Self-locking joint with overload protection function and robot

Abstract

The utility model relates to the technical field of mechanical arms, and provides a self-locking joint with an overload protection function and a robot. The self-locking joint comprises a shell, a worm assembly and a worm gear assembly; the worm assembly comprises a driving part and a worm, and the worm is rotationally arranged in the shell and connected to the output end of the driving part; the worm gear assembly comprises a joint arm, a worm gear and a worm gear pressing disc, the joint arm penetrates through the shell, and the worm gear rotationally sleeves the joint arm and is meshed with the worm; the worm wheel pressing disc is connected to the joint arm and presses the end face of the worm wheel. According to the utility model, the worm gear pressure plate tightly pressed on the end face of the worm gear is connected to the joint arm, and the driving part drives the worm gear, the worm gear pressure plate and the joint arm to rotate together by utilizing the friction force between the worm gear pressure plate and the end face of the worm gear; when overload occurs, the worm gear pressing disc slides on the worm gear, the worm gear and the worm are separated from the joint arm, damage to the worm gear and the worm caused by overload self-locking is avoided, and overload protection on the joint is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a self-locking joint and a robot with an overload protection function. Background Art

[0002] As an important transmission component of industrial robots, robot joints often affect the performance of industrial robots. With the continuous development of science and technology, the requirements for robot joints are getting higher and higher. Worm gear mechanisms, as an efficient and compact mechanical transmission device, are widely used in robot joints.

[0003] In the existing robot joints, the worm gear transmission mechanism has the problem of hard wear of the worm gear due to overload self-locking during operation, which in turn leads to damage to the worm gear. Utility Model Content

[0004] The utility model provides a self-locking joint and a robot with an overload protection function, which are used to solve the defect in the prior art that a worm gear is damaged due to overload self-locking.

[0005] The utility model provides a self-locking joint with an overload protection function, comprising:

[0006] shell;

[0007] A worm assembly, comprising a driving component and a worm, wherein the worm is rotatably disposed in the housing and connected to an output end of the driving component;

[0008] The worm gear assembly includes a joint arm, a worm gear and a worm gear pressure plate. The joint arm is inserted into the outer shell, the worm gear is rotatably sleeved on the joint arm and meshed with the worm, and the worm gear pressure plate is connected to the joint arm and pressed against the end face of the worm gear.

[0009] According to a self-locking joint with an overload protection function provided by an embodiment of the utility model, the worm wheel pressure plate is connected to one end of the joint arm close to the worm, and the housing includes:

[0010] A housing having a first opening, wherein the first opening corresponds to the worm gear pressure plate;

[0011] The shell end cover is detachably connected to the first opening.

[0012] According to a self-locking joint with an overload protection function provided by an embodiment of the utility model, the outer shell also includes a worm gear end cover, the shell has a second opening opposite to the first opening, the worm gear end cover is detachably connected to the second opening, and the worm gear end cover has a mounting hole through which the joint arm passes.

[0013] According to a self-locking joint with an overload protection function provided by an embodiment of the utility model, the joint arm has a positioning member abutting against one end of the worm gear end cover away from the housing, a first bearing is arranged between the joint arm and the side wall of the mounting hole, and / or,

[0014] The worm gear end cover has a connection portion threadedly connected to the housing side wall.

[0015] According to a self-locking joint with an overload protection function provided by an embodiment of the utility model, a seal is provided at least one of between the positioning member and the worm gear end cover, between the connecting portion and the shell side wall, and between the shell and the shell end cover.

[0016] According to a self-locking joint with an overload protection function provided by an embodiment of the utility model, the worm gear pressure plate is connected to the joint arm through a clamping piece.

[0017] According to a self-locking joint with an overload protection function provided by an embodiment of the utility model, the driving component includes a driving member and a reduction gearbox connected in sequence, the driving member is arranged on the housing, the reduction gearbox is respectively connected to the driving member and the first end of the worm, and the second end of the worm is rotatably arranged on the housing.

[0018] A self-locking joint with an overload protection function provided according to an embodiment of the utility model also includes a worm connector, the reduction gearbox has a connecting shaft keyed to the first end of the worm connector, and the first end of the worm is connected to the second end of the worm connector.

