A robot joint and a robot

Abstract

The application relates to the technical field of robots, in particular to a robot joint and a robot, which comprise 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 the main body of the robot; the rotating table is connected with the other end of the joint shell in a rotating mode; the rotating driving part is connected with the end of the rotating table facing the joint shell; the transmission mechanism is arranged in the joint shell and has an input part, an output part and a transmission channel. The connecting mechanism is added, so that the working part of the robot can generate follow-up movement, impact on other structures of the robot in an unstable working environment is avoided, damage of the other structures of the robot is caused, and the service life of the robot is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot devices, and in particular to a robot joint and a robot. BACKGROUND

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

[0003] At present, the existing robot joint usually adopts a rigid structure, and the robot can only move along a fixed path. In some unstable working environments that do not require high precision, such as on a ship body or other working environments, the robot joint with a rigid structure cannot effectively handle the situation.

[0004] In order to solve the above technical problems, a robot flexible joint is disclosed in the patent application with the application number CN201910326061.X and the application date of April 23, 2019. Although the robot flexible joint can solve the problem of absorbing torsional force and reducing the transmission of torsional force generated by the working part to the power mechanism of the robot, it cannot solve the problem that when the robot works on a ship body, the irregular movement of the robot base caused by the stirring of the ship body on the water surface causes the collision between the working part of the robot and the working area, which easily causes the damage of the robot. SUMMARY

[0005] Therefore, the present application aims to provide a robot joint and a robot to solve the problem that the robot joint cannot eliminate the shaking caused by irregular movement in unstable working environments, which causes the damage of the robot.

[0006] In order to achieve the above purpose, the present application provides a robot joint, which comprises a joint shell, one end of which is fixedly connected with the main body of a robot; a rotating table, which is connected with the other end of the joint shell in a rotating manner and has a rotating channel arranged along the center line direction of the joint shell; a rotating driving member, which is connected with one end of the rotating table facing the joint shell; a transmission mechanism, which is arranged in the joint shell and has an input part, an output part for power transmission, and a transmission channel arranged along the center line direction of the joint shell, the output part is drivingly connected with the rotating driving member and is used to drive the rotating table to rotate; a connecting mechanism, which is fixedly connected with the other end of the rotating table and has a connecting channel arranged along the center line direction of the joint shell and a multi-degree-of-freedom moving connecting part, the connecting part is fixedly connected with the working part of the robot; the rotating channel, the transmission channel, and the connecting channel are communicated with the inner cavity of the joint shell.

[0007] In an optional example, the linkage part comprises a linkage bracket, the connecting mechanism comprises a connecting bracket, a linkage spring and an intermediate bracket, the rotating table is fixed with a first rotating shaft perpendicular to the center line direction of the joint shell at the end close to the intermediate bracket, the intermediate bracket is connected with the first rotating shaft in a sleeving manner, the intermediate bracket is fixed with a second rotating shaft perpendicular to the center line direction of the joint shell at the end away from the rotating table, the connecting bracket is connected with the second rotating shaft in a sleeving manner, 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 shell, the linkage spring penetrates the intermediate through groove, the connecting bracket is provided with a connecting groove at the end close to the intermediate bracket, the connecting groove is provided with a connecting through groove penetrating the connecting bracket, the rotating table is provided with a first rotating groove at the end close to the intermediate bracket, the first rotating groove is provided with a rotating through groove penetrating the rotating table, 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 with the connecting bracket.

[0008] In an optional example, the linkage bracket is fixed with a plurality of support units at the end away from the intermediate bracket, the support units comprise elastic support frames, the elastic support frames are fixedly connected with the working part of the robot, the linkage bracket is provided with a linkage mounting groove at the end away from the intermediate bracket, the elastic support frames are inserted in the linkage mounting groove, a locking ring is installed in the linkage mounting groove in a threaded manner, the lower end of the locking ring abuts against the elastic support frame and fixes the elastic support frame in the linkage mounting groove, a mounting through groove penetrating the linkage bracket is formed in the middle of the linkage bracket, a pipeline mounting ring is installed in the mounting through groove in a rotary connection manner, and the intermediate through groove, the connecting through groove, the mounting through groove and the pipeline mounting ring combine to form a connecting channel.

