Joint structure and robot

Abstract

The application provides a joint structure and a robot. The joint structure comprises a main shaft, the main shaft having a hollow channel; an output flange, the output flange being sleeved on the main shaft, the output flange having a first through hole and a second through hole for the main shaft to pass through, the first through hole being communicated with the second through hole; a low-speed shaft connecting flange, the low-speed shaft connecting flange being sleeved on the main shaft, the low-speed shaft connecting flange having a third through hole and a fourth through hole for the main shaft to pass through, the third through hole being communicated with the fourth through hole; and a sealing element, the sealing element having a first sealing part and a second sealing part, the first sealing part being arranged at an end of the main shaft and located between the main shaft and the second through hole, the second sealing part being arranged in the first through hole and the third through hole, and the second sealing part having a wire passing channel. The application solves the problem that the sealing performance of the joint module in the prior art cannot meet the use requirement.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a joint structure and a robot. Background Technology

[0002] For robot joint modules, one existing solution for a collaborative robot modular joint discloses the following technical solution: the stator of a hollow motor is fixed to the joint housing, and the rotor is fixed to the input shaft; the input shaft is connected to the input end of a harmonic reducer, and after reduction, the output is sent to the output shaft. A torque sensor is installed on the output shaft, and the torque sensor is connected to the output flange of the next joint to continuously provide feedback on the joint load force. Specifically, the joint has an output end and an input end for external connection. The input end is the flange of the torque sensor, which connects to the next joint and provides power output. The output end is the output flange, which connects to the previous joint.

[0003] While the above solution can enable the installation and testing of torque sensors, it lacks a sealing design for torque sensors. In certain special environments or scenarios with high protection requirements, the sealing performance cannot meet the usage requirements. Summary of the Invention

[0004] The main objective of this invention is to provide a joint structure and robot to solve the problem that the sealing performance of joint modules in the prior art cannot meet the usage requirements.

[0005] To achieve the above objectives, according to one aspect of the present invention, a joint structure is provided, comprising: a main shaft having a hollow channel; an output flange sleeved on the main shaft, the output flange having a first through hole and a second through hole through which the main shaft passes, the first through hole communicating with the second through hole; a low-speed shaft connecting flange sleeved on the main shaft, the low-speed shaft connecting flange having a third through hole and a fourth through hole through which the main shaft passes, the third through hole communicating with the fourth through hole; and a seal having a first sealing portion and a second sealing portion, the first sealing portion being disposed at the end of the main shaft and located between the main shaft and the second through hole, the second sealing portion passing through the first through hole and the third through hole, the second sealing portion having a wire passage.

[0006] Furthermore, the third through hole is axially aligned with the first through hole, and the fourth through hole is axially aligned with the second through hole.

[0007] Furthermore, the outer diameter of the first sealing part is larger than the outer diameter of the second sealing part.

[0008] Furthermore, the second sealing part has a main body and a protrusion. The main body is connected to the first sealing part, and the protrusion is connected to the main body and extends along the axial direction of the seal. The main body is located at the first through hole, and the protrusion is located at the third through hole. Both the main body and the protrusion have wire passages.

[0009] Furthermore, the side of the protrusion extends circumferentially along the wire passage, and the outer side of the protrusion facing the spindle has a recess for avoiding the spindle.

[0010] Furthermore, the side of the main body has a notch, and the wire passage communicates with the central hole of the first sealing part through the notch.

[0011] Furthermore, the side of the seal has a groove, and the edges of the first and second through holes are located within the groove.

[0012] Furthermore, the joint structure also includes a slip ring, which is located at one end of the main shaft. The wires in the hollow channel are connected to the slip ring and are electrically connected to the components through the slip ring.

[0013] Furthermore, the joint structure also includes a slip ring bracket, which is located at the end of the spindle. The slip ring is supported inside the slip ring bracket, and the slip ring bracket seals the gaps between the slip ring and the spindle, and between the slip ring and the components.

