Robot

Abstract

The utility model relates to a robot. The robot comprises a joint shell and a lead screw driving module. The joint shell comprises a body and an oil injection cover, the body is provided with a mounting cavity and an oil injection port, the oil injection port is communicated with the mounting cavity and the outside of the body, and the oil injection cover is movably connected to the body to shield the oil injection port. The lead screw driving module is arranged in the mounting cavity and comprises a lead screw shaft, a lead screw nut and a first driving assembly. The lead screw shaft is rotatably connected to the body. The lead screw nut is connected to the lead screw shaft through a thread pair, and the lead screw nut is provided with an oil guide lubricating part. The lead screw nut is connected to the lead screw shaft through a thread pair, and the lead screw nut is provided with an oil guide lubricating part. The robot is convenient to maintain, time-saving and labor-saving.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a robot. Background Art

[0002] The SCARA robot (assembly robot) is a cylindrical coordinate industrial robot. As an important branch of the industrial robot field, it has been widely used in many industry scenarios due to its fast operation cycle, easy deployment, small space occupation, and the fact that it only has four axes and is cheaper than the traditional six-axis. Such as automobile manufacturing, new energy, semiconductors, hardware processing, etc.

[0003] Over extended use, SCARA robots inevitably experience jamming between components, requiring manual lubrication. Parts of the SCARA robot's structure are housed within its joint housings, requiring manual lubrication. This requires opening the joint housings, a cumbersome and time-consuming process. Utility Model Content

[0004] An embodiment of the present application provides a robot.

[0005] An embodiment of the present application provides a robot, comprising a joint housing and a screw drive module. The joint housing comprises a main body and an oil filling cap, the main body having a mounting cavity and an oil filling port, the oil filling port communicating with the mounting cavity and the outside of the main body, and the oil filling cap being movably connected to the main body for shielding the oil filling port. The screw drive module is disposed in the mounting cavity, and the screw drive module comprises a screw shaft, a screw nut, and a first drive assembly. The screw shaft is rotatably connected to the main body. The screw nut is connected to the screw shaft via a threaded pair, and the screw nut has an oil-conducting lubrication portion. The screw nut is connected to the screw shaft via a threaded pair, and the screw nut has an oil-conducting lubrication portion.

[0006] In some optional examples, the screw nut is provided with a central shaft hole, and the screw nut is sleeved on the outside of the screw shaft through the central shaft hole; the oil guide lubrication part includes an oil filling hole, which connects the central shaft hole and the mounting cavity.

[0007] In some optional examples, the screw drive module further includes an oiling nozzle, which is disposed through the oiling hole, and one end of the oiling nozzle facing the oiling port relative to the oiling hole protrudes from the screw nut.

[0008] In some optional examples, the oil filling hole is arranged along the radial direction of the screw nut. When the robot is in a working posture, the screw nut is arranged along the direction of gravity, and the oil filling hole is relatively located at the upper end of the screw nut, or the oil filling hole is relatively located at the lower end of the screw nut.

[0009] In some optional examples, the screw nut includes a connecting portion and a protruding portion, both of which are sleeved on the outside of the screw shaft, the protruding portion is connected to one end of the connecting portion and protrudes relative to the outer peripheral wall of the connecting portion, and the oil filling hole is opened in the protruding portion; when the screw nut is in the initial position and projected vertically toward the screw shaft, the projection of the oil filling cap covers the projection of the oil filling hole.

[0010] In some optional examples, the robot also includes a spline drive module, the spline drive module includes a spline shaft and a second drive component, the spline shaft is slidably connected to the main body and is spaced apart from the screw shaft, and the spline shaft is connected to the screw nut; the second drive component is arranged in the main body and is transmission-connected to the spline shaft, and the second drive component is used to drive the spline shaft to rotate.

[0011] In some optional examples, the body is provided with a mounting hole, one end of the spline shaft extends through the mounting hole, and the robot further includes an output end, which is located outside the body and is transmission-connected to the spline shaft.