[0009] In an optional example, the rotating drive comprises an annular drive bracket, a plurality of drive grooves are arranged on the outer wall of the annular drive bracket, a drive spring is inserted and fixed in each of the drive grooves, a plurality of gear grooves driven by the transmission mechanism are arranged on the inner wall of the annular drive bracket, the rotating table is provided with a second rotating groove at the end close to the joint shell, the annular drive bracket is installed in the second rotating groove in a rotary manner, a drive protrusion is arranged at the end of the second rotating groove close to the joint shell, one end of the drive spring abuts against the drive groove, and the other end of the drive spring abuts against the drive protrusion, the other end of the rotating through groove penetrates the second rotating groove and forms a rotating channel.

[0010] In an optional example, the second rotating groove is further fixed with a ring-shaped fixing frame, the ring-shaped fixing frame is in abutment with the bottom of the second rotating groove, the inner wall of the ring-shaped fixing frame is provided with a plurality of guide flanges, the guide flanges are provided with limiting flanges, the guide flanges are matched with the outer wall of the ring-shaped driving support towards the end close to the connecting mechanism, and the ring-shaped driving support can rotate along the direction of the joint shell center line, and the limiting flanges are matched with the end of the ring-shaped driving support away from the connecting mechanism.

[0011] In an optional example, the ring-shaped driving support comprises a ring-shaped frame body and a fixing ring, the outer wall of the ring-shaped frame body is provided with a plurality of outwardly extending extension flanges, the driving groove is formed on the extension flanges, the area of the driving groove towards the end close to the connecting mechanism is smaller than the area of the driving groove towards the end away from the connecting mechanism, the driving groove is tapered, and the fixing ring is fixed to the end away from the connecting mechanism, and the outer wall of the fixing ring is provided with an extension ring matched with the extension flanges.

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

[0013] In an optional example, the input part comprises an input shaft connected to the shell three in a rotating manner along the direction of the joint shell center line, the outer wall of the input shaft is fixed with an input gear, the output part comprises an output support fixedly connected to the shell three, the output support is provided with a plurality of output shafts in a fan shape with the joint shell center line as the center, the outer wall of the output shaft is installed with an output gear in a rotating manner, the transmission mechanism comprises a center gear ring, a driving gear ring and a transmission support, the transmission support is connected to the output support in a rotating manner along the direction of the joint shell center line, one end of the transmission support is fixedly connected to the center gear ring, the other end of the transmission support is fixedly connected to the driving gear ring, the output gear is engaged with the center gear ring and the gear groove, the driving gear ring is engaged with the input gear, the transmission support is provided with a transmission through groove along the direction of the joint shell center line, and the inner walls of the transmission through groove, the center gear ring and the driving gear ring form a transmission channel.

[0014] In an alternative example, the output support comprises mutually fixed output ring body one and output ring body two, an extension lug extending outwardly is arranged on the outer wall of the output ring body one, the extension lug is in abutment with a limiting flange, a mounting hole is formed in the extension lug, a second bearing is fixedly inserted on the inner wall of the output ring body one, the transmission support is inserted in the second bearing, the output ring body two is fixedly connected with the shell three, an extension part is arranged on the end of the output ring body two facing the output ring body one, and the extension part is fixedly inserted in the output ring body one.

[0015] A robot comprising any of the robot joints described above.

[0016] The robot has the advantages that: the working part of the robot can follow the movement, the vibration and movement of the working part of the robot are not transmitted to the whole robot, the impact on other structures of the robot is avoided, the damage to other structures of the robot, such as the damage to the transmission mechanism or the displacement of the sensor, is avoided, and the service life of the robot is prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only illustrate the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0018] Figure 1 It is a front view of the embodiment of the present application.

[0019] Figure 2 It is a perspective structural schematic view of the embodiment of the present application.

[0020] Figure 3 It is a sectional view of the embodiment of the present application.

[0021] Figure 4 It is an exploded structural schematic view of the embodiment of the present application.

[0022] Figure 5 It is a perspective structural schematic view of the elastic support frame in the embodiment of the present application.

[0023] Figure 6 It is an exploded structural schematic view of the rotating driving member in the embodiment of the present application. Figure 1

[0024] Figure 7 It is an exploded structural schematic view of the rotating driving member in the embodiment of the present application. Figure 2

[0025] Figure 8 ​​An exploded view of a rotary driving member in an embodiment of the present application;

[0026] Figure 9 A perspective view of a housing one in an embodiment of the present application;

[0027] Figure 10 An exploded view of a transmission mechanism in an embodiment of the present application Figure 1 ;

[0028] Figure 11 An exploded view of a transmission mechanism in an embodiment of the present application Figure 2 ;

[0029] Figure 12 A use diagram in an embodiment of the present application Figure 1 ;

[0030] Figure 13 A use diagram in an embodiment of the present application Figure 2 .

