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 joint shell, a rotating table, a rotating driving part, a transmission mechanism and a connecting mechanism; one end of the joint shell is fixedly connected with a main body of the robot, and the rotating table is connected with the other end of the joint shell in a rotating mode; the rotary driving piece is connected with the end, facing the joint shell, of the rotary table, and the transmission mechanism is arranged in the joint shell and provided with an input part, an output part and a transmission channel. The connecting mechanism is additionally arranged, so that the working part of the robot can generate follow-up motion, other structures of the robot are prevented from being impacted in an unstable working environment, damage to the other structures of the robot is avoided, and the service life of the robot is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of robot equipment, and in particular to a robot joint and a robot. Background Art

[0002] A robot is a machine device widely used in the industrial field, and robot joints are one of the core components of a robot.

[0003] At present, existing robot joints usually adopt a rigid structure, and the robot can only move in a fixed path. In some unstable working environments that do not require high precision, such as on the hull or other working environments, the rigid structure of the robot joint cannot be effectively handled.

[0004] In order to solve the above technical problems, a robot flexible joint is disclosed in a patent application with application number CN201910326061.X and application date of April 23, 2019. Although the invention can solve the problem of absorbing torsional force and reducing the torsional force generated by the working part to the transmission of the robot power mechanism, it cannot solve the problem that, for example, when a robot working on a hull is moved on the water surface, the robot base moves irregularly, causing collisions between the working part of the robot and the working area, which can easily cause damage to the robot. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a robot joint and a robot to solve the problem that the robot joint cannot eliminate the shaking caused by irregular motion in an unstable working environment, causing damage to the robot.

[0006] Based on the above-mentioned purpose, the present invention provides a robot joint, including a joint housing, one end of which is fixedly connected to the main body of the robot; a rotating table, which is connected to the other end of the joint housing by rotation, and has a rotating channel arranged along the center line direction of the joint housing; a rotating driving member, which is connected to one end of the rotating table facing the joint housing; a transmission mechanism, which is installed in the joint housing, and has an input part, an output part and a transmission channel arranged along the center line direction of the joint housing for power transmission, the output part is drivingly connected to the rotating driving member and is used to drive the rotating table to rotate; a connecting mechanism, which is fixedly connected to the other end of the rotating table, and has a connecting channel arranged along the center line direction of the joint housing and a linkage part that can move with multiple degrees of freedom, and the linkage part is fixedly connected to the working part of the robot; the rotating channel, the transmission channel, and the connecting channel are connected to the inner cavity of the joint housing.

[0007] In an optional example, the linkage part includes a linkage bracket, the connecting mechanism includes a connecting bracket, a linkage spring and an intermediate bracket, a first rotating shaft perpendicular to the center line direction of the joint housing is fixed to the end of the rotating table close to the intermediate bracket, the intermediate bracket is connected to the first rotating shaft by rotation, a second rotating shaft perpendicular to the center line direction of the joint housing is fixed to the end of the intermediate bracket away from the rotating table, the connecting bracket is connected to the second rotating shaft by rotation, the center line directions of the first rotating shaft and the second rotating shaft are perpendicular, the intermediate bracket is provided with an intermediate through groove penetrating the intermediate bracket along the center line direction of the joint housing, the linkage spring passes through the intermediate through groove, a connecting groove is provided at the end of the connecting bracket close to the intermediate bracket, a connecting through groove penetrating the connecting bracket is provided in the connecting groove, a first rotating groove is provided at the end of the rotating table close to the intermediate bracket, a rotating through groove penetrating the rotating table is provided in the first rotating groove, one end of the linkage spring is inserted and fixed in the first rotating groove, the other end of the linkage spring is inserted and fixed in the connecting groove, and the linkage bracket is connected to the connecting bracket.

[0008] In an optional example, a plurality of support units are fixed to the end of the linkage bracket facing away from the intermediate bracket, and the support unit includes an elastic support frame, which is fixedly connected to the working part of the robot; a linkage mounting groove is provided at the end of the linkage bracket facing away from the intermediate bracket, and the elastic support frame is inserted into the linkage mounting groove, and a locking ring is installed in the linkage mounting groove by threaded mounting, and the lower end of the locking ring is in conflict with the elastic support frame and fixes the elastic support frame in the linkage mounting groove; an installation through groove that penetrates the linkage bracket is provided in the middle part of the linkage bracket, and a pipeline mounting ring is installed in the installation through groove by rotational connection, and the intermediate through groove, the connecting through groove, the installation through groove and the pipeline mounting ring are combined to form a connecting channel.

