Robot joint and robot

Abstract

The invention relates to the technical field of robots, in particular to a robot joint and a robot. The robot joint comprises a shell, a mounting adjusting seat and a speed reducing mechanism. The installation adjusting base is connected to the shell and provided with a positioning part, and the shell can rotate around the designated circle center relative to the positioning part. The speed reducing mechanism comprises a first transmission module, a second transmission module and a transmission shaft, and the first transmission module is arranged on the mounting adjusting seat; the second transmission module is arranged on the shell and comprises an input rotating part and an output rotating part which are in transmission fit; the transmission shaft rotatably penetrates through the mounting adjusting seat, one end of the transmission shaft is connected to the first transmission module, the other end of the transmission shaft is connected to the input rotating part, and a gap exists between the rotating axis of the transmission shaft rotating relative to the mounting adjusting seat and the designated circle center. The robot joint adopts a gear transmission structure to replace a speed reducer structure, so that the cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot joint and a robot. Background Art

[0002] At present, the transmission mechanism of robot wrist mostly adopts the driving mode of motor combined with reducer. This driving mode is too dependent on the performance of reducer, and the cost is greatly affected by the reducer, so the overall cost is high. In order to reduce the dependence of robot wrist structure on reducer and reduce the structural cost of the entire robot wrist, some manufacturers use gear structure transmission when designing the wrist structure, but there is often a high coupling between the transmission gears at all levels, and the adjustment of gear transmission is difficult. In order to ensure the transmission accuracy, high gear and casting processing accuracy is often required. Summary of the invention

[0003] The present application provides a robot joint, and the present application also provides a robot having the above-mentioned robot joint.

[0004] In the first aspect, the present application provides a robot joint, including a shell, a mounting and adjustment seat, and a reduction mechanism. The mounting and adjustment seat is connected to the shell, and the mounting and adjustment seat is provided with a positioning portion, and the shell can rotate around a specified center of a circle relative to the positioning portion. The reduction mechanism includes a first transmission module, a second transmission module, and a transmission shaft, the first transmission module is arranged on the mounting and adjustment seat; the second transmission module is arranged on the shell, and the second transmission module includes an input rotating member and an output rotating member for transmission matching; the transmission shaft is rotatably passed through the mounting and adjustment seat, one end of the transmission shaft is connected to the first transmission module, and the other end is connected to the input rotating member, and there is a gap between the rotation axis of the transmission shaft relative to the mounting and adjustment seat and the specified center of a circle.

[0005] In a second aspect, the present application also provides a robot, comprising a body and any one of the robot joints described above, wherein the robot joint is connected to the body.

[0006] Compared with the prior art, when the robot joint provided by the present application is used, the first transmission module drives the transmission shaft to rotate relative to the mounting adjustment seat, and the transmission shaft drives the second transmission module to rotate. The robot joint of the present application adopts a gear transmission structure instead of a reducer structure. The first transmission module and the second transmission module have two-stage transmission, which can achieve a larger reduction ratio and greatly reduce costs. The use of gear transmission can well resist external shocks and overloads, and reduce the failure rate of the robot during use. The operator can adjust the center distance between the input rotating member and the output rotating member by adjusting the relative position between the housing and the mounting adjustment seat, thereby ensuring the transmission accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0008] Figure 1 This is a module block diagram of a robot provided in one embodiment of the present application.

[0009] Figure 2 It is a schematic diagram of the planar structure of a robot joint provided in one embodiment of the present application.

[0010] Figure 3 yes Figure 2 Schematic diagram of the AA section structure of the robot joint shown.

[0011] Figure 4 yes Figure 3 Schematic diagram of the enlarged structure of part C.

[0012] Figure 5 yes Figure 3 Schematic diagram of the cross-sectional structure of the end cover and driven gear of the robot joint shown.

[0013] Figure 6 yes Figure 2 Schematic diagram of the BB cross-sectional structure of the robot joint shown.

[0014] Figure 7 yes Figure 6 Schematic diagram of the enlarged structure of part D.

[0015] Figure 8 yes Figure 2 Schematic diagram of the three-dimensional structure of the robot joint shown.

[0016] Fig. 9 yes Figure 2 A schematic diagram of the planar structure of the mounting and adjusting seat of the robot joint is shown.

[0017] Fig.10 yes Figure 2 A schematic diagram of the planar structure of the robot joint from another perspective is shown.

[0018] Fig.11 yes Figure 8 Schematic diagram of the enlarged structure of part E.

[0019] Explanation of reference numerals: 100, robot joint; 10, housing; 12, main body; 121, first mounting portion; 123, second mounting portion; 125, adjustment fitting portion; 126, mounting hole; 20, mounting and adjusting seat; 21, seat body; 212, first accommodating portion; 2121, first cavity; 2123, first mounting port; 214, second accommodating portion; 2141, second cavity; 2143, second mounting port; 216, end cover; 23, positioning portion; 231, arc structure; 232, positioning truncated cone; 236, positioning hole; 25, connecting portion; 252, adjustment hole; 30, speed reduction mechanism; 32, first transmission module; 321, driving gear; 3212, first shaft portion; 3214, first meshing portion ; 323, driven gear; 325, first bearing; 327, pre-tightening nut; 34, second transmission module; 341, input rotating member; 3412, first transmission tooth; 343, output rotating member; 3432, second shaft; 3434, second transmission tooth; 3436, mounting through hole; 36, transmission shaft; 38, second bearing; 40, output member; 50, gasket; 52, locking member; 60, fixing member; 70, adjusting mechanism; 72, limiting member; 721, limiting hole; 74, adjusting driven member; 76, adjusting driving member; 80, driving member; 81, output shaft; 83, spline shaft; 832, holding protrusion; 90, elastic member; 200, robot; 201, body; 203, execution end. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0021] If certain words are used in the specification and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use differences in names as a way to distinguish components, but use differences in components' functions as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0022] See also Figure 1 , an embodiment of the present application provides a robot joint 100 , which can be applied to a robot 200 .