[0031] In the figure, the following are marked: 1, joint shell; 11, end cap ring; 12, housing one; 121, first housing groove; 122, first housing through slot; 13, housing two; 131, second housing through slot; 14, housing three; 15, first bearing; 2, rotary table; 201, rotary channel; 21, first rotation shaft; 22, first rotary groove; 221, rotary through slot; 23, second rotary groove; 231, driving protrusion; 24, annular fixing frame; 241, guide flange; 242, limiting flange; 3, rotary driving member; 31, annular driving support; 311, driving groove; 312, gear slot; 3101, annular frame body; 31011, extension flange; 3102, fixing ring; 31021, extension ring; 32, driving spring; 4, transmission mechanism; 401, input part; 402, output part; 403, transmission channel; 41, input shaft; 42, input gear; 43, output support; 431, output ring body one; 4311, extension lug; 4312, mounting hole; 4313, locking groove; 432, output ring body two; 4321, abutting flange; 4322, locking protrusion; 4323, protruding flange; 44, output shaft; 45, output gear; 46, center gear ring; 47, driving gear ring; 48, transmission support; 481, transmission through slot; 49, second bearing; 5, connecting mechanism; 501, connecting channel; 502, connecting part; 51, connecting support; 511, connecting groove; 512, connecting through slot; 52, connecting support; 521, connecting mounting slot; 522, mounting through slot; 53, connecting spring; 54, intermediate support; 541, second rotation shaft; 542, intermediate through slot; 55, support unit; 551, elastic support frame; 5511, connecting part; 5512, locking part; 5513, support part; 552, locking ring; 56, pipeline mounting ring. DETAILED DESCRIPTION

[0032] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with specific examples.

[0033] It should be noted that, unless otherwise defined, technical terms or scientific terms used in the present application should be understood as their common meanings to those skilled in the art. The terms "first", "second" and similar terms used in the present application do not indicate any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, without excluding other elements or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right" and the like are only used to indicate relative positional relationships, which can change accordingly when the absolute positions of the described objects change.

[0034] In an embodiment, referring to Figures 1 to 3 The robot joint provided by the present application comprises a joint shell 1, a rotating table 2, a rotating driving member 3, a transmission mechanism 4 and a connecting mechanism 5.

[0035] One end of the joint shell 1 is fixedly connected to the main body of the robot. The joint shell 1 is in a cylindrical shape, and has a cavity inside.

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

[0037] The rotating driving member 3 is connected to the rotating table 2 towards the end close to the joint shell 1.

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

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

[0040] The rotating channel 201, the transmission channel 403 and the connecting channel 501 are communicated with the inner cavity of the joint shell 1. The circuit and pipeline of the robot pass through the transmission channel 403, the rotating channel 201 and the connecting channel 501 from the inner cavity of the joint shell 1 and are connected with the working part of the robot.

[0041] Specifically, the example increases the connecting mechanism 5, so that the connecting mechanism 5 can follow the working part of the robot, avoids that the vibration and movement of the working part of the robot are transmitted to the whole robot in an unstable working environment, causes impact on other structures of the robot, causes damage to other structures of the robot, such as damage to the transmission mechanism 4 or sensor displacement, and improves the service life of the robot.

[0042] As an optional example, please refer to Figures 1 to 4 As shown in the figure, in order to further improve the service life of the robot, the connecting part 502 includes a connecting bracket 52, the connecting mechanism 5 includes a connecting bracket 51, a connecting spring 53 and an intermediate bracket 54, the rotating table 2 is fixedly connected with a first rotating shaft 21 perpendicular to the center line direction of the joint shell 1 at one end close to the intermediate bracket 54 in a plug-in manner, the intermediate bracket 54 is rotatably sleeved on the outer wall of the first rotating shaft 21, the intermediate bracket 54 is fixedly connected with a second rotating shaft 541 perpendicular to the center line direction of the joint shell 1 at one end away from the rotating table 2 in a plug-in manner, the connecting bracket 51 is rotatably sleeved on the outer wall of the second rotating shaft 541, and the center line directions of the first rotating shaft 21 and the second rotating shaft 541 are perpendicular. The first rotating shaft 21 and the second rotating shaft 541 enable the connecting bracket 51 to rotate and move within a certain range, thereby increasing the moving range of the connecting bracket 51 during buffering.

