Transmission mechanism for a rotary joint

Abstract

The application relates to a transmission mechanism (10) for a rotary joint, which comprises a driving part (100), a transmission part (200), an output shaft (300), an input shaft (400) and a shell (500). The driving part (100) has a driving end (110a). The transmission part (200) has an output end (210) and an input end (220). The output shaft (300) is drivingly connected with the output end (210). The input shaft (400) is drivingly connected with the driving end (110a) and the input end (220), and is sleeved outside the output shaft (300). The shell (500) is sleeved outside the input shaft (400). The shell (500), the input shaft (300) and the output shaft (300) are in a three-layer sleeving structure, compared with a traditional linear distribution arrangement mode from right to left along the axial direction, the three-layer sleeving structure can compress the total length of the joint, save the axial space and fully utilize the radial space while meeting good assembly coaxiality.

Description

Technical Field

[0001] This invention relates to the field of automated machinery technology, and in particular to a transmission mechanism for rotating joints, a robot joint, and a robot. Background Technology

[0002] Rotary joints are common components in automated machinery such as robots, robotic arms, and multi-layer rotating body systems. The main components of the transmission mechanism of a rotary joint are generally arranged sequentially along the joint's axial direction. For example, the input encoder, input shaft, motor / reducer system, output shaft, and output encoder can be arranged sequentially along the joint's axial direction. However, this mounting structure also has significant drawbacks, such as occupying a large amount of axial space and low radial space utilization. Summary of the Invention

[0003] Therefore, it is necessary to provide a transmission mechanism, robot joint, and robot for rotating joints, which can make full use of radial space and save axial space.

[0004] One aspect of this invention provides a transmission mechanism for rotating joints, comprising:

[0005] A driving component, having a driving end;

[0006] A transmission component, having an output end and an input end;

[0007] The output shaft is driven and connected to the output terminal;

[0008] An input shaft, which is driven and connected to both the drive end and the input end, and is sleeved outside the output shaft; and

[0009] The outer casing is fitted over the input shaft.

[0010] In the aforementioned transmission structure for the rotary joint, the input shaft is driven and connected to the drive end, thereby transmitting the kinetic energy output from the drive end of the drive component to the input end of the transmission component via the input shaft. The output shaft is driven and connected to the output end, thereby outputting the kinetic energy of the transmission component, thus realizing the transfer of kinetic energy from the drive component to the transmission component. The housing, input shaft, and output shaft form a three-layer nested structure. Compared to the traditional linear arrangement from right to left along the axial direction, this structure can reduce the overall joint length, save axial space, and fully utilize radial space while maintaining good assembly coaxiality.

[0011] In one embodiment, the transmission mechanism has a first side and a second side opposite to each other, the drive member and the transmission member are both disposed on the first side, and the output shaft and the input shaft extend from the first side to the second side.

[0012] In one embodiment, the output shaft, the input shaft, and the housing are arranged in a stepped manner at their ends on the second side, wherein the end of the output shaft protrudes beyond the end of the input shaft and the end of the housing.

[0013] In one embodiment, the output shaft includes a first drive shaft and a first mounting shaft. The portion of the first drive shaft near the first side is driven to the output end of the transmission member, and the portion of the first drive shaft near the second side is fixedly connected to the first mounting shaft. The input shaft includes a second drive shaft and a second mounting shaft. The portion of the second drive shaft near the first side is driven to the input end of the transmission member, and the portion of the second drive shaft away from the first side is fixedly connected to the second mounting shaft. The second drive shaft is driven to the drive end of the transmission member.

[0014] In one embodiment, the first mounting shaft is at least partially inserted into the portion of the first drive shaft near the second side; the second mounting shaft is at least partially inserted into the portion of the second drive shaft near the second side.

[0015] In one embodiment, the outer diameter of the first drive shaft is larger than the outer diameter of the first mounting shaft, and the inner diameter of the second drive shaft is smaller than the inner diameter of the second mounting shaft.

[0016] In one embodiment, a first bearing is sleeved between the first mounting shaft and the second mounting shaft; a first shoulder is provided on the outer wall of the first mounting shaft, the first shoulder being used to restrict the first bearing from moving in the direction of the first side.

