Mounting mechanism and robot joint module

Abstract

The invention relates to a mounting mechanism and a robot joint module, the mounting mechanism comprises a mounting assembly, the mounting assembly comprises a first mounting piece, a second mounting piece and a connecting piece, the first mounting piece is used for mounting speed reduction equipment, the first mounting piece and the second mounting piece are arranged at intervals in the first direction, and the second mounting piece is slidably connected with the first mounting piece; the second mounting piece is configured to move relative to the first mounting piece in the first direction; the connecting piece comprises a connecting sleeve and a connecting shaft, the connecting sleeve and the connecting shaft are coaxially arranged and extend in the first direction, one end of the connecting shaft is located in the connecting sleeve, and the other end of the connecting shaft extends out of the connecting sleeve and is used for being in transmission connection with the speed reduction equipment on the first mounting piece. In conclusion, the installation mechanism in the embodiment can reduce vibration, abnormal sound and shaking when the speed reduction equipment works.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor module assembly, in particular to an installation mechanism and a robot joint module. BACKGROUND

[0002] With the deepening of Industry 4.0, the manufacturing industry has put forward new requirements for high-end intelligent equipment, and the intelligent robot industry has ushered in a new round of development opportunity. The motor module is a core component in the intelligent robot, which is used to drive the execution mechanism or the walking mechanism in the intelligent robot to move.

[0003] Generally, the motor module is assembled by a motor and a harmonic reducer, and the assembly precision of the motor and the harmonic reducer will affect the working performance of the motor module. In the related technology, when the motor is stationary, the motor and the harmonic reducer are assembled together by external force, but the assembly precision of this assembly method is low and cannot meet the higher performance requirements of the motor module. SUMMARY

[0004] Therefore, it is necessary to propose an installation mechanism and a robot joint module to solve the problem that the assembly method of assembling the motor and the harmonic reducer together by external force when the motor is stationary cannot meet the higher performance requirements of the motor module.

[0005] An installation mechanism comprises:

[0006] The installation assembly comprises a first installation piece, a second installation piece and a connecting piece, the first installation piece is used to install a reduction device, the first installation piece and the second installation piece are arranged at intervals along a first direction, the second installation piece is in sliding connection with the first installation piece, and the second installation piece is configured to move relative to the first installation piece along the first direction;

[0007] The connecting piece comprises a connecting sleeve and a connecting shaft, the connecting sleeve and the connecting shaft are coaxially arranged and both extend along the first direction, one end of the connecting shaft is located in the connecting sleeve, and the other end of the connecting shaft extends out of the connecting sleeve and is used to be in transmission connection with the reduction device on the first installation piece.

[0008] In one of the embodiments, the first installation piece is provided with a first installation slot, the first installation slot extends along the first direction and penetrates through the first installation piece;

[0009] The axis of the first installation slot coincides with the axis of the connecting shaft.

[0010] In one of the embodiments, the second installation piece is provided with a first through hole, the first through hole penetrates through the second installation piece along the first direction, and the axis of the first through hole coincides with the axis of the first installation slot.

[0011] The connecting sleeve is located between the first mounting member and the second mounting member, and an axis of the connecting sleeve coincides with an axis of the first through hole.

[0012] In one of the embodiments, an outer periphery of the connecting sleeve is provided with a first threaded hole, which penetrates through the connecting sleeve along a radial direction of the connecting sleeve;

[0013] A first bolt is arranged in the first threaded hole, and the first bolt extends along an axial direction of the first threaded hole and is threadedly connected with the first threaded hole.

[0014] In one of the embodiments, the mounting assembly comprises a first support member, and the first support member comprises at least one first support rod, which extends along the first direction;

[0015] One end of the first support rod is arranged in the first mounting member and is threadedly connected with the first mounting member, and the other end of the first support rod is arranged in the second mounting member and is threadedly connected with the second mounting member.

[0016] In one of the embodiments, the mounting mechanism comprises a support assembly, and the first mounting member is rotationally connected with the support assembly and is configured to rotate about an axis parallel to a second direction, and the first direction is arranged to intersect with the second direction.

