Joint structure and robot having the same

Abstract

The present invention provides a joint structure and a robot having the same, wherein the joint structure comprises a first joint and a second joint connected to each other, a driving component is installed between the first joint and the second joint; at least part of the end surface of the driving component has a gap with the first joint and / or the second joint respectively; the joint structure further comprises: a connecting component, which is arranged on the side of the driving component, and the connecting component is connected to the first joint and the second joint respectively. The present invention solves the problem of stress concentration of the reducer at the robot joint in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a joint structure and a robot having the same. Background Art

[0002] At present, with the continuous advancement of automation technology, many industries are using robots to replace manual labor to improve processing efficiency and reduce labor.

[0003] Taking a heavy six-axis industrial robot as an example, a reducer is installed at each joint of the robot for transmission. However, the reducers at each joint of the robot are directly fitted with the joints of the robot. Therefore, during the movement of the robot, the load-bearing stress of the reducer is concentrated, and a large deformation will occur when it is subjected to torque, resulting in excessive overturning torque and reduced robot accuracy. Summary of the invention

[0004] The main purpose of the present invention is to provide a joint structure and a robot having the same, so as to solve the problem of stress concentration of the reducer at the joint of the robot in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a joint structure is provided, including a first joint and a second joint connected to each other, a driving component installed between the first joint and the second joint; at least part of the end surface of the driving component has a gap with the first joint and / or the second joint respectively; the joint structure also includes: a connecting component, which is arranged on the side of the driving component, and the connecting component is connected to the first joint and the second joint respectively.

[0006] Furthermore, at least a portion of the first joint is inserted into the second joint; the first side surface of the connecting component is connected to the outer surface of the first joint, and the second side surface of the connecting component is connected to the inner wall surface of the second joint.

[0007] Furthermore, a first mounting portion is provided on the outer surface of the first joint, at least a portion of the first mounting portion is recessed toward the center line of the first joint, and at least a portion of the connecting component is mounted in the first mounting portion.

[0008] Furthermore, the joint structure also includes: a supporting component, which is installed on the first joint and located below the connecting component, and at least a portion of the supporting component is in contact with the connecting component so that the connecting component is supported by the supporting component.

[0009] Furthermore, a second mounting portion is provided on the inner wall surface of the second joint, at least a portion of the second mounting portion is recessed relative to the inner wall surface in a direction away from the first joint, and at least a portion of the connecting component is mounted in the second mounting portion.

[0010] Furthermore, the joint structure also includes: a pressure cover component, which is installed on the second joint and located above the connecting component, and at least a part of the pressure cover component is in contact with the connecting component.

[0011] Furthermore, the connecting component is a cross roller bearing.

[0012] Furthermore, a step structure is provided on the second joint, the step structure has a step end surface, and at least part of the connecting component is installed on the step end surface; the joint structure also includes: a gasket, which is installed between the bottom end surface and the step end surface of the connecting component, and the gasket is respectively fitted with the bottom end surface and the step end surface of the connecting component.

[0013] Furthermore, there is a gap between the first end face of the driving component and the first mounting surface of the first joint; the second end face of the driving component is connected to the second mounting surface of the second joint, and the distance between the second end face and the first mounting surface is L1; the distance between the bottom end face of the connecting component and the second mounting surface of the second joint is L2; ​​the distance between the bottom end face and the top end face of the connecting component is L3; the distance between the top end face of the connecting component and the first mounting surface of the first joint is L4; wherein, L1>L2+L3+L4.

[0014] According to another aspect of the present invention, a robot is provided, comprising a base and a joint structure, wherein the joint structure is mounted on the base, and the joint structure is the joint structure described above.

[0015] According to the technical solution of the present invention, the joint structure includes a first joint and a second joint connected to each other, a driving component is installed between the first joint and the second joint; at least part of the end surface of the driving component has a gap with the first joint and / or the second joint respectively; wherein the joint structure also includes: a connecting component, which is arranged on the side of the driving component, and the connecting component is connected to the first joint and the second joint respectively. By setting a gap between the driving component and the first joint and / or the second joint, the torque of the first joint and / or the second joint will not be fully transmitted to the driving component, and the connecting component is set at the same time, so that part of the torque of the first joint is transmitted to the connecting component, and at the same time, the connection between the first joint and the second joint is guaranteed to be stable, and the stress between the first joint and the second joint is avoided from being concentrated on the driving component, which effectively solves the problem of stress concentration at the robot joint in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 A schematic diagram of a joint structure in the prior art is shown;

[0018] Figure 2 A schematic structural diagram showing an embodiment of a joint structure according to the present invention; and

[0019] Figure 3 Shown according to Figure 2 A partial enlarged view of part A.