[0009] In an optional example, the rotating drive member includes an annular driving bracket, a plurality of driving grooves are provided on the outer wall of the annular driving bracket, driving springs are inserted and fixed in the driving grooves, a plurality of gear grooves connected to the driving mechanism are opened on the inner wall of the annular driving bracket, a second rotating groove is provided on the end of the rotating table facing the joint housing, the annular driving bracket is installed in the second rotating groove by rotating, a driving protrusion is provided on the end of the second rotating groove facing the joint housing, one end of the driving spring is in conflict with the driving groove, the other end of the driving spring is in conflict with the driving protrusion, and the other end of the rotating through groove passes through the second rotating groove to form a rotating channel.

[0010] In an optional example, an annular fixing frame is also fixed in the second rotation groove, and the annular fixing frame is in conflict with the bottom of the second rotation groove. The inner wall of the annular fixing frame is provided with a plurality of guide flanges, and a limiting flange is provided on the guide flange. The end of the guide flange close to the connecting mechanism matches the outer wall of the annular driving bracket and enables the annular driving bracket to rotate in the direction of the center line of the joint housing, and the limiting flange matches the end of the annular driving bracket away from the connecting mechanism.

[0011] In an optional example, the annular drive bracket includes an annular frame body and a fixed ring, the outer wall of the annular frame body is provided with a plurality of extension flanges extending outward, the driving groove is opened on the extension flange, the area of ​​the end of the driving groove facing closer to the connecting mechanism is smaller than the area of ​​the end facing away from the connecting mechanism, so that the driving groove forms a taper, the fixed ring is fixed at the end facing away from the connecting mechanism, and the outer wall of the fixing ring is provided with an extension ring matching the extension flange.

[0012] In an optional example, the joint housing includes an end cover ring, shell one, shell two and shell three connected in sequence, the shell one is provided with a first shell groove at one end facing the connecting mechanism, a first bearing is inserted and fixed to the inner wall of the first shell groove, the rotating table passes through the end cover ring and is inserted and fixed to the inner wall of the first bearing, a first shell through groove is provided in the first shell groove, and a second shell through groove is provided on the shell two.

[0013] In an optional example, the input part includes an input shaft connected to the shell three-phase by a rotational connection along the center line direction of the joint housing, an input gear is fixed on the outer wall of the input shaft, the output part includes an output bracket fixedly connected to the shell three-phase, the output bracket is provided with a plurality of output shafts in a fan shape with the center line of the joint housing as the center, an output gear is installed on the outer wall of the output shaft by a rotational connection, the transmission mechanism includes a center gear ring, a driving gear ring and a transmission bracket, the transmission bracket is connected to the output bracket by a rotational connection along the center line direction of the joint housing, one end of the transmission bracket is fixedly connected to the center gear ring, and the other end of the transmission bracket is fixedly connected to the driving gear ring, the output gear is meshed with the center gear ring and the gear groove, the driving gear ring is meshed with the input gear, the transmission bracket has a transmission through groove running through the center line direction of the joint housing, the transmission through groove, the inner wall of the center gear ring and the inner wall of the driving gear ring are combined to form a transmission channel.

[0014] In an optional example, the output bracket includes an output ring body 1 and an output ring body 2 fixed to each other, an outer wall of the output ring body 1 is provided with an extension ear extending outward, the extension ear is in conflict with the limiting flange, and a penetrating mounting hole is opened on the extension ear, a second bearing is inserted and fixed to the inner wall of the output ring body 1, the transmission bracket is inserted in the second bearing, the output ring body 2 is fixedly connected to the shell 3, and an extension part is provided at one end of the output ring body 2 facing the output ring body 1, and the extension part is inserted and fixed in the output ring body 1.

[0015] A robot comprises any one of the above robot joints.

[0016] The beneficial effects of the present invention are as follows: by adding a connecting mechanism, the working part of the robot can generate follow-up movement, thereby preventing the vibration and movement generated by the working part of the robot from being transmitted to the robot as a whole in an unstable working environment, thereby impacting other structures of the robot and causing damage to other structures of the robot, such as damage to the transmission mechanism or displacement of the sensor, thereby increasing the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a front view of an embodiment of the present invention;

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention;

[0020] Figure 3 is a cross-sectional view of an embodiment of the present invention;

[0021] Figure 4 It is a schematic diagram of the explosion structure of an embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the elastic support frame in an embodiment of the present invention;

[0023] Figure 6 Schematic diagram of the explosion structure of the rotary drive member in the embodiment of the present invention Figure 1 ;

[0024] Figure 7 Schematic diagram of the explosion structure of the rotary drive member in the embodiment of the present invention Figure 2 ;

[0025] Figure 8It is a schematic diagram of the exploded structure of the rotary driving member in an embodiment of the present invention;

[0026] Fig. 9 This is a schematic diagram of the three-dimensional structure of the housing 1 in an embodiment of the present invention;

[0027] Fig.10 Schematic diagram of the explosion structure of the transmission mechanism in the embodiment of the present invention Figure 1 ;

[0028] Fig.11 Schematic diagram of the explosion structure of the transmission mechanism in the embodiment of the present invention Figure 2 ;

[0029] Fig.12 This is an example of the use in the embodiment of the present invention. Figure 1 ;

[0030] Fig.13 This is an example of the use in the embodiment of the present invention. Figure 2 .