[0017] In one embodiment, a second bearing is fitted between the second mounting shaft and the housing, and a second shoulder is provided on the inner wall of the housing to restrict the second bearing from moving toward the first side.

[0018] In another aspect, the present invention provides a robot joint including the transmission mechanism described in any of the above embodiments.

[0019] In another aspect, the present invention provides a robot, including the robot described in the above embodiments.

[0020] In the aforementioned transmission structure for the rotary joint, the input shaft is driven to the drive end and the input end, thereby transmitting the kinetic energy output from the drive end of the drive component to the input end of the transmission component via the input shaft; the output shaft is driven to the output end, thereby outputting the kinetic energy of the transmission component, thus realizing the transmission of kinetic energy from the drive component to the transmission component. The housing, output shaft, and input shaft form a three-layer nested structure. Compared to the traditional linear arrangement from right to left along the axial direction, this structure can reduce the overall joint length, save axial space, and fully utilize radial space while maintaining good assembly coaxiality. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the transmission mechanism according to an embodiment of the present invention;

[0022] Figure 2 for Figure 1 A cross-sectional view of the transmission mechanism along line AA;

[0023] Figure 3 for Figure 2 A magnified view of area B of the transmission mechanism;

[0024] Figure 4 for Figure 2 A partial perspective view of the right side of the transmission mechanism;

[0025] Figure 5 for Figure 2 A schematic diagram of the internal connection structure of the motor / reducer system in the transmission mechanism shown;

[0026] Figure 6 This is a schematic diagram of the structure of a robot according to an embodiment of the present invention;

[0027] Figure 7 A schematic cross-sectional view of a transmission mechanism in the relevant technology is shown.

[0028] Explanation of reference numerals in the attached figures

[0029] 1. Robot joint; 10. Transmission mechanism; 101. Power system; 100. Drive component; 110. Rotor; 120. Stator; 110a. Drive end; 200. Transmission component; 210. Output end; 220. Input end; 300. Output shaft; 310. First transmission shaft; 320. First mounting shaft; 321. First end; 322. Second end; 330. First shoulder; 340. First annular boss; 400. Input shaft; 410. Second transmission shaft; 42 0. Second mounting shaft; 421. Third end; 422. Fourth end; 430. Second annular boss; 440. Third annular boss; 500. Housing; 510. Annular groove; 520. Fifth end; 530. Sixth end; 540. Receiving groove; 550. Second shoulder; 600. First bearing; 700. Second bearing; 101a. Power system; 300a. Output shaft; 400a. Input shaft; 800a. Input encoder; 900a. Output encoder. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of protection of this invention.

[0031] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] like Figure 1 , Figure 2 and Figure 5As shown, one embodiment of the present invention provides a transmission mechanism 10 for a rotary joint, which can be applied to robots, robotic arms, multi-layer rotary body rotation systems, and other related fields and occasions. The transmission mechanism 10 for the rotary joint includes a drive component 100, a transmission component 200, an output shaft 300, an input shaft 400, a housing 500, a first bearing 600, and a second bearing 700. This transmission mechanism 10 for the rotary joint can fully utilize radial space and save axial space while achieving good assembly coaxiality. The transmission mechanism 10 has opposing first sides (e.g., ...). Figure 2 (left side) and second side (e.g.) Figure 2 (On the right side of the image), the drive component 100 and the transmission component 200 are both located on the first side, and the output shaft 300 and the input shaft 400 both extend from the first side to the second side. The fact that the drive component 100 and the transmission component 200 are both located on the first side, while the input shaft 400 and the output shaft 300 extend from the first side to the second side, allows sufficient space on the second side for other components of the joint (such as encoders), and also prevents the input shaft 400 and the output shaft 300 from interfering with the large and complex drive component 100 (such as a motor) and the transmission component 200 (such as a reducer).

[0034] Specifically, such as Figure 5 As shown, the drive component 100 has a drive end 110a. In this embodiment, the drive component 100 is a motor, which has a stator 120 and a rotor 110, with the rotor 110 serving as the drive end 110a. Of course, in other embodiments, the drive component 100 can also be a cylinder, hydraulic cylinder, or other drive mechanism.