[0020] The above drawings include the following reference numerals:

[0021] 100, first joint; 200, second joint; 300, driving component; 101, first mounting portion; 201, second mounting portion; 102, first mounting surface; 202, second mounting surface; 301, first end surface; 302, second end surface;

[0022] 1. Connecting parts; 2. Supporting parts; 3. Covering parts; 4. Gasket. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0025] The present invention provides a joint structure, please refer to Figure 2 and Figure 3 , including a first joint 100 and a second joint 200 connected to each other, a driving component 300 is installed between the first joint 100 and the second joint 200; at least part of the end surface of the driving component 300 has a gap with the first joint 100 and / or the second joint 200; the joint structure also includes: a connecting component 1, which is arranged on the side of the driving component 300, and the connecting component 1 is connected to the first joint 100 and the second joint 200 respectively.

[0026] According to the joint structure provided by the present invention, a first joint 100 and a second joint 200 are connected to each other, and a driving component 300 is installed between the first joint 100 and the second joint 200; at least part of the end surface of the driving component 300 has a gap with the first joint 100 and / or the second joint 200; wherein, the joint structure further comprises: a connecting component 1, which is arranged on the side of the driving component 300, and the connecting component 1 is respectively connected with the first joint 100 and the second joint 200. By setting a gap between the driving component 300 and the first joint 100 and / or the second joint 200, the torque of the first joint 100 and / or the second joint 200 will not be fully transmitted to the driving component 300, and the connecting component 1 is set at the same time, so that part of the torque of the first joint 100 is transmitted to the connecting component 1, and at the same time, the connection between the first joint 100 and the second joint 200 is ensured to be stable, and the stress between the first joint 100 and the second joint 200 is avoided to be concentrated on the driving component 300, which effectively solves the problem of stress concentration at the robot joint in the prior art.

[0027] In the embodiment provided by the present invention, the driving component 300 is a reducer, and the end face of the driving component 300 includes a first end face 301 and a second end face 302. The first end face 301 and the second end face 302 are two end faces of the reducer that are opposite to each other in the axial direction. The first mounting surface 102 of the first joint 100 is opposite to the first end face 301, and the second mounting surface 202 of the second joint 200 is opposite to the second end face 302. When installing the driving component 300, there are gaps between the first end face 301 and the second end face 302 and the first mounting surface 102 and the second mounting surface 202 respectively, or there is a gap between the first end face 301 and the first mounting surface, or there is a gap between the second end face 302 and the second mounting surface 202. This can avoid the problem of easy failure of the driving component 300 caused by the overturning moment between the first joint 100 and the second joint 200 acting on the driving component 300.

[0028] Specifically, Figure 2 As shown, at least part of the first joint 100 is inserted into the second joint 200; the first side surface of the connecting component 1 is connected to the outer surface of the first joint 100, and the second side surface of the connecting component 1 is connected to the inner wall surface of the second joint 200. By inserting the first joint 100 into the second joint 200, a mounting cavity for mounting the driving component 300 is formed between the first joint 100 and the second joint 200, which facilitates the formation of a gap between the driving component 300 and the first joint 100 and / or the second joint 200. At the same time, the connecting component 1 is connected to the first joint 100 and the second joint 200 respectively, so that the connecting component 1 shares the torque on the driving component 300 and plays a supporting role between the first joint 100 and the second joint 200.

[0029] In the specific implementation process, in order to facilitate the installation of the connecting component 1, a first mounting portion 101 is provided on the outer surface of the first joint 100, at least part of the first mounting portion 101 is recessed toward the center line direction of the first joint 100, and at least part of the connecting component 1 is installed in the first mounting portion 101. Wherein, the first joint 100 is a mechanical arm, the center line of the first joint 100 is the central axis of the first joint 100, and the first mounting portion 101 is recessed toward the center line direction of the first joint 100 to position the connecting component 1. Preferably, the first mounting portion 101 includes a first positioning end face and a second positioning end face connected to each other, the first side face of the connecting component 1 is connected to the first positioning end face, and at least part of the top end face of the connecting component 1 is connected to the second positioning end face, so that the connecting component 1 bears the force transmitted by the first joint 100 through the first positioning end face and the second positioning end face, and at the same time facilitates the connection between the connecting component 1 and the second joint 200.

