Shafting assembly, rotating mechanism and robot

Abstract

The invention discloses a shafting assembly, a rotating mechanism and a robot. The shafting assembly comprises a first structural member, a second structural member, a bearing, an outer shaft sleeve and a fixed shaft; a first through hole penetrating in the first direction is formed in the first structural part, and the second structural part is located on the outer side of the first structural part in the first direction; the inner end of the fixing shaft is assembled in the first through hole through the bearing, the outer end of the fixing shaft extends out of the first through hole and is connected with the second structural part, and the outer shaft sleeve is detachably fixed to the outer side of the second structural part; a first limiting part is arranged at the inner end of the fixing shaft, a second limiting part is arranged on the inner side of the outer shaft sleeve, the first limiting part can be arranged at the inner end of the bearing in a blocking mode, and the second limiting part can penetrate through the second structural part to abut against the outer end of the bearing. The shafting assembly provided by the invention is convenient to assemble.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical design, and more specifically, to a shaft system assembly, a rotating mechanism and a robot. Background Art

[0002] The shaft system design process needs to consider the bearing limit and the assembly convenience of related parts. In the prior art, the shaft system design usually has the situation of difficult assembly and disassembly or too large clearance.

[0003] In view of this, it is necessary to develop a shaft system that is easy to disassemble and effectively controls the clearance. Summary of the invention

[0004] One object of the present application is to provide a new technical solution for a shaft system assembly, a rotation mechanism and a robot.

[0005] According to a first aspect of the present application, a shaft system assembly is provided, comprising:

[0006] A first structural member and a second structural member, wherein the first structural member is provided with a first through hole penetrating along a first direction, and the second structural member is located outside the first structural member along the first direction;

[0007] A bearing, an outer sleeve and a fixed shaft, wherein the inner end of the fixed shaft is assembled in the first through hole through the bearing, the outer end of the fixed shaft extends out of the first through hole and is connected to the second structural member, and the outer sleeve is detachably fixed to the outer side of the second structural member;

[0008] The inner end of the fixed shaft is provided with a first limiting portion, and the inner side of the outer sleeve is provided with a second limiting portion. The first limiting portion can be blocked at the inner end of the bearing, and the second limiting portion can pass through the second structural member and abut against the outer end of the bearing.

[0009] Optionally, the first limiting portion can be disposed on an inner end of an inner ring of the bearing, and the second limiting portion can be disposed on an outer end of an inner ring of the bearing.

[0010] Optionally, it further comprises an inner retaining ring, the inner retaining ring is fixed on the first structural member, at least a part of which can be retained at the inner end of the outer ring of the bearing;

[0011] The first structural member is further provided with a third limiting portion on the outer side of the first through hole, and the third limiting portion can be blocked at the outer end of the outer ring of the bearing.

[0012] Optionally, the second structural member is a U-shaped structure, the outer end of the fixed shaft is connected to one end of the U-shaped structure, and the other end of the U-shaped structure is used to connect to the output end of the driving member.

[0013] Optionally, the fixed shaft is a hollow shaft, and the second structural member and the outer sleeve are respectively provided with a second through hole and a third through hole penetrating along the first direction at positions corresponding to the first through hole, so as to accommodate a connection harness between the driving member and the outside.

[0014] Optionally, the second limiting portion is a protruding structure extending along the first direction, and the second structural member is provided with a through hole matching the protruding structure, and the protruding structure can pass through the through hole and abut against the outer end of the bearing.

[0015] Optionally, at least two protrusion structures are provided, and the at least two protrusion structures are evenly arranged around the axial direction of the fixed shaft, and the axial direction of the fixed shaft is the first direction.

[0016] Optionally, inner surfaces of at least two of the protruding structures are in contact with outer surfaces of the fixed shaft respectively, so as to limit radial movement of the fixed shaft.