[0031] The markings in the figure are: 1, joint housing; 11, end cover ring; 12, housing 1; 121, first housing groove; 122, first housing through groove; 13, housing 2; 131, second housing through groove; 14, housing 3; 15, first bearing; 2, rotating table; 201, rotating channel; 21, first rotating shaft; 22, first rotating groove; 221, rotating through groove; 23, second rotating groove; 231, driving convex block; 24, annular fixing frame; 2 41. guide flange; 242. limit flange; 3. rotary drive member; 31. annular drive bracket; 311. drive groove; 312. gear groove; 3101. annular frame; 31011. extension flange; 3102. fixing ring; 31021. extension ring; 32. drive spring; 4. transmission mechanism; 401. input part; 402. output part; 403. transmission channel; 41. input shaft; 42. input gear; 43. output bracket; 431, output ring body 1; 4311, extension ear; 4312, mounting hole; 4313, locking groove; 432, output ring body 2; 4321, abutment flange; 4322, locking convex block; 4323, raised flange; 44, output shaft; 45, output gear; 46, center gear ring; 47, driving gear ring; 48, transmission bracket; 481, transmission through groove; 49, second bearing; 5, connecting mechanism; 501, connecting channel; 502 , linkage part; 51, connecting bracket; 511, connecting groove; 512, connecting through groove; 52, linkage bracket; 521, linkage installation groove; 522, installation through groove; 53, linkage spring; 54, intermediate bracket; 541, second rotating shaft; 542, intermediate through groove; 55, supporting unit; 551, elastic supporting frame; 5511, connecting part; 5512, locking part; 5513, supporting part; 552, locking ring; 56, pipeline installation ring. DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0033] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0034] In one embodiment, see Figures 1 to 3 As shown, a robot joint provided by the present invention includes: a joint housing 1, a rotating platform 2, a rotating driving member 3, a transmission mechanism 4 and a connecting mechanism 5.

[0035] One end of the joint housing 1 is fixedly connected to the main body of the robot. The joint housing 1 is cylindrical and has a chamber inside.

[0036] The rotating platform 2 is connected to the other end of the joint housing 1 by means of a bearing, and has a rotating channel 201 arranged along the center line direction of the joint housing 1. The rotating center line of the rotating platform 2 is arranged along the center line of the joint housing 1.

[0037] The rotary driving member 3 is connected to one end of the rotary table 2 which is close to the joint housing 1 .

[0038] The transmission mechanism 4 is installed in the joint housing 1, and has an input part 401 for power transmission, an output part 402 and a transmission channel 403 arranged along the center line direction of the joint housing 1. The output part 402 is connected to the rotation drive member 3 and is used to drive the rotation of the rotating table 2. Among them, the input part 401 is connected to the external robot power mechanism, and the power mechanism is used to provide an external power source to drive the input part 401 to rotate. The input part 401 drives the output part 402 to rotate, and provides power for the rotation of the rotating table 2.

[0039] The connecting mechanism 5 is fixedly connected to the other end of the rotating platform 2, and has a connecting channel 501 arranged along the center line direction of the joint housing 1 and a multi-degree-of-freedom movable linkage part 502, and the linkage part 502 is fixedly connected to the working part of the robot. The linkage part 502 has a certain range of movement and can move with the working part of the robot.

[0040] The rotation channel 201, the transmission channel 403, and the connection channel 501 are connected to the inner cavity of the joint housing 1. The circuits and pipelines of the robot pass through the transmission channel 403, the rotation channel 201, and the connection channel 501 from the inner cavity of the joint housing 1 to connect with the working part of the robot.

[0041] Specifically, this example adds a connecting mechanism 5 so that the connecting mechanism 5 can move with the working part of the robot, thereby preventing the vibration and movement generated by the working part of the robot from being transmitted to the robot as a whole in an unstable working environment, causing impact on other structures of the robot and causing damage to other structures of the robot, such as damage to the transmission mechanism 4 or displacement of the sensor, thereby improving the service life of the robot.