[0012] In some optional examples, the robot also includes a base, a transmission arm and an articulated arm, the transmission arm includes a transmission housing and a first drive module, the transmission arm is rotatably connected to the base, and the first drive module is transmission-connected between the base and the transmission housing; the articulated arm includes a joint housing and a second drive module, the joint housing is rotatably connected to the transmission housing, and the second drive module is transmission-connected between the joint housing and the transmission housing.

[0013] In some optional examples, the first drive module is used to drive the transmission housing to rotate around a first axis relative to the base, and the second drive module is used to drive the joint housing to rotate around a second axis relative to the transmission housing, and the first axis and the second axis are parallel to each other.

[0014] In some optional examples, the robot also includes a wiring harness assembly, which is arranged in the base, the transmission housing and the joint housing in sequence, and the wiring harness assembly is electrically connected to the first drive module, the second drive module and the first drive assembly.

[0015] Compared with the prior art, when the robot provided in the embodiment of the present application needs to lubricate the structure inside the joint housing after long-term use, the robot is first driven to move to the zero position state, at which time the screw nut is in the initial position. When performing maintenance and care on the screw drive module, the oil filling cap is opened to expose the oil filling port, and the oil guide lubrication part can be seen from the oil filling port into the main body. The operator extends the nozzle of the oil gun from the oil filling port into the main body, aligns it with the oil guide lubrication part and injects grease. After the maintenance is completed, the oil filling cap is closed on the oil filling port. The operation is convenient, time-saving and labor-saving, and the efficiency of robot maintenance is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the implementation. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 This is a module block diagram of a robot provided in one embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of a robot provided in one embodiment of the present application.

[0019] Figure 3 yes Figure 2 Schematic diagram of the internal structure of the robot shown.

[0020] Figure 4 yes Figure 3 Schematic diagram of the enlarged structure of part A.

[0021] Figure 5 yes Figure 2 Schematic diagram of the partial structure of the joint shell of the robot shown.

[0022] Explanation of reference numerals: 100, robot; 101, joint body; 103, actuator; 10, base; 20, first drive module; 30, transmission arm; 32, transmission housing; 40, joint arm; 41, second drive module; 50, joint housing; 52, body; 521, mounting cavity; 523, oil filling port; 525, first mounting portion; 527, second mounting portion; 529, mounting hole; 54, oil filling cap; 541, screw; 60, end End drive module; 61, mounting seat; 65, output end; 80, screw drive module; 81, screw shaft; 812, top end; 814, bottom end; 83, screw nut; 831, center shaft hole; 832, oil guide lubrication part; 8321, oil filling hole; 834, connecting part; 836, protrusion; 85, first drive assembly; 87, oil filling nozzle; 90, spline drive module; 92, spline shaft; 94, second drive assembly; 110, wiring harness assembly. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0024] If certain terms are used in the specification and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not distinguish components based on differences in name, but rather on differences in their functionality. For example, the term "including" used throughout the specification and claims is an open-ended term and should be interpreted as meaning "including but not limited to." "Substantially" means that those skilled in the art can solve the technical problem within a certain error range and achieve a substantial technical effect.

[0025] See also Figure 1 , an embodiment of the present application provides a robot 100. This specification does not limit the specific type of the robot 100. For example, the robot 100 may be an industrial robotic arm robot or a collaborative robot. In this embodiment, the robot 100 is a cylindrical coordinate industrial robot. The robot 100 may include a joint body 101, an end drive module 60, and an execution end 103. The end drive module 60 is connected between the joint body 101 and the execution end 103, and is used to drive the execution end 103 to move relative to the joint body 101 under the drive of the joint body 101. This specification does not limit the specific type of the execution end 103. The execution end 103 may be a joint of the robot 100, such as a wrist joint or an elbow joint. The execution end 103 may also be a tooling fixture.