[0017] According to a second aspect of the present application, a rotation mechanism is provided, comprising:

[0018] A drive member and the shafting assembly described in the first aspect;

[0019] The driving member is disposed on the inner side of the first structural member, and is capable of causing the first structural member and the second structural member to rotate relative to each other around the first direction.

[0020] According to a third aspect of the present application, a robot is provided, comprising: the rotating mechanism described in the second aspect.

[0021] According to one embodiment of the present application, the present application achieves the purpose of limiting the movement of the bearing in the first direction and reducing the clearance of the shaft system assembly by detachably disposing the outer sleeve on the outer side of the second structural member, and enabling the second limiting portion to pass through the second structural member and abut against the outer end of the bearing, so that the first limiting member is blocked at the inner end of the bearing. On the one hand, the present application achieves the purpose of facilitating the installation and disassembly of the outer sleeve and reducing the difficulty of assembly.

[0022] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0024] Figure 1 This is an assembly appearance diagram of a shaft system component provided in this application.

[0025] Figure 2 This is an internal assembly diagram of a shaft system component provided by the present application.

[0026] Figure 3 This is one of the exploded views of a shaft system assembly provided in this application.

[0027] Figure 4 yes Figure 3 A partial enlarged view of point A in the middle.

[0028] Figure 5 This is the second exploded view of a shaft system assembly provided in this application.

[0029] Figure 6 yes Figure 5 A partial enlarged view of point B in the middle.

[0030] Description of reference numerals:

[0031] 1. First structural member; 11. First through hole; 12. Third limiting portion; 2. Second structural member; 21. Second through hole; 22. Through hole; 3. Bearing; 31. Outer ring; 32. Inner ring; 4. Fixed shaft; 41. First limiting portion; 5. Outer sleeve; 51. Second limiting portion; 52. Third through hole; 6. Inner retaining ring. DETAILED DESCRIPTION

[0032] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0033] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0034] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0035] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0036] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0037] like Figures 1 to 6As shown, according to the first aspect of the present application, a shaft system assembly is provided, including: a first structural member 1, a second structural member 2, a bearing 3, an outer sleeve 5 and a fixed shaft 4; the first structural member 1 is provided with a first through hole 11 which passes through along a first direction, and the second structural member 2 is located on the outside of the first structural member 1 along the first direction.

[0038] The inner end of the fixed shaft 4 is assembled in the first through hole 11 through the bearing 3 , the outer end of the fixed shaft 4 extends out of the first through hole 11 and is connected to the second structural member 2 , and the outer sleeve 5 is detachably fixed to the outer side of the second structural member 2 .

[0039] A first limiting portion 41 is provided at the inner end of the fixed shaft 4 , and a second limiting portion 51 is provided on the inner side of the outer sleeve 5 . The first limiting portion 41 can be blocked at the inner end of the bearing 3 , and the second limiting portion 51 can pass through the second structural member 2 and abut against the outer end of the bearing 3 .

[0040] Specifically, in this embodiment, the fixed shaft 4 rotatably connects the first structure 1 and the second structure 2 together through the bearing 3, so that it can be applied to the scene of the rotating mechanism. Among them, the first structure 1 can be connected to an external main structure, and the second structure 2 can be connected to another external main structure, so that the two main structures can rotate relative to each other.

[0041] The outer sleeve 5 of the shaft system assembly provided in the present application is detachably arranged on the outside of the second structural member 2, that is, arranged at the outer end of the fixed shaft 4, so that in the actual assembly process, the bearing 3 can be assembled on the first structural member 1 first, and then the fixed shaft 4 is passed through the first through hole 11, so that the outer end extends to the second structural member 2, and then the second limit portion 51 on the outer sleeve 5 is passed through the second structural member 2 until its end is against the outer end of the bearing 3, and finally the outer sleeve 5, the second structural member 2 and the outer end of the fixed shaft 4 can be detachably fixed together by fasteners to complete the assembly of the entire shaft system. When disassembly is required, the fasteners can be loosened first, and then the outer sleeve 5, the fixed shaft 4, the bearing 3 and other parts can be disassembled in turn. Among them, the fasteners can be implemented by bolts and other structures.