[0019] According to a self-locking joint with an overload protection function provided by an embodiment of the utility model, the first end of the worm connector is provided with a first connecting hole connected to the connecting shaft, the second end of the worm connector is provided with a second connecting hole, and the bottom surface of the second connecting hole is provided with a connecting piece connected to the connecting shaft;

[0020] The first end of the worm is arranged in the second connecting hole, and the second end of the worm connector is provided with a locking member connected to the first end of the worm.

[0021] The utility model also provides a robot, comprising a body and any one of the self-locking joints with overload protection function described above, wherein the driving component is connected to the body.

[0022] The self-locking joint with overload protection function provided by the embodiment of the utility model is arranged to rotate between the worm gear and the joint arm, and a worm gear pressure plate pressed against the end face of the worm gear is connected to the joint arm, so that the worm gear pressure plate provides a friction force to hinder the rotation of the worm gear. Under normal circumstances, the friction between the worm gear pressure plate and the end face of the worm gear is used to drive the worm gear, the worm gear pressure plate and the joint arm to rotate together; when overloaded, the friction force is overcome, so that the worm gear pressure plate slips on the worm gear, so that the worm gear and the joint arm are separated, thereby avoiding damage to the worm gear and the joint arm due to overload self-locking, thereby effectively realizing overload protection of the joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is one of the structural schematic diagrams of a self-locking joint with an overload protection function provided by an embodiment of the utility model;

[0025] Figure 2 This is the second structural schematic diagram of the self-locking joint with overload protection function provided by the embodiment of the utility model;

[0026] Figure 3 This is the third structural schematic diagram of the self-locking joint with overload protection function provided by the embodiment of the utility model;

[0027] Figure 4 is a cross-sectional view of a worm assembly provided by an embodiment of the utility model;

[0028] Figure 5 is a cross-sectional view of a worm gear assembly provided by an embodiment of the utility model;

[0029] Figure 6 It is a cross-sectional view of the mating position of the worm assembly and the worm wheel assembly provided by the embodiment of the utility model;

[0030] Figure 7 This is one of the structural schematic diagrams of the worm connector provided by the embodiment of the utility model;

[0031] Figure 8 This is the second structural schematic diagram of the worm connector provided in the embodiment of the utility model.

[0032] Reference numerals:

[0033] 1. housing; 11. housing; 12. housing end cover; 13. worm gear end cover; 131. connecting part;

[0034] 2. Worm assembly; 21. Driving member; 22. Speed ​​reducer; 221. Connecting shaft; 23. Worm connector; 231. First connecting hole; 232. Second connecting hole; 233. Connecting member; 234. Locking member; 24. Worm; 25. Second bearing; 26. Motor fixing sleeve;

[0035] 3. Worm gear assembly; 31. Worm gear; 32. Worm gear pressure plate; 33. Articulated arm; 331. Positioning member; 34. First bearing; 35. Bearing positioning sleeve; 36. Worm gear positioning sleeve; 37. Bolt;

[0036] 41. Second sealing ring; 42. Third sealing ring. DETAILED DESCRIPTION

[0037] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0038] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0039] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0040] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0041] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0042] Combine the following Figure 1-Figure 8 The self-locking joint with overload protection function according to an embodiment of the utility model is described.

[0043] The embodiment of the first aspect of the utility model provides a self-locking joint with an overload protection function, such as Figures 1 to 3 As shown, the self-locking joint includes a housing 1 and a worm assembly 2 and a worm wheel assembly 3 arranged on the housing 1 .

[0044] like Figure 4 As shown, the worm assembly 2 includes a driving component and a worm 24. The driving component is disposed in the housing 1. The worm 24 is rotatably disposed in the housing 1 and connected to the output end of the driving component.

[0045] like Figure 5 and Figure 6 As shown, the worm gear assembly 3 includes an articulated arm 33, a worm wheel 31 and a worm wheel pressure plate 32. The articulated arm 33 is passed through the housing 1. The worm wheel 31 is rotatably sleeved on the articulated arm 33 and meshes with the worm 24. The worm wheel pressure plate 32 is connected to the articulated arm 33 and pressed against the end face of the worm wheel 31.

[0046] It is understood that the driving component provides the driving force F q, drives the worm 24 to rotate, thereby the worm 24 drives the worm wheel 31 to rotate, and because the end surface of the worm wheel 31 is pressed by the worm wheel pressure plate 32, there is a preload force F between the worm wheel 31 and the worm wheel pressure plate 32 y Under the action of the preload, the worm gear pressure plate 32 will provide a friction force to hinder the rotation of the worm gear 31, and the friction coefficient between the worm gear 31 and the worm gear pressure plate 32 is μ.