[0035] Specifically, such as Figure 2 and Figure 5 As shown, the transmission component 200 has an output end 210 and an input end 220. In this embodiment, the transmission component 200 is a speed reducer. Of course, in other embodiments, the transmission component 200 can also be other forms of transmission mechanism 10. In this embodiment, the drive component 100 and the transmission component 200 can be assembled into a power system 101.

[0036] Furthermore, such as Figure 2 and Figure 4 As shown, both the output shaft 300 and the input shaft 400 are slender hollow shafts, and the radial clearance between the input shaft 400 and the output shaft 300 can be configured to be small. In this embodiment, the input shaft 400 is sleeved outside the output shaft 300. Figure 5As shown, the output shaft 300 is driven to the output end 210. The input shaft 400 is driven to both the drive end 110a and the input end 220. In this embodiment, the outer circumferential surface of the input shaft 400 meshes with the drive end 100a via gear engagement. Of course, in other embodiments, the input shaft 400 and the drive end 100a can also be connected by an end face (e.g., via a flange connection).

[0037] Specifically, such as Figure 2 and Figure 5 As shown, the output shaft 300 includes a first drive shaft 310 and a first mounting shaft 320. One end of the first drive shaft 310 is drivenly connected to the output end 210. The first mounting shaft 320 has a first end 321 and a second end 322, with the first end 321 positioned relatively close to a first side and the second end 322 positioned relatively close to a second side. The first end 321 is connected to the end of the first drive shaft 310 furthest from the output end 210. Thus, the low-speed, high-torque power, reduced by the speed of the transmission component 200 (i.e., the reducer), can be output via the output shaft 300. Figure 3 As shown, a first shoulder 330 is provided on the outer wall of the first mounting shaft 320. In this embodiment, the first shoulder 330 is specifically an annular protrusion provided on the outer wall of the first mounting shaft 320. Figure 2 and Figure 3 As shown, the outer wall of the first mounting shaft 320 is provided with a first annular boss 340. The portion of the first mounting shaft 320 having a first end 321 is inserted into the first drive shaft 310, and the end of the first drive shaft 310 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 transmission component 200) than the first shoulder 330, that is, in Figure 2 In the middle, the first annular boss 340 is located to the left of the first shoulder 330.

[0038] Specifically, such as Figure 2 and Figure 5 As shown, the input shaft 400 includes a second drive shaft 410 and a second mounting shaft 420. One end of the second drive shaft 410 is drivenly connected to the input end 220, and one side of the second drive shaft 410 is connected to the rotor 110 of the motor. Specifically, as... Figure 2 and Figure 5 As shown, the second mounting shaft 420 has a third end 421 and a fourth end 422. The third end 421 is positioned relatively close to the first side, and the fourth end 422 is positioned relatively close to the second side. The third end 421 is connected to the end of the second drive shaft 410 furthest from the input end 220. Thus, the input shaft 400 can input the high-speed, low-torque power of the motor into the reducer. Figure 2 and Figure 3As shown, the inner wall of the second mounting shaft 420 is provided with a second annular boss 430. The second annular boss 430 is closer to the power system 101 than the first shoulder 330, that is, in Figure 2 In this configuration, the second annular boss 430 is located to the left of the first shoulder 330. The portion of the second drive shaft 410 furthest from the power system 101 is inserted into the second mounting shaft 420, with the end of the second drive shaft 410 furthest from the input end 220 abutting against the second annular boss 430. This improves the fit between the second drive shaft 410 and the second mounting shaft 420 while also limiting the length of the portion of the second drive shaft 410 inserted into the second mounting shaft 420. Of course, the assembly method of the second mounting shaft 420 and the second drive shaft 410 is not limited to this; they can also be assembled in other ways.

[0039] Furthermore, the outer diameter of the first drive shaft 310 is larger than the outer diameter of the first mounting shaft 320, and the inner diameter of the second drive shaft 410 is smaller than the inner diameter of the second mounting shaft 420. This provides sufficient bearing mounting space on the second side of the transmission mechanism while minimizing the gap between the first mounting shaft 320 and the second mounting shaft 420, resulting in a more compact overall structure of the transmission mechanism.