[0042] In the above structure, the outer sleeve 5 is detachably fixed to the outside of the second structural member 2, so that in actual applications, the entire shaft system assembly can usually be assembled and disassembled without disassembling the surrounding equipment, which is beneficial to maintenance and servicing. In addition, the external design of the outer sleeve 5 makes it easier to check and adjust the shaft system assembly after assembly, which is beneficial to maintaining the normal operating state of the equipment.

[0043] Among them, the outer sleeve 5 is arranged on the outside of the second structure, which means that in actual application, the outer sleeve 5 is arranged at a position where it can be clearly observed and operated, and other components are assembled on the side of the second structural member 2 opposite to the outer sleeve 5 (that is, the inner side of the second structural member 2). Usually, the space is relatively small or easily blocked, and this application does not impose strict restrictions on it.

[0044] Furthermore, the above structure limits the freedom of the bearing 3 in the first direction by limiting the first limit piece on the fixed shaft 4 and the second limit piece on the outer sleeve 5, reduces the clearance of the shaft system component in the first direction, and improves the assembly accuracy.

[0045] Alternatively, if Figures 2 to 6 As shown, the first limiting portion 41 can be disposed on the inner end of the inner ring 32 of the bearing 3 , and the second limiting portion 51 can be disposed on the outer end of the inner ring 32 of the bearing 3 .

[0046] Specifically, in this embodiment, the first limiting portion 41 and the second limiting portion 51 both act on the inner ring 32 of the bearing 3, so that the limiting of the bearing 3 in the first direction is more accurate. The two ends of the outer ring 31 of the bearing 3 can be limited by other components to achieve the fixing of the entire inner and outer rings 31 of the bearing 3, and this application does not limit this.

[0047] Optionally, it also includes an inner retaining ring 6, which is fixed on the first structural member 1, and at least a portion of which can be blocked at the inner end of the outer ring 31 of the bearing 3; the first structural member 1 is also provided with a third limiting portion 12 on the outer side of the first through hole 11, and the third limiting portion 12 can be blocked at the outer end of the outer ring 31 of the bearing 3.

[0048] Specifically, in this embodiment, the inner and outer ends of the outer ring 31 of the bearing 3 are restricted by at least a portion of the inner retaining ring 6 and the third limiting portion 12 on the first structural member 1. Combined with the limitation of the inner ring 32 by the first limiting portion 41 and the second limiting portion 51, the freedom of the inner and outer rings 31 of the entire bearing 3 in the first direction is restricted, so that the bearing 3 can be fixed at the set position, further reducing the clearance in the first direction after the shaft system assembly is assembled, and improving the assembly accuracy.

[0049] In the prior art, the inner ring 32 and the outer ring 31 of the bearing 3 are usually able to rotate relative to each other around the axial direction (i.e., the first direction in the present application) to achieve relative rotation between the first structural member 1 and the second structural member 2. Among them, the first limiting portion 41, the second limiting portion 51 and the third limiting portion 12 can all be set as limiting rings extending axially around the fixed shaft 4, and the outer ring 31 and the inner ring 32 of the bearing 3 are integrally limited in combination with the inner retaining ring 6, and the structure is simple and the cost is low. In addition, the first limiting portion 41, the second limiting portion 51 and the third limiting portion 12 can also be an axially extending discontinuous structure around the fixed shaft 4 to reduce the mass of the entire shaft system. In addition, the outer edge of the inner retaining ring 6 can be used to be fixed on the first structural member 1, so that its inner edge can be blocked on the inner end of the outer ring 31 of the bearing 3, so as to facilitate structural design and assembly.