[0043] The intermediate support 54 is provided with an intermediate through groove 542 penetrating the intermediate support 54 along the center line direction of the joint shell 1, the connecting spring 53 penetrates the intermediate through groove 542, the connecting support 51 is provided with a connecting groove 511 at one end close to the intermediate support 54, the connecting groove 511 is provided with a connecting through groove 512 penetrating the connecting support 51, the rotating table 2 is provided with a first rotating groove 22 at one end close to the intermediate support 54, the first rotating groove 22 is provided with a rotating through groove 221 penetrating the rotating table 2, one end of the connecting spring 53 is inserted and fixed in the first rotating groove 22, and the other end of the connecting spring 53 is inserted and fixed in the connecting groove 511. Wherein, the connecting support 52 is kept in a set position by the elastic force of the connecting spring 53, when the connecting support 52 is impacted or pulled, a certain impact force or pulling force can be absorbed; the circuit and pipeline of the robot can pass through the center of the connecting spring 53.

[0044] The connecting support 52 is connected with the connecting support 51 by the bolt connection mode, facilitating the assembly of the connecting mechanism 5.

[0045] Specifically, the present example cooperates the intermediate support 54, the connecting support 51 and the rotating table 2, so that the connecting support 52 can move within a certain degree of freedom, and the elastic force of the connecting spring 53 can absorb a certain impact force or pulling force, reducing the impact force on the power part of the robot, maintaining the stability of the power part of the robot, improving the service life of the robot, and the circuit and pipeline of the robot can pass through the center of the connecting spring 53, avoiding the pipeline layout outside the robot, and further improving the service life of the robot.

[0046] As an optional example, please refer to 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 support 52 away from the intermediate support 54, the support unit 55 comprises an elastic support frame 551, the elastic support frame 551 is fixedly connected with the working part of the robot, the linkage support 52 is provided with a linkage mounting groove 521 at the end away from the intermediate support 54, the elastic support frame 551 is inserted into the linkage mounting groove 521, a locking ring 552 is installed in the linkage mounting groove 521 by threaded mounting, the lower end of the locking ring 552 abuts against the upper end of the elastic support frame 551, and the elastic support frame 551 is fixed in the linkage mounting groove 521, a mounting through groove 522 is formed in the middle of the linkage support 52 and penetrates the linkage support 52, a pipeline mounting ring 56 is installed in the mounting through groove 522 by rotary connection, the intermediate through groove 542, the connecting through groove 512, the mounting through groove 522 and the pipeline mounting ring 56 form a connecting channel 501. Among them, the linkage mounting groove 521 is provided with an internal thread, and the outer wall of the locking ring is provided with an external thread matched with the internal thread; the circuit and pipeline of the robot can be laid through the connecting channel 501, reducing the contact of the circuit, pipeline and external space; the elastic support frame 551 comprises a connecting part 5511 and a locking part 5512, the connecting part 5511 extends out of the linkage mounting groove 521, so that the connecting part 5511 and the linkage mounting groove 521 have a certain displacement space, a plurality of support parts 5513 are arranged on the outer wall of the connecting part 5511, the end of the support part 5513 is connected with the locking part 5512, a through hole for connecting with the working part of the robot is arranged on the connecting part 5511, and the working part of the robot is connected with the connecting part 5511 by bolt connection, and the lower end of the locking ring 552 abuts against the upper part of the locking part 5512.

[0047] Specifically, the working part of the robot is connected by the elastic support frame 551 in the example, the moving range of the robot is expanded, and a certain vibration can be absorbed, so that the vibration generated due to the working environment is not transmitted to the robot body, the damage of the robot body due to vibration is reduced, and the service life of the robot is further improved.