[0026] Please also see Figure 2 and Figure 3 The joint body 101 may include a base 10, a transmission arm 30, and an articulated arm 40. The base 10 may be mounted on a workbench in the robot 100's application environment and used to mount other components of the robot 100. The transmission arm 30 may include a transmission housing 32 and a first drive module 20. The transmission housing 32 is rotatably connected to the base 10. The first drive module 20 is transmission-connected between the base 10 and the transmission housing 32. The articulated arm 40 may include a joint housing 50 and a second drive module 41. The joint housing 50 is rotatably connected to the transmission housing 32. The second drive module 41 is transmission-connected between the transmission housing 32 and the joint housing 50. The end drive module 60 may include a lead screw drive module 80, a spline drive module 90, and an output end 65. The lead screw drive module 80 and the spline drive module 90 are mounted on the joint housing 50. The output end 65 is transmission-connected to the lead screw drive module 80 and the spline drive module 90. The output end 65 is connected to the actuator 103.

[0027] In this embodiment, the first drive module 20 is used to drive the transmission housing 32 to rotate around the first axis X relative to the base 10. When the robot 100 is in use, the base 10 is fixed to the workbench, and the first axis X intersects with the plane where the workbench is located, for example, the first axis X is roughly perpendicular to the plane where the workbench is located. The second drive module 41 is used to drive the joint housing 50 to rotate around the second axis Y relative to the transmission housing 32, and the second axis Y intersects with the plane where the aforementioned workbench is located, for example, the second axis Y is roughly perpendicular to the plane where the workbench is located. The screw drive module 80 is used to drive the output end 65 to move along the third axis Z relative to the transmission housing 32, and the spline drive module 90 is used to drive the output end 65 to rotate around the third axis Z relative to the transmission housing 32. In this embodiment, the first axis X, the second axis Y, and the third axis Z are parallel to each other.

[0028] When in use, the first drive module 20 can drive the transmission housing 32 to rotate relative to the base 10 to meet the movement requirements of the first degree of freedom of movement, the second drive module 41 can drive the joint housing 50 to rotate relative to the transmission housing 32 to meet the movement requirements of the second degree of freedom of movement, the screw drive module 80 can drive the output end 65 to move relative to the transmission housing 32 to meet the movement requirements of the third degree of freedom of movement, and the spline drive module 90 can drive the output end 65 to rotate relative to the transmission housing 32 to meet the movement requirements of the fourth degree of freedom of movement. The robot 100 provided in the embodiment of the present application has four degrees of freedom of movement.

[0029] Please also see Figure 3 and Figure 4 In this embodiment, the joint housing 50 may include a body 52 and an oil filling cap 54. The body 52 has a mounting cavity 521 and an oil filling port 523. The oil filling port 523 communicates between the mounting cavity 521 and the exterior of the body 52. ​​The oil filling cap 54 is movably connected to the body 52 to cover the oil filling port 523. A screw drive module 80 is disposed in the mounting cavity 521. The screw drive module 80 may include a screw shaft 81, a screw nut 83, and a first drive assembly 85. The screw shaft 81 is rotatably connected to the body 52. ​​The screw nut 83 is connected to the screw shaft 81 via a threaded pair. The screw nut 83 has an oil guide and lubrication portion 832. The first drive assembly 85 is transmission-connected to the screw shaft 81 and is used to drive the screw shaft 81 to drive the screw nut 83 to move relative to the body 52. ​​The screw nut 83 has an initial position. When the screw nut 83 is in the initial position, the oil guide and lubrication portion 832 is opposite the oil filling port 523.

[0030] After the robot 100 has been used for a long time and the structure inside the joint housing 50 needs to be lubricated, the robot 100 is first driven to move to the zero position, at which time the screw nut 83 is in the initial position. When performing maintenance and repair on the screw drive module 80, the oil filling cap 54 is opened to expose the oil filling port 523. Looking into the body 52 from the oil filling port 523, the oil guide lubrication part 832 can be seen facing it. The operator extends the nozzle of the oil gun from the oil filling port 523 into the body 52, aligns it with the oil guide lubrication part 832, and injects grease. After the maintenance is completed, the oil filling cap 54 is closed on the oil filling port 523. The operation is convenient, time-saving and labor-saving, and the efficiency of the maintenance of the robot 100 is improved.

