Low-noise collaborative robot modular joint

Abstract

The invention discloses a low-noise collaborative robot modular joint, and belongs to the technical field of robots, the low-noise collaborative robot modular joint comprises a base used for being connected with a mounting plate, a connecting plate is arranged between the mounting plate and the base, the connecting plate is fixedly connected with the base, and an adjusting mechanism is mounted between the mounting plate and the connecting plate; the adjusting mechanism comprises a fixing rod fixedly connected to the mounting plate, the fixing rod is connected with the connecting plate through a universal joint, two adjusting threaded cylinders are rotationally mounted on the mounting plate, and adjusting screw rods are arranged in the two adjusting threaded cylinders in a penetrating mode; the end, away from the adjusting threaded cylinder, of the adjusting screw rod is connected with a connecting rod through a universal joint, and the end, away from the adjusting screw rod, of the connecting rod is connected with the connecting plate through a universal joint. The problem that the operation process of workers is complex is solved.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular to a low-noise collaborative robot modular joint. Background Art

[0002] The robot modular joint is a module that integrates the reducer, motor, controller, motor driver and sensor, etc. It is used to drive or directly serve as the joint structure of the robot, making the robot design, installation and maintenance easier.

[0003] In the related technology, the modular joint of the collaborative robot includes a supporting mechanism, a first arm, a modular joint and a first hydraulic balancing cylinder. The supporting mechanism includes a base, a bracket and a rotating drive component. The rotating drive component drives the bracket to rotate on the base; the first arm is movably connected to the bracket through a modular joint; the first cylinder body and the first output rod of the first hydraulic balancing cylinder are respectively connected to the first arm and the bracket. The base can be installed on a wall or on a carrier that is convenient for moving the robot according to different usage environments. A mounting plate connected to the base is provided on the wall or the carrier. A plurality of mounting holes are provided on the base and the mounting plate. The base and the mounting plate are fixedly connected by bolts and nuts.

[0004] However, when collaborative robots are used in precision scenarios that require high-precision control, the installation angle of the collaborative robot needs to be precisely controlled. At this time, the staff needs to add gaskets between the bolts and nuts on the base and the mounting plate, adjust the inclination of the base, and then adjust the inclination of the collaborative robot. The above operation process not only reduces the connection strength between the bolts and nuts, but also makes the operation process of the staff more complicated. Summary of the invention

[0005] In order to solve the problem of complicated operation process of workers, the present application provides a low-noise collaborative robot modular joint.

[0006] The low-noise collaborative robot modular joint provided in this application adopts the following technical solution: A low-noise collaborative robot modular joint comprises a base for connecting to a mounting plate, a connecting plate is arranged between the mounting plate and the base, the connecting plate is fixedly connected to the base, an adjustment mechanism is installed between the mounting plate and the connecting plate, the adjustment mechanism comprises a fixing rod fixedly connected to the mounting plate, the fixing rod and the connecting plate are connected by a universal joint, two adjusting threaded barrels are rotatably mounted on the mounting plate, adjusting screws are passed through the two adjusting threaded barrels, one end of the adjusting screw away from the adjusting threaded barrel is connected to a connecting rod via a universal joint, and one end of the connecting rod away from the adjusting screw is connected to the connecting plate via a universal joint.

[0007] Preferably, a T-shaped ring plate is fixedly connected to the mounting plate, a plurality of telescopic rods are fixedly connected to the T-shaped ring plate, one end of the telescopic rod away from the T-shaped ring plate abuts against the connecting plate, hydraulic oil is stored in the telescopic rod, an oil storage airbag is fixedly connected to the mounting plate, an oil filling hole connected to the oil storage airbag is opened on the mounting plate, an oil pipe connected to the telescopic rod is fixedly connected to the telescopic rod, one end of the oil pipe away from the telescopic rod is fixedly connected to the mounting plate and connected to the oil filling hole, and a sealing mechanism for closing the oil filling hole is installed on the mounting plate.

[0008] Preferably, a sliding hole is opened on the side wall of the T-ring plate, and an operating mechanism is installed on the T-ring plate. The operating mechanism includes an operating rod slidably installed in the sliding hole, and a first bevel gear is fixedly connected to the operating rod, and a second bevel gear capable of meshing with the first bevel gear is fixedly connected to the two adjusting threaded cylinders.