[0017] In one of the embodiments, the mounting mechanism comprises two rotating members arranged at intervals along the second direction, and the rotating members are located on a side of the first mounting member close to the second mounting member along the first direction, and a projection of the second mounting member on the first mounting member is located between projections of the two rotating members on the first mounting member, and the rotating members are provided with second through holes extending along the second direction, and rotating shafts are arranged in the second through holes.

[0018] The support assembly comprises two bearing mounting members arranged along the second direction, and the two rotating members are located between the two bearing mounting members, and the bearing mounting members are provided with third through holes extending along the second direction, and rotating bearings are arranged in the third through holes, and the two rotating bearings are arranged in one-to-one correspondence with the two rotating shafts, one end of each rotating shaft is arranged in the corresponding second through hole, and the other end of each rotating shaft extends into an inner ring of the corresponding rotating bearing.

[0019] In one of the embodiments, the first mounting member is provided with a positioning hole assembly on opposite sides along the second direction, and the positioning hole assembly comprises a plurality of positioning holes arranged along a third direction, and the first direction and the second direction are arranged to intersect with the third direction, and the positioning holes extend along the second direction.

[0020] The bearing mounting piece is provided with a positioning pin assembly, the two positioning pin assemblies are provided correspondingly to the two positioning hole assemblies, the positioning pin assembly comprises a plurality of positioning pins, the plurality of positioning pins in the positioning pin assembly are provided one by one correspondingly to the plurality of positioning holes in the corresponding positioning hole assembly, each positioning pin is provided in the bearing mounting piece and extends into the corresponding positioning hole.

[0021] In one of the embodiments, the support assembly comprises a base, a stopper and two support pieces, the base is located on the same side of the two bearing mounting pieces along the first direction and is provided spaced apart from the two bearing mounting pieces;

[0022] The two support pieces are provided one by one correspondingly to the two bearing mounting pieces, the support piece is located between the corresponding bearing mounting piece and the base, one end of the support piece is connected to the corresponding bearing mounting piece, and the other end is connected to the base;

[0023] The stopper is located between the two support pieces and is connected to any of the support pieces, the stopper is configured to abut against the first mounting piece when the rotating shaft rotates by a preset angle about an axis parallel to the second direction.

[0024] The mounting mechanism in the embodiment is used for assembling the speed reduction device and the driving device, the speed reduction device is mounted on the first mounting piece, the connecting shaft is in transmission connection with the one end of the connecting sleeve and the speed reduction device, the driving device is mounted on the second mounting piece, the driving device is started, the second mounting piece is pushed to move along the first direction to approach the first mounting piece, so that the driving device on the second mounting piece moves along the first direction to approach the first mounting piece, and then the output end of the driving device moves along the first direction into the connecting sleeve from the one end of the connecting sleeve away from the connecting shaft. In this process, the output end of the driving device extending into the connecting sleeve drives the connecting sleeve to rotate, and the connecting sleeve drives the connecting shaft to rotate, the rotating connecting shaft drives the speed reduction device, so that the self-adaptive relative position adjustment is performed between the meshing tooth surfaces in the speed reduction device, until the meshing surfaces of the meshing tooth surfaces in the speed reduction device reach the best adaptive position, and the meshing tooth surfaces reach the best meshing state, the driving device is closed, and the high-precision assembly of the driving device and the speed reduction device is completed.

[0025] In summary, the mounting mechanism in the embodiment can assemble the speed reduction device and the started driving device together, realize the high-precision assembly of the driving device and the speed reduction device, and reduce the vibration, abnormal sound and jitter of the speed reduction device during work.

[0026] The application also provides a robot joint module comprising the above-mentioned mounting mechanism, and

[0027] a reducer arranged on the first mounting member;

[0028] a motor, a fixed end of the motor is arranged on the second mounting member, a driving end of the motor extends into the connecting sleeve from an end of the connecting shaft away from the connecting sleeve and is in driving connection with the connecting sleeve;

[0029] wherein the end of the connecting shaft extending out of the connecting sleeve is along an axis of the wave generator in the reducer and is arranged through the wave generator.