[0050] Alternatively, if Figure 1 , Figure 3 and Figure 5 As shown, the second structural member 2 is a U-shaped structure, the outer end of the fixed shaft 4 is connected to one end of the U-shaped structure, and the other end of the U-shaped structure is used to connect to the output end of the driving member.

[0051] Specifically, in this embodiment, the U-shaped second structural member 2 can increase the load-bearing weight of the entire shaft assembly after assembly, and it is convenient for assembling the drive member. Figure 1 , Figure 3 and Figure 5 As shown, the fixed shaft 4, bearing 3, first structural member 1 and other components in the shaft system assembly are assembled at one end of the U-shaped structure and located on the inner side thereof. At the same time, a driving member, such as a motor, can also be arranged on the inner side of the second structure, so that the fixed end of the motor is located at one end close to the fixed shaft 4, and the output end is arranged at the other end of the U-shaped structure, so that the second structural member 2 can protect the driving member and some components while realizing the rotation function.

[0052] Alternatively, if Figures 2 to 6 As shown, the fixed shaft 4 is a hollow shaft, and the second structural member 2 and the outer sleeve 5 are respectively provided with a second through hole 21 and a third through hole 52 penetrating along the first direction at positions corresponding to the first through hole 11, so as to accommodate the connection harness between the driving member and the outside.

[0053] Specifically, in this embodiment, when a driving member is provided on the inner side of the second structural member 2, it usually has a connecting wire harness connected to the outside. By providing a second through hole 21 and a third through hole 52 on the second structural member 2 and the outer sleeve 5, and designing the fixed shaft 4 as a hollow structure, the connecting wire harness can pass through the hollow shaft, the second through hole 21 and the third through hole 52 in sequence to connect to the outside, which facilitates the routing of the driving member and improves the safety of the equipment.

[0054] Alternatively, if Figure 4 and Figure 6 As shown, the second limiting portion 51 is a protruding structure extending along the first direction, and a through hole 22 matching the protruding structure is provided on the second structural member 2 . The protruding structure can pass through the through hole 22 and abut against the outer end of the bearing 3 .

[0055] Specifically, in practical applications, by designing the second limiting portion 51 as a protruding structure extending along the first direction, it is convenient for the second limiting portion 51 to pass through the through hole 22 of the second structural member 2 and abut against the outer end of the bearing 3. The through hole 22 on the second structural member 2 can also play a certain guiding role in the assembly of the outer sleeve 5, further reducing the difficulty of assembly.

[0056] Optionally, at least two protrusion structures are provided, and the at least two protrusion structures are evenly arranged around the axial direction of the fixed shaft 4, and the axial direction of the fixed shaft 4 is the first direction.

[0057] Specifically, in this embodiment, at least two protruding structures are evenly arranged along the axial direction (i.e., the first direction) of the fixed shaft 4, which can, on the one hand, lighten the outer sleeve 5, and on the other hand, make the restriction of the second limiting portion 51 on the inner ring 32 of the bearing 3 more uniform, thereby avoiding the shaking of the bearing 3 in the first direction and improving the reliability of the equipment.

[0058] Optionally, inner surfaces of at least two of the protruding structures are in contact with outer surfaces of the fixed shaft 4 , respectively, so as to limit radial movement of the fixed shaft 4 .

[0059] Specifically, in this embodiment, the inner surface of the protruding structure contacts the outer surface of the fixed shaft 4, so that the second limit portion 51 can limit the freedom of the fixed shaft 4 in its radial direction, reduce the clearance of the fixed shaft 4 in its axial direction, and further improve the assembly accuracy. Among them, the inner surface of the protruding structure and the outer surface of the fixed shaft 4 can be designed to be contoured to increase the contact area.

[0060] According to the second aspect of the present application, reference Figure 1 , provides a rotation mechanism, comprising: a driving member and the shaft system assembly described in the first aspect; the driving member is arranged on the inner side of the first structural member 1, and can make the first structural member 1 and the second structural member 2 rotate relative to each other around the first direction.