[0042] As an alternative example, see Figures 1 to 4 As shown, in order to further improve the service life of the robot, the linkage part 502 includes a linkage bracket 52, the connection mechanism 5 includes a connection bracket 51, a linkage spring 53 and an intermediate bracket 54, the end of the rotating platform 2 facing the intermediate bracket 54 is fixed with a first rotating shaft 21 perpendicular to the center line direction of the joint housing 1 by plugging, the intermediate bracket 54 is mounted on the outer wall of the first rotating shaft 21 by rotating, the end of the intermediate bracket 54 facing away from the rotating platform 2 is fixed with a second rotating shaft 541 perpendicular to the center line direction of the joint housing 1 by plugging, the connection bracket 51 is mounted on the outer wall of the second rotating shaft 541 by rotating, and the center line directions of the first rotating shaft 21 and the second rotating shaft 541 are perpendicular. Among them, through the first rotating shaft 21 and the second rotating shaft 541, the connection bracket 51 can be rotated and moved within a certain range, increasing the moving range of the connection bracket 51 during buffering.

[0043] The intermediate bracket 54 is provided with an intermediate through slot 542 that penetrates the intermediate bracket 54 along the center line direction of the joint housing 1, and the linkage spring 53 passes through the intermediate through slot 542. The connecting bracket 51 is provided with a connecting groove 511 at one end close to the intermediate bracket 54, and a connecting through slot 512 that penetrates the connecting bracket 51 is provided in the connecting groove 511. The rotating table 2 is provided with a first rotating groove 22 at one end close to the intermediate bracket 54, and a rotating through slot 221 that penetrates the rotating table 2 is provided in the first rotating groove 22. One end of the linkage spring 53 is inserted and fixed in the first rotating groove 22, and the other end of the linkage spring 53 is inserted and fixed in the connecting groove 511. The linkage bracket 52 is maintained at a set position by the elastic force of the linkage spring 53, and when the linkage bracket 52 is subjected to impact force or pulling force, it can absorb a certain impact force or pulling force; the circuit and pipeline of the robot can pass through the center of the linkage spring 53.

[0044] The linkage bracket 52 is connected to the connection bracket 51 by bolt connection, which facilitates the assembly of the connection mechanism 5 .

[0045] Specifically, in this example, the linkage bracket 52 can move within a certain degree of freedom through the cooperation of the intermediate bracket 54, the connecting bracket 51 and the rotating table 2. At the same time, the elastic force of the linkage spring 53 can absorb a certain impact force or pulling force, reduce the impact force on the power part of the robot, maintain the stability of the power part of the robot, and improve the service life of the robot. In addition, the circuits and pipelines of the robot can pass through the center of the linkage spring 53, avoiding the layout of the pipelines on the outside of the robot. In an unstable working environment, the circuits, pipelines and external structures collide, further improving the service life of the robot.

[0046] As an alternative example, see Figures 1 to 5As shown, in order to further improve the service life of the robot, a plurality of support units 55 are fixed to the end of the linkage bracket 52 facing away from the intermediate bracket 54, and the support unit 55 includes an elastic support frame 551, which is fixedly connected to the working part of the robot, and a linkage installation groove 521 is provided at the end of the linkage bracket 52 facing away from the intermediate bracket 54. The elastic support frame 551 is inserted into the linkage installation groove 521, and a locking ring 552 is installed in the linkage installation groove 521 by threaded installation. The lower end of the locking ring 552 conflicts with the upper end of the elastic support frame 551, and the elastic support frame 551 is fixed in the linkage installation groove 521. A mounting through groove 522 that penetrates the linkage bracket 52 is opened in the middle part of the linkage bracket 52, and a pipeline mounting ring 56 is installed in the mounting through groove 522 by rotational connection. The intermediate through groove 542, the connecting through groove 512, the mounting through groove 522 and the pipeline mounting ring 56 are combined to form a connecting channel 501. Among them, an internal thread is provided in the linkage installation groove 521, and an external thread matching the internal thread is provided on the outer wall of the locking ring; the circuits and pipelines of the robot can be laid out through the connecting channel 501, reducing the contact between the circuits, pipelines and the external space; the elastic support frame 551 includes a connecting part 5511 and a locking part 5512, the connecting part 5511 extends out of the linkage installation groove 521, so that the connecting part 5511 and the linkage installation groove 521 have a certain displacement space, a plurality of supporting parts 5513 are arranged on the outer wall of the connecting part 5511, the end of the supporting part 5513 is connected to the locking part 5512, and a through hole for connecting with the working part of the robot is provided on the connecting part 5511, and the working part of the robot is connected to the connecting part 5511 by bolt connection, and the lower end of the locking ring 552 conflicts with the upper part of the locking part 5512.

[0047] Specifically, this example connects the working part of the robot through an elastic support frame 551, which expands the robot's range of movement and can absorb certain vibrations, thereby avoiding the transmission of vibrations generated due to the working environment to the robot body, reducing damage to the robot body caused by vibration, and further improving the service life of the robot.