[0048] As an optional example, please refer to Figures 1 to 7As shown in the figure, in order to further improve the service life of the robot, the rotating driving part 3 comprises an annular driving support 31, a plurality of driving grooves 311 are arranged on the outer wall of the annular driving support 31, a driving spring 32 is inserted and fixed in each of the driving grooves 311, a plurality of gear grooves 312 that are drivingly connected with the transmission mechanism 4 are arranged on the inner wall of the annular driving support 31, the one end of the rotating table 2 towards the joint shell 1 is provided with a second rotating groove 23, the annular driving support 31 is rotatably arranged in the second rotating groove 23, the one end of the second rotating groove 23 towards the joint shell 1 is provided with a driving protrusion 231, one end of the driving spring 32 abuts against the driving groove 311, the other end of the driving spring 32 abuts against the driving protrusion 231, and the other end of the rotating through groove 221 penetrates through the second rotating groove 23 and forms a rotating channel 201.

[0049] Specifically, in the example, the annular driving support 31 is driven to rotate by the transmission mechanism 4, the driving spring 32 is driven to move by the annular driving support 31, the driving protrusion 231 is driven to move by the driving spring 32, and the rotating table 2 is driven to rotate by the driving protrusion 231, so that the rotating table 2 can be switched at different working angles, the angle driving of the working part of the robot is realized, the driving spring 32 can absorb certain axial impact force, the torsional force or vibration force generated due to the working environment is avoided to be transmitted to the robot main body, the impact of the robot main body caused by the torsional force or vibration force is reduced, the damage of the power mechanism of the robot is avoided, and the service life of the robot is further improved.

[0050] As an optional example, refer to Figures 1 to 7 As shown in the figure, in order to facilitate the assembly of the annular fixing frame 24, the second rotating groove 23 is further fixed with the annular fixing frame 24 by means of bolt connection, the annular fixing frame 24 abuts against 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, the guide flanges 241 are provided with limiting flanges 242, the guide flanges 241 towards the one end close to the connecting mechanism 5 match the outer wall of the annular driving support 31, and the annular driving support 31 can rotate along the direction of the center line of the joint shell 1, and the limiting flanges 242 match the one end of the annular driving support 31 away from the connecting mechanism 5. Among them, the second rotating groove 23, the plurality of guide flanges 241 and the plurality of limiting flanges 242 combine to form a rotating groove for the rotation of the annular driving support 31.

[0051] Specifically, in the example, the annular driving support 31 is fixed by the annular fixing frame 24, so that the annular driving support 31 can be rotatably arranged in the annular fixing frame 24, the annular fixing frame 24 is convenient to disassemble and assemble, and the maintenance efficiency of the annular fixing frame 24 is improved.

[0052] As an optional example, refer to Figures 1 to 8As shown, in order to facilitate the disassembly of the driving spring 32, the annular driving support 31 comprises an annular frame body 3101 and a fixed ring 3102 connected by bolts, the outer wall of the annular frame body 3101 is provided with a plurality of outwardly extending flanges 31011, a driving groove 311 is formed on the outwardly extending flanges 31011, the area of the driving groove 311 towards the end close to the connecting mechanism 5 is smaller than the area of the driving groove 311 towards the end away from the connecting mechanism 5, so that the driving groove 311 is tapered, and the fixed ring 3102 is fixed to the end away from the connecting mechanism 5, and the outer wall of the fixed ring 3102 is provided with an extension ring 31021 matched with the outwardly extending flanges 31011.

[0053] Specifically, the present example can quickly fix the driving spring 32 by cooperation of the annular frame body 3101 and the fixed ring 3102, facilitate the disassembly of the driving spring 32, and the tapered driving groove 311 enables the driving spring 32 to move within a certain range, has a certain assembly tolerance, facilitates the installation of the driving spring 32, and reduces the installation difficulty of the driving spring 32.

[0054] As an optional example, please refer to Figures 1 to 9 As shown, in order to disassemble the joint shell 1, the joint shell 1 comprises an end cover ring 11, a shell one 12, a shell two 13 and a shell three 14 connected in sequence by bolts, the shell one 12 is provided with a first shell groove 121 at one end towards the connecting mechanism 5, the first shell groove 121 is provided with a first bearing 15 inserted and fixed on the inner wall, the rotating table 2 passes through the end cover ring 11 and is inserted and fixed on the inner wall of the first bearing 15, the first shell groove 121 is provided with a first shell through groove 122, and the shell two 13 is provided with a second shell through groove 131 penetrating the shell two 13.

[0055] Specifically, the present example can facilitate the disassembly of the joint shell 1 by splitting the joint shell 1 into four parts, and the first bearing 15 is fixed by the end cover ring 11, which reduces the assembly difficulty of the robot joint.