[0031] In this embodiment, the end drive module 60 may further include a mounting seat 61, which is used to mount the screw drive module 80 and the spline drive module 90. The mounting seat 61 is connected to the main body 52, and the screw shaft 81 is passed through the mounting seat 61 and is rotatably connected to the mounting seat 61. Both ends of the screw shaft 81 are rotatably connected to the main body 52. ​​The length direction of the screw shaft 81 is in the same direction as the third axis Z. This specification does not limit the manner of rotational connection between the screw shaft 81 and the mounting seat 61. For example, the screw shaft 81 can be rotatably connected to the mounting seat 61 through a bearing. One end of the screw shaft 81 is transmission-connected to the first drive assembly 85, and it can rotate relative to the mounting seat 61 under the drive of the first drive assembly 85.

[0032] The screw nut 83 is provided with a central axis hole 831 extending axially through both ends of the screw nut 83 . The screw nut 83 is sleeved onto the screw shaft 81 through the central axis hole 831. The screw nut 83 is slidably connected to the body 52 , such that when the first drive assembly 85 rotates the screw shaft 81 , the screw nut 83 does not rotate, thereby allowing the screw nut 83 to move along the third axis Z. The output end 65 can be fixed to the screw nut 83 directly or indirectly via some motion assembly, thereby enabling the output end 65 to achieve linear reciprocating motion driven by the screw nut 83 .

[0033] In the application environment of the robot 100, the end of the screw shaft 81 away from the workbench secured to the base 10 is designated as the top end 812, and the end of the screw shaft 81 closer to the workbench is designated as the bottom end 814. When the first drive assembly 85 drives the screw shaft 81 to rotate, the screw nut 83 moves along the length of the screw shaft 81. In this embodiment, the "initial position" of the screw nut 83 can be understood as the position of the screw nut 83 near the top end 812, i.e., the extreme position of the screw nut 83 moving toward the top end 812 when the first drive assembly 85 drives the screw shaft 81 to rotate.

[0034] This specification does not limit the specific structure of the oil-guiding lubrication portion 832 of the screw nut 83. For example, the oil-guiding lubrication portion 832 may include a groove formed on the screw nut 83, the groove being connected to the central shaft hole 831. Grease is injected into the groove, and the grease can flow into the central shaft hole 831 through the groove to lubricate the screw shaft 81 and the screw nut 83. Alternatively, the oil-guiding lubrication portion 832 may also include the aforementioned central shaft hole 831. During maintenance, the nozzle of the oil gun is directly aligned with the end of the central shaft hole 831 close to the top end 812, and grease is injected into the central shaft hole 831 to lubricate the screw shaft 81 and the screw nut 83. In other embodiments, the oil-guiding lubrication portion 832 may also include structures such as an oil-guiding pipe formed on the screw nut 83.

[0035] In this embodiment, the oil-guiding lubrication portion 832 includes an oil filling hole 8321, which is arranged along the radial direction of the screw nut 83. The oil filling hole 8321 connects the central shaft hole 831 and the mounting cavity 521. During maintenance, the operator inserts the oil gun from the oil filling port 523 into the mounting cavity 521, aligns the nozzle of the oil gun with the oil filling hole 8321, and injects grease. The grease flows from the oil filling hole 8321, such as the central shaft hole 831, to lubricate the space between the screw shaft 81 and the screw nut 83. The robot 100 is fixed to a horizontal workbench in the application environment. When the robot 100 is in a working posture, the screw shaft 81 is approximately perpendicular to the workbench and arranged vertically, and the screw nut 83 is arranged along the direction of gravity. This specification does not limit the specific location of the oil filling hole 8321. The oil filling hole 8321 is located relatively at the upper end of the screw nut 83 (i.e., the end of the screw nut 83 near the top end 812), or relatively at the lower end of the screw nut 83 (i.e., the end of the screw nut 83 near the bottom end 814). In this embodiment, the oil filling hole 8321 is located relatively at the lower end of the screw nut 83.