[0023] This specification does not limit the specific type of robot 200. For example, robot 200 may be an industrial robot arm robot or a driving robot, or a collaborative robot. In this embodiment, robot 200 is a collaborative robot. Collaborative robots are a type of robot that can enable people and robots to coexist and work together. With their human-machine safety, collaborative robots are gradually penetrating into many fields such as automotive parts, metal processing, electronics, medical equipment, consumer catering, etc., greatly improving labor efficiency.

[0024] The robot 200 may include a body 201, an execution end 203, and a robot joint 100. The robot joint 100 is connected between the execution end 203 and the body 201, and is used to drive the execution end 203 to move relative to the body 201. The body 201 may be the base of the robot 200. For example, when the robot 200 is a collaborative robot, the body 201 may be a base (e.g., a fixed base) used to support the robot joints and make the robot joints more stable; for another example, when the robot 200 is a bionic robot, the body 201 may be a bionic trunk; when the robot 200 is a robotic arm, the body 201 may be a mounting base or a front robotic arm portion.

[0025] In this application, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be internal communication between two elements, or it can be only surface contact. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] In some embodiments, the robot 200 may include multiple execution ends 203. Accordingly, the robot 200 also includes robot joints 100 corresponding to the multiple execution ends 203. Each execution end 203 is connected to the body 201 through the corresponding robot joint 100. Alternatively, multiple execution ends 203 may be connected in sequence. For example, two adjacent execution ends 203 are connected through a joint module. The execution end 203 at the front end is connected to the body 201 through a joint module. The execution end 203 at the rear end (such as the end) may be connected to the execution end 203 located in front of it through a joint module. This specification does not limit the specific type of the robot joint 100. For example, the robot joint 100 may be a wrist joint of the robot 200 or an elbow joint of the robot 200. In this embodiment, the robot joint 100 is a wrist joint of the robot 200.

[0027] Please also see Figure 2 and Figure 3 The robot joint 100 includes a housing 10, a mounting and adjusting seat 20, and a speed reduction mechanism 30, wherein the mounting and adjusting seat 20 is rotatably connected to the housing 10. The speed reduction mechanism 30 includes a first transmission module 32, a second transmission module 34, and a transmission shaft 36. The first transmission module 32 is disposed on the mounting and adjusting seat 20, and the second transmission module 34 is disposed on the housing 10. One end of the transmission shaft 36 is connected to the first transmission module 32, and the other end is connected to the second transmission module 34.

[0028] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0029] During installation, the first transmission module 32 is assembled to the installation and adjustment seat 20, the second transmission module 34 is assembled to the housing 10, the transmission shaft 36 is inserted into the installation and adjustment seat 20, and connected between the first transmission module 32 and the second transmission module 34. During use, the first transmission module 32 drives the transmission shaft 36 to rotate relative to the installation and adjustment seat 20, and the transmission shaft 36 drives the second transmission module 34 to rotate. The robot joint 100 of the present application adopts a gear transmission structure (the first transmission module 32, the second transmission module 34 and the transmission shaft 36) to replace the reducer structure. The first transmission module 32 and the second transmission module 34 are two-stage transmissions, which can achieve a larger reduction ratio and greatly reduce costs. The use of gear transmission can well resist external shocks and overloads, and reduce the failure rate of the robot 200 during use.

[0030] In this embodiment, the mounting and adjusting seat 20 may include a seat body 21 and a positioning portion 23, the seat body 21 is used to mount the first transmission module 32, the positioning portion 23 is disposed on the seat body 21, and the positioning portion 23 is used to cooperate with the housing 10. The seat body 21 may include a first accommodating portion 212 and a second accommodating portion 214 connected to each other, and the positioning portion 23 is disposed in the second accommodating portion 214.

[0031] The seat body 21 can be formed by casting to ensure high structural strength and transmission stability. Therefore, although the first receiving portion 212 and the second receiving portion 214 use different names to refer to different parts of the seat body 21, these names should not be regarded as limitations on the structure of the seat body 21. These names are made only for the convenience of description. For example, the connection between the first receiving portion 212 and the second receiving portion 214 can be an integrally formed connection structure, and there may be no obvious dividing line between the first receiving portion 212 and the second receiving portion 214. In other embodiments, the seat body 21 can be formed by assembly connection to reduce the difficulty of preparation. For example, the first receiving portion 212 and the second receiving portion 214 can be prepared independently and then assembled together by fasteners to form the overall structure of the seat body 21, wherein the first receiving portion 212 and the second receiving portion 214 can be formed by casting, and the first receiving portion 212 and the second receiving portion 214 can be connected together by fasteners (such as screws, bolts, studs and other threaded fasteners) or / and adhesives such as structural adhesives.

[0032] The first accommodating portion 212 is generally cylindrical and has a first cavity 2121. The first cavity 2121 penetrates one end of the first accommodating portion 212 away from the second accommodating portion 214 along the first direction X to form a first installation opening 2123. The second accommodating portion 214 is integrally formed with the first accommodating portion 212. The second accommodating portion 214 has a second cavity 2141. The second cavity 2141 penetrates one end of the second accommodating portion 214 along the second direction Y to form a second installation opening 2143. The second cavity 2141 is connected to the first cavity 2121, and the first direction X and the second direction Y intersect (e.g., are perpendicular to each other).

[0033] The first transmission module 32 may include a driving gear 321 and a driven gear 323, wherein the driven gear 323 is coaxially arranged with the transmission shaft 36 and is connected to a non-rotating state, and the driving gear 321 is meshed with the driven gear 323 to drive the driven gear 323 and the transmission shaft 36 to rotate. The rotation axis of the driving gear 321 and the rotation axis of the driven gear 323 intersect. It should be understood that the "non-rotating connection" between the driven gear 323 and the transmission shaft 36 should be understood as that the driven gear 323 and the transmission shaft 36 are relatively fixed, and the transmission shaft 36 can rotate with the rotation of the driven gear 323.