[0030] In the robot joint module in the embodiment, the reducer is arranged on the first mounting member, the end of the connecting shaft extending out of the connecting sleeve is in driving connection with the wave generator in the reducer, the motor is arranged on the second mounting member, the motor is started, the second mounting member is pushed to move towards the first mounting member in the first direction, so that the motor on the second mounting member moves towards the first mounting member in the first direction, and then the output end of the motor extends into the connecting sleeve from the end of the connecting shaft away from the connecting sleeve in the first direction. In this process, the output end of the motor extending into the connecting sleeve drives the connecting sleeve to rotate, and the connecting sleeve drives the connecting shaft to rotate, the rotating connecting shaft drives the wave generator in the reducer, so that the meshing tooth surfaces in the reducer are adaptively adjusted in relative position until the meshing surfaces of the meshing tooth surfaces in the reducer reach the best adaptive position, and the meshing tooth surfaces reach the best meshing state. The motor is turned off, and the high-precision assembly of the motor and the reducer is completed.

[0031] In summary, the robot joint module in the embodiment can assemble the reducer and the started motor together, realize the high-precision assembly of the motor and the reducer, and reduce the vibration, abnormal sound and jitter of the reducer during operation. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments or exemplary embodiments of the present application, the drawings needed in the description of the embodiments or exemplary embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0033] Figure 1 FIG. 1 is a structural schematic diagram of a robot joint module in an embodiment of the present application.

[0034] Figure 2 FIG. 2 is a structural schematic diagram of the robot joint module shown in FIG. 1 after removing the support assembly. Figure 1

[0035] Figure 3 Figure 1 ​​An assembly structure diagram of a support assembly and a positioning pin assembly in the robot joint module shown.

[0036] Reference signs:

[0037] A robot joint module 1;

[0038] A mounting mechanism 10, a mounting assembly 110, a first mounting piece 111, a first mounting slot 111-1, a second mounting piece 112, a first through hole 112-1, a connecting piece 113, a connecting sleeve 113-1, a connecting shaft 113-2, a baffle 113-3, a first support piece 114, a first support rod 114-1, a rotating piece 115, a second through hole 115-1, a rotating shaft 115-2, a positioning hole assembly 120, a positioning hole 121, a support assembly 130, a bearing mounting piece 131, a third through hole 131-1, a rotating bearing 131-2, a base 132, a stop block 133, a support piece 134, a positioning pin assembly 140, a positioning pin 141;

[0039] A speed reducer 20;

[0040] A motor 30. DETAILED DESCRIPTION

[0041] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application are described in detail below with reference to the accompanying drawings. In the following description, a large number of specific details are set forth in order to facilitate a full understanding of the present application. However, the present application can be implemented in many different ways other than those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0042] In the description of the present application, it should be understood that if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0043] In addition, the terms "first", "second", and the like, if any, are used herein for descriptive purposes only and should not be construed as indicating or implying relative importance or implicating the number of indicated technical features. Thus, a feature defined with "first" or "second" can include at least one of the features explicitly or implicitly. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0044] In the present application, unless otherwise explicitly specified and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be interpreted broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] In the present application, unless otherwise explicitly specified and limited, if the first feature is described as "on" or "under" the second feature, etc., it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be the first feature directly above or obliquely above the second feature, or it can only mean that the first feature is higher than the second feature in horizontal height. The first feature "below", "below" and "below" the second feature can be the first feature directly below or obliquely below the second feature, or it can only mean that the first feature is lower than the second feature in horizontal height.

[0046] It should be noted that if an element is referred to as "fixed to" or "disposed to" another element, it can be directly on another element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are only for illustrative purposes and do not represent the only implementation.