[0030] In order to prevent the connecting component 1 from falling off the first joint 100, the joint structure further includes: a supporting component 2, which is mounted on the first joint 100 and is located below the connecting component 1, and at least a portion of the supporting component 2 is in contact with the connecting component 1, so as to support the connecting component 1 through the supporting component 2. Preferably, the supporting component 2 is a cover body. In this way, the bottom of the connecting component 1 is supported to ensure the installation stability of the connecting component 1.

[0031] In the embodiments provided by the present invention, Figure 3 As shown, a second mounting portion 201 is provided on the inner wall surface of the second joint 200, at least a portion of the second mounting portion 201 is recessed relative to the inner wall surface in a direction away from the first joint 100, and at least a portion of the connecting component 1 is installed in the second mounting portion 201. Preferably, the second mounting portion 201 includes a third positioning end face and a fourth positioning end face connected to each other, and the third positioning end face is opposite to the first positioning end face. Such a configuration facilitates control of the connection distance between the first joint 100 and the second joint 200, so that the relative position between the connecting component 1 and the first joint 100 and / or the second joint 200 can be adjusted during the installation process, and the distance between the first joint 100 and the driving component 300 can be adjusted conveniently.

[0032] In order to maintain the installation stability of the connecting component 1, the joint structure further includes: a pressure cover component 3, which is installed on the second joint 200 and located above the connecting component 1, and at least a portion of the pressure cover component 3 is in contact with the connecting component 1. The connecting component 1 is positioned by the cooperation between the pressure cover component 3 and the supporting component 2 to ensure that the connecting component 1 can withstand the torque of the joint during the movement of the joint structure.

[0033] In the embodiment provided by the present invention, the connecting component 1 is a cross roller bearing. The cross roller bearing has a low moment of inertia, can withstand large axial loads and radial loads, has high rotation accuracy, and can withstand additional overturning torque during the operation of the robot.

[0034] In the specific implementation process, a step structure is provided on the second joint 200, and the step structure has a step end surface, and at least part of the connecting component 1 is installed on the step end surface; the joint structure also includes: a gasket 4, which is installed between the bottom end surface and the step end surface of the connecting component 1, and the gasket 4 is respectively fitted with the bottom end surface and the step end surface of the connecting component 1. By adjusting the number of gaskets 4, the distance between the driving component 300 and the first joint 100 is adjusted, and the thickness of the gasket 4 is 0.01mm to 0.05mm.

[0035] There is a gap between the first end face 301 of the driving component 300 and the first mounting surface 102 of the first joint 100; the second end face 302 of the driving component 300 is connected to the second mounting surface 202 of the second joint 200, and the distance between the second end face 302 and the first mounting surface 102 is L1; the distance between the bottom end face of the connecting component 1 and the second mounting surface of the second joint 200 is L2; ​​the distance between the bottom end face and the top end face of the connecting component 1 is L3; the distance between the top end face of the connecting component 1 and the first mounting surface of the first joint 100 is L4; wherein, L1>L2+L3+L4. In this way, there is a gap of 0.02mm to 0.05mm between the driving component 300 and the first joint 100. wherein, the vertical distance between the first end face and the second end face of the driving component 300 is L5, in order to ensure L1>L2+L3+L4, and to facilitate the installation process, L2+L3+L4<L5.

[0036] During the actual installation process, the value of L2+L3 will be measured, and L2 and L5 will also be measured. According to the measurement structure, the final distance difference D5=L5-(L2+L3+L4) is obtained. By setting a reasonable number of gaskets, it is ensured that there is a gap of about 0.02mm to 0.05mm between the driving component 300 and the first joint 100. The driving component 300 only needs to provide a rotational torque without having to withstand a large overturning torque, which reduces the large deformation of the driving component 300 due to excessive overturning torque, thereby reducing the shaking problem at the rotating joint, and improving the overall stiffness of the robot. Among them, the driving component 300 is a reducer.

[0037] The present invention also provides a robot, comprising a base and a joint structure, wherein the joint structure is mounted on the base, and the joint structure is the joint structure of the above embodiment.