[0047] When the load force F z 0 or F z ≤μF y (static friction), the worm wheel 31, the worm wheel pressure plate 32 and the articulated arm 33 are the driving force F of the driving components. q It should be noted that the articulated arm 33 or a component connected to the articulated arm 33 serves as a load.

[0048] When the load force F z >F q >μF y During (dynamic friction), relative sliding occurs between the worm gear pressure plate 32 and the worm wheel 31, so that relative movement occurs between the whole formed by the articulated arm 33 and the worm gear pressure plate 32 and the worm wheel 31, which does not affect the rotation between the worm and the worm wheel.

[0049] It can be understood that under normal circumstances, the worm gear 31 drives the worm gear pressure plate 32 and the joint arm 33 connected to the worm gear pressure plate 32 to move together by utilizing the friction between the end faces of the worm gear 31; when overloaded, the worm gear pressure plate 32 slips on the worm gear 31, thereby avoiding the output of excessive load.

[0050] The self-locking joint with overload protection function provided by the embodiment of the utility model is arranged to rotate between the worm gear 31 and the joint arm 33, and a worm gear pressure plate 32 is connected to the joint arm 33 and pressed against the end face of the worm gear 31, so that the worm gear pressure plate 32 provides a friction force to hinder the rotation of the worm gear. Under normal circumstances, the friction between the worm gear pressure plate 32 and the end face of the worm gear 31 is used to drive the worm gear 31, the worm gear pressure plate 32 and the joint arm 33 to rotate together; when overloaded, the friction force is overcome, so that the worm gear pressure plate 32 slips on the worm gear 31, so that the worm gear 31 and the worm 24 are separated from the joint arm 33, thereby avoiding damage to the worm gear 24 due to overload self-locking, and effectively realizing overload protection of the joint.

[0051] According to the embodiment of the utility model, the worm gear pressure plate 32 is connected to the joint arm 33 through a clamping member, and the preload force between the worm wheel 31 and the worm gear pressure plate 32 can be adjusted through the clamping member.

[0052] It can be understood that the worm gear 31 is rotatably arranged at the first end of the joint arm 33 (an end located in the housing 1), and the worm gear pressure plate 32 is pressed against the first end of the worm gear 31. It should be noted here that the first end of the worm gear 31 is the end close to the first end of the joint arm 33.

[0053] For example, the worm wheel 31 is coaxially sleeved on the articulated arm 33, and the worm wheel pressure plate 32 is connected to the articulated arm 33 by a plurality of circumferentially arranged bolts 37, and the worm wheel pressure plate 32 is pressed against the end surface of the worm wheel 31. Of course, the worm wheel pressure plate 32 can also be connected to the articulated arm 33 by screws.

[0054] It should be noted that the worm gear pressure plate 32 can also be pressed against the second end of the worm gear 31. It should be noted here that the second end of the worm gear 31 is the end away from the first end of the joint arm 33. The worm gear 31 is coaxially sleeved on the joint arm 33. The first end of the joint arm 33 has a limit plate for axially limiting the first end of the worm gear 31. The worm gear pressure plate 32 is annular and sleeved on the joint arm 33. The worm gear pressure plate 32 is pressed against the second end of the worm gear 31 by a clamping member. The clamping member can be a rotating member sleeved on the joint arm 33. By rotating the rotating member, the worm gear pressure plate 32 is moved closer to or away from the worm gear 31 to adjust the preload between the worm gear 31 and the worm gear pressure plate 32. In this embodiment, the rotating member can be a nut.

[0055] Preferably, Figure 5 As shown, the worm gear pressure plate 32 is connected to one end of the joint arm 33 close to the worm, and the housing 1 includes a housing 11 and a housing end cover 12. The housing 11 is provided with a first opening at a position corresponding to the worm gear pressure plate 32, and the housing end cover 12 is detachably connected to the first opening. Preferably, a seal is provided between the housing 11 and the housing end cover 12, and the seal can be a first sealing ring.