[0061] Specifically, in this embodiment, the driving member is arranged on the inner side of the first structural member 1, so that the first structural member 1 and the second structural member 2 can be wrapped on the outer side of the driving member to fix and protect it, and the driving member can make the first structural member 1 rotate relative to the second structural member 2 through the rotation of the output end, forming a rotating mechanism. In this structure, the outer sleeve 5 is located outside the second structural member 2, which makes it easy to maintain and replace in actual application.

[0062] According to a third aspect of the present application, a robot is provided, comprising: the rotating mechanism described in the second aspect.

[0063] Specifically, in this embodiment, a robot is provided, which can realize functions such as rotation of the robot's wrist, shoulder, elbow, etc. by applying the rotation mechanism provided in the second aspect to the robot's wrist, shoulder, elbow, etc., so as to carry out functions such as loading or transporting. The shaft system assembly used in the rotation mechanism can not only improve the robot's load capacity, but also facilitate assembly and maintenance, thereby reducing its maintenance cost.

[0064] The above embodiments focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0065] Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration, not for limiting the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A shaft system assembly, characterized in that: include: A first structural member and a second structural member, wherein the first structural member is provided with a first through hole penetrating along a first direction, and the second structural member is located outside the first structural member along the first direction; A bearing, an outer sleeve and a fixed shaft, wherein the inner end of the fixed shaft is assembled in the first through hole through the bearing, the outer end of the fixed shaft extends out of the first through hole and is connected to the second structural member, and the outer sleeve is detachably fixed to the outer side of the second structural member; The inner end of the fixed shaft is provided with a first limiting portion, and the inner side of the outer sleeve is provided with a second limiting portion. The first limiting portion can be blocked at the inner end of the bearing, and the second limiting portion can pass through the second structural member and abut against the outer end of the bearing.

2. The shafting assembly according to claim 1, characterized in that: The first limiting portion can be disposed on the inner end of the inner ring of the bearing, and the second limiting portion can be disposed on the outer end of the inner ring of the bearing.

3. The shafting assembly according to claim 2, characterized in that: It also includes an inner retaining ring, which is fixed to the first structural member, and at least a portion of which can be retained at the inner end of the outer ring of the bearing; The first structural member is further provided with a third limiting portion on the outer side of the first through hole, and the third limiting portion can be blocked at the outer end of the outer ring of the bearing.

4. The shafting assembly according to claim 1, characterized in that: The second structural member is a U-shaped structure, the outer end of the fixed shaft is connected to one end of the U-shaped structure, and the other end of the U-shaped structure is used to connect to the output end of the driving member.

5. The shafting assembly according to claim 4, characterized in that: The fixed shaft is a hollow shaft, and the second structural member and the outer sleeve are respectively provided with a second through hole and a third through hole penetrating along the first direction at positions corresponding to the first through hole, so as to accommodate a connection harness between the driving member and the outside.

6. The shafting assembly according to claim 1, characterized in that: The second limiting portion is a protruding structure extending along the first direction. The second structural member is provided with a through hole matching the protruding structure. The protruding structure can pass through the through hole and abut against the outer end of the bearing.

7. The shafting assembly according to claim 6, characterized in that: At least two protrusion structures are provided, and the at least two protrusion structures are evenly arranged around the axial direction of the fixed shaft, and the axial direction of the fixed shaft is the first direction.

8. The shafting assembly according to claim 7, characterized in that: The inner surfaces of at least two of the protruding structures are in contact with the outer surface of the fixed shaft respectively to limit the radial movement of the fixed shaft.

9. A rotating mechanism, characterized in that: include: A drive member and a shafting assembly according to any one of claims 1 to 8; The driving member is disposed on the inner side of the first structural member, and is capable of causing the first structural member and the second structural member to rotate relative to each other around the first direction.

10. A robot, characterized in that: include: The rotating mechanism according to claim 9.

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