[0034] In this embodiment, the driving gear 321 may include a first shaft portion 3212 and a first meshing portion 3214. The first shaft portion 3212 is rotatably disposed in the first cavity 2121 and extends along the first direction X, and the axis of the first shaft portion 3212 is substantially parallel to the first direction X. The first meshing portion 3214 is substantially coaxially connected to one end of the first shaft portion 3212 close to the second accommodating portion 214 and extends into the second cavity 2141, and the first meshing portion 3214 may be integrally formed with the first shaft portion 3212. The driven gear 323 is rotatably disposed in the second cavity 2141, and the axis of the driven gear 323 is substantially parallel to the second direction Y, and the driven gear 323 meshes with the first meshing portion 3214. The driving gear 321 rotates relative to the first accommodating portion 212, driving the driven gear 323 to rotate relative to the second accommodating portion 214, thereby driving the second transmission module 34 through the transmission shaft 36. In this embodiment, both the driving gear 321 and the driven gear 323 are hypoid gears, and the outer diameter of the first meshing portion 3214 of the driving gear 321 is smaller than the outer diameter of the driven gear 323. The hypoid gear pair has a larger helix angle so that it can obtain a larger overlap when meshing, and the transmission is smoother.

[0035] In this embodiment, the first transmission module 32 may further include a first bearing 325, which is disposed between the first shaft portion 3212 and the inner wall of the first accommodating portion 212, and is used to support the first shaft portion 3212 to improve the stability of the driving gear 321. The first shaft portion 3212 may be provided with a protrusion for limiting the first bearing 325, which abuts against the end of the inner ring of the first bearing 325, limits the axial displacement of the first bearing 325, and improves the stability of the installation of the first bearing 325. This specification does not limit the specific type of the first bearing 325, for example, the first bearing 325 may be a double-row angular contact ball bearing, or the first bearing 325 may also be a tapered roller bearing, a cross roller bearing, or other bearings. In this embodiment, the first bearing 325 is a tapered roller bearing.

[0036] In order to prevent the driving gear 321 from axially moving and affecting the center distance between the first meshing portion 3214 and the driven gear 323, a limiting platform can be provided on the inner wall of the first accommodating portion 212, and the limiting platform is used to limit the displacement of the first shaft portion 3212 close to the second cavity 2141. The first transmission module 32 can also include a pre-tightening nut 327, which is sleeved outside the first shaft portion 3212 and connected to the inner wall of the first accommodating portion 212. The pre-tightening nut 327 is installed in the first cavity 2121 through the first installation opening 2123, and one end of the pre-tightening nut 327 close to the second accommodating portion 214 is abutted against one end of the outer ring of the first bearing 325, and the pre-tightening and limiting of the driving gear 321 is completed through the first bearing 325, thereby improving the transmission stability between the first meshing portion 3214 and the driven gear 323, and also improving the installation accuracy of the first transmission module 32. In some embodiments, in order to improve the sealing performance of the first transmission module 32 , an oil seal may also be provided between the first transmission module 32 and the first shaft portion 3212 .

[0037] Please also see Figure 3 and Figure 5 In this embodiment, the seat body 21 may further include an end cover 216, which is detachably connected to the second accommodating portion 214 and shields the second installation opening 2143. The present specification does not limit the specific connection method between the end cover 216 and the second accommodating portion 214. For example, the end cover 216 may be threadedly connected to the second accommodating portion 214, or the end cover 216 may be connected to the second accommodating portion 214 by bolts. When the end cover 216 is connected to the second accommodating portion 214, one end of the end cover 216 facing the second cavity 2143 abuts against one end of the driven gear 323 away from the driving gear 321, thereby limiting the axial displacement of the driven gear 323 away from the driving gear 321. The operation of adjusting the center distance between the driven gear 323 and the driving gear 321 can be completed during the process of installing the end cover 216 in the second accommodating portion 214. When the end cover 216 is installed, the center distance between the two is also adjusted. The end cap 216 further improves the transmission stability between the first meshing portion 3214 and the driven gear 323 and the installation accuracy of the first transmission module 32. The end cap 216 is easy to assemble, and can not only achieve the fixed constraint of the driven gear 323 and the driving gear 321, but also meet the gap adjustment requirements between the two.

[0038] It should be understood that the phrase "a certain element abuts against another element" in this specification should be understood as the two being in direct contact or indirect contact (for example, when there is a centering element between the two). For example, the other element is mounted on the centering element, and the certain element can abut against the centering element, thereby "abutting against the other element". Regarding the above-mentioned "the end cover 216 abuts against the driven gear 323", the end cover 216 can directly abut against the driven gear 323, or can indirectly abut against the driven gear 323 through the centering element. For example, a bearing for supporting the driven gear 323 can be provided between the end cover 216 and the shaft of the driven gear 323, and the end cover 216 can indirectly abut against the driven gear 323 through the bearing to achieve axial limitation of the driven gear 323. Among them, the bearing between the end cover 216 and the shaft of the driven gear 323 can be a double-row angular contact ball bearing.

[0039] In this embodiment, the transmission shaft 36 is connected to the driven gear 323 in a non-rotatable manner, and is non-rotatably connected to the driven gear 323. Specifically, the transmission shaft 36 is extended along the second direction Y, one end of the transmission shaft 36 is inserted into the shaft portion of the driven gear 323, and the other end protrudes from the second accommodating portion 214 and is located in the housing 10, so as to be connected to the second transmission module 34. This specification does not limit the non-rotatable connection method between the transmission shaft 36 and the driven gear 323. For example, the transmission shaft 36 and the driven gear 323 can be connected by splines, and the transmission shaft 36 and the driven gear 323 can also be rigidly connected by fixing members such as bolts. In this embodiment, the inner hole of the driven gear 323 for inserting the transmission shaft 36 has an internal spline structure, and one end of the transmission shaft 36 inserted in the driven gear 323 has an external spline structure, and the transmission shaft 36 and the driven gear 323 are non-rotatably connected by spline matching.

[0040] See also Figure 5 , Figure 6 and Figure 7 In some embodiments, there may be both a spline fit and a rigid connection structure between the transmission shaft 36 and the driven gear 323. Specifically, the robot joint 100 may further include a gasket 50 and a locking member 52, and the gasket 50 is superimposed on the end of the driven gear 323 away from the second transmission module 34. The transmission shaft 36 is passed through the driven gear 323, and the surface of the end of the transmission shaft 36 close to the end cover 216 is exposed outside the driven gear 323 and is roughly flush with the surface of the end of the driven gear 323 away from the input rotating member 341, and the gasket 50 is superimposed on the flush surfaces of the two. The locking member 52 is passed through the gasket 50 and the transmission shaft 36 in turn, and can be fixedly connected to the transmission shaft 36. This specification does not limit the specific structure of the locking member 52. For example, the locking member 52 can be a structure such as a screw or a bolt, or the locking member 52 can also be a pin.