[0047] Please refer to Figures 1 to 3 , Figure 1A structural schematic diagram of a robot joint module in an embodiment of the present application is shown. An installation mechanism 10 provided in an embodiment of the present application includes an installation assembly 110. The installation assembly 110 includes a first installation piece 111, a second installation piece 112, and a connecting piece 113. The first installation piece 111 is used to install a speed reduction device (not shown). The first installation piece 111 and the second installation piece 112 are arranged in a first direction. The second installation piece 112 is in sliding connection with the first installation piece 111 and is configured to move relative to the first installation piece 111 in the first direction. The connecting piece 113 includes a connecting sleeve 113-1 and a connecting shaft 113-2. The connecting sleeve 113-1 and the connecting shaft 113-2 are coaxially arranged and both extend in the first direction. One end of the connecting shaft 113-2 is located in the connecting sleeve 113-1, and the other end of the connecting shaft 113-2 extends out of the connecting sleeve 113-1 and is used to be in transmission connection with the speed reduction device on the first installation piece 111.

[0048] When the installation mechanism 10 in the embodiment is used to assemble the speed reduction device and a driving device (not shown), the speed reduction device is installed on the first installation piece 111, the one end of the connecting shaft 113-2 extending out of the connecting sleeve 113-1 is in transmission connection with the speed reduction device, the driving device is installed on the second installation piece 112, the driving device is started, and the second installation piece 112 is pushed to move in the first direction to approach the first installation piece 111, so that the driving device on the second installation piece 112 moves in the first direction to approach the first installation piece 111, and then the output end of the driving device moves in the first direction from the one end of the connecting shaft 113-2 away from the connecting sleeve 113-1 into the connecting sleeve 113-1. In this process, the output end of the driving device extending into the connecting sleeve 113-1 drives the connecting sleeve 113-1 to rotate, and the connecting sleeve 113-1 drives the connecting shaft 113-2 to rotate. The rotating connecting shaft 113-2 drives the speed reduction device, so that the meshing tooth surfaces in the speed reduction device are adaptively adjusted in relative position until the meshing surfaces of the meshing tooth surfaces in the speed reduction device reach the best adaptive position, and the meshing tooth surfaces reach the best meshing state. The driving device is turned off, and the high-precision assembly of the driving device and the speed reduction device is completed.

[0049] In summary, the installation mechanism 10 in the embodiment can assemble the speed reduction device and the started driving device together, realize the high-precision assembly of the driving device and the speed reduction device, and reduce the vibration, abnormal sound, and jitter of the speed reduction device during operation.

[0050] It should be noted that the speed reduction device includes but is not limited to a speed reducer 20, and the model and speed reduction ratio of the speed reducer 20 can be selected by itself and is not limited herein. The driving device includes but is not limited to a motor 30.

[0051] It should be emphasized that, due to the mounting mechanism 10 in the embodiment, high-precision assembly of the driving device and the speed reduction device can be achieved, and vibration, abnormal sound and jitter during operation of the speed reduction device are reduced, so that the driving device and the speed reduction device assembled by using the mounting mechanism 10 have low failure rate, long service life, low maintenance cost and high operation stability; since the mounting mechanism 10 has a simple structure, the driving device and the speed reduction device assembled by using the mounting mechanism 10 can simplify the assembly process of the driving device and the speed reduction device and improve the assembly efficiency.

[0052] Please refer to Figure 1 and Figure 2 In some embodiments, the first mounting member 111 is provided with a first mounting slot 111-1 extending along the first direction and penetrating through the first mounting member 111, and an axis of the first mounting slot 111-1 coincides with an axis of the connecting shaft 113-2.

[0053] In the embodiment, the first mounting slot 111-1 provided on the first mounting member 111 is used to mount the speed reduction device on the first mounting member 111 by clamping the speed reduction device in the first mounting slot 111-1, and the axis of the first mounting slot 111-1 coincides with the axis of the connecting shaft 113-2, so that the end of the connecting shaft 113-2 extending out of the connecting sleeve 113-1 can be directly connected with the speed reduction device clamped in the first mounting slot 111-1 without other intermediate structures.

[0054] Please refer to Figure 1 and Figure 2 In some embodiments, the second mounting member 112 is provided with a first through hole 112-1 penetrating through the second mounting member 112 along the first direction, and an axis of the first through hole 112-1 coincides with the axis of the first mounting slot 111-1; the connecting sleeve 113-1 is located between the first mounting member 111 and the second mounting member 112, and an axis of the connecting sleeve 113-1 coincides with the axis of the first through hole 112-1.