[0048] As an alternative example, see Figures 1 to 7As shown, in order to further improve the service life of the robot, the rotating drive member 3 includes an annular driving bracket 31, a plurality of driving grooves 311 are arranged on the outer wall of the annular driving bracket 31, driving springs 32 are inserted and fixed in the driving grooves 311, a plurality of gear grooves 312 driven and connected to the transmission mechanism 4 are opened on the inner wall of the annular driving bracket 31, a second rotating groove 23 is arranged on the end of the rotating table 2 facing the joint housing 1, the annular driving bracket 31 is installed in the second rotating groove 23 by rotating, a driving protrusion 231 is arranged on the end of the second rotating groove 23 facing the joint housing 1, one end of the driving spring 32 is in conflict with the driving groove 311, the other end of the driving spring 32 is in conflict with the driving protrusion 231, the other end of the rotating through groove 221 passes through the second rotating groove 23 to form a rotating channel 201.

[0049] Specifically, in this example, the annular drive bracket 31 is driven to rotate through the transmission mechanism 4, the annular drive bracket 31 drives the drive spring 32 to move, the drive spring 32 drives the drive protrusion 231 to move, and the drive protrusion 231 drives the turntable 2 to rotate, so that the turntable 2 can switch between different working angles, thereby realizing the angle drive of the working part of the robot, and the drive spring 32 can absorb a certain axial impact force, thereby avoiding the torsional force or vibration force generated due to the working environment from being transmitted to the robot body, reducing the impact of the torsional force or vibration force on the robot body, causing damage to the robot power mechanism, and further improving the service life of the robot.

[0050] As an alternative example, see Figures 1 to 7 As shown, in order to facilitate the assembly of the annular fixing frame 24, the annular fixing frame 24 is also fixed in the second rotation groove 23 by bolt connection. The annular fixing frame 24 conflicts with the bottom of the second rotation groove 23. The inner wall of the annular fixing frame 24 is provided with a plurality of guide flanges 241, and a limiting flange 242 is provided on the guide flange 241. The guide flange 241 matches the outer wall of the annular driving bracket 31 at the end close to the connection mechanism 5, and enables the annular driving bracket 31 to rotate along the direction of the center line of the joint housing 1. The limiting flange 242 matches the end of the annular driving bracket 31 away from the connection mechanism 5. Among them, the second rotation groove 23, the plurality of guide flanges 241, and the plurality of limiting flanges 242 are combined to form a rotation groove for the rotation of the annular driving bracket 31.

[0051] Specifically, in this example, the annular driving bracket 31 is fixed by the annular fixing bracket 24 , so that the annular driving bracket 31 can be rotatably installed in the annular driving bracket 31 , which facilitates the disassembly and assembly of the annular fixing bracket 24 and improves the maintenance efficiency of the annular fixing bracket 24 .

[0052] As an alternative example, see Figures 1 to 8As shown, in order to facilitate the disassembly and assembly of the drive spring 32, the annular drive bracket 31 includes an annular frame body 3101 and a fixing ring 3102 connected by bolts, and a plurality of extension flanges 31011 extending outward are arranged on the outer wall of the annular frame body 3101, and a driving groove 311 is opened on the extension flange 31011, and the area of ​​the end of the driving groove 311 facing closer to the connecting mechanism 5 is smaller than the area of ​​the end facing away from the connecting mechanism 5, so that the driving groove 311 forms a taper, and the fixing ring 3102 is fixed at the end facing away from the connecting mechanism 5, and an extension ring 31021 matching the extension flange 31011 is arranged on the outer wall of the fixing ring 3102.

[0053] Specifically, this example can quickly fix the drive spring 32 through the cooperation of the annular frame 3101 and the fixing ring 3102, which is convenient for the disassembly and assembly of the drive spring 32. At the same time, a tapered drive groove 311 is formed, so that the drive spring 32 can move within a certain range and has a certain assembly tolerance, which facilitates the installation of the drive spring 32 and reduces the difficulty of installing the drive spring 32.

[0054] As an alternative example, see Figures 1 to 9 As shown, in order to disassemble and assemble the joint housing 1, the joint housing 1 includes an end cover ring 11, a shell 12, a shell 2 13 and a shell 3 14 which are connected in sequence by bolt connection. The shell 1 12 is provided with a first shell groove 121 at one end facing the connecting mechanism 5, and a first bearing 15 is inserted and fixed to the inner wall of the first shell groove 121. The rotating table 2 passes through the end cover ring 11 and is inserted and fixed to the inner wall of the first bearing 15. A first shell through groove 122 is provided in the first shell groove 121, and a second shell through groove 131 that penetrates the shell 2 13 is provided on the shell 2 13.