[0009] Preferably, a fixing block is fixedly connected to the mounting plate, and an extrusion mechanism is installed on the mounting plate, and the extrusion mechanism includes a bidirectional screw rotatably installed on the fixed block, and extrusion plates are placed on both sides of the oil storage airbag, and the extrusion plates are arc-shaped, and both ends of the bidirectional screw are respectively inserted into the extrusion plates and threadedly connected to the extrusion plates, and a first gear is fixedly connected to the operating rod, and a second gear that can mesh with the first gear is fixedly connected to the bidirectional screw.

[0010] Preferably, a sealing groove is provided on the inner wall of the oil filling hole, and the sealing mechanism includes a sealing spring fixedly connected to the inner wall of the sealing groove and a sealing plate slidably installed in the sealing groove, the sealing spring is fixedly connected to the sealing plate, the sealing plate can be covered on the oil filling hole, the sealing spring is in a compressed state, and a locking mechanism for locking the sealing plate is installed on the mounting plate.

[0011] Preferably, the locking mechanism includes a locking rod passed through the mounting plate, the locking rod extends into the blocking groove, a locking groove for inserting the locking rod is formed on the side wall of the blocking plate, a locking slope is formed on the end face of the locking rod facing the blocking plate, the locking slope can contact the side of the blocking plate, a pull plate is fixedly connected to the end face of the locking rod away from the blocking plate, a locking spring is sleeved on the locking rod, one end of the locking spring is fixedly connected to the pull plate, and the other end of the locking spring is fixedly connected to the mounting plate, and a control mechanism for controlling the movement of the pull plate is installed on the oil storage airbag.

[0012] Preferably, the control mechanism includes a control rod slidably mounted on the mounting plate, the control rod is inserted into the oil storage airbag, a sealing film is fixedly connected to the inner wall of the oil storage airbag, the sealing film is fixedly connected to the control rod, a control spring is fixedly connected between the control rod and the mounting plate, an abutment slope is formed on the side wall of the pull plate, and the control rod can contact the abutment slope.

[0013] Preferably, a push groove communicating with the blocking groove is provided on the side wall of the mounting plate, a push rod placed in the push groove is fixedly connected to the blocking plate, the push rod can slide along the push groove, and the extrusion plate can contact the push rod.

[0014] In summary, the present application includes at least one of the following beneficial technical effects: 1. When the tilt angle of the collaborative robot needs to be adjusted, the adjusting threaded barrel is rotated, the adjusting threaded barrel drives the adjusting screw to move, the adjusting screw drives the connecting rod to move, the connecting rod drives the connecting plate to rotate, and the connecting plate drives the base to rotate, so that the tilt angle of the collaborative robot can be adjusted, which is convenient for the staff to operate, thereby solving the problem of complicated operation process of the staff; 2. During the flipping process of the connecting plate, the connecting plate compresses the telescopic rod, so that the hydraulic oil in the telescopic rod is injected into the oil storage airbag through the oil pipe and the oil injection hole. When the flipping angle of the connecting plate is adjusted, the oil injection hole is closed by the blocking mechanism, and the hydraulic oil in the telescopic rod cannot be discharged. The telescopic rod can fix the connecting plate, thereby improving the stability between the connecting plate and the mounting plate; 3. Move the operating lever, and the operating lever drives the first bevel gear to move. When the first bevel gear is engaged with the second bevel gear, rotate the operating lever, and the operating lever drives the first bevel gear to rotate. The first bevel gear drives the second bevel gear to rotate, and the second bevel gear drives the adjusting threaded barrel to rotate, so that the inclination angle on the other side of the connecting plate can be adjusted, which is convenient for the staff to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of a low-noise collaborative robot modular joint according to an embodiment of the present application.

[0016] Figure 2 It is a schematic structural diagram of a telescopic rod according to an embodiment of the present application.

[0017] Figure 3 It is a schematic diagram of the structure of the adjustment mechanism of the embodiment of the present application.

[0018] Figure 4 It is a schematic diagram of the structure of the extrusion mechanism of an embodiment of the present application.

[0019] Figure 5 It is a structural schematic diagram of the blocking mechanism of an embodiment of the present application.