[0056] It is understandable that a detachable housing end cover 12 is provided at the corresponding position of the housing 11 and the worm gear pressure plate 32, so as to facilitate opening the housing end cover 12 to adjust the preload force between the worm wheel 31 and the worm gear pressure plate 32 through the clamping member.

[0057] In one embodiment of the present invention, Figure 5 As shown, the housing 11 has a second opening opposite to the first opening, and a detachable worm gear end cover 13 is connected to the second opening. The worm gear end cover 13 has a mounting hole, and the articulated arm 33 is inserted through the mounting hole of the worm gear end cover 13 .

[0058] It is understandable that the worm wheel end cover 13 and the housing 11 are detachably connected, and the worm wheel 31 and the worm 24 can be easily disassembled and maintained by removing the worm wheel end cover 13 .

[0059] In this embodiment, the joint arm 33 is arranged on the worm gear end cover 13, the worm gear pressure plate 32 is connected to the joint arm 33, and the worm gear 31 is arranged on the joint arm 33. When the worm gear end cover 13 is separated from the housing 11, the joint arm 33 connected to the worm gear end cover 13 is separated synchronously, and then the worm gear end cover 13 and the worm gear 31 connected to the joint arm 33 are also separated from the housing 11 synchronously, thereby facilitating the disassembly and maintenance of the worm gear 31.

[0060] It can be understood that the worm wheel assembly 3 is integrally arranged on the worm wheel end cover 13, so that when the worm wheel end cover 13 is separated from the housing 11, the worm wheel assembly 3 and the worm assembly 2 are separated synchronously, thereby facilitating the disassembly and maintenance of the worm wheel assembly 3 on the worm wheel end cover 13 side, and the disassembly and maintenance of the worm assembly 2 on the housing 11 side.

[0061] It should be noted that in the related art, the worm gear transmission joint is fixed with an integral structure and needs to be disassembled and assembled as a whole, which makes the disassembly and assembly of the worm gear complicated and the maintenance and replacement costs are high. However, the utility model adopts that the worm assembly 2 and the worm wheel assembly 3 are respectively arranged in two parts (housing 11 and worm wheel end cover 13), and the separation of the worm assembly 2 and the worm wheel assembly 3 can be achieved only by separating the worm wheel end cover 13 from the housing 11, so that the disassembly and assembly are convenient, and the maintenance of the worm assembly 2 and the worm wheel assembly 3 is convenient.

[0062] Furthermore, the articulated arm 33 has a positioning member 331 that abuts against the end of the worm gear end cover 13 away from the housing 11. The positioning member 331 is an annular positioning plate provided on the outer wall of the articulated arm 33. When the annular positioning plate abuts against the worm gear end cover 13, the axial position of the articulated arm 33 is limited. Furthermore, a sealing member is provided between the positioning member 331 and the worm gear end cover 13. The sealing member is a second sealing ring 41 provided between the positioning member 331 and the worm gear end cover 13.

[0063] The middle part of the articulated arm 33 is rotatably arranged in the mounting hole of the worm gear end cover 13 through the first bearing 34, and the first bearing 34 is arranged between the articulated arm 33 and the side wall of the mounting hole of the worm gear end cover 13. The axial limit of the first bearing 34 can be achieved through the bearing groove arranged on the outer wall of the articulated arm 33, or through the bearing groove arranged on the side wall of the mounting hole, or through the bearing groove arranged on both the outer wall of the articulated arm 33 and the side wall of the mounting hole, and the bearing is arranged in the bearing groove. Of course, the axial limit of one end of the first bearing 34 can also be achieved through the positioning plate, and the axial limit of the other end of the first bearing 34 is achieved through the worm gear positioning sleeve 36 sleeved on the articulated arm 33.

[0064] In this embodiment, the worm gear 31 is installed on the articulated arm 33 according to the worm gear positioning sleeve 36 and is pressed by the worm gear pressure plate 32 . The worm gear pressure plate 32 is fixedly connected to the articulated arm 33 by bolts 37 .

[0065] like Figure 5As shown, the worm wheel 31, the worm wheel positioning sleeve 36 and the first bearing 34 are sequentially sleeved on the joint arm 33 along the axial direction, and the axial limitation of one end of the worm wheel 31 and one end of the first bearing 34 can be simultaneously achieved by the worm wheel positioning sleeve 36, the axial limitation of the other end of the worm wheel 31 is achieved by the worm wheel pressure plate 32, and the axial limitation of the other end of the first bearing 34 is achieved by the positioning member 331. It should be noted here that one end of the worm wheel 31 and one end of the first bearing 34 are arranged close to each other.