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

[0015] By applying the technical solution of this invention, four through holes are provided on the output flange and the low-speed shaft connecting flange, and a sealing element is provided between the output flange and the low-speed shaft connecting flange. For the output flange and the low-speed shaft connecting flange, the sealing element can seal the output flange and the low-speed shaft connecting flange, thereby improving the overall sealing performance of the joint structure. At the same time, the sealing element also has the function of separating cables. Specifically, the first sealing part of the sealing element is located between the end of the main shaft and the second through hole of the output flange, thereby sealing the gap between the second through hole and the main shaft. This allows the cables passing through the hollow channel of the main shaft to be separated from other parts, ensuring the sealing performance of the hollow channel. The second sealing part of the sealing element is provided in the first through hole and the third through hole. Since the second sealing element has a separate cable passage, the cables of components such as sensors can pass through the cable passage, so that the cable passing can be carried out in the sealed space, separating the cables and thus achieving the sealing performance of the cable passing, ensuring that the cables can stably and accurately transmit signals, data, and other content. Furthermore, since the first and second through holes on the output flange are connected, forming a gourd-shaped hole, and the third and fourth through holes on the low-speed shaft connecting flange are also connected, forming a gourd-shaped hole, the first and second sealing parts of the seal in this embodiment also form gourd-shaped components, thus adapting to the output flange and the low-speed shaft connecting flange and ensuring the reliability of the seal. With the above arrangement, the seal enhances the sealing performance at the output flange and the low-speed shaft connecting flange, preventing dust or liquid from entering through the gaps between them and other components. On the other hand, the seal can separate the cables, providing sealing and protection. Moreover, the seal is made of a flexible material, which helps prevent wear on the cable harness and improves its service life. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 An exploded cross-sectional view of the joint structure of the present invention is shown;

[0018] Figure 2 A cross-sectional view of the joint structure is shown.

[0019] Figure 3 A schematic diagram of the seal's structure is shown;

[0020] Figure 4 A structural schematic diagram of the seal is shown from another perspective.

[0021] The above figures include the following reference numerals:

[0022] 10. Main spindle; 11. Hollow channel; 20. Output flange; 30. Low-speed shaft connection flange; 40. Seal; 41. First sealing part; 42. Second sealing part; 421. Main body; 422. Protrusion; 423. Recess; 424. Notch; 43. Cable passage; 44. Center hole; 45. Groove; 50. Slip ring; 60. Slip ring bracket; 70. Components. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0025] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0026] To address the problem that the sealing performance of joint modules in existing technologies cannot meet usage requirements, this invention provides a joint structure and a robot. The robot has the following joint structure.

[0027] like Figures 1 to 4 The illustrated joint structure includes a main spindle 10, an output flange 20, a low-speed shaft connecting flange 30, and a seal 40. The main spindle 10 has a hollow channel 11. The output flange 20 is sleeved on the main spindle 10 and has a first through hole and a second through hole through which the main spindle 10 passes, with the first through hole communicating with the second through hole. The low-speed shaft connecting flange 30 is sleeved on the main spindle 10 and has a third through hole and a fourth through hole through which the main spindle 10 passes, with the third through hole communicating with the fourth through hole. The seal 40 has a first sealing part 41 and a second sealing part 42. The first sealing part 41 is disposed at the end of the main spindle 10 and located between the main spindle 10 and the second through hole. The second sealing part 42 passes through the first through hole and the third through hole and has a wire passage 43.