[0020] Figure 6 It is a schematic diagram of the structure of the locking mechanism of an embodiment of the present application.

[0021] Description of reference numerals: 1. Mounting plate; 11. Connecting plate; 12. T-ring plate; 121. Sliding hole; 13. Telescopic rod; 131. Oil pipe; 14. Oil storage airbag; 15. Oil filling hole; 16. Fixing block; 17. Blocking groove; 18. Pushing groove; 2. Adjusting mechanism; 21. Fixing rod; 22. Universal joint; 23. Adjusting threaded cylinder; 231. Second bevel gear; 24. Adjusting screw; 25. Connecting rod; 3. Blocking mechanism; 31. Blocking spring; 32. Blocking plate; 321. Locking groove; 322. Push rod; 4. Operating mechanism; 41. Operating rod; 411, first bevel gear; 412, first gear; 42, sliding block; 5, extrusion mechanism; 51, bidirectional screw; 511, second gear; 52, extrusion plate; 6, locking mechanism; 61, locking rod; 611, locking inclined surface; 62, pulling plate; 621, abutting inclined surface; 63, locking spring; 7, control mechanism; 71, control rod; 72, sealing film; 73, control spring; 8, base; 81, support; 82, first support arm; 83, second support arm; 84, hydraulic balance cylinder; 85, rotating drive member. DETAILED DESCRIPTION

[0022] The following is combined with Figure 1-6 This application is described in further detail.

[0023] The present application embodiment discloses a low-noise collaborative robot modular joint, referring to Figure 1 A low-noise collaborative robot modular joint includes a base 8 for connecting to a mounting plate 1, on which a support 81, a first support arm 82, a second support arm 83, a hydraulic balance cylinder 84 and a rotary drive member 85 are installed. The support 81 is rotatably mounted on the base 8, and the rotary drive member 85 is fixedly connected to the base 8 and connected to the support 81. The rotary drive member 85 can drive the support 81 to rotate, the first support arm 82 is rotatably mounted on the support 81, and the second support arm 83 is rotatably mounted on the first support arm 82. One end of the hydraulic balance cylinder 84 is rotatably connected to the first support arm 82, and the other end of the hydraulic balance cylinder 84 is rotatably connected to the support 81.

[0024] Reference Figure 2 and Figure 3A connecting plate 11 is provided between the mounting plate 1 and the base 8, and the connecting plate 11 and the base 8 are fixedly connected by bolts. An adjusting mechanism 2 is installed between the mounting plate 1 and the connecting plate 11, and the adjusting mechanism 2 includes a fixing rod 21, and the fixing rod 21 is fixedly connected to the side wall of the mounting plate 1. The fixing rod 21 and the connecting plate 11 are connected by a universal joint 22. Two adjusting threaded cylinders 23 are rotatably installed on the mounting plate 1, and the two adjusting threaded cylinders 23 are both penetrated with adjusting screws 24. The end of the adjusting screw 24 away from the adjusting threaded cylinder 23 is connected to the connecting screw 24 through the universal joint 22. The connecting rod 25, one end of the connecting rod 25 away from the adjusting screw 24 is connected to the connecting plate 11 through the universal joint 22; when the tilt angle of the collaborative robot needs to be adjusted, the adjusting threaded barrel 23 is rotated, the adjusting threaded barrel 23 drives the adjusting screw 24 to move, the adjusting screw 24 drives the connecting rod 25 to move, the connecting rod 25 drives the connecting plate 11 to rotate, and the connecting plate 11 drives the base 8 to rotate, so that the tilt angle of the collaborative robot can be adjusted, which is convenient for the staff to operate, thereby solving the problem of the staff's more complicated operation process.