[0056] As an optional example, please refer to Figures 1 to 11As shown, in order to facilitate the disassembly of the robot joint, the input part 401 includes an input shaft 41 connected to the shell three 14 through a rotating connection along the center line direction of the joint shell 1, the outer wall of the input shaft 41 is fixed with an input gear 42 through a key connection, the output part 402 includes an output bracket 43 fixedly connected with the shell three 14, a plurality of output shafts 44 are fixed on the output bracket 43 in a fan shape with the center line of the joint shell 1 as the center, the outer wall of the output shaft 44 is rotatably sleeved with an output gear 45 through a bearing connection, the transmission mechanism 4 includes a center gear ring 46, a driving gear ring 47 and a transmission bracket 48, the transmission bracket 48 is connected with the output bracket 43 through a rotating connection along the center line direction of the joint shell 1, one end of the transmission bracket 48 is fixedly connected with the center gear ring 46 through a bolt connection, the other end of the transmission bracket 48 is fixedly connected with the driving gear ring 47 through a bolt connection, the output gear 45 is engaged with the center gear ring 46 and the gear groove 312, the driving gear ring 47 is engaged with the input gear 42, the transmission bracket 48 has a transmission through slot 481 penetrating along the center line direction of the joint shell 1, and the transmission through slot 481, the inner wall of the center gear ring 46 and the inner wall of the driving gear ring 47 form a transmission channel 403. Wherein, the input shaft 41 is connected with the robot power mechanism.

[0057] Specifically, by the work of the robot power mechanism, the input shaft 41 is driven to rotate, the input shaft 41 drives the input gear 42 to rotate, the input gear 42 drives the driving gear ring 47 to rotate, the driving 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 groove 312 to rotate, and the gear groove 312 drives the annular driving bracket 31 to rotate, thereby providing power for the rotation of the working part of the robot, ensuring the working accuracy of the robot during rotation, facilitating the assembly of the robot joint, and through the combination of the transmission through slot 481, the inner wall of the center gear ring 46 and the inner wall of the driving gear ring 47 to form the transmission channel 403, the robot working part is provided with power and liquid pipeline layout support, avoiding the exposure of power and liquid pipeline outside, and further improving the service life of the robot.

[0058] As an optional example, please refer to Figures 1 to 11As shown, in order to facilitate the disassembly of the robot joint, the output support 43 comprises the output ring body one 431 and the output ring body two 432 which are fixed against each other. The output ring body two 432 passes through the second shell through slot 131 and is fixedly connected with the output ring body one 431. The outer wall of the output ring body one 431 is provided with an extension lug 4311 extending outward. The extension lug 4311 is in abutment with the limiting flange 242. The extension lug 4311 is provided with a penetrating mounting hole 4312. The inner wall of the output ring body one 431 is inserted and fixed with the second bearing 49. The transmission support 48 is inserted into the second bearing 49 in an interference fit manner. The output ring body two 432 is fixedly connected with the shell three 14 in a bolt connection manner. The end of the output ring body two 432 towards the output ring body one 431 is provided with an extension portion which is inserted into the output ring body one 431 in a spline connection manner. The inner ring of the output ring body two 432 is provided with an abutment flange 4321 at the end thereof towards the output ring body one 431. The outer wall of the abutment flange 4321 is provided with a locking lug 4322. The inner wall of the output ring body one 431 is provided with a locking groove 4313 matched with the locking lug 4322. The abutment flange 4321 is in abutment with the end of the output ring body one 431 towards the output ring body two 432. The inner ring of the output ring body two 432 is provided with a raised flange 4323 extending outward at the end thereof towards the output ring body one 431. The diameter of the raised flange 4323 is greater than that of the output ring body two 432 and is fixedly connected with the shell three 14.

[0059] Specifically, the present example splits the output support 43 into the output ring body one 431 and the output ring body two 432, so that the output support 43 can be assembled in the space formed between the shell two 13 and the shell three 14, facilitating the disassembly of other structures of the robot joint, reducing the assembly difficulty of the robot joint and improving the disassembly efficiency of the robot joint.

[0060] Please refer to Figures 12 to 13 As shown, a robot comprises any one of the robot joints described above. Since the robot joint has the technical effects described above, the robot having the robot joint should also have corresponding technical effects.