[0066] In this embodiment, there are two first bearings 34 arranged at intervals, and a bearing positioning sleeve 35 is provided between the two first bearings 34 and is sleeved on the outer periphery of the joint arm 33. The joint arm 33 and the worm gear end cover 13 can rotate with each other through two second bearings 25, and a second sealing ring 41 is installed between the joint arm 33 and the worm gear end cover 13 for sealing.

[0067] In one embodiment of the present invention, Figure 5 As shown, the worm gear end cover 13 and the housing 11 are threadedly connected to facilitate separation of the worm gear end cover 13 from the housing 11. For example, the worm gear end cover 13 has a connecting portion 131 extending into the housing 11, and the connecting portion 131 is threadedly connected to the side wall of the housing 11.

[0068] Furthermore, a seal is provided between the connection portion 131 and the side wall of the housing 11 to improve the sealing performance of the connection between the worm gear end cover 13 and the housing 11 . The seal is a third seal ring 42 provided between the connection portion 131 and the side wall of the housing 11 .

[0069] In one embodiment of the present invention, Figure 4 As shown, the driving component includes a driving member 21 and a reduction box 22 connected in sequence. The driving member 21 is arranged on the housing 1, and the reduction box 22 is respectively connected to the driving member 21 and the first end of the worm 24, and the second end of the worm 24 is rotatably arranged on the housing 1.

[0070] It can be understood that the shell 11 is provided with a through positioning groove, the driving member 21 adopts a driving motor, and the reduction box 22 adopts a planetary reduction box. The driving motor is connected to the planetary reduction box, and the planetary reduction box is installed in the positioning groove. A motor fixing sleeve 26 is provided at the positioning groove of the shell 11. The motor fixing sleeve 26 is fixedly connected to the shell 11 by screws and presses the driving motor and the planetary reduction box; the driving motor provides the power required for the joint rotation, and the planetary reduction box performs shock-resistant speed reduction and torque increase to improve the joint reliability. The first end of the worm 24 is connected to the planetary reduction box, and the second end of the worm 24 is rotatably set on the outer shell 1.

[0071] It can be understood that the driving motor provides driving force, which is reduced in speed and increased in torque by the planetary reduction box, so that the worm 24 drives the worm wheel to rotate. q Meet the torque and friction requirements of worm gear transmission.

[0072] When initially installing the worm gear pressure plate 32, tighten the fixing bolts 37 to provide an adjustable preload force F y Under the action of friction (friction coefficient is denoted as μ), the worm gear pressure plate 32 will provide a friction force to hinder the rotation of the worm gear. z =0 or load F z ≤μF y (static friction), the articulated arm 33, the worm gear pressure plate 32, and the worm gear will be under the driving force F q They rotate together under the action of.

[0073] When the load F z >F q >μF y (dynamic friction), in the related art, the worm wheel in the conventional worm gear joint is affected by the load, and the worm gear rotates in the opposite direction, making it rotate self-locking. When the load increases further, the joint is very easy to be damaged. In the present invention, when the movement of the joint arm 33 is blocked by overload (collision, etc.), the load force is too large, and the resistance is greater than the friction force (F) between the worm wheel pressure plate 32 and the worm wheel 31. z >μF y ), relative sliding occurs between the worm gear pressure plate 32 and the worm wheel 31, so that relative movement occurs between the joint arm 33 and the worm gear pressure plate 32 as a whole and the worm wheel, which does not affect the rotation between the worm and worm wheel, so that the worm gear 2 will not be easily damaged due to self-locking due to excessive load, thereby providing overload protection for the joint.

[0074] In one embodiment of the present invention, the reduction box 22 is fixed to the first end of the worm 24 by a worm connector 23 , a second bearing 25 is provided at the second end of the worm 24 , and the housing 11 is provided with a mounting groove for mounting the second bearing 25 .

[0075] It is understandable that the reduction box 22 has a connecting shaft 221 at one end close to the worm 24 , the first end of the worm connector 23 is keyed to the connecting shaft 221 , and the second end of the worm connector 23 is connected to the first end of the worm 24 .