[0025] Reference Figures 2 to 5 A T-shaped ring plate 12 is fixedly connected to the mounting plate 1, and a plurality of telescopic rods 13 are fixedly connected to the T-shaped ring plate 12. One end of the telescopic rod 13 away from the T-shaped ring plate 12 abuts against the connecting plate 11. Hydraulic oil is stored in the telescopic rod 13. An oil storage airbag 14 is fixedly connected to the mounting plate 1. The oil storage airbag 14 contacts the connecting plate 11. An oil filling hole 15 connected to the oil storage airbag 14 is opened on the mounting plate 1. An oil delivery pipe 131 connected to the telescopic rod 13 is fixedly connected to the telescopic rod 13. One end of the oil delivery pipe 131 away from the telescopic rod 13 is fixedly connected to the mounting plate 1 and is connected to the injection hole 15. The oil hole 15 is connected, and a sealing mechanism 3 for closing the oil filling hole 15 is installed on the mounting plate 1; during the flipping process of the connecting plate 11, the connecting plate 11 compresses the telescopic rod 13, so that the hydraulic oil in the telescopic rod 13 is injected into the oil storage airbag 14 through the oil pipe 131 and the oil filling hole 15. When the flipping angle of the connecting plate 11 is adjusted, the sealing mechanism 3 is used to close the oil filling hole 15, and the hydraulic oil in the telescopic rod 13 cannot be discharged. The telescopic rod 13 can fix the connecting plate 11, thereby improving the stability between the connecting plate 11 and the mounting plate 1.

[0026] Reference Figure 2 and Figure 3A sliding hole 121 is provided on the side wall of the T-shaped ring plate 12, and an operating mechanism 4 is installed on the T-shaped ring plate 12, and the operating mechanism 4 includes a sliding block 42, and the sliding block 42 is slidably installed on the inner wall of the sliding hole 121, and an operating rod 41 is rotatably installed on the sliding block 42, and a first bevel gear 411 is fixedly connected to the operating rod 41, and a second bevel gear 231 that can mesh with the first bevel gear 411 is fixedly connected to the two adjusting threaded cylinders 23; the operating rod 41 is moved, and the operating rod 41 drives the first bevel gear 411 to move. When the first bevel gear 411 is meshed with the second bevel gear 231, the operating rod 41 is rotated, and the operating rod 41 drives the first bevel gear 411 to rotate, and the first bevel gear 411 drives the second bevel gear 231 to rotate, and the second bevel gear 231 drives the adjusting threaded cylinder 23 to rotate, so that the inclination angle of the other side of the connecting plate 11 can be adjusted, which is convenient for the staff to operate.

[0027] Reference Figure 3 and Figure 4 The mounting plate 1 is fixedly connected with a fixing block 16, and an extrusion mechanism 5 is installed on the mounting plate 1. The extrusion mechanism 5 includes a bidirectional screw 51, and the bidirectional screw 51 is rotatably mounted on the fixing block 16. Extrusion plates 52 are placed on both sides of the oil storage airbag 14. The extrusion plates 52 are arc-shaped, and the two ends of the bidirectional screw 51 are respectively penetrated into the extrusion plates 52 and threadedly connected with the extrusion plates 52. The operating rod 41 is fixedly connected with a first gear 412, and the bidirectional screw 51 is fixedly connected with a second gear 511 that can mesh with the first gear 412; on the operating rod 41 During the movement, when the first gear 412 is meshed with the second gear 511, the operating rod 41 is rotated, and the operating rod 41 drives the bidirectional screw 51 to rotate through the first gear 412 and the second gear 511. The bidirectional screw 51 drives the two extrusion plates 52 to approach each other, and the two extrusion plates 52 squeeze the oil storage airbag 14, so that the hydraulic oil in the oil storage airbag 14 can flow back to a part of the telescopic rod 13, thereby making the telescopic rod 13 and the connecting plate 11 pressed tightly, further improving the stability between the connecting plate 11 and the mounting plate 1.

[0028] Reference Figure 5 A sealing groove 17 is provided on the inner wall of the oil filling hole 15, and the sealing mechanism 3 includes a sealing spring 31 and a sealing plate 32. The sealing spring 31 is fixedly connected to the inner wall of the sealing groove 17, and the sealing plate 32 is slidably installed in the sealing groove 17. The sealing spring 31 is fixedly connected to the sealing plate 32, and the sealing plate 32 can be covered on the oil filling hole 15. The sealing spring 31 is in a compressed state, and a locking mechanism 6 for locking the sealing plate 32 is installed on the mounting plate 1; when the connection plate 11 is adjusted, the locking mechanism 6 is released from the locking of the sealing plate 32, and the sealing spring 31 can push the sealing plate 32 to move, and the sealing plate 32 closes the oil filling hole 15.