[0055] In the embodiment, the axis of the connecting shaft 113-2 penetrating through the connecting sleeve 113-1 coincides with the first mounting slot 111-1 by setting the axis of the first mounting slot 111-1 coinciding with the axis of the connecting sleeve 113-1, and the output end of the driving device mounted on the second mounting member 112 can extend into the connecting sleeve 113-1 from the end of the connecting sleeve 113-1 away from the connecting shaft 113-2 after penetrating through the first through hole 112-1 by setting the axis of the connecting sleeve 113-1 coinciding with the axis of the first through hole 112-1.

[0056] Please refer to Figure 1 and Figure 2In some embodiments, the outer periphery of the connecting sleeve 113-1 is provided with a first threaded hole (not labeled in the figure) penetrating through the connecting sleeve 113-1 along the radial direction of the connecting sleeve 113-1, and a first bolt (not labeled in the figure) is arranged in the first threaded hole and extends along the axial direction of the first threaded hole and is threadedly connected with the first threaded hole.

[0057] In this embodiment, by tightening the first bolt, the first bolt is close to the central axis of the connecting sleeve 113-1 along the extension direction of the first threaded hole, so that the screw rod (not labeled in the figure) in the first bolt abuts against the outer periphery of the connecting shaft 113-2 located in the connecting sleeve 113-1, thereby locking the sliding connection between the connecting shaft 113-2 and the connecting sleeve 113-1, and preventing the connecting shaft 113-2 from sliding relative to the connecting sleeve 113-1 along the axis of the connecting sleeve 113-1.

[0058] Please refer to Figure 1 and Figure 2 In some embodiments, the mounting assembly 110 includes a first support 114, the first support 114 includes at least one first support rod 114-1, the first support rod 114-1 extends along a first direction, one end of the first support rod 114-1 is arranged in the first mounting piece 111 and is threadedly connected with the first mounting piece 111, and the other end of the first support rod 114-1 is arranged in the second mounting piece 112 and is threadedly connected with the second mounting piece 112.

[0059] In this embodiment, by arranging one end of the first support rod 114-1 in the first mounting piece 111 and threadedly connecting it with the first mounting piece 111, and arranging the other end of the first support rod 114-1 in the second mounting piece 112 and threadedly connecting it with the second mounting piece 112, the distance between the first mounting piece 111 and the second mounting piece 112 in the first direction is kept unchanged.

[0060] Please refer to Figures 1 to 3 In some embodiments, the mounting mechanism 10 includes a support assembly 130, the first mounting piece 111 is rotationally connected with the support assembly 130 and is configured to rotate around an axis parallel to a second direction, and the first direction is arranged intersecting the second direction.

[0061] In this embodiment, by arranging the first mounting piece 111 to be rotationally connected with the support assembly 130 and configured to rotate around an axis parallel to the second direction, the first mounting piece 111 is pushed to rotate around an axis parallel to the second direction, so that the first mounting groove 111-1 on the first mounting piece 111 is aligned with the speed reduction device, thereby reducing the difficulty of clamping the speed reduction device into the first mounting groove 111-1.

[0062] Please refer to Figures 1 to 3In some embodiments, the mounting mechanism 10 comprises two rotating members 115 arranged along the second direction and located on the side of the first mounting member 111 close to the second mounting member 112 in the first direction, the orthographic projection of the second mounting member 112 on the first mounting member 111 is located between the orthographic projections of the two rotating members 115 on the first mounting member 111; the rotating member 115 is provided with a second through hole 115-1 extending along the second direction, and a rotating shaft 115-2 is arranged in the second through hole 115-1; the support assembly 130 comprises two bearing mounting members 131 arranged along the second direction, the two rotating members 115 are located between the two bearing mounting members 131, the bearing mounting member 131 is provided with a third through hole 131-1 extending along the second direction, and a rotating bearing 131-2 is arranged in the third through hole 131-1, the two rotating bearings 131-2 are arranged one-to-one corresponding to the two rotating shafts 115-2, one end of each rotating shaft 115-2 is arranged in the corresponding second through hole 115-1, and the other end extends into the inner ring of the corresponding rotating bearing 131-2.