[0036] In this embodiment, the screw nut 83 may include a connecting portion 834 and a protruding portion 836. Both the connecting portion 834 and the protruding portion 836 are sleeved on the outside of the screw shaft 81. The protruding portion 836 is connected to one end of the connecting portion 834 and protrudes relative to the outer peripheral wall of the connecting portion 834. The connecting portion 834 and the protruding portion 836 may be integrally formed and connected. The inner diameters of the connecting portion 834 and the protruding portion 836 are the same, and the outer diameter of the protruding portion 836 is larger than the outer diameter of the connecting portion 834. The oil filling hole 8321 is provided in the protruding portion 836, reducing the distance between it and the oil filling port 523, thereby improving the convenience of relubrication during maintenance.

[0037] The size of the oil filling port 523 can be adaptively adjusted based on the size of the protrusion 836 of the screw nut 83. When the screw nut 83 is in its initial position and projected vertically toward the screw shaft 81, the projection of the oil filling cap 54 covers the projection of the oil filling hole 8321. When the oil filling cap 54 is opened and the operator replenishes grease, it can be visually seen from the oil filling port 523 whether the grease has overflowed from the lower end surface of the screw nut 83. If it has overflowed, the surface is lubricated and no further injection is required. The relative position setting of the oil filling port 523 and the initial position of the screw nut 83 allows the operator to observe the replenishment of lubrication in real time when maintaining the screw shaft 81, thereby improving maintenance efficiency.

[0038] To further enhance the ease of lubrication, in this embodiment, the screw drive module 80 may further include a lubrication nozzle 87 disposed through the lubrication hole 8321. The lubrication nozzle 87 projects beyond the screw nut 83 at one end of the lubrication hole 8321 toward the lubrication port 523, making it easier to align the oil gun and perform lubrication operations.

[0039] In this embodiment, the first drive assembly 85 is arranged in the body 52, which is used to drive the screw shaft 81 to rotate. The first drive assembly 85 may include a screw drive and a screw transmission (not shown in the figure), and the screw drive is connected to the screw shaft 81 through the screw transmission. This specification does not limit the specific type of the screw drive. For example, the screw drive can be a driving source such as a rotary motor, a rotary cylinder, or a motor. In this embodiment, the screw drive adopts a rotary motor. This specification does not limit the specific structure of the screw transmission. For example, the screw transmission can include structures such as gears and racks that cooperate with each other, or can include synchronous belts and synchronous pulleys that cooperate with each other. In this embodiment, the screw transmission includes an input synchronous pulley, a synchronous belt, and an output synchronous pulley. The input synchronous pulley is connected to the output end of the screw drive, and the output synchronous pulley can be fixedly connected to the screw shaft 81. The synchronous belt is wound around the input synchronous pulley and the output synchronous pulley. When the screw drive is started, it can drive the screw shaft 81 to rotate through the screw transmission.

[0040] In this embodiment, the spline drive module 90 includes a spline shaft 92 and a second drive assembly 94. The spline shaft 92 is slidably disposed within the mounting seat 61 and spaced apart from the screw shaft 81. The spline shaft 92 is connected to the body 52 via the mounting seat 61. The output end 65 is disposed at one end of the spline shaft 92. The second drive assembly 94 is disposed within the body 52 and is transmission-connected to the spline shaft 92. When the second drive assembly 94 rotates the spline shaft 92, the output end 65 is rotated. In this embodiment, the end of the spline shaft 92 distal from the output end 65 is connected to the screw nut 83. When the first drive assembly 85 rotates the screw shaft 81, the screw nut 83 drives the output end 65 along the third axis Z via the spline shaft 92.

[0041] In the present embodiment, the second drive assembly 94 is used to drive the spline shaft 92 to rotate. This specification does not limit the specific structure of the second drive assembly 94. For example, the second drive assembly 94 may include a rotating motor, a synchronous belt and synchronous pulley transmission group, a spline nut and other structures. As another example, the second drive assembly 94 may include a transmission combination of a cylinder, a gear and a rack. In the present embodiment, the second drive assembly 94 may include a spline drive member, a spline transmission member and a spline nut (not shown in the figure), and the spline nut is rotatably connected to the mounting seat 61. The spline nut is sleeved on the outside of the spline shaft 92 and is connected to the spline shaft 92. The spline drive member is connected to the spline nut through the spline transmission member. The spline drive member is used to drive the spline nut to rotate, and the spline nut rotates to drive the spline shaft 92.