[0040] Furthermore, such as Figure 2 and Figure 3 As shown, the outer casing 500 has a hollow cylindrical structure. In this embodiment, the outer casing 500 is fitted over the input shaft 400, specifically over the second mounting shaft 420. Specifically, the inner wall of the outer casing 500 may have an annular groove 510 that matches the third annular boss 440. When the outer casing 500 is fitted over the second mounting shaft 420, the third annular boss 440 is inserted into the annular groove 510. This improves the tightness of the fit between the input shaft 400 and the outer casing 500.

[0041] The housing 500 has a fifth end 520 and a sixth end 530. The fifth end 520 is positioned relatively close to the first side, and the sixth end 530 is positioned relatively close to the second side. The first end 321, the third end 421, and the fifth end 520 are all located on the side closer to the power system 101, while the second end 322, the fourth end 422, and the sixth end 530 are all located on the side farther from the power system 101. The housing 500 is fixed and connected to the stator 120. Figure 3 As shown, a second shoulder 550 is provided on the inner wall of the housing 500. In this embodiment, the second shoulder 550 is specifically an annular protrusion on the inner wall of the housing 500. Specifically, the third annular protrusion 440 is closer to the power system 101 (or transmission component 200) than the second shoulder 550, that is, in Figure 2 In the middle, the third annular boss 440 is located to the left of the second shoulder 550.

[0042] In the relevant technologies, such as Figure 7 As shown, the transmission mechanism 10 for rotating joints is generally composed of an input shaft 400a, a power system 101a, and an output shaft 300a arranged sequentially along the axial direction. The ends of the input shaft 400a and the output shaft 300a are respectively connected to an input encoder 800a and an output encoder 900a. This arrangement occupies a significant amount of axial space and has low radial space utilization. In this invention, the housing 500, the input shaft 400, and the output shaft 300 form a three-layer nested structure. Compared to the traditional linear arrangement from right to left along the axial direction, this arrangement can achieve good assembly coaxiality while compressing the total joint length, saving axial space, and fully utilizing radial space.

[0043] The following describes in detail the power transmission process of the transmission mechanism 10 for rotating joints proposed in this invention:

[0044] The rotor 110 of the motor rotates, transmitting high-speed, low-torque power to the reducer via the input shaft 400. The reducer converts the high-speed, low-torque power generated by the motor into low-speed, high-torque power, which is then transmitted to other equipment via the output shaft 300. This completes the power transmission process of the transmission mechanism 10.

[0045] Furthermore, such as Figure 2 and Figure 3 As shown, the second end 322, the fourth end 422, and the sixth end 530 are arranged in a stepped manner. Specifically, the distance between the second end 322 and the power system 101 (or transmission component 200) is greater than the distance between the fourth end 422 and the power system 101 (or transmission component 200), and the distance between the fourth end 422 and the power system 101 (or transmission component 200) is greater than the distance between the sixth end 530 and the power system 101 (or transmission component 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. This arrangement facilitates the installation and removal of the housing 500, the first mounting shaft 320, and the second mounting shaft 420. Of course, in other embodiments, the opposite can also be true: the distance between the second end 322 and the power system 101 (or transmission member 200) is less 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 less 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. In other embodiments, the first end 321, the third end 421, and the fifth end 520 can also be arranged in a stepped manner.