[0041] The number of locking members 52 can be multiple, one of which is sequentially inserted into the gasket 50 and the transmission shaft 36 as described above, and the other locking members 52 can be inserted into the gasket 50 and the end surface of the driven gear 323, and multiple locking members 52 (except the one inserted into the transmission shaft 36) can be arranged on the gasket 50 along the circumference of the driven gear 323. Multiple locking members 52 improve the connection stability between the transmission shaft 36 and the driven gear 323. In order to facilitate the installation of the locking member 52, a clearance opening can be provided on the end cover 216, and the operator can install the locking member 52 through the clearance opening.

[0042] One end of the transmission shaft 36 away from the driven gear 323 extends out of the second accommodating portion 214 and can be rotatably matched with the second accommodating portion 214. In this embodiment, the reduction mechanism 30 may further include a second bearing 38, which is disposed between the second accommodating portion 214 and the transmission shaft 36 and is used to assist in supporting the transmission shaft 36. In this embodiment, the second bearing 38 is a needle bearing.

[0043] Please also see Figure 6 , Figure 7 and Figure 8 In the present embodiment, the shell 10 is roughly in the shape of a hollow shell, and the shell 10 is used to install the second transmission module 34. The shell 10 includes a main body 12, and the main body 12 includes a first mounting portion 121 and a second mounting portion 123 connected to each other. The first mounting portion 121 is connected to the second accommodating portion 214, which is used to install a partial structure of the second transmission module 34. The first mounting portion 121 and the second mounting portion 123 are arranged side by side along a third direction Z, and the third direction Z intersects (for example, is perpendicular) with the first direction X and the second direction Y. The second mounting portion 123 is used to install a partial structure of the second transmission module 34. The first mounting portion 121 and the second mounting portion 123 are both hollow, and the inner cavities of the two are connected to each other.

[0044] The main body 12 can be formed by casting to ensure high structural strength and transmission stability. Therefore, although the first mounting portion 121 and the second mounting portion 123 use different names to refer to different parts of the main body 12, these names should not be regarded as limitations on the structure of the main body 12. These names are made only for the convenience of description. For example, the connection between the first mounting portion 121 and the second mounting portion 123 can be an integrally formed connection structure, and there may be no obvious dividing line between the first mounting portion 121 and the second mounting portion 123. In other embodiments, the main body 12 can be formed by assembly connection to reduce the difficulty of preparation. For example, the first mounting portion 121 and the second mounting portion 123 can be prepared independently and then assembled together by fasteners to form the overall structure of the main body 12, wherein the first mounting portion 121 and the second mounting portion 123 can be formed by casting, and the first mounting portion 121 and the second mounting portion 123 can be connected together by fasteners (such as screws, bolts, studs and other threaded fasteners) or / and adhesives such as structural adhesives.

[0045] One end of the transmission shaft 36 is located in the first mounting portion 121 and does not contact the inner wall of the first mounting portion 121, so as to achieve a rotatable connection with the first mounting portion 121. In this embodiment, the second transmission module 34 may include an input rotating member 341 and an output rotating member 343 that are in transmission cooperation. The input rotating member 341 is rotatably arranged on the first mounting portion 121, and the input rotating member 341 is coaxially arranged on the transmission shaft 36 and is non-rotatably connected to the transmission shaft 36. The input rotating member 341 is rotatably matched with the first mounting portion 121 through the transmission shaft 36. The input rotating member 341 can be integrally formed with the transmission shaft 36, or can be connected to the transmission shaft 36 through a fixing member. This specification does not limit the specific types of the input rotating member 341 and the output rotating member 343. For example, the input rotating member 341 and the output rotating member 343 can be mutually meshing turbine and worm transmission structures, or the input rotating member 341 and the output rotating member 343 can be two mutually meshing cylindrical gear structures. In this embodiment, the input rotating member 341 and the output rotating member 343 are both cylindrical gears.

[0046] The input rotating member 341 can be integrally formed with the transmission shaft 36, or can be fixed to the transmission shaft 36 by bolts or other fixing members, and the input rotating member 341 and the transmission shaft 36 as a whole can be regarded as a cylindrical gear. The outer peripheral wall of the input rotating member 341 is provided with a first transmission tooth 3412. The output rotating member 343 is rotatably arranged on the second mounting portion 123, and the axis of the output rotating member 343 is substantially coaxial with the second direction Y. The output rotating member 343 may include a second shaft portion 3432 and a second transmission tooth 3434, the second shaft portion 3432 is extended along the second direction Y, the second transmission tooth 3434 is integrally formed with the outer peripheral wall of the second shaft portion 3432, and the second transmission tooth 3434 is meshed with the first transmission tooth 3412. In this embodiment, the output rotating member 343 is a cylindrical gear, and the input rotating member 341 and the transmission shaft 36 as a whole can also be regarded as a cylindrical gear. The cylindrical gear has a simple and efficient clearance elimination method, and is suitable for mass use.

[0047] The outer diameter of the second shaft portion 3432 of the output rotating member 343 is larger than the outer diameter of the input rotating member 341. In this embodiment, the second shaft portion 3432 of the output rotating member 343 is provided with a mounting through hole 3436 for the wiring harness of the robot 200 to pass through, and the hole axis direction of the mounting through hole 3436 is the same as the axial direction of the transmission shaft 36. The robot joint 100 reserves a large hollow hole (mounting through hole 3436), and the diameter of the mounting through hole 3436 is much larger than the aperture of the same type of reducer, which can be provided to the robot 200 for arranging pipelines, welding gun cables, etc., thereby increasing the applicability.

[0048] In order to improve the installation stability of the output rotating member 343, a cross roller bearing may be provided between the output rotating member 343 and the second mounting portion 123. The output rotating member 343 may be fixedly connected to the inner ring of the cross roller bearing, and the outer ring of the cross roller bearing may be fixed to the second mounting portion 123 by means of a flange, screws or the like.