[0029] Reference Figure 5 and Figure 6 The locking mechanism 6 includes a locking rod 61, which is inserted into the side wall of the mounting plate 1 and extends into the blocking groove 17. A locking groove 321 for inserting the locking rod 61 is provided on the side wall of the blocking plate 32. A locking inclined surface 611 is formed on the end surface of the locking rod 61 facing the blocking plate 32. The locking inclined surface 611 can contact the side edge of the blocking plate 32. A pull plate 62 is fixedly connected to the end surface of the locking rod 61 away from the blocking plate 32. A locking spring 63 is sleeved on the locking rod 61. One end of the locking spring 63 is fixed to the pull plate 62. The oil storage airbag 14 is fixedly connected, and the other end of the locking spring 63 is fixedly connected to the mounting plate 1. A control mechanism 7 for controlling the movement of the pull plate 62 is installed on the oil storage airbag 14. In the process of the extrusion plate 52 squeezing the oil storage airbag 14, when the hydraulic oil in the oil storage airbag 14 cannot enter the telescopic rod 13, the oil storage airbag 14 can control the movement of the pull plate 62 through the control mechanism 7, and the pull plate 62 drives the locking rod 61 to disengage from the locking groove 321, so that the locking rod 61 can release the lock on the blocking plate 32, which is convenient for the staff to operate.

[0030] Reference Figures 4 to 6 The locking cam 77 is pressed against the locking cam 71 when the locking cam 71 is in the unlocked position, and the locking cam 73 is pressed against the support cam 74. When the locking cam 77 is in the unlocked position, the locking cam 73 is pressed against the support cam 74. When the locking cam 77 is in the unlocked position, the locking cam 73 is pressed against the support cam 74.

[0031] Reference Figures 4 to 6The side wall of the mounting plate 1 is provided with a push groove 18 which is connected with the blocking groove 17. The blocking plate 32 is fixedly connected with a push rod 322 which is placed in the push groove 18. The push rod 322 can slide along the push groove 18, and the extrusion plate 52 can contact with the push rod 322. When the inclination angle of the connecting plate 11 needs to be adjusted again, the bidirectional screw 51 is rotated, and the bidirectional screw 51 drives the two extrusion plates 52 to move away from each other. The control spring 73 drives the control rod 71 to return to the initial position, and the locking spring 63 drives the locking rod 6 1 returns to the initial position. When the extrusion plate 52 contacts the push rod 322, the extrusion plate 52 drives the push rod 322 to move, and the push rod 322 drives the blocking plate 32 to move, compressing the blocking spring 31. When the blocking plate 32 contacts the locking inclined surface 611, the blocking plate 32 pushes the locking rod 61 to move. When the locking rod 61 is opposite to the locking groove 321, the locking spring 63 drives the locking rod 61 to be inserted into the locking groove 321, and the blocking plate 32 is locked again, so that it is convenient for continued use next time.

[0032] The implementation principle of a low-noise collaborative robot modular joint in the embodiment of the present application is as follows: when the tilt angle of the collaborative robot needs to be adjusted, the operating rod 41 is first moved so that the first bevel gear 411 is meshed with the second bevel gear 231, and then the operating rod 41 is rotated, and the operating rod 41 drives the adjusting threaded cylinder 23 to rotate through the first bevel gear 411 and the second bevel gear 231, and the adjusting threaded cylinder 23 drives the adjusting screw 24 to move, and the adjusting screw 24 drives the connecting rod 25 to move, and the connecting rod 25 drives the connecting plate 11 to flip, and the connecting plate 11 drives the base 8 to flip, thereby adjusting the tilt angle of the collaborative robot; when the tilt angle adjustment of the collaborative robot is completed, the operating rod 41 is moved, and when the first gear 412 is meshed with the second gear 511, the operating rod 41 is rotated, and the operating rod 41 is rotated through the first gear 4 12 and the second gear 511 drive the two-way screw 51 to rotate, and the two-way screw 51 drives the two extrusion plates 52 to approach each other, squeezing the oil storage airbag 14, so that the hydraulic oil in the oil storage airbag 14 can flow back to a part of the telescopic rod 13, thereby making the telescopic rod 13 and the connecting plate 11 press tightly, improving the stability between the connecting plate 11 and the mounting plate 1, and when the hydraulic oil in the oil storage airbag 14 cannot enter the telescopic rod 13, the hydraulic oil in the oil storage airbag 14 will squeeze the sealing film 72, thereby squeezing the control rod 71, and the control rod 71 pushes the pull plate 62 to move through the abutment inclined surface 621, and the pull plate 62 drives the locking rod 61 to disengage from the locking groove 321, and the blocking spring 31 can push the blocking plate 32 to move, and the blocking plate 32 closes the oil filling hole 15, and the hydraulic oil in the telescopic rod 13 cannot be discharged, and the telescopic rod 13 can fix the connecting plate 11.