[0038] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0039] According to the joint structure provided by the present invention, a first joint 100 and a second joint 200 are connected to each other, and a driving component 300 is installed between the first joint 100 and the second joint 200; at least part of the end surface of the driving component 300 has a gap with the first joint 100 and / or the second joint 200; wherein, the joint structure further comprises: a connecting component 1, which is arranged on the side of the driving component 300, and the connecting component 1 is respectively connected with the first joint 100 and the second joint 200. By setting a gap between the driving component 300 and the first joint 100 and / or the second joint 200, the torque of the first joint 100 and / or the second joint 200 will not be fully transmitted to the driving component 300, and the connecting component 1 is set at the same time, so that part of the torque of the first joint 100 is transmitted to the connecting component 1, and at the same time, the connection between the first joint 100 and the second joint 200 is ensured to be stable, and the stress between the first joint 100 and the second joint 200 is avoided to be concentrated on the driving component 300, which effectively solves the problem of stress concentration at the robot joint in the prior art.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A joint structure, comprising a first joint (100) and a second joint (200) connected to each other, wherein a driving component (300) is installed between the first joint (100) and the second joint (200); characterized in that: There is a gap between at least part of the end surface of the driving component (300) and the first joint (100) and / or the second joint (200); The joint structure also includes: A connecting component (1) is arranged on the side of the driving component (300), and the connecting component (1) is respectively connected to the first joint (100) and the second joint (200); A first mounting portion (101) is provided on the outer surface of the first joint (100), at least a portion of the first mounting portion (101) is recessed in the direction of the center line of the first joint (100), and at least a portion of the connecting component (1) is mounted in the first mounting portion (101); A second mounting portion (201) is provided on the inner wall surface of the second joint (200), at least a portion of the second mounting portion (201) is recessed relative to the inner wall surface in a direction away from the first joint (100), and at least a portion of the connecting component (1) is mounted in the second mounting portion (201); The first mounting portion (101) comprises a first positioning end surface and a second positioning end surface which are connected to each other, the first side surface of the connecting component (1) is connected to the first positioning end surface, and at least a portion of the top end surface of the connecting component (1) is connected to the second positioning end surface; The second mounting portion (201) comprises a third positioning end surface and a fourth positioning end surface which are connected to each other, and the third positioning end surface is opposite to the first positioning end surface; There is a gap between the first end surface (301) of the driving component (300) and the first mounting surface (102) of the first joint (100); the second end surface (302) of the driving component (300) is connected to the second mounting surface (202) of the second joint (200), and the distance between the second end surface (302) and the first mounting surface (102) is L1; The distance between the bottom end surface of the connecting component (1) and the second mounting surface (202) of the second joint (200) is L2; ​​the distance between the bottom end surface and the top end surface of the connecting component (1) is L3; and the distance between the top end surface of the connecting component (1) and the first mounting surface (102) of the first joint (100) is L4; Among them, L1>L2+L3+L4.

2. The joint structure according to claim 1, characterized in that: At least a portion of the first joint (100) is inserted into the second joint (200); The first side surface of the connecting component (1) is connected to the outer surface of the first joint (100), and the second side surface of the connecting component (1) is connected to the inner wall surface of the second joint (200).

3. The joint structure according to claim 1, characterized in that: The joint structure also includes: A supporting component (2) is mounted on the first joint (100) and is located below the connecting component (1); at least a portion of the supporting component (2) is in contact with the connecting component (1) so as to support the connecting component (1) through the supporting component (2).

4. The joint structure according to claim 1, characterized in that: The joint structure also includes: A pressure cover component (3) is mounted on the second joint (200) and is located above the connecting component (1), and at least a portion of the pressure cover component (3) is in contact with the connecting component (1).

5. The joint structure according to any one of claims 1 to 4, characterized in that: The connecting component (1) is a cross roller bearing.

6. The joint structure according to any one of claims 1 to 4, characterized in that: The second joint (200) is provided with a step structure, the step structure having a step end surface, and at least a portion of the connecting component (1) is mounted on the step end surface; The joint structure also includes: A gasket (4) is installed between the bottom end surface of the connecting component (1) and the step end surface, and the gasket (4) is respectively fitted with the bottom end surface of the connecting component (1) and the step end surface.

7. A robot comprising a base and a joint structure, wherein the joint structure is mounted on the base, characterized in that: The joint structure is the joint structure according to any one of claims 1 to 6.

Images