[0049] Please also see Figure 7 , Figure 8 and Fig. 9 The housing 10 and the mounting and adjusting seat 20 are detachably connected, and the housing 10 can rotate around the designated circle center O1 relative to the positioning portion 23. The rotation axis O of the transmission shaft 36 relative to the mounting and adjusting seat 20 does not coincide with the designated circle center O1. When the housing 10 rotates around the designated circle center O1 relative to the mounting and adjusting seat 20, the center distance between the input rotating member 341 and the output rotating member 343 changes.

[0050] During installation, the operator can control the housing 10 to rotate relative to the installation and adjustment seat 20, and the housing 10 rotates around the specified center O1. The transmission shaft 36 is rotatably arranged in the installation and adjustment seat 20, and the rotation axis O of the transmission shaft 36 relative to the installation and adjustment seat 20 does not coincide with the specified center O1, that is, there is an eccentricity between the two. When the housing 10 rotates, it will drive the output rotating member 343 in the housing 10 to rotate synchronously, and the input rotating member 341 is connected to the transmission shaft 36 and rotatably cooperates with the housing 10. When the output rotating member 343 rotates, due to the existence of the eccentricity, the distance between the output rotating member 343 and the input rotating member 341 changes, thereby achieving the effect of adjusting the center distance between the input rotating member 341 and the output rotating member 343. After the adjustment is completed, the operator fixes the housing 10 and the installation and adjustment seat 20 to ensure the stability of the transmission. The operator can adjust the center distance between the input rotating member 341 and the output rotating member 343 by adjusting the relative position between the housing 10 and the installation and adjustment seat 20, thereby ensuring the transmission accuracy.

[0051] In this embodiment, the housing 10 may further include an adjustment fitting portion 125, and the positioning portion 23 is rotationally matched with the first mounting portion 121 through the adjustment fitting portion 125. The positioning portion 23 is provided with a positioning hole 236, and the center of the positioning hole 236 (i.e., the rotation axis O of the transmission shaft 36 relative to the mounting adjustment seat 20) does not coincide with the designated center O1. The transmission shaft 36 is coaxially disposed in the positioning hole 236.

[0052] Specifically, in this embodiment, the positioning portion 23 has at least a portion of an arc structure 231 that is rotatably matched with the housing 10, and the designated center O1 is the center of the arc structure 231. This specification does not limit the specific rotational matching structure between the adjustment matching portion 125 and the positioning portion 23. For example, the adjustment matching portion 125 and the positioning portion 23 may be a rotational match of a hole, a groove structure, and a protrusion, and the arc structure 231 may be the inner circumferential wall of the hole or groove structure, or a portion or all of the outer circumferential wall of the protrusion structure. The adjustment matching portion 125 and the positioning portion 23 may also be rotatably matched through a rotating shaft, and the arc structure 231 may be a portion or all of the outer circumferential wall of the rotating shaft.

[0053] In this embodiment, the positioning portion 23 is a positioning truncated cone 232, the adjustment matching portion 125 is a mounting hole 126 opened in the first mounting portion 121, the positioning truncated cone 232 is rotatably embedded in the mounting hole 126, and the housing 10 can rotate relative to the mounting adjustment seat 20 around the positioning truncated cone 232. Specifically, the positioning truncated cone 232 is disposed on a side of the second accommodating portion 214 away from the end cover 216, and the positioning truncated cone 232 can be integrally formed in the first accommodating portion 212, and protrude relative to the surface of the first accommodating portion 212 on a side facing the first mounting portion 121.

[0054] This specification does not limit the specific shape of the positioning cone 232. For example, the positioning cone 232 can be roughly in the shape of a cylindrical boss, and the arc structure 231 is the outer peripheral wall of the positioning cone 232, and the center of the arc structure 231 (the designated center O1) is the center of the positioning cone 232. The positioning cone 232 can also be a plurality of arc-shaped sheet structures with overlapping centers, and the arc structure 231 is the outer peripheral wall of any one of the sheet structures, and the center of the arc structure 231 is the center of the arc-shaped sheet structure. In this embodiment, the positioning cone 232 is roughly in the shape of a cylindrical boss. The positioning hole 236 is eccentrically opened on the positioning cone 232, and the center of the positioning hole 236 (i.e., the rotation axis O of the transmission shaft 36 relative to the mounting adjustment seat 20) does not coincide with the center of the positioning cone 232 (i.e., the designated center O1). The positioning hole 236 penetrates the positioning truncated cone 232 along the second direction Y and communicates with the first cavity 2121. One end of the transmission shaft 36 is rotatably disposed in the positioning hole 236. The transmission shaft 36 is coaxial with the positioning hole 236, that is, the transmission shaft 36 is not coaxial with the positioning truncated cone 232.

[0055] The mounting hole 126 is provided on one side of the first mounting portion 121 close to the second receiving portion 214, and the mounting hole 126 is connected to the inner cavity of the first mounting portion 121. When the positioning round table 232 is embedded in the mounting hole 126, the inner cavity of the first mounting portion 121 is connected to the first cavity 2121 through the mounting hole 126 and the positioning hole 236, so that the transmission shaft 36 can pass through.

[0056] During installation, the operator can control the housing 10 to rotate relative to the mounting adjustment seat 20, the positioning truncated cone 232 and the mounting hole 126 to rotate relative to each other, the transmission shaft 36 remains stationary, and there is an eccentricity between the axis of the transmission shaft 36 and the center of the positioning truncated cone 232 (i.e., the designated center O1). When the housing 10 rotates, the output rotating member 343 rotates synchronously, and the input rotating member 341 is coaxially connected to the transmission shaft 36 and remains stationary. When the output rotating member 343 rotates around the center of the positioning truncated cone 232, due to the existence of the eccentricity, the distance between the output rotating member 343 and the input rotating member 341 changes, thereby achieving the effect of adjusting the center distance between the input rotating member 341 and the output rotating member 343.