[0033] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A low-noise collaborative robot modular joint, comprising a planetary reducer (1), wherein the top of the planetary reducer (1) is provided with an oil filling port (11), the side wall of the bottom of the planetary reducer (1) is provided with an oil outlet (12), the oil filling port (11) is threadedly connected to a first sealing plug (13), and the oil outlet (12) is threadedly connected to a second sealing plug (14), characterized in that: The planetary reducer (1) is provided with a blocking mechanism (2) for blocking the oil filling port (11), the blocking mechanism (2) comprising a blocking spring (21) fixedly connected to the inner wall of the planetary reducer (1) and a blocking plate (22) slidably mounted on the inner wall of the planetary reducer (1), the blocking spring (21) being fixedly connected to the blocking plate (22), the blocking spring (21) being in a compressed state, the planetary reducer (1) being provided with a limiting mechanism (3) for limiting the blocking plate (22), the planetary reducer (1) being provided with a liquid level detection mechanism (4), the liquid level detection mechanism (4) being capable of controlling the limiting mechanism (3) to release the limiting of the blocking plate (22); The limiting mechanism (3) comprises a mounting block (31) fixedly connected to the inner wall of the planetary reducer (1), a limiting rod (32) passing through the mounting block (31), a limiting groove (221) for inserting the limiting rod (32) is provided on the side wall of the blocking plate (22), a pull plate (33) is fixedly connected to one end of the limiting rod (32) away from the blocking plate (22), a limiting spring (34) is sleeved on the limiting rod (32), one end of the limiting spring (34) is fixedly connected to the pull plate (33), and the other end of the limiting spring (34) is fixedly connected to the mounting block (31), and a limiting inclined surface (321) is provided on the side wall of the limiting rod (32) facing the blocking plate (22), and the limiting inclined surface (321) can contact the side edge of the blocking plate (22); The liquid level detection mechanism (4) comprises a guide rod (41) fixedly connected to the inner bottom surface of the planetary reducer (1) and a liquid level detection plate (42) sleeved on the guide rod (42); a push rod (43) is fixedly connected to the liquid level detection plate (42); a push-pull inclined surface (331) is formed on the bottom of the pull plate (33); and the push rod (43) is capable of contacting the push-pull inclined surface (331).

2. A low-noise collaborative robot modular joint according to claim 1, characterized in that: The planetary reducer (1) is provided with a driving mechanism (5), the driving mechanism (5) comprising a driving shaft (51) passing through the top of the planetary reducer (1), the driving shaft (51) extending into the interior of the planetary reducer (1), the driving shaft (51) being fixedly connected to a driving gear (52), the blocking plate (22) being fixedly connected to a driving rack (53) meshing with the driving gear (52), the first sealing plug (13) being fixedly connected to a first gear (54), the driving shaft (51) being fixedly connected to a driving wheel (55), the driving wheel (55) being hingedly connected to a plurality of first teeth (56) meshing with the first gear (54), the hinge shaft installed in the first teeth (56) being located at one side of the first teeth (56), and a first torsion spring (57) being sleeved on the hinge shaft installed in the first teeth (56).

3. A low-noise collaborative robot modular joint according to claim 2, characterized in that: An air inlet (15) is provided on the top of the planetary reducer (1), and an air charging mechanism (6) connected to the air inlet (15) is installed on the top of the planetary reducer (1). The air charging mechanism (6) comprises an air charging cylinder (61) fixedly connected to the top of the planetary reducer (1), and an air charging inlet hole (611) and an air charging exhaust hole (612) are provided on the air charging cylinder (61), and the air charging exhaust hole (612) is connected to the air inlet (15) via a first air pipe (62). A first threaded cylinder (63) is rotatably mounted on the inflation cylinder (61), a first reciprocating screw (64) is inserted into the first threaded cylinder (63), an inflation plate (65) is placed in the inflation cylinder (61), the first reciprocating screw (64) is fixedly connected to the inflation plate (65), an inflation connection hole (651) is formed on the inflation plate (65), and a first one-way valve (66) is installed at both the inflation exhaust hole (612) and the inflation connection hole (651).