[0042] This specification does not limit the specific type of spline drive member. For example, the spline drive member can be a driving source such as a rotary motor, a rotary cylinder, or a motor. In this embodiment, the spline drive member adopts a rotary motor. This specification does not limit the specific structure of the spline transmission member. For example, the spline transmission member can include mutually cooperating gears, racks and other structures, and can also include mutually cooperating synchronous belts and synchronous pulleys. In this embodiment, the spline transmission member also includes an input synchronous pulley, a synchronous belt and an output synchronous pulley. The input synchronous pulley is connected to the output end of the spline drive member, the output synchronous pulley can be fixedly connected to the spline nut, and the synchronous belt is wound around the input synchronous pulley and the output synchronous pulley.

[0043] In this embodiment, the main body 52 is used to mount the second drive module 41 and the final drive module 60. To facilitate assembly, the main body 52 can be designed as a split body. The main body 52 can be processed in two parts, for example, into a lower shell and an upper cover. During installation, the second drive module 41 and the final drive module 60 are first installed in the lower shell. After the installation is completed, the upper cover is fixed to the lower shell to form the complete main body 52.

[0044] Please also see Figure 3 and Figure 5The upper cover of the body 52 may include a first mounting portion 525 and a second mounting portion 527. The first mounting portion 525 protrudes relative to the second mounting portion 527 to accommodate the spline shaft 92 and the lead screw shaft 81, and the second mounting portion 527 is used to accommodate the second drive module 41. The structural design of the first mounting portion 525 and the second mounting portion 527 satisfies the requirements of reducing the size of the robot 100 while accommodating the structural shapes of the second drive module 41 and the end drive module 60. The oil filling port 523 is provided on the side wall of the first mounting portion 525 facing the second mounting portion 527, facilitating maintenance operations for the operator. The oil filling cap 54 is movably connected to the first mounting portion 525. This specification does not limit the specific connection structure between the oil filling cap 54 and the first mounting portion 525. For example, the oil filling cap 54 may be hinged to the first mounting portion 525, or the oil filling cap 54 may be fixed to the first mounting portion 525 by fasteners such as bolts and screws. In this embodiment, the oil filling cover 54 is connected to the first mounting portion 525 by screws 541 and covers the oil filling port 523 . There are multiple screws 541 , and the multiple screws 541 are distributed along the circumference of the oil filling cover 54 .

[0045] The lower shell of the body 52 is provided with a mounting hole 529, which communicates with the mounting cavity 521. The end of the spline shaft 92 connected to the output end 65 extends through the mounting hole 529. The output end 65 can be integrally formed with the spline shaft 92 and located outside the body 52. ​​If the spline shaft 92 needs to be relubricated, lubrication can be performed from the output end 65.

[0046] In this embodiment, the robot 100 may further include a wiring harness assembly 110, which is sequentially arranged in the base 10, the transmission arm 30, and the articulated arm 40. The wiring harness assembly 110 is electrically connected to the first drive module 20, the second drive module 41, the first drive assembly 85, and the second drive assembly 94. This specification does not limit the specific structure of the wiring harness assembly 110. For example, the wiring harness assembly 110 may include cables and an interface panel. The interface panel may be arranged on a side wall of the base 10 or on an outer wall of the articulated arm 40 (e.g., the top wall of the second mounting portion 527).