[0028] This embodiment provides four through holes on the output flange 20 and the low-speed shaft connecting flange 30, and a sealing element 40 is provided between the output flange 20 and the low-speed shaft connecting flange 30. The sealing element 40 seals the output flange 20 and the low-speed shaft connecting flange 30, thereby improving the overall sealing performance of the joint structure. Simultaneously, the sealing element 40 also serves to separate cables. Specifically, the first sealing part 41 of the sealing element 40 is located between the end of the main shaft 10 and the second through hole of the output flange 20, thereby sealing the second through hole. The gap between the through hole and the main shaft 10 allows the cable passing through the hollow channel 11 of the main shaft 10 to be separated from other parts, ensuring the airtightness of the hollow channel 11. The second sealing part 42 of the sealing member 40 is disposed in the first and third through holes. Since the second sealing member 40 has a separate cable passage 43, the cables of components such as sensors can pass through the cable passage 43, allowing the cable to pass through within the sealed space, separating the cables, and thus achieving the airtightness of the cable passage, ensuring that the cables can stably and accurately transmit signals, data, and other information. Furthermore, since the first and second through holes on the output flange 20 are connected to form a gourd-shaped hole, and the third and fourth through holes on the low-speed shaft connecting flange 30 are also connected to form a gourd-shaped hole, the first sealing part 41 and the second sealing part 42 of the sealing member 40 in this embodiment also form gourd-shaped components, thereby adapting to the output flange 20 and the low-speed shaft connecting flange 30, ensuring the reliability of the seal. In the above configuration, the seal 40 enhances the sealing performance between the output flange 20 and the low-speed shaft connecting flange 30, preventing dust or liquid from entering through the gap between the two and other components. On the other hand, the seal 40 can separate the cable, playing a role in sealing and protecting the cable. Moreover, the seal 40 is made of flexible material, and its routing can avoid wear on the cable harness, thus improving the service life of the cable harness.

[0029] In this embodiment, the through holes on the output flange 20 and the low-speed shaft connecting flange 30 are respectively arranged in a corresponding manner, that is, the third through hole is axially aligned with the first through hole, and the fourth through hole is axially aligned with the second through hole. In this way, the first sealing part 41 of the seal 40 can cooperate with the second through hole and the fourth through hole at the same time, and the second sealing part 42 can cooperate with the first through hole and the third through hole at the same time, thereby ensuring a reliable cooperation between the seal 40 and the output flange 20, the low-speed shaft connecting flange 30 and the main shaft 10.

[0030] like Figure 3 and Figure 4As shown, in this embodiment, considering that the diameter of the spindle 10 is generally large and the thickness of the cable in the cable passage 43 is relatively thin, the diameter of the first through hole is smaller than that of the second through hole, the diameter of the third through hole is smaller than that of the fourth through hole, and the outer diameter of the first sealing part 41 is larger than that of the second sealing part 42, so that the sealing element 40 forms a gourd shape, matching the structure of the output flange 20 and the low-speed shaft connecting flange 30.

[0031] In this embodiment, both the first sealing part 41 and the second sealing part 42 are annular, so that the spindle 10 can be inserted into the first sealing part 41 and the cable can be inserted into the second sealing part 42.

[0032] Since the second sealing part 42 of this embodiment cooperates with both the first through hole and the third through hole, the second sealing part 42 has a main body part 421 and a protruding part 422. The main body part 421 is connected to the first sealing part 41 and is connected to the circumferential side of the first sealing part 41. The main body part 421 is located at the first through hole and is sealed to the inner wall of the first through hole. The protruding part 422 is connected to the end face of the main body part 421 and extends along the axial direction of the sealing member 40. Thus, the protruding part 422 extends a certain length along the axial direction of the sealing member 40. This length is related to the axial distance between the first through hole and the third through hole. The specific value can be set according to the actual situation. In this way, the protruding part 422 can extend to the third through hole and cooperate with the third through hole to achieve sealing at the third through hole. The wire passage 43 of the second sealing part 42 is formed by the main body 421 and the protrusion 422. That is, the wire passage 43 axially penetrates the second sealing part 42, so that both the main body 421 and the protrusion 422 have wire passage 43, and the cable can be smoothly passed through the second sealing part 42.