[0063] In the embodiment, when the first mounting groove 111-1 on the first mounting member 111 is not aligned with the speed reduction device, the rotating shaft 115-2 in the second through hole 115-1 of the rotating member 115 on the first mounting member 111 can be rotated around the axis parallel to the second direction relative to the outer ring of the rotating bearing 131-2 in the third through hole 131-1 of the bearing mounting member 131 by applying a pushing force to the second mounting member 112, so that the first mounting groove 111-1 on the first mounting member 111 is rotated around the axis parallel to the second direction, which facilitates the alignment of the first mounting groove 111-1 on the first mounting member 111 with the speed reduction device and reduces the difficulty of clamping the speed reduction device into the first mounting groove 111-1.

[0064] Please refer to Figures 1 to 3 In some embodiments, the first mounting member 111 is provided with a positioning hole assembly 120 on the opposite sides along the second direction, the positioning hole assembly 120 comprises a plurality of positioning holes 121 arranged along a third direction, the first direction and the second direction are arranged intersecting with the third direction, and the positioning hole 121 extends along the second direction; the bearing mounting member 131 is provided with a positioning pin assembly 140, the two positioning pin assemblies 140 are arranged corresponding to the two positioning hole assemblies 120, the positioning pin assembly 140 comprises a plurality of positioning pins 141, the plurality of positioning pins 141 in the positioning pin assembly 140 are arranged one-to-one corresponding to the plurality of positioning holes 121 in the corresponding positioning hole assembly 120, and each positioning pin 141 is arranged in the bearing mounting member 131 and extends into the corresponding positioning hole 121.

[0065] In the embodiment, the positioning pins 141 are arranged in the bearing mounting members 131 and extend into the corresponding positioning holes 121 in the first mounting member 111, so that the first mounting member 111 is prevented from rotating about the axis parallel to the second direction under the gravity of the speed reduction device after the speed reduction device is clamped in the first mounting groove 111-1 of the first mounting member 111.

[0066] Please refer to Figures 1 to 3 In some embodiments, the support assembly 130 includes a base 132, a stopper 133 and two support members 134. The base 132 is located on the same side of the two bearing mounting members 131 along the first direction and is arranged to be spaced apart from the two bearing mounting members 131. The two support members 134 are arranged in one-to-one correspondence with the two bearing mounting members 131. The support member 134 is located between the corresponding bearing mounting member 131 and the base 132. One end of the support member 134 is connected to the corresponding bearing mounting member 131, and the other end is connected to the base 132. The stopper 133 is located between the two support members 134 and is connected to any support member 134. The stopper 133 is configured to abut against the first mounting member 111 when the rotating shaft 115-2 rotates about the axis parallel to the second direction by a preset angle.

[0067] In the embodiment, the two support members 134 are arranged in one-to-one correspondence with the two bearing mounting members 131. The support member 134 is located between the corresponding bearing mounting member 131 and the base 132. One end of the support member 134 is connected to the corresponding bearing mounting member 131, and the other end is connected to the base 132, so as to support the bearing mounting member 131.

[0068] The stopper 133 is arranged between the two support members 134 and connected to any support member 134. After the speed reduction device is installed on the first mounting member 111, before the positioning pin 141 extends into the corresponding positioning hole 121 in the first mounting member 111, when the rotating shaft 115-2 rotates about the axis parallel to the second direction by a preset angle under the gravity of the speed reduction device, the first mounting member 111 can abut against the stopper 133 and be blocked by the stopper 133, so as to prevent the first mounting member 111 from rotating about the axis parallel to the second direction by a large angle under the gravity of the speed reduction device.