[0047] In this embodiment, when the robot 100 needs to be lubricated after a long period of use and the structure inside the joint housing 50 needs to be lubricated, the robot 100 is first driven to move to the zero position, at which time the screw nut 83 is in the initial position. When performing maintenance and repair on the screw drive module 80, the oil filling cap 54 is opened to expose the oil filling port 523. When looking into the body 52 from the oil filling port 523, the oil guide lubrication part 832 can be seen facing it. The operator extends the nozzle of the oil gun from the oil filling port 523 into the body 52, aligns it with the oil guide lubrication part 832, and injects grease. After the maintenance is completed, the oil filling cap 54 is closed on the oil filling port 523. This is convenient to operate, saves time and effort, and improves the efficiency of the maintenance of the robot 100.

[0048] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 present application. 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application 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 cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot, characterized in that: include: A joint housing, the joint housing comprising a body and an oil filling cap, the body having a mounting cavity and an oil filling port, the oil filling port communicating with the mounting cavity and the body, the oil filling cap being movably connected to the body to cover the oil filling port; and a screw drive module, which is arranged in the installation cavity, and the screw drive module comprises: A screw shaft rotatably connected to the body; A screw nut is connected to the screw shaft through a threaded pair, and the screw nut has an oil guide lubrication portion; And a first driving assembly, which is transmission-connected to the screw shaft and is used to drive the screw shaft to rotate so as to drive the screw nut to move relative to the body; the screw nut has an initial position, and when the screw nut is located at the initial position, the oil guide lubrication part is opposite to the oil filling port.

2. The robot according to claim 1, characterized in that: The screw nut is provided with a central shaft hole, and the screw nut is sleeved outside the screw shaft through the central shaft hole; the oil guide lubrication part includes an oil filling hole, and the oil filling hole is connected with the central shaft hole and the installation cavity.

3. The robot according to claim 2, characterized in that: The screw drive module also includes an oiling nozzle, which is penetrated through the oiling hole, and one end of the oiling nozzle facing the oiling port relative to the oiling hole protrudes from the screw nut.

4. The robot according to claim 2, characterized in that: The oil filling hole is arranged along the radial direction of the screw nut. When the robot is in a working posture, the screw nut is arranged along the gravity direction. The oil filling hole is relatively located at the upper end of the screw nut, or the oil filling hole is relatively located at the lower end of the screw nut.

5. The robot according to claim 2, characterized in that: The screw nut includes a connecting portion and a protruding portion, both of which are sleeved outside the screw shaft, the protruding portion is connected to one end of the connecting portion and protrudes relative to the outer peripheral wall of the connecting portion, and the oil filling hole is opened in the protruding portion; when the screw nut is located at the initial position and is vertically projected toward the screw shaft, the projection of the oil filling cap covers the projection of the oil filling hole.

6. The robot according to claim 1, characterized in that: The robot also includes a spline drive module, which includes a spline shaft and a second drive component. The spline shaft is slidably connected to the body and is spaced apart from the screw shaft, and the spline shaft is connected to the screw nut; the second drive component is arranged in the body and is transmission-connected to the spline shaft, and the second drive component is used to drive the spline shaft to rotate.

7. The robot according to claim 6, characterized in that: The body is provided with a mounting hole, and one end of the spline shaft extends out through the mounting hole. The robot also includes an output end, which is located outside the body and is transmission-connected to the spline shaft.

8. The robot according to any one of claims 1 to 7, characterized in that: The robot also includes a base, a transmission arm and a joint arm, the transmission arm includes a transmission housing and a first drive module, the transmission arm is rotatably connected to the base, and the first drive module is transmission-connected between the base and the transmission housing; the joint arm includes the joint housing and a second drive module, the joint housing is rotatably connected to the transmission housing, and the second drive module is transmission-connected between the joint housing and the transmission housing.

9. The robot according to claim 8, characterized in that The first driving module is used to drive the transmission housing to rotate relative to the base around a first axis, and the second driving module is used to drive the joint housing to rotate relative to the transmission housing around a second axis. The first axis and the second axis are parallel to each other.

10. The robot according to claim 8, characterized in that: The robot also includes a wiring harness assembly, which is arranged in the base, the transmission housing and the joint housing in sequence, and the wiring harness assembly is electrically connected to the first drive module, the second drive module and the first drive assembly.

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