[0057] Please also see Fig. 9 and Fig.10 In this embodiment, the mounting and adjusting seat 20 may further include a connecting portion 25, which is disposed on the seat body 21 and is used to connect with the housing 10, and the connecting portion 25 is provided with an adjustment hole 252. The robot joint 100 may further include a fixing member 60, which is passed through the adjustment hole 252 and is detachably connected to the connecting portion 25 and the housing 10. The relative position of the fixing member 60 and the adjustment hole 252 can be changed so that the housing 10 can rotate relative to the mounting and adjusting seat 20.

[0058] The present specification does not limit the specific structure of the fixing member 60. For example, the fixing member 60 may be a screw, a bolt, or a pin. In the present embodiment, the fixing member 60 is a bolt. The threaded section of the fixing member 60 is inserted into the adjustment hole 252 and is threadedly connected to the housing 10. When the fixing member 60 is tightened, the end of the fixing member 60 away from the housing 10 (i.e., the enlarged end of the bolt) abuts against the side of the connecting portion 25 away from the housing 10, thereby achieving the purpose of fixing the housing 10 and installing the adjustment seat 20.

[0059] The connecting portion 25 is connected to the outer peripheral wall of the second receiving portion 214 and protrudes relative to the outer peripheral wall of the second receiving portion 214. The connecting portion 25 can be integrally formed with the second receiving portion 214. The connecting portion 25 can be an annular structure surrounding the outer periphery of the second receiving portion 214, or can be a plurality of protrusion structures distributed along the circumference of the second receiving portion 214. Considering the compactness and cost of the structure, in this embodiment, the connecting portion 25 is a plurality of protrusion structures distributed along the circumference of the second receiving portion 214, and the connecting portion 25 is located on a side of the second receiving portion 214 close to the second mounting portion 123.

[0060] This specification does not limit the specific shape of the adjustment hole 252. For example, the adjustment hole 252 can be a waist-shaped hole extending along the circumference of the arc structure 231 (that is, the circumference of the positioning cone 232). There can be multiple adjustment holes 252, and multiple adjustment holes 252 are arranged at intervals on the connecting portion 25 along the circumference of the second accommodating portion 214. The connecting portion 25 can be arranged in a one-to-one correspondence with the adjustment holes 252. During installation, the fixing member 60 is first passed through the adjustment hole 252 and connected to the shell 10, but the fixing member 60 is not tightened. The operator controls the shell 10 to rotate relative to the installation adjustment seat 20, and the fixing member 60 moves in the adjustment hole 252 and along the extension direction of the adjustment hole 252. When the center distance between the input rotating member 341 and the output rotating member 343 is adjusted, tighten the fixing member 60 to fix the installation adjustment seat 20 to the shell 10.

[0061] In other embodiments, the adjustment hole 252 may also be a circular hole, and the number of the adjustment holes 252 is multiple, and the multiple adjustment holes 252 surround the second accommodating portion 214, and the center of the circle surrounded by the multiple adjustment holes 252 coincides with the center of the circle of the positioning truncated table 232 (i.e., the designated center O1). During installation, the position of the housing 10 relative to the mounting adjustment seat 20 is first adjusted, and after the adjustment is completed, the fixing member 60 is passed through the adjustment hole 252 and threadedly connected to the housing 10.

[0062] Please also see Figure 8 and Fig.11In order to facilitate the adjustment of the positional relationship between the housing 10 and the mounting adjustment seat 20, in this embodiment, the robot joint 100 may further include an adjustment mechanism 70. The adjustment mechanism 70 is disposed between the mounting adjustment seat 20 and the housing 10, and is used to control the housing 10 to rotate relative to the mounting adjustment seat 20. The convenience of adjusting the gap is improved by controlling the housing 10 to rotate relative to the mounting adjustment seat 20 through the adjustment mechanism 70.

[0063] In this embodiment, the adjustment mechanism 70 may include a limiter 72, an adjustment follower 74, and an adjustment driver 76. The limiter 72 is fixedly disposed on the mounting adjustment seat 20, one end of the adjustment follower 74 is connected to the housing 10, and the other end is movably limited to the limiter 72. The adjustment driver 76 is rotatably connected to the adjustment follower 74 and limited to the limiter 72. When the adjustment driver 76 rotates relative to the adjustment follower 74, it can drive the adjustment follower 74 to move relative to the limiter 72, so that the adjustment follower 74 drives the housing 10 to rotate around the specified center O1.

[0064] Specifically, the limiting member 72 is fixedly connected to the side wall of the first accommodating portion 212, and the limiting member 72 can be integrally formed in the first accommodating portion 212. The limiting member 72 is provided with a limiting hole 721 for limiting the adjustment follower 74, and the hole axis direction of the limiting hole 721 is substantially the same as the moving direction of the adjustment follower 74. The adjustment follower 74 is fixedly connected to the second mounting portion 123, and one end of the adjustment follower 74 away from the second mounting portion 123 can be movably limited in the limiting hole 721. Specifically, one end of the adjustment follower 74 is penetrated in the limiting hole 721, and the adjustment driving member 76 is rotatably connected to one end of the adjustment follower 74 that passes through the limiting hole 721, so as to limit the adjustment follower 74 in the limiting hole 721. This specification does not limit the specific structure of the adjustment follower 74, for example, the adjustment follower 74 can be a structure such as an adjustment column, an adjustment screw, and an adjustment block. In this embodiment, the adjustment follower 74 is an adjustment stud. This specification does not limit the specific structure of the adjustment drive 76. The adjustment drive 76 can be a screw, a bolt, or a buckle fixing structure. Corresponding to the adjustment follower 74 being an adjustment stud, in this embodiment, the adjustment drive 76 is an adjustment nut. The adjustment drive 76 is limited to the limiter 72 and is threadedly connected to one end of the adjustment follower 74 extending out of the limiter 72.

[0065] The above-mentioned “the adjusting driving member 76 is limited to the limiting member 72” can be understood as the adjusting driving member 76 is rotatably matched with the limiting member 73, but cannot be displaced relative to the limiting member 72, and the adjusting driving member 76 can be rotatably connected to the limiting member 72. In some embodiments, the number of the adjusting driving members 76 can be two, and the two adjusting driving members 76 are both threadedly connected to the adjusting follower 74 and are respectively located on opposite sides of the limiting member 72. The adjusting driving member 76 close to the housing 10 can be fixedly connected to the limiting member 72. When the adjusting driving member 76 far away from the housing 10 rotates relative to the limiting member 72 and drives the adjusting follower 74 to move axially, the adjusting driving member 76 close to the housing 10 provides guidance and support for the adjusting follower 74.