[0046] Furthermore, such as Figure 2 and Figure 3As shown, the first bearing 600 is disposed between the first mounting shaft 320 and the second mounting shaft 420, that is, the first bearing 600 is sleeved on the outside of the first mounting shaft 320, and the second mounting shaft 420 is sleeved on the outside of the first bearing 600. In this embodiment, the first bearing 600 is located at the end near the fourth end 422 between the first mounting shaft 320 and the second mounting shaft 420, and the first shoulder 330 is used to restrict the first bearing 600 from moving away from the fourth end 422. In this embodiment, when the first bearing 600 is installed between the first mounting shaft 320 and the second mounting shaft 420, one end of the first bearing 600 abuts against the first shoulder 330, the other end of the first bearing 600 is flush with the plane where the fourth end 422 is located, the outer ring of the first bearing 600 abuts against the inner wall of the second mounting shaft 420, and the inner ring of the first bearing 600 abuts against the outer wall of the first mounting shaft 320. Thus, the first bearing 600 can support the side of the first mounting shaft 320 and the second mounting shaft 420 away from the transmission member 200, while ensuring that the first mounting shaft 320 and the second mounting shaft 420 rotate independently. In this embodiment, the first bearing 600 is a deep groove ball bearing. A deep groove ball bearing is a rolling bearing with balls as rolling elements. It is a radial ball bearing in which each ring has a continuous groove-shaped track with a cross-section approximately one-third of the circumference of the ball. It has the characteristics of low frictional resistance and high speed, and can be used in machine parts that bear radial loads or combined radial and axial loads, as well as machine parts that bear axial loads. Of course, in other embodiments, the first bearing 600 can also be other types of bearings.

[0047] Optionally, such as Figure 2 and Figure 3 As shown, the first bearing 600 is fixed to the outer wall of the first mounting shaft 320 and to the inner wall of the second mounting shaft 420 using adhesives to achieve the installation of the first bearing 600 between the first mounting shaft 320 and the second mounting shaft 420. Specifically, 609 adhesive is used as the adhesive, as it has high bonding strength and can improve the fit strength between the first bearing 600 and the first mounting shaft 320 and the second mounting shaft 420. Of course, other types of adhesives can be selected as needed. An interference fit can also be used between the first bearing 600 and the outer wall of the first mounting shaft 320 and to the inner wall of the second mounting shaft 420 to achieve the installation of the first bearing 600 between the first mounting shaft 320 and the second mounting shaft 420. In this embodiment, an interference fit is used between the first bearing 600 and the outer wall of the first mounting shaft 320 and to the inner wall of the second mounting shaft 420, and the bearing is also fixed using adhesives. In this way, the fit strength between the first bearing 600 and the first mounting shaft 320 and the second mounting shaft 420 can be guaranteed.

[0048] Furthermore, such as Figure 2 and Figure 3 As shown, the second bearing 700 is disposed between the second mounting shaft 420 and the housing 500, that is, the second bearing 700 is sleeved on the second mounting shaft 420, and the housing 500 is sleeved on the second bearing 700. In this embodiment, the second bearing 700 is located at the end between the second mounting shaft 420 and the housing 500 near the sixth end 530, and the second shoulder 550 is used to restrict the movement of the second bearing 700 away from the sixth end 530. Specifically, an annular receiving groove 540 can be provided on the inner wall of the housing 500, and the second shoulder 550 is provided on the bottom wall of the receiving groove 540. When the second bearing 700 is installed between the second mounting shaft 420 and the housing 500, the second bearing 700 is inserted into the receiving groove 540. One end of the second bearing 700 abuts against the second shoulder 550, and the other end of the second bearing 700 is flush with one side wall of the receiving groove 540. The outer ring of the second bearing 700 abuts against the bottom wall of the receiving groove 540, and the inner ring of the second bearing 700 abuts against the outer wall of the second mounting shaft 420. In this way, the second bearing 700 can support the side of the second mounting shaft 420 and the housing 500 away from the transmission component 200, while ensuring that the second mounting shaft 420 can rotate relative to the housing 500. Of course, the assembly method of the second bearing 700 is not limited to this, and the second bearing 700 can also be assembled in other ways.

[0049] In this embodiment, the second bearing 700 is also a deep groove ball bearing. Of course, in other embodiments, the second bearing 700 can be other types of bearings. In this embodiment, the second bearing 700 is a deep groove ball bearing larger than the first bearing 600 to accommodate situations where the radial distance between the housing 500 and the second mounting shaft 420 is greater than the radial distance between the second mounting shaft 420 and the first mounting shaft 320. Of course, in other embodiments, the first bearing 600 and the second bearing 700 can also be deep groove ball bearings of the same size and model, as needed.