[0033] Of course, the specific structural form of the second sealing part 42 is not limited to the above-described arrangement in this embodiment. Other structural forms can also be adopted, such as the sealing member 40 being thicker overall, and it can directly cooperate with the four through holes, etc.

[0034] In this embodiment, the side of the protrusion 422 extends circumferentially along the wire passage 43, and the circumferential side of the protrusion 422 is a closed structure, thereby making the protrusion 422 cylindrical, and the central part of the cylindrical shape is the wire passage 43. Considering that the central hole 44 of the first sealing part 41 needs to pass through the main shaft 10, in order to avoid the protrusion 422 affecting the passage of the main shaft 10 in the central hole 44, this embodiment provides a recess 423 on the outer side of the protrusion 422 facing the main shaft 10 to avoid the main shaft 10. The shape of the recess 423 can be arc-shaped, etc., as long as it is not within the coverage of the central hole 44, so as to avoid the passage of the main shaft 10.

[0035] In this embodiment, the side of the main body 421 has a notch 424, more specifically, the notch 424 is provided at the connection between the main body 421 and the first sealing part 41. The notch 424 radially penetrates the connection, thereby allowing the cable passage 43 to communicate with the central hole 44 of the first sealing part 41 through the notch 424. In this way, the cable in the cable passage 43 can enter the central hole 44 through the notch 424 as needed, and can then pass through the hole on the side of the spindle 10 into the spindle 10, realizing the adjustment of the cable passage position.

[0036] Optionally, the first sealing part 41 can be sleeved on the end of the main shaft 10, in which case the central hole 44 is located on the outside of the main shaft 10. Alternatively, the first sealing part 41 can be not sleeved but connected to the end of the main shaft 10, in which case the central hole 44 is connected to the hollow channel 11. Both of the above methods can achieve a good sealing effect.

[0037] To ensure the stability of the installation connection between the seal 40 and the output flange 20, this embodiment provides a groove 45 on the circumferential side of the seal 40. During installation, the edges of the first and second through holes can be fitted into the groove 45. Since the seal 40 is a flexible component, its deformation allows for proper installation. This ensures a reliable connection between the seal 40 and the output flange 20, preventing arbitrary movement of the seal 40 and thus guaranteeing a good sealing effect.

[0038] In this embodiment, the sealing element 40 is a flexible element, which has a certain deformation capacity. In addition to providing a sealing effect, it can also play a role in vibration reduction, and it is easy to install and has a low cost.

[0039] Such as 1 and Figure 2As shown, in this embodiment, in addition to the aforementioned seal 40, the joint structure also includes a slip ring 50 for sealing and cable routing. The slip ring 50 is located at one end of the main shaft 10, and in this embodiment, the slip ring 50 and the seal 40 are respectively disposed at both ends of the main shaft 10. In this way, the wire extending from the seal 40 through the hollow channel 11 can be connected to one of the inner and outer rings of the slip ring 50 at the other end of the main shaft 10. At the same time, the other of the inner and outer rings of the slip ring 50 is connected to components such as the drive board 70 through a wire. This allows the wires in the main shaft 10 to be electrically connected to the components 70 through the slip ring 50. Due to the arrangement of the slip ring 50, even when the main shaft 10 is rotating, the cable can still remain smooth under the action of the slip ring 50 and will not twist or entangle, thus extending the service life of the wire. In this embodiment, the sealing element 40 and the slip ring bracket 60 provide dual protection for the joint's sealing performance. At the same time, both the sealing element 40 and the slip ring 50 provide a certain degree of protection for the wires, extending their service life.

[0040] In this embodiment, the joint structure also includes a slip ring bracket 60, which is disposed at the end of the main shaft 10. The slip ring 50 is supported in the slip ring bracket 60. In this way, the slip ring bracket 60 can support the slip ring 50 and seal the gaps between the slip ring 50 and the main shaft 10, and between the slip ring 50 and the component 70, thereby achieving a sealing effect and further ensuring the airtightness of the joint structure.

