据权利要求4所述的用于转动关节的传动机构，其特征在于，所述第一安装轴和所述第二安装轴之间套设有第一轴承；所述第一安装轴的外壁上设有第一挡肩，所述第一挡肩用于限制所述第一轴承向所述第一侧的方向移动。
- 根据权利要求4所述的用于转动关节的传动机构，其特征在于，所述第二安装轴和所述外壳之间套设有第二轴承，所述外壳的内壁上设有第二挡肩，所述第二挡肩用于限制所述第二轴承向靠近所述第一侧的方向移动。
- 一种机器人关节，其特征在于，包括如权利要求1至9中任一项所述的传动机构。
- 一种机器人，其特征在于，包括如权利要求10所述的机器人。
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050221941A1 (en) * | 2004-02-13 | 2005-10-06 | Fanuc Ltd | Joint structure for industrial robot |
| CN111936276A (zh) * | 2018-04-10 | 2020-11-13 | 东京机器人有限公司 | 关节单元、机械臂以及机器人 |
| CN213511949U (zh) * | 2020-07-21 | 2021-06-22 | 尔智机器人(珠海)有限公司 | 一种组件型谐波减速器及关节 |
| CN113606313A (zh) * | 2021-09-30 | 2021-11-05 | 深圳市越疆科技有限公司 | 关节、机械臂、机器人及其谐波减速器装置 |
| CN114278717A (zh) * | 2021-12-23 | 2022-04-05 | 上海非夕机器人科技有限公司 | 用于转动关节的传动结构 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050221941A1 (en) * | 2004-02-13 | 2005-10-06 | Fanuc Ltd | Joint structure for industrial robot |
| CN111936276A (zh) * | 2018-04-10 | 2020-11-13 | 东京机器人有限公司 | 关节单元、机械臂以及机器人 |
| CN213511949U (zh) * | 2020-07-21 | 2021-06-22 | 尔智机器人(珠海)有限公司 | 一种组件型谐波减速器及关节 |
| CN113606313A (zh) * | 2021-09-30 | 2021-11-05 | 深圳市越疆科技有限公司 | 关节、机械臂、机器人及其谐波减速器装置 |
| CN114278717A (zh) * | 2021-12-23 | 2022-04-05 | 上海非夕机器人科技有限公司 | 用于转动关节的传动结构 |
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