[0050] Optionally, such as Figure 2 and Figure 3As shown, the second bearing 700 is fixed to the outer wall of the second mounting shaft 420 and to the inner wall of the housing 500 using adhesives to achieve the installation of the second bearing 700 between the second mounting shaft 420 and the housing 500. Specifically, 609 adhesive is used as the adhesive, as it has high bonding strength and can improve the fit strength between the second bearing 700 and the second mounting shaft 420 and the housing 500. Of course, other types of adhesives can also be selected as needed. An interference fit can also be used between the second bearing 700 and the outer wall of the second mounting shaft 420 and to the inner wall of the housing 500 to achieve the installation of the second bearing 700 between the second mounting shaft 420 and the housing 500. In this embodiment, an interference fit is used between the second bearing 700 and the outer wall of the second mounting shaft 420 and to the inner wall of the housing 500, and both are fixed using adhesives. This ensures the fit strength between the second bearing 700 and the second mounting shaft 420 and the housing 500.

[0051] The following details the installation and disassembly process of the transmission mechanism 10 for rotating joints proposed in this invention:

[0052] During installation, first install the first end 321 of the first mounting shaft 320 onto the first drive shaft 310, and then install the third end 421 of the second mounting shaft 420 onto the second drive shaft 410. Then, from... Figure 2On the right side of the three-layer fitting structure, away from the power system 101 (or transmission component 200), the first bearing 600 is press-fitted between the first mounting shaft 320 and the second mounting shaft 420, such that one end of the first bearing 600 abuts against the first shoulder 330, and the other end of the first bearing 600 is flush with the plane of the fourth end 422. The first bearing 600 is fixed to the outer wall of the first mounting shaft 320 and to the inner wall of the second mounting shaft 420 by adhesive bonding and interference fit. Next, the second bearing 700 is press-fitted into the receiving groove 540 of the housing 500, such that one end of the second bearing 700 abuts against the second shoulder 550, and the other end of the second bearing 700 is flush with one side wall of the receiving groove 540. The second bearing 700 is fixed to the inner wall of the housing 500 by adhesive bonding. Finally, the housing 500 and the second bearing 700 are fitted together and installed on the outside of the second mounting shaft 420. The second bearing 700 is glued to the outer wall of the second mounting shaft 420 using adhesive. Simultaneously, the second bearing 700 is fixed to the outer wall of the second mounting shaft 420 and to the inner wall of the housing 500 using interference fits. This completes the installation process of the transmission mechanism 10 of the rotating joint. First, the second bearing 700 is press-fitted onto the housing 500, and then the assembly of the second bearing 700 and the housing 500 is installed onto the second mounting shaft 420. At this point, only the fit between the second bearing 700 and the outer wall of the second mounting shaft 420 needs to be considered, which reduces installation clearance errors and installation difficulty.

[0053] During disassembly, the assembly of the outer casing 500 and the second bearing 700 can be removed from the second mounting shaft 420 first, and then the second mounting shaft 420 can be removed from the second transmission shaft 410 using a special jig. At the same time, the first bearing 600 can be removed from the first mounting shaft 320. Finally, the first mounting shaft 320 can be removed from the first transmission shaft 310 using a special jig.

[0054] Because the outer casing 500, the second mounting shaft 420, and the first mounting shaft 320 are arranged in a stepped manner on the side away from the power system 101 (i.e., the second end 322, the fourth end 422, and the sixth end 530), it is convenient to install the outer casing 500, the second mounting shaft 420, and the first mounting shaft 320 layer by layer. It is also convenient to disassemble the outer casing 500, the second mounting shaft 420, and the first mounting shaft 320 layer by layer, especially for using special jigs to hold the parts that need to be disassembled. Moreover, the overall structure is compact and small in appearance, making it easy to integrate into other structures.

[0055] Furthermore, the arrangement of the first bearing 600 and the second bearing 700 enables the independent rotation of the second mounting shaft 420 and the first mounting shaft 320, or in other words, the output shaft 300 and the input shaft 400, while also providing reliable rigid radial support for the output shaft 300, the input shaft 400, and the housing 500.