[0066] During installation, the mounting adjustment seat 20 and the housing 10 are pre-assembled together by the fixing member 60, and the fixing member 60 is not tightened, so that the housing 10 can rotate relative to the mounting adjustment seat 20. The adjusting driving member 76 is rotated relative to the limiter 72. Due to the connection relationship of the thread pair, when the adjusting driving member 76 is restricted and basically cannot move, the adjusting follower 74 moves relative to the adjusting driving member 76, thereby driving the housing 10 to rotate relative to the mounting adjustment seat 20, so as to achieve the function of adjusting the gap. After the adjustment is completed, the fixing member 60 is tightened to complete the fixing of the mounting adjustment seat 20 and the housing 10.

[0067] In order to prevent interference between the adjusting follower 74, the limiting member 72 and the adjusting driver 76 when the housing 10 rotates relative to the mounting adjustment seat 20, in this embodiment, the axis of the adjusting follower 74 is tangent to the arc of rotation of the adjusting follower 74 relative to the mounting adjustment seat 20, and the limiting hole 721 and the adjusting driver 76 are roughly coaxial with the adjusting follower 74. The adjusting hole 721 can also be set as an elliptical hole or a waist-shaped hole, and the aperture of the adjusting hole 721 is slightly larger than the outer diameter of the adjusting follower 74 to further avoid interference. The adjustment range of the meshing center distance between the input rotating member 341 and the output rotating member 343 is relatively small, so the design of the aforementioned adjusting follower 74, the limiting member 72 and the adjusting driver 76 is sufficient to meet the gap adjustment operation without interference.

[0068] Please refer again Figure 6 and Figure 7 In this embodiment, the robot joint 100 may further include an output member 40, which is connected to the output rotating member 343 and is used for transmission connection with the execution end 203 to drive the execution end 203 to move. The output member 40 may be connected to the output rotating member 343 by screws, and the output member 40 is located at one end of the second mounting portion 123 away from the second accommodation portion 214. This specification does not limit the specific type of the output member 40, for example, the output member 40 may be an output shaft or an output flange. In this embodiment, the output member 40 is an output flange.

[0069] Please refer again Figure 3 and Figure 4 In this embodiment, the robot joint 100 further includes a driving member 80 and a spline shaft 83. The driving member 80 is connected to the mounting and adjusting seat 20, and the output shaft of the driving member 80 is connected to the driving gear 321 through the spline shaft 83. The driving member 80 drives the driving gear 321 to rotate through the spline shaft 83, thereby realizing the transmission of the first transmission module 32 and the second transmission module 34.

[0070] The driving member 80 can be fixedly connected to the first accommodating portion 212 and close the first installation opening 2123. The driving member 80 is provided with an output shaft 81. The driving member 80 is placed along the first direction X, and the axial direction of the output shaft 81 is substantially parallel to the first direction X. The output shaft 81 extends into the first cavity 2121 through the first installation opening 2123. This specification does not limit the specific type of the driving member 80. The driving member 80 can be a driving source such as a rotary motor, a rotary cylinder, etc. In this embodiment, the driving member 80 is a rotary motor.

[0071] The spline shaft 83 is arranged in the first cavity 2121 and sleeved outside the output shaft 81. The inner wall of the spline shaft 83 is provided with an inner spline structure, and the outer peripheral wall of the output shaft 81 is provided with an outer spline structure, and the output shaft 81 is connected to the spline shaft 83 by a spline stop. The end of the first shaft portion 3212 away from the first meshing portion 3214 is inserted into the spline shaft 83, and the outer wall of the end of the first shaft portion 3212 located in the spline shaft 83 is also provided with an outer spline structure, and the first shaft portion 3212 is connected to the spline shaft 83 by a spline stop. The spline shaft 83 realizes the transmission connection between the driving gear 321 and the driving member 80. The outer wall of the spline shaft 83 can be provided with a clamping protrusion 832, and the clamping protrusion 832 protrudes relative to the outer peripheral wall of the spline shaft 83, and the clamping protrusion 832 abuts against the pre-tightening nut 327 to limit the spline shaft 83 from moving toward the first cavity 2121.

[0072] In this embodiment, the robot joint 100 may further include an elastic member 90, which is sleeved on the output shaft 81, and the two ends of the elastic member 90 elastically abut against the spline shaft 83 and the output shaft 81 along the axial direction of the output shaft 81. The elastic member 90 can effectively limit the axial movement of the spline shaft 83, thereby improving the stability of the transmission. This specification does not limit the specific structure of the elastic member 90. For example, the elastic member 90 can be a structure with elastic potential energy such as a compression spring and an elastic pad.

[0073] In this embodiment, the elastic member 90 is a compression spring. The elastic member 90 is sleeved outside the output shaft 81 and is located inside the spline shaft 83. The inner wall of the spline shaft 83 may be provided with a limiting step, and the outer wall of the output shaft 81 may also be provided with a limiting step. The limiting steps on the spline shaft 83 and the limiting steps on the output shaft 81 are arranged along the axial direction of the output shaft 81 (roughly the second direction Y). The elastic member 90 is arranged between the two limiting steps mentioned above, and the two ends of the elastic member 90 are elastically supported on the two limiting steps respectively. The elastic member 90 has elastic potential energy, which presses the spline shaft 83 tightly into the first cavity 2121, and together with the clamping protrusion 832, limits the axial movement of the spline shaft 83.