[0061] In general, the present application can avoid the vibration and movement of the working part of the robot in the unstable working environment from being transmitted to the whole robot, and can avoid the impact on the other structure of the robot, and can avoid the damage of the other structure of the robot, and can improve the service life of the robot, and the connecting mechanism 5 can absorb a certain impact force, and can reduce the impact force on the power part of the robot, and can maintain the stability of the power part of the robot, and can improve the service life of the robot, and the circuit and pipeline of the robot can pass through the center of the connecting mechanism 5, and can avoid the pipeline from being arranged outside the robot, and can avoid the impact of the circuit, the pipeline and the external structure in the unstable working environment, and can further improve the service life of the robot.

[0062] Those skilled in the art should understand: the discussion of any of the above embodiments is only exemplary, and is not intended to imply that the scope (including claims) of the present application is limited to these examples; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in details for the sake of simplicity.

[0063] The present application is intended to cover all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Accordingly, any and all such modifications, variations, alternatives and equivalents should be taken as falling within the scope of the present application.

Claims

1. A robot joint, characterized in that, The utility model relates to a kind of robot joint structure, including: Joint shell (1), one end is fixedly connected with the main body of robot; Rotary table (2), it is connected with the other end of the joint shell (1) by rotating, with the rotary channel (201) being arranged along the center line direction of the joint shell (1); Rotary drive (3), it is connected with the one end of the rotary table (2) towards joint shell (1); Transmission mechanism (4), it is installed in the joint shell (1), with the input part (401) for power transmission, output part (402) and transmission channel (403) being arranged along the center line direction of the joint shell (1), the output part (402) is driven connection with rotary drive (3), and it is used to drive the rotary table (2) rotation; Connecting mechanism (5), it is fixedly connected with the other end of the rotary table (2), with the connecting channel (501) being arranged along the center line direction of the joint shell (1) and a multi-degree-of-freedom mobile linkage part (502), the linkage part (502) is fixedly connected with the working part of robot; The rotary channel (201), transmission channel (403), connecting channel (501) and the inner cavity of joint shell (1) are communicated; The linkage part (502) includes linkage support (52), the connecting mechanism (5) includes connecting support (51), linkage spring (53) and intermediate support (54), the rotary table (2) is fixed with the first rotation axis (21) perpendicular to the center line direction of the joint shell (1) towards the one end close to intermediate support (54), the intermediate support (54) is connected with the first rotation axis (21) by rotating, the intermediate support (54) is fixed with the second rotation axis (541) perpendicular to the center line direction of the joint shell (1) towards the one end away from rotary table (2), the connecting support (51) is connected with the second rotation axis (541) by rotating, the center line direction of the first rotation axis (21) and the second rotation axis (541) is perpendicular, the intermediate support (54) is provided with the intermediate through slot (542) along the center line direction of the joint shell (1) and penetrating intermediate support (54), the linkage spring (53) passes through the intermediate through slot (542), the connecting support (51) is provided with the connecting recess (511) towards the one end close to intermediate support (54), the connecting recess (511) is provided with the connecting through slot (512) penetrating connecting support (51), the rotary table (2) is provided with the first rotary recess (22) towards the one end close to intermediate support (54), the first rotary recess (22) is provided with the rotary through slot (221) penetrating rotary table (2), one end of the linkage spring (53) is inserted and fixed in the first rotary recess (22), the other end of the linkage spring (53) is inserted and fixed in the connecting recess (511), the linkage support (52) is connected with the connecting support (51).

2. The robotic joint of claim 1, wherein, The linkage support (52) is fixed with a plurality of support units (55) at one end away from the intermediate support (54), the support unit (55) comprises an elastic support frame (551), the elastic support frame (551) is fixedly connected with the working part of the robot, the linkage support (52) is provided with a linkage mounting groove (521) at one end away from the intermediate support (54), the elastic support frame (551) is inserted into the linkage mounting groove (521), the linkage mounting groove (521) is provided with a locking ring (552) by means of threaded mounting, the lower end of the locking ring (552) abuts against the elastic support frame (551), and the elastic support frame (551) is fixed in the linkage mounting groove (521), the middle part of the linkage support (52) is provided with an installation through groove (522) penetrating through the linkage support (52), the installation through groove (522) is provided with a pipeline mounting ring (56) by means of rotary connection, and the intermediate through groove (542), the connecting through groove (512) and the installation through groove (522) and the pipeline mounting ring (56) form a connecting channel (501).