[0056] Meanwhile, the first bearing 600 and the second bearing 700 are fixed between the first mounting shaft 320 and the second mounting shaft 420, and between the second mounting shaft 420 and the housing 500, by a combination of adhesive bonding and interference fit. They are also limited by the first shoulder 330 and the second shoulder 550. No additional fixing or limiting components are required, which greatly simplifies the three-layer fitting structure and reduces manufacturing difficulty and cost.

[0057] like Figure 6 As shown, one embodiment of the present invention also proposes a robot joint 1, which has the transmission mechanism 10 described in any of the above embodiments.

[0058] like Figure 6 As shown, one embodiment of the present invention also proposes a robot having at least one of the above-described robot joints 1.

[0059] The aforementioned transmission mechanism 10 for rotating joints has at least the following beneficial effects:

[0060] In the transmission mechanism 10, such as Figure 2 and Figure 5 As shown, the input shaft 400 is driven to connect with the drive end 110a and the input end 220, thereby transmitting the kinetic energy output from the drive end 110a of the drive member 100 to the input end 220 of the transmission member 200 via the input shaft 400; the output shaft 300 is driven to connect with the output end 210, thereby outputting the kinetic energy of the transmission member 200, thus realizing the transmission of kinetic energy from the drive member 100 to the transmission member 200. The housing 500, the input shaft 400, and the output shaft 300 form a three-layer nested structure. Compared to the traditional linear arrangement from right to left along the axial direction, this structure can reduce the overall joint length while maintaining good assembly coaxiality; for example, the length of the three-layer nested structure can be shortened to less than 20 mm. Furthermore, it saves approximately 26% of axial space compared to the traditional linear arrangement along the axial direction, making full use of radial space.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A transmission mechanism for a rotary joint, characterized by, include: A driving component, having a driving end; A transmission component, having an output end and an input end; The output shaft is driven and connected to the output terminal; An input shaft is driven to both the driving end and the input end, and is sleeved outside the output shaft; and The outer casing is fitted over the input shaft; The transmission mechanism has a first side and a second side opposite to each other, and the output shaft and the input shaft extend from the first side to the second side; The output shaft includes a first drive shaft and a first mounting shaft; the input shaft includes a second drive shaft and a second mounting shaft; the first mounting shaft is at least partially inserted into the portion of the first drive shaft near the second side; the second mounting shaft is at least partially inserted into the portion of the second drive shaft near the second side.

2. The transmission mechanism of claim 1, wherein Both the driving component and the transmission component are disposed on the first side.

3. The transmission mechanism for rotating joints according to claim 2, characterized in that, The output shaft, the input shaft, and the housing are arranged in a stepped manner at their ends on the second side, wherein the end of the output shaft protrudes beyond the end of the input shaft and the end of the housing.

4. The transmission mechanism according to claim 2, characterized in that, The portion of the first drive shaft near the first side is driven to be connected to the output end of the transmission member, and the portion of the first drive shaft near the second side is fixedly connected to the first mounting shaft; the portion of the second drive shaft near the first side is driven to be connected to the input end of the transmission member, the portion of the second drive shaft away from the first side is fixedly connected to the second mounting shaft, and the second drive shaft is driven to be connected to the driving end of the drive member.

5. The transmission mechanism according to claim 4, characterized in that, The outer diameter of the first drive shaft is larger than the outer diameter of the first mounting shaft, and the inner diameter of the second drive shaft is smaller than the inner diameter of the second mounting shaft.

6. The transmission mechanism for rotating joints according to claim 4, characterized in that, A first bearing is sleeved between the first mounting shaft and the second mounting shaft; a first shoulder is provided on the outer wall of the first mounting shaft, and the first shoulder is used to restrict the first bearing from moving in the direction of the first side.

7. The transmission mechanism for rotating joints according to claim 4, characterized in that, A second bearing is fitted between the second mounting shaft and the housing. A second shoulder is provided on the inner wall of the housing. The second shoulder is used to restrict the second bearing from moving towards the first side.

8. A robot joint, characterized in that, Includes the transmission mechanism as described in any one of claims 1 to 7.

9. A robot, characterized in that, Including the robot joint as described in claim 8.

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