[0074] In summary, when the robot joint 100 provided in the embodiment of the present application is installed, the first transmission module 32 is assembled to the installation and adjustment seat 20, the second transmission module 34 is assembled to the housing 10, and the transmission shaft 36 is passed through the installation and adjustment seat 20 and connected between the first transmission module 32 and the second transmission module 34. When the housing 10 and the installation and adjustment seat 20 are assembled, the operator can control the housing 10 to rotate relative to the installation and adjustment seat 20, and the housing 10 rotates around the specified center O1. The axis O of the transmission shaft 36 does not coincide with the specified center O1, and there is an eccentricity between the two. When the housing 10 rotates, it will drive the output rotating member 343 in the housing 10 to rotate synchronously. Because of the existence of the eccentricity, the distance between the output rotating member 343 and the input rotating member 341 changes, thereby achieving the effect of adjusting the center distance between the input rotating member 341 and the output rotating member 343. The operator adjusts the center distance between the input rotating member 341 and the output rotating member 343 by adjusting the relative position between the housing 10 and the installation and adjustment seat 20, thereby ensuring the transmission accuracy.

[0075] The robot joint 100 of the present application adopts a gear transmission structure instead of a reducer structure, and the first transmission module 32 and the second transmission module 34 have two-stage transmission, which can achieve a larger reduction ratio and greatly reduce the cost. The use of gear transmission can well resist external impact and overload, and reduce the failure rate of the robot 200 when in use.

[0076] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not drive the essence of the corresponding technical solutions out of the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot joint, characterized in that: include: case; An installation adjustment seat connected to the housing, the installation adjustment seat is provided with a positioning portion, and the housing can rotate around a specified center of a circle relative to the positioning portion; And a reduction mechanism, the reduction mechanism includes a first transmission module, a second transmission module and a transmission shaft, the first transmission module is arranged on the mounting and adjusting seat; the second transmission module is arranged on the housing, the second transmission module includes an input rotating member and an output rotating member for transmission cooperation; the transmission shaft is rotatably passed through the mounting and adjusting seat, one end of the transmission shaft is connected to the first transmission module, and the other end is connected to the input rotating member, and there is a gap between the rotation axis of the transmission shaft relative to the mounting and adjusting seat and the designated center of the circle.

2. The robot joint according to claim 1, characterized in that: The shell is provided with an adjustment fitting portion, and the positioning portion is rotationally matched with the shell through the adjustment fitting portion; the positioning portion is provided with a positioning hole, and the axis of the positioning hole does not coincide with the designated center of the circle; the transmission shaft is coaxially penetrated through the positioning hole.

3. The robot joint according to claim 2, characterized in that: The positioning portion has at least a portion of an arc structure that is rotatably matched with the housing, and the designated center of a circle is the center of the arc structure.

4. The robot joint according to claim 3, characterized in that: The installation and adjustment seat includes a seat body and the positioning portion, the positioning portion is a positioning cone, and the positioning cone protrudes relative to the surface of the seat body on one side facing the adjustment matching portion; the adjustment matching portion is a mounting hole opened in the shell, and the positioning cone is rotatably embedded in the mounting hole; the shell can rotate around the positioning cone relative to the installation and adjustment seat.

5. The robot joint according to claim 1, characterized in that: The input rotating member is provided with a first transmission tooth, and the output rotating member is provided with a second transmission tooth, and the second transmission tooth is engaged with the first transmission tooth; when the housing rotates around the specified center relative to the mounting adjustment seat, the center distance between the input rotating member and the output rotating member changes.

6. The robot joint according to claim 1, characterized in that: The first transmission module includes a driving gear and a driven gear, the driven gear is coaxially arranged with the transmission shaft and is non-rotatably connected, the driving gear is meshed with the driven gear to drive the driven gear and the transmission shaft to rotate; the rotation axis of the driving gear intersects with the rotation axis of the driven gear.

7. The robot joint according to claim 6, characterized in that: The robot joint also includes a driving member and a spline shaft, wherein the driving member is connected to the mounting and adjusting seat, and an output shaft of the driving member is connected to the driving gear through the spline shaft.

8. The robot joint according to claim 7, characterized in that: The output shaft is inserted into the spline shaft and spline-connected with the spline shaft. The robot joint also includes an elastic member, and two ends of the elastic member are elastically supported against the spline shaft and the output shaft respectively along the axial direction of the output shaft.

9. The robot joint according to claim 6, characterized in that: The robot joint also includes a gasket and a locking piece, the gasket is stacked on an end of the driven gear away from the input rotating piece, the transmission shaft passes through the driven gear, and the locking piece passes through the gasket and the transmission shaft in sequence and is fixedly connected to the transmission shaft.

10. The robot joint according to any one of claims 1 to 9, characterized in that: The mounting and adjustment seat includes a seat body and a connecting part, wherein the connecting part is connected between the seat body and the shell, and the connecting part is provided with an adjustment hole; the robot joint also includes a fixing part, which is passed through the adjustment hole and is detachably connected to the shell and the connecting part, and the relative position of the fixing part and the adjustment hole can be changed so that the shell can rotate relative to the mounting and adjustment seat.

11. The robot joint according to claim 10, characterized in that: The adjustment hole is a waist-shaped hole, and a plurality of the adjustment holes are provided, and the plurality of adjustment holes are arranged at intervals on the connecting portion along the circumferential direction of the mounting adjustment seat; or, The adjustment hole is a circular hole, and a plurality of the adjustment holes are provided. The plurality of adjustment holes surround the mounting adjustment seat, and the center of the circle surrounded by the plurality of adjustment holes coincides with the designated center of the circle.

12. The robot joint according to any one of claims 1 to 9, characterized in that: The robot joint also includes a limit member, an adjustment follower and an adjustment drive member. The limit member is fixedly arranged on the mounting adjustment seat. One end of the adjustment follower is connected to the shell, and the other end is movably limited to the limit member. The adjustment drive member is rotatably connected to the adjustment follower and limited to the limit member. When the adjustment drive member rotates relative to the adjustment follower, it can drive the adjustment follower to move relative to the limit member, so that the adjustment follower drives the shell to rotate around the specified center of the circle.

13. The robot joint according to any one of claims 1 to 9, characterized in that: The output rotating member is provided with a mounting through hole for passing the wiring harness of the robot, and the hole axis direction of the mounting through hole is the same as the axial direction of the transmission shaft.

14. A robot, characterized in that: The robot comprises a machine body and a robot joint as claimed in any one of claims 1 to 13, wherein the robot joint is connected to the machine body.

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