3. The robotic joint of claim 1, wherein, The rotating drive part (3) comprises an annular drive support (31), a plurality of drive grooves (311) are arranged on the outer wall of the annular drive support (31), a drive spring (32) is inserted and fixed in each drive groove (311), a plurality of gear grooves (312) drivenly connected with the transmission mechanism (4) are arranged on the inner wall of the annular drive support (31), the rotating table (2) is provided with a second rotating groove (23) at one end facing the joint shell (1), the annular drive support (31) is arranged in the second rotating groove (23) by rotation, the second rotating groove (23) is provided with a drive protrusion (231) at one end facing the joint shell (1), one end of the drive spring (32) abuts against the drive groove (311), the other end of the drive spring (32) abuts against the drive protrusion (231), and the other end of the rotating through groove (221) penetrates through the second rotating groove (23) and forms a rotating channel (201).

4. The robotic joint of claim 3, wherein, The second rotating groove (23) is further fixed with an annular fixing frame (24), the annular fixing frame (24) abuts against 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), the guide flanges (241) are provided with limiting flanges (242), the guide flanges (241) are matched with the outer wall of the annular drive support (31) at one end close to the connecting mechanism (5), so that the annular drive support (31) can rotate in the direction of the center line of the joint shell (1), and the limiting flanges (242) are matched with the end of the annular drive support (31) away from the connecting mechanism (5).

5. The robotic joint of claim 4, wherein, The annular driving support (31) comprises an annular frame body (3101) and a fixing ring (3102), the outer wall of the annular frame body (3101) is provided with a plurality of outwardly extending extension flanges (31011), the driving groove (311) is arranged on the extension flange (31011), the area of the driving groove (311) towards the end close to the connecting mechanism (5) is smaller than the area of the driving groove (311) towards the end away from the connecting mechanism (5), so that the driving groove (311) is tapered, and the fixing ring (3102) is fixed to the end away from the connecting mechanism (5), and the outer wall of the fixing ring (3102) is provided with an extension ring (31021) matched with the extension flange (31011).

6. The robotic joint of claim 5, wherein, The joint shell (1) comprises a cover ring (11), a shell one (12), a shell two (13) and a shell three (14) connected in sequence, the shell one (12) is provided with a first shell groove (121) at one end towards the connecting mechanism (5), the inner wall of the first shell groove (121) is inserted and fixed with a first bearing (15), the rotating table (2) passes through the cover ring (11) and is inserted and fixed to the inner wall of the first bearing (15), and the first shell groove (121) is provided with a first shell through groove (122) penetrating therein.

7. The robotic joint of claim 6, wherein, The input part (401) comprises an input shaft (41) connected to the shell three (14) in a rotating manner along the center line direction of the joint shell (1), the outer wall of the input shaft (41) is fixed with an input gear (42), the output part (402) comprises an output support (43) fixedly connected to the shell three (14), a plurality of output shafts (44) are arranged in a fan shape on the output support (43) with the center line of the joint shell (1) as the center, the outer wall of the output shaft (44) is rotatably connected with an output gear (45), the transmission mechanism (4) comprises a center gear ring (46), a driving gear ring (47) and a transmission support (48), the transmission support (48) is connected to the output support (43) in a rotating manner along the center line direction of the joint shell (1), one end of the transmission support (48) is fixedly connected to the center gear ring (46), the other end of the transmission support (48) is fixedly connected to the driving gear ring (47), the output gear (45) is engaged with the center gear ring (46) and the gear groove (312), the driving gear ring (47) is engaged with the input gear (42), and the transmission support (48) has a transmission through groove (481) penetrating along the center line direction of the joint shell (1), the inner walls of the transmission through groove (481), the center gear ring (46) and the driving gear ring (47) combine to form a transmission channel (403).

8. The robotic joint of claim 7, wherein, The output support (43) comprises mutually fixed output ring body one (431) and output ring body two (432), an extension lug (4311) extending outward is arranged on the outer wall of the output ring body one (431), the extension lug (4311) is in abutment with the limiting flange (242), a mounting hole (4312) penetrating through is formed in the extension lug (4311), the inner wall of the output ring body one (431) is insertedly fixed with a second bearing (49), the transmission support (48) is inserted in the second bearing (49), the output ring body two (432) is fixedly connected with the shell three (14), an extension part is arranged at one end of the output ring body two (432) facing the output ring body one (431), and the extension part is insertedly fixed in the output ring body one (431).

9. A robot comprising a robot joint according to any one of claims 1 to 8.

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