[0069] Please refer to Figure 1 , Figure 1A structural schematic diagram of a robot joint module 1 in an embodiment of the present application is shown. The robot joint module 1 provided in the embodiment of the present application comprises the aforementioned mounting mechanism 10, a reducer 20, and a motor 30. The reducer 20 is arranged on the first mounting member 111. The fixed end of the motor 30 is arranged on the second mounting member 112. The driving end of the motor 30 extends into the connecting sleeve 113-1 from one end of the connecting shaft 113-2 away from the connecting sleeve 113-1 and is in driving connection with the connecting sleeve 113-1. The one end of the connecting shaft 113-2 extending out of the connecting sleeve 113-1 is along the axis of the wave generator (not shown) in the reducer 20 and is arranged in the wave generator.

[0070] In the robot joint module 1 in the embodiment, the reducer 20 is mounted on the first mounting member 111, the one end of the connecting shaft 113-2 extending out of the connecting sleeve 113-1 is in driving connection with the wave generator in the reducer 20, the motor 30 is mounted on the second mounting member 112, the motor 30 is started, the second mounting member 112 is pushed to move along the first direction to approach the first mounting member 111, so that the motor 30 on the second mounting member 112 moves along the first direction to approach the first mounting member 111, and then the output end of the motor 30 extends into the connecting sleeve 113-1 from the one end of the connecting shaft 113-2 away from the connecting sleeve 113-1 along the first direction. In this process, the output end of the motor 30 extending into the connecting sleeve 113-1 drives the connecting sleeve 113-1 to rotate, and drives the connecting shaft 113-2 to rotate through the connecting sleeve 113-1. The rotating connecting shaft 113-2 drives the wave generator in the reducer 20, so that the meshing surfaces between the meshing tooth surfaces in the reducer 20 are adaptively adjusted in relative position until the meshing surfaces between the meshing tooth surfaces in the reducer 20 reach the best adaptive position, and the meshing tooth surfaces reach the best meshing state. The motor 30 is turned off, and the high-precision assembly of the motor 30 and the reducer 20 is completed.

[0071] In summary, the robot joint module 1 in the embodiment can assemble the reducer 20 and the started motor 30 together, realize the high-precision assembly of the motor 30 and the reducer 20, and reduce the vibration, abnormal sound, and jitter of the reducer 20 during operation.

[0072] It should be noted that the adaptive adjustment in relative position between the meshing tooth surfaces until the meshing surfaces between the meshing tooth surfaces in the reducer 20 reach the best adaptive position and the meshing tooth surfaces reach the best meshing state refers to the adaptive adjustment in relative position between the rigid gear (not shown) and the flexible gear (not shown) in the reducer 20 until the meshing between the tooth surfaces of the rigid gear and the tooth surfaces of the flexible gear reaches the best state and the meshing surfaces between the tooth surfaces of the rigid gear and the tooth surfaces of the flexible gear reach the best adaptive position.

[0073] In some embodiments, the connecting piece 113 comprises a baffle 113-3 arranged at one end of the connecting shaft 113-2 extending out of the connecting sleeve 113-1 and connected with the wave generator in the speed reducer 20; wherein the axis of the baffle 113-3 coincides with the axis of the connecting shaft 113-2, and the diameter of the baffle 113-3 is greater than the diameter of the connecting shaft 113-2.

[0074] In some embodiments, the baffle 113-3 is provided with a mounting hole (not shown) in which a fastener (not shown) is arranged and screwed with the wave generator in the speed reducer 20.

[0075] The technical features of the above embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, but it should be understood that any combination of the technical features is within the scope of the present disclosure as long as the combination does not result in contradictions.

[0076] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A mounting mechanism characterized by comprising: The mounting mechanism comprises: The mounting assembly comprises a first mounting member, a second mounting member and a connecting member, the first mounting member is used for mounting a speed reduction device, the first mounting member and the second mounting member are arranged in a first direction, the second mounting member is in sliding connection with the first mounting member, and the second mounting member is configured to move relative to the first mounting member in the first direction; The connecting member comprises a connecting sleeve and a connecting shaft, the connecting sleeve and the connecting shaft are coaxially arranged and extend in the first direction, one end of the connecting shaft is located in the connecting sleeve, and the other end of the connecting shaft extends out of the connecting sleeve and is used for driving connection with the speed reduction device on the first mounting member.