[0055] Specifically, this example facilitates the disassembly and assembly of the joint housing 1 by splitting the joint housing 1 into four parts, and uses the end cover ring 11 to fix the first bearing 15, thereby reducing the difficulty of assembling the robot joint.

[0056] As an alternative example, see Figures 1 to 11As shown, in order to facilitate the disassembly and assembly of the robot joint, the input part 401 includes an input shaft 41 connected to the shell three 14 by a rotational connection along the center line direction of the joint shell 1, and an input gear 42 is fixed to the outer wall of the input shaft 41 by a key connection. The output part 402 includes an output bracket 43 fixedly connected to the shell three 14, and a plurality of output shafts 44 are fixed to the output bracket 43 in a fan shape with the center line of the joint shell 1 as the center. An output gear 45 is rotatably mounted on the outer wall of the output shaft 44 by a bearing connection. The transmission mechanism 4 includes a central gear ring 46, a driving gear ring 47 and a transmission bracket 48. The moving bracket 48 is connected to the output bracket 43 by a rotational connection along the center line direction of the joint housing 1, one end of the transmission bracket 48 is fixedly connected to the center gear ring 46 by a bolt connection, and the other end of the transmission bracket 48 is fixedly connected to the drive gear ring 47 by a bolt connection. The output gear 45 is meshed with the center gear ring 46 and the gear groove 312, and the drive gear ring 47 is meshed with the input gear 42. The transmission bracket 48 has a transmission through groove 481 that penetrates along the center line direction of the joint housing 1. The transmission through groove 481, the inner wall of the center gear ring 46 and the inner wall of the drive gear ring 47 are combined to form a transmission channel 403. Among them, the input shaft 41 is connected to the external robot power mechanism.

[0057] Specifically, in this example, the input shaft 41 is driven to rotate through the operation of the robot power mechanism, and the input shaft 41 drives the input gear 42 to rotate, the input gear 42 drives the drive gear ring 47 to rotate, the drive gear ring 47 drives the transmission frame to rotate, the transmission frame drives the center gear ring 46 to rotate, the center gear ring 46 drives the output gear 45 to rotate, the output gear 45 drives the gear slot 312 to rotate, and the gear slot 312 drives the annular drive bracket 31 to rotate, thereby providing power for driving the rotation of the working part of the robot, ensuring the working accuracy of the robot during rotation, and facilitating the assembly of the robot joints. At the same time, the transmission channel 403 is formed by combining the transmission groove 481, the inner wall of the center gear ring 46 and the inner wall of the drive gear ring 47, providing support for the layout of power and liquid pipelines for the working part of the robot, avoiding the exposure of power and liquid pipelines to the outside, and further improving the service life of the robot.

[0058] As an alternative example, see Figures 1 to 11As shown, in order to facilitate the disassembly and assembly of the robot joint, the output bracket 43 includes an output ring body 1 431 and an output ring body 2 432 which are fixed to each other, the output ring body 2 432 passes through the second shell groove 131 and is fixedly connected to the output ring body 1 431, and an extension ear 4311 extending toward the outside is provided on the outer wall of the output ring body 1 431, the extension ear 4311 is in conflict with the limiting flange 242, and a penetrating mounting hole 4312 is provided on the extension ear 4311, and a second bearing 49 is inserted and fixed to the inner wall of the output ring body 1 431, and the transmission bracket 48 is inserted into the second bearing 49 by an interference fit, and the output ring body 2 432 is fixedly connected to the shell 3 14 by bolt connection, and an extension portion is provided at one end of the output ring body 2 432 facing the output ring body 1 431, and the extension portion is inserted into the output ring body 1 431 by a spline connection. Among them, a contact flange 4321 is provided at one end of the inner circle of the output ring body 2 432 toward the output ring body 1 431, and a locking protrusion 4322 is provided on the outer wall of the contact flange 4321. A locking groove 4313 matching the locking protrusion 4322 is opened on the inner wall of the output ring body 1 431. The contact flange 4321 is in conflict with the end of the output ring body 1 431 toward the output ring body 2 432. A raised flange 4323 extending toward the outward direction is provided at one end of the inner circle of the output ring body 2 432 toward the output ring body 1 431. The diameter of the raised flange 4323 is larger than that of the output ring body 2 432 and is fixedly connected to the shell body 3 14.

[0059] Specifically, this example splits the output bracket 43 into the structure of output ring body 1 431 and output ring body 2 432, so that the output bracket 43 can be assembled in the space formed between shell 2 13 and shell 3 14, which facilitates the disassembly and assembly of other structures of the robot joint, reduces the assembly difficulty of the robot joint, and improves the disassembly and assembly efficiency of the robot joint.