[0041] The joint architecture of this embodiment also includes a torque sensor, a harmonic reducer, a motor assembly, a brake, an encoder, a flange connecting plate and a six-dimensional force sensor mounted on the main shaft 10. The torque sensor, harmonic reducer, motor assembly, brake and encoder are arranged sequentially on the main shaft 10 along the direction from the seal 40 to the slip ring 50.

[0042] It should be noted that "multiple" in the above embodiments refers to at least two.

[0043] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0044] 1. This solves the problem that the sealing performance of joint modules in existing technologies cannot meet usage requirements;

[0045] 2. The sealing performance at the connection between the output flange and the low-speed shaft flange has been improved to prevent dust or liquid from entering through the gaps between the two and other components.

[0046] 3. The sealing element can separate the cable and play a role in sealing and protecting the cable. Moreover, the sealing element is made of flexible material, which can avoid wear and tear on the cable harness and improve the service life of the cable harness.

[0047] 4. The design of the sealing element and slip ring bracket provides dual protection for the joint's sealing performance and also protects the wires to a certain extent, extending their service life.

[0048] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0049] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0050] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0051] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A joint structure, characterized in that, include: Main shaft (10), the main shaft (10) having a hollow channel (11); Output flange (20), the output flange (20) is sleeved on the main shaft (10), the output flange (20) has a first through hole and a second through hole through which the main shaft (10) passes, the first through hole and the second through hole are connected; A low-speed shaft connecting flange (30) is sleeved on the main shaft (10). The low-speed shaft connecting flange (30) has a third through hole and a fourth through hole through which the main shaft (10) passes. The third through hole communicates with the fourth through hole. A sealing element (40) has a first sealing part (41) and a second sealing part (42). The first sealing part (41) is disposed at the end of the spindle (10) and located between the spindle (10) and the second through hole. The second sealing part (42) passes through the first through hole and the third through hole. The second sealing part (42) has a wire passage (43). The second sealing part (42) has a main body (421) and a protrusion (422). The main body (421) is connected to the first sealing part (41). The protrusion (422) is connected to the main body (421) and extends along the axial direction of the seal (40). The main body (421) is located at the first through hole, and the protrusion (422) is located at the third through hole. Both the main body (421) and the protrusion (422) have the wire passage (43).

2. The joint structure according to claim 1, characterized in that, The third through hole is axially aligned with the first through hole, and the fourth through hole is axially aligned with the second through hole.

3. The joint structure according to claim 1, characterized in that, The outer diameter of the first sealing part (41) is larger than the outer diameter of the second sealing part (42).

4. The joint structure according to claim 1, characterized in that, The side of the protrusion (422) extends circumferentially along the wire passage (43), and the outer side of the protrusion (422) facing the main shaft (10) has a recess (423) for avoiding the main shaft (10).

5. The joint structure according to claim 1, characterized in that, The main body (421) has a notch (424) on its side, and the wire passage (43) communicates with the center hole (44) of the first sealing part (41) through the notch (424).

6. The joint structure according to claim 1, characterized in that, The side of the seal (40) has a groove (45), and the edges of the first through hole and the second through hole are located in the groove (45).

7. The joint structure according to any one of claims 1 to 6, characterized in that, The joint structure also includes a slip ring (50), which is located at one end of the main shaft (10). The wires in the hollow channel (11) are connected to the slip ring (50) and electrically connected to the components (70) through the slip ring (50).

8. The joint structure according to claim 7, characterized in that, The joint structure also includes a slip ring bracket (60), which is disposed at the end of the main shaft (10). The slip ring (50) is supported in the slip ring bracket (60), and the slip ring bracket (60) seals the gap between the slip ring (50) and the main shaft (10) and between the slip ring (50) and the component (70).

9. A robot, characterized in that, The joint structure includes any one of claims 1 to 8.

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