[0076] Further, such as Figure 4 , Figure 7 and Figure 8 As shown, the first end of the worm connector 23 is provided with a first connecting hole 231, the second end of the worm connector 23 is provided with a second connecting hole 232, and the connecting shaft 221 of the reduction box 22 is keyed to the first connecting hole 231 of the worm connector 23. In order to improve the firmness of the connection between the worm connector 23 and the reduction box 22, the bottom surface of the second connecting hole 232 is provided with a connecting piece 233 connected to the connecting shaft 221, and the connecting piece 233 can be a screw or a bolt.

[0077] The first end of the worm 24 is arranged in the second connecting hole 232. After the locking piece 234 radially passes through the second end of the worm connector 23, it is connected to the first end of the worm 24 to improve the firmness of the connection between the worm connector 23 and the worm 24. The locking piece 234 can be a screw.

[0078] It should be noted that in the related art, the worm gear transmission is prone to the problem of unstable speed, which causes direct hard damage to the worm gear, thereby accumulating a large amount of damage and wear. The utility model has a self-locking joint with overload protection function, which uses a planetary reducer to reduce speed and increase torque, and realizes the stability of the connection between the reducer 22 and the worm 24 through the worm connector 23, improves the transmission reliability, and ensures the stability of the worm gear transmission speed, thereby avoiding damage and wear of the worm gear 24.

[0079] An embodiment of the second aspect of the utility model provides a robot, which includes a body and a self-locking joint with an overload protection function provided by any of the above embodiments, and a driving component is connected to the body.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A self-locking joint with overload protection function, characterized in that: include: shell; A worm assembly, comprising a driving component and a worm, wherein the worm is rotatably disposed in the housing and connected to an output end of the driving component; The worm gear assembly includes a joint arm, a worm gear and a worm gear pressure plate. The joint arm is inserted into the outer shell, the worm gear is rotatably sleeved on the joint arm and meshed with the worm, and the worm gear pressure plate is connected to the joint arm and pressed against the end face of the worm gear.

2. The self-locking joint with overload protection function according to claim 1, characterized in that: The worm gear pressure plate is connected to one end of the articulated arm close to the worm, and the housing comprises: A housing having a first opening, wherein the first opening corresponds to the worm gear pressure plate; The shell end cover is detachably connected to the first opening.

3. The self-locking joint with overload protection function according to claim 2, characterized in that: The housing further comprises a worm gear end cover, the housing has a second opening opposite to the first opening, the worm gear end cover is detachably connected to the second opening, and the worm gear end cover has a mounting hole through which the articulated arm passes.

4. The self-locking joint with overload protection function according to claim 3, characterized in that: The articulated arm has a positioning member abutting against an end of the worm gear end cover away from the housing, a first bearing is arranged between the articulated arm and a side wall of the mounting hole, and / or, The worm gear end cover has a connection portion threadedly connected to the housing side wall.

5. The self-locking joint with overload protection function according to claim 4, characterized in that: A sealing member is provided at least one of between the positioning member and the worm wheel end cover, between the connecting portion and the housing side wall, and between the housing and the housing end cover.

6. The self-locking joint with overload protection function according to any one of claims 1 to 5, characterized in that: The worm gear pressure plate is connected to the articulated arm via a clamping member.

7. The self-locking joint with overload protection function according to any one of claims 1 to 5, characterized in that: The driving component includes a driving member and a reduction box which are connected in sequence. The driving member is arranged on the housing. The reduction box is respectively connected to the driving member and the first end of the worm. The second end of the worm is rotatably arranged on the housing.

8. The self-locking joint with overload protection function according to claim 7, characterized in that: It also includes a worm connector, the reduction box has a connecting shaft key-connected to the first end of the worm connector, and the first end of the worm is connected to the second end of the worm connector.

9. The self-locking joint with overload protection function according to claim 8, characterized in that: The first end of the worm connector is provided with a first connection hole connected to the connection shaft, the second end of the worm connector is provided with a second connection hole, and the bottom surface of the second connection hole is provided with a connection piece connected to the connection shaft; The first end of the worm is arranged in the second connecting hole, and the second end of the worm connector is provided with a locking member connected to the first end of the worm.

10. A robot, characterized in that: It comprises a machine body and a self-locking joint with overload protection function as claimed in any one of claims 1 to 9, wherein the driving component is connected to the machine body.

Images