[0060] See also Figure 12 to Figure 13 As shown, a robot comprises any one of the above robot joints. Since the above robot joints have the above technical effects, a robot having the robot joints should also have corresponding technical effects.

[0061] In general, the present invention increases the service life of the robot by adding a connecting mechanism 5 so that the connecting mechanism 5 can follow the working part of the robot, thereby preventing the vibration and movement generated by the working part of the robot from being transmitted to the robot as a whole in an unstable working environment, causing impact on other structures of the robot and causing damage to other structures of the robot. In addition, the connecting mechanism 5 can absorb a certain impact force, reduce the impact force on the power part of the robot, maintain the stability of the power part of the robot, and increase the service life of the robot. At the same time, the circuits and pipelines of the robot can pass through the center of the connecting mechanism 5, avoiding the layout of the pipelines on the outside of the robot, and avoiding the collision between the circuits and pipelines and the external structure in an unstable working environment, thereby further increasing the service life of the robot.

[0062] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0063] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot joint, characterized in that: include: A joint housing (1), one end of which is fixedly connected to the main body of the robot; A rotating platform (2) connected to the other end of the joint housing (1) by means of rotation, and having a rotating channel (201) arranged along the center line direction of the joint housing (1); A rotary drive member (3) connected to one end of the rotary table (2) facing the joint housing (1); a transmission mechanism (4), installed in the joint housing (1), comprising an input portion (401) for power transmission, an output portion (402) and a transmission channel (403) arranged along the center line direction of the joint housing (1), wherein the output portion (402) is drivingly connected to the rotary drive member (3) and is used to drive the rotary table (2) to rotate; A connecting mechanism (5) is fixedly connected to the other end of the rotating platform (2), and comprises a connecting channel (501) arranged along the center line direction of the joint housing (1) and a multi-degree-of-freedom movable linkage part (502), wherein the linkage part (502) is fixedly connected to the working part of the robot; The rotating channel (201), the transmission channel (403), and the connecting channel (501) are in communication with the inner cavity of the joint housing (1).

2. The robot joint according to claim 1, characterized in that: The linkage part (502) comprises a linkage bracket (52), the connection mechanism (5) comprises a connection bracket (51), a linkage spring (53) and an intermediate bracket (54), the end of the rotating platform (2) facing the intermediate bracket (54) is fixed with a first rotation axis (21) perpendicular to the center line direction of the joint housing (1), the intermediate bracket (54) is connected to the first rotation axis (21) by rotation, the end of the intermediate bracket (54) facing away from the rotating platform (2) is fixed with a second rotation axis (541) perpendicular to the center line direction of the joint housing (1), the connection bracket (51) is connected to the second rotation axis (541) by rotation, the center line directions of the first rotation axis (21) and the second rotation axis (541) are perpendicular, and the intermediate bracket (54) is provided with a spring along the joint housing. (1) A middle through groove (542) passes through the middle bracket (54) in the centerline direction, the linkage spring (53) passes through the middle through groove (542), the connection bracket (51) is provided with a connection groove (511) at one end close to the middle bracket (54), the connection groove (511) is provided with a connection through groove (512) passing through the connection bracket (51), the rotation platform (2) is provided with a first rotation groove (22) at one end close to the middle bracket (54), the first rotation groove (22) is provided with a rotation through groove (221) passing through the rotation platform (2), one end of the linkage spring (53) is inserted and fixed in the first rotation groove (22), the other end of the linkage spring (53) is inserted and fixed in the connection groove (511), and the linkage bracket (52) is connected to the connection bracket (51).

3. The robot joint according to claim 2, characterized in that: A plurality of support units (55) are fixed to one end of the linkage bracket (52) facing away from the intermediate bracket (54), and the support unit (55) comprises an elastic support frame (551), and the elastic support frame (551) is fixedly connected to the working part of the robot. A linkage installation groove (521) is provided at one end of the linkage bracket (52) facing away from the intermediate bracket (54), and the elastic support frame (551) is inserted into the linkage installation groove (521), and a locking ring (551) is installed in the linkage installation groove (521) by threaded installation. 2), the lower end of the locking ring (552) contacts the elastic support frame (551), and the elastic support frame (551) is fixed in the linkage installation groove (521); a mounting through groove (522) penetrating the linkage support (52) is provided in the middle of the linkage support (52); a pipeline installation ring (56) is installed in the mounting through groove (522) by means of rotational connection; the intermediate through groove (542), the connecting through groove (512), the mounting through groove (522) and the pipeline installation ring (56) are combined to form a connecting channel (501).