4. A low-noise collaborative robot modular joint according to claim 3, characterized in that: The planetary reducer (1) has a screw rod (44) rotatably mounted therein and passing through a liquid level detection plate (42). The screw rod (44) is spirally connected to the liquid level detection plate (42). The top of the screw rod (44) extends to the outside of the planetary reducer (1). The screw rod (44) is fixedly connected to a second gear (45). The top of the planetary reducer (1) is slidably connected to a first rack (46) meshing with the second gear (45). The top of the planetary reducer (1) is mounted with a transmission mechanism (7). The transmission mechanism (7) comprises a first transmission gear rotatably mounted on the top of the planetary reducer (1). A shaft (71), a first bevel gear (711) is fixedly connected to the first transmission shaft (71), a second bevel gear (631) meshing with the first bevel gear (711) is fixedly connected to the first threaded cylinder (63), a first gear ring (72) is fixedly connected to the first transmission shaft (71), a plurality of second teeth (73) meshing with the first rack (46) are hingedly connected to the first gear ring (72), a hinge shaft installed in the second teeth (73) is located on one side of the second teeth (73), and a second torsion spring (74) is sleeved on the hinge shaft installed in the second teeth (73).

5. The low-noise collaborative robot modular joint according to claim 3, characterized in that: The planetary reducer (1) is provided with a sealing mechanism (8), the sealing mechanism (8) comprising a sealing shaft (81) and a sealing screw (82) rotatably mounted in the planetary reducer (1), the sealing shaft (81) being passed through the outside of the planetary reducer (1), a first sealing gear (83) being fixedly connected to the sealing shaft (81), a second sealing gear (84) meshing with the first sealing gear (83) being fixedly connected to the second sealing plug (14), a conveyor belt (85) being sleeved on the sealing shaft (81) and the sealing screw (82), a sealing plate (86) being sleeved on the sealing screw (82) and being slidably connected to the inner wall of the planetary reducer (1), the sealing plate (86) being covered on the air inlet (15).

6. A low-noise collaborative robot modular joint according to claim 4, characterized in that: The planetary reducer (1) is provided with an air vent (16) on the top, and an air venting mechanism (9) connected to the air vent (16) is installed on the top of the planetary reducer (1). The air venting mechanism (9) comprises an air venting cylinder (91) fixedly connected to the top of the planetary reducer (1), and the air venting cylinder (91) is provided with an air venting inlet hole (911) and an air venting outlet hole (912). The air venting inlet hole (911) is connected to the air vent (16) via a second air pipe (92). A second threaded cylinder (93) is rotatably mounted on the deflation cylinder (91), a second reciprocating screw (94) is inserted into the second threaded cylinder (93), a deflation plate (95) is placed in the deflation cylinder (91), the second reciprocating screw (94) is fixedly connected to the deflation plate (95), a deflation connecting hole (951) is formed on the deflation plate (95), and a second one-way valve (96) is installed at both the deflation air inlet hole (911) and the deflation connecting hole (951); A second transmission shaft (75) is rotatably mounted on the top of the planetary reducer (1); a third bevel gear (751) is fixedly connected to the second transmission shaft (75); a fourth bevel gear (931) meshing with the third bevel gear (751) is fixedly connected to the second threaded cylinder (93); a second gear ring (76) is fixedly connected to the second transmission shaft (75); a plurality of third teeth (77) meshing with the first rack (46) are hingedly connected to the second gear ring (76); a hinge shaft installed in the third teeth (77) is located on one side of the third teeth (77); and a third torsion spring (78) is sleeved on the hinge shaft installed in the third teeth (77).

7. A low-noise collaborative robot modular joint according to claim 6, characterized in that: The blocking plate (22) is fixedly connected to a connecting rod (23), and the connecting rod (23) is fixedly connected to a sealing plate (24) covering the air release port (16).

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