2. The mounting mechanism of claim 1, wherein The first mounting member is provided with a first mounting groove extending in the first direction and penetrating through the first mounting member; The axis of the first mounting groove coincides with the axis of the connecting shaft.

3. The mounting mechanism of claim 2, wherein The second mounting member is provided with a first through hole penetrating through the second mounting member in the first direction, and the axis of the first through hole coincides with the axis of the first mounting groove; The connecting sleeve is located between the first mounting member and the second mounting member, and the axis of the connecting sleeve coincides with the axis of the first through hole.

4. The mounting mechanism of claim 1, wherein The outer periphery of the connecting sleeve is provided with a first threaded hole penetrating through the connecting sleeve in the radial direction of the connecting sleeve; The first threaded hole is provided with a first bolt extending in the axial direction of the first threaded hole and in threaded connection with the first threaded hole.

5. The mounting mechanism of claim 1, wherein The mounting assembly comprises a first support member, and the first support member comprises at least one first support rod extending in the first direction; One end of the first support rod is arranged in the first mounting member and is in threaded connection with the first mounting member, and the other end of the first support rod is arranged in the second mounting member and is in threaded connection with the second mounting member.

6. The mounting mechanism of claim 1, wherein The mounting mechanism comprises a support assembly, the first mounting member is in rotational connection with the support assembly and is configured to rotate around an axis parallel to a second direction, and the first direction intersects with the second direction.

7. The mounting mechanism of claim 6, wherein The mounting mechanism comprises two rotating members arranged in the second direction, the rotating members are located on the side of the first mounting member close to the second mounting member in the first direction, the orthographic projection of the second mounting member on the first mounting member is located between the orthographic projections of the two rotating members on the first mounting member, and the rotating member is provided with a second through hole extending in the second direction, and a rotating shaft is arranged in the second through hole. The support assembly comprises two bearing mounting members arranged in the second direction, the two rotating members are located between the two bearing mounting members, the bearing mounting member is provided with a second through hole extending in the second direction, a rotating bearing is arranged in the second through hole, and the two rotating bearings and the two rotating shafts are arranged in one-to-one correspondence, one end of each rotating shaft is arranged in the corresponding second through hole, and the other end extends into the inner ring of the corresponding rotating bearing.

8. The mounting mechanism of claim 7, wherein The first mounting member is provided with a positioning hole assembly on opposite sides in the second direction, the positioning hole assembly comprises a plurality of positioning holes arranged in a third direction, the first direction and the second direction are arranged to intersect the third direction, and the positioning holes extend in the second direction; The bearing mounting member is provided with a positioning pin assembly, the two positioning pin assemblies are arranged correspondingly to the two positioning hole assemblies, the positioning pin assembly comprises a plurality of positioning pins, the plurality of positioning pins in the positioning pin assembly are arranged one by one to correspond to the plurality of positioning holes in the corresponding positioning hole assembly, each positioning pin is arranged in the bearing mounting member and extends into the corresponding positioning hole.

9. The mounting mechanism of claim 7, wherein, The support assembly comprises a base, a stopper and two support members, the base is located on the same side of the two bearing mounting members in the first direction and is arranged to be spaced apart from the two bearing mounting members; The two support members are arranged one by one to correspond to the two bearing mounting members, the support member is located between the corresponding bearing mounting member and the base, one end of the support member is connected to the corresponding bearing mounting member, and the other end is connected to the base; The stopper is located between the two support members and is connected to any support member, the stopper is configured to abut against the first mounting member when the rotating shaft rotates by a preset angle around an axis parallel to the second direction.

10. A robot joint module, characterized in that The installation mechanism comprises the mounting mechanism in any one of the preceding claims 1-9, and A speed reducer is arranged in the first mounting member; A motor, a fixed end of the motor is arranged in the second mounting member, a driving end of the motor extends into the connecting sleeve from an end of the connecting sleeve away from the connecting shaft, and the driving end is in driving connection with the connecting sleeve; Wherein, one end of the connecting shaft extending out of the connecting sleeve is arranged along the axis of the wave generator in the speed reducer.

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