4. The robot joint according to claim 2, characterized in that: The rotary drive member (3) comprises an annular drive bracket (31), a plurality of drive grooves (311) are arranged on the outer wall of the annular drive bracket (31), a drive spring (32) is inserted and fixed in each of the drive grooves (311), a plurality of gear grooves (312) are arranged on the inner wall of the annular drive bracket (31) and are drive-connected to the transmission mechanism (4), a second rotary groove (23) is arranged at one end of the rotary table (2) facing the joint housing (1), the annular drive bracket (31) is mounted in the second rotary groove (23) by means of rotation, a drive protrusion (231) is arranged at one end of the second rotary groove (23) facing the joint housing (1), one end of the drive spring (32) is in contact with the drive groove (311), the other end of the drive spring (32) is in contact with the drive protrusion (231), and the other end of the rotary through groove (221) passes through the second rotary groove (23) to form a rotary channel (201).

5. The robot joint according to claim 4, characterized in that: An annular fixing frame (24) is also fixed in the second rotating groove (23), and the annular fixing frame (24) is in conflict with the bottom of the second rotating groove (23). The inner wall of the annular fixing frame (24) is provided with a plurality of guide flanges (241), and a limiting flange (242) is provided on the guide flange (241). The end of the guide flange (241) close to the connecting mechanism (5) matches the outer wall of the annular driving bracket (31) and enables the annular driving bracket (31) to rotate along the direction of the center line of the joint housing (1), and the limiting flange (242) matches the end of the annular driving bracket (31) away from the connecting mechanism (5).

6. The robot joint according to claim 5, characterized in that: The annular driving bracket (31) comprises an annular frame body (3101) and a fixing ring (3102); a plurality of extension flanges (31011) extending outward are arranged on the outer wall of the annular frame body (3101); the driving groove (311) is opened on the extension flange (31011); the area of ​​the end of the driving groove (311) facing closer to the connecting mechanism (5) is smaller than the area of ​​the end facing away from the connecting mechanism (5), so that the driving groove (311) forms a taper; the fixing ring (3102) is fixed to the end facing away from the connecting mechanism (5); and an extension ring (31021) matching the extension flange (31011) is arranged on the outer wall of the fixing ring (3102).

7. The robot joint according to claim 6, characterized in that: The joint housing (1) comprises an end cover ring (11), a shell one (12), a shell two (13) and a shell three (14) which are connected in sequence. The shell one (12) is provided with a first shell groove (121) at one end facing the connection mechanism (5). A first bearing (15) is inserted and fixed to the inner wall of the first shell groove (121). The rotating table (2) passes through the end cover ring (11) and is inserted and fixed to the inner wall of the first bearing (15). A first shell through groove (122) is provided in the first shell groove (121) and penetrates the first shell groove. The shell two (13) is provided with a second shell through groove (131) which penetrates the shell two (13).

8. The robot joint according to claim 7, characterized in that: The input part (401) comprises an input shaft (41) connected to the housing three (14) by means of a rotational connection along the center line direction of the joint housing (1), an input gear (42) is fixed on the outer wall of the input shaft (41), the output part (402) comprises an output bracket (43) fixedly connected to the housing three (14), a plurality of output shafts (44) are arranged on the output bracket (43) in a fan shape with the center line of the joint housing (1) as the center, an output gear (45) is mounted on the outer wall of the output shaft (44) by means of a rotational connection, the transmission mechanism (4) comprises a central gear ring (46), a driving gear ring (47) and a transmission bracket (48), the transmission bracket (4 8) is connected to the output bracket (43) by a rotational connection along the center line direction of the joint housing (1), one end of the transmission bracket (48) is fixedly connected to the center gear ring (46), and the other end of the transmission bracket (48) is fixedly connected to the drive gear ring (47), the output gear (45) is meshed with the center gear ring (46) and the gear groove (312), and the drive gear ring (47) is meshed with the input gear (42), and the transmission bracket (48) has a transmission groove (481) penetrating along the center line direction of the joint housing (1), and the transmission groove (481), the inner wall of the center gear ring (46) and the inner wall of the drive gear ring (47) are combined to form a transmission channel (403).

9. The robot joint according to claim 8, characterized in that: The output bracket (43) comprises an output ring body 1 (431) and an output ring body 2 (432) fixed to each other. An extension ear (4311) extending outward is arranged on the outer wall of the output ring body 1 (431). The extension ear (4311) contacts the limiting flange (242). A penetrating mounting hole (4312) is provided on the extension ear (4311). A second bearing (49) is inserted and fixed on the inner wall of the output ring body 1 (431). The transmission bracket (48) is inserted in the second bearing (49). The output ring body 2 (432) is fixedly connected to the housing 3 (14). An extension portion is arranged on one end of the output ring body 2 (432) facing the output ring body 1 (431). The extension portion is inserted and fixed in the output ring body 1 (431).

10. A robot comprising the robot joint according to any one of claims 1 to 9.

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