Joint body and robot

Abstract

The utility model relates to a joint body and a robot. The joint body comprises a base, a first joint arm and a second joint arm. The base is used for being fixed to a workbench, the first joint arm comprises a first shell and a first driving part, the first shell is rotatably connected to the base, the first driving part is in transmission connection between the base and the first shell, and a first oil discharge hole is formed in the first shell. The second articulated arm comprises a second shell, a second driving part and a first oil discharge plug, the second shell is rotatably connected to the first shell, and the second driving part is in transmission connection between the first shell and the second shell; one end of the second driving part is embedded in the first shell, the first oil discharge hole communicates with an oil cavity of the second driving part, and the first oil discharge plug is arranged in the first oil discharge hole. When the joint main body discharges oil, the second driving piece does not need to be disassembled between the first shell and the second shell, so that the joint main body is simple and convenient, and the oil change efficiency is greatly improved.

Description

Technical Field

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

[0002] 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, such as automobile manufacturing, new energy, semiconductors, hardware processing, etc., due to its fast operation rhythm, easy deployment, small space occupation, and only four axes, which is cheaper than the traditional six axes. It is mainly used in a series of occasions such as parts assembly, material sorting, and object handling. It has high task execution efficiency and low error rate, which greatly saves the investment of manpower and material resources in modern factories.

[0003] The oil in the oil chamber of the robot's drive module needs to be replaced regularly to ensure the stable operation of the robot. At present, when draining the oil, the drive module of the SCARA robot on the market usually needs to be removed from the robot housing and then the drain plug is opened to drain the oil, which is complicated and inefficient. Utility Model Content

[0004] The embodiments of the present application provide a joint body and a robot.

[0005] In the first aspect, an embodiment of the present application provides a joint body, including a base, a first joint arm and a second joint arm. The base is used to be fixed to a workbench, the first joint arm includes a first shell and a first drive member, the first shell is rotatably connected to the base, the first drive member is transmission-connected between the base and the first shell, and the first shell is provided with a first oil drain hole. The second joint arm includes a second shell, a second drive member and a first oil drain plug, the second shell is rotatably connected to the first shell, the second drive member is transmission-connected between the first shell and the second shell; one end of the second drive member is embedded in the first shell, the first oil drain hole is connected to the oil chamber of the second drive member, and the first oil drain plug is arranged in the first oil drain hole.

[0006] In some optional examples, the first driving member includes a first motor, a first flange and a first reducer, the first reducer is connected to the output shaft of the first motor, the first flange is connected between the first reducer and the first motor, the first motor is arranged in the base, and the first housing is transmission-connected to the output end of the first reducer.

[0007] In some optional examples, the first reducer is provided with a first oil filling hole, the first oil filling hole is connected to the oil chamber of the first reducer, and the first flange is provided with a second oil drain hole, the second oil drain hole is connected to the oil chamber of the first reducer; the first joint arm also includes a first oil filling plug and a second oil drain plug, the first oil filling plug is arranged at the first oil filling hole, and the second oil drain plug is arranged at the second oil drain hole.

[0008] In some optional examples, the first reducer is further provided with a first vent hole, the first vent hole is connected to the oil chamber of the first reducer, and the first joint arm also includes a first vent plug, and the first vent plug is arranged in the first vent hole.

[0009] In some optional examples, the second driving member includes a second motor, a second flange and a second reducer, the second reducer is connected to the output shaft of the second motor, the second flange is connected between the second reducer and the second motor, the second motor is disposed in the second housing, and the first housing is transmission-connected to the output end of the first reducer.

[0010] In some optional examples, the second reducer is further provided with a second oil filling hole, which is connected to the oil chamber of the second reducer, and the second joint arm also includes a second oil filling plug, which is arranged at the second oil filling hole.

[0011] In some optional examples, the second oil filling hole is opened on the end face of the second flange close to the second motor, the second flange and the second reducer are arranged in the first shell, and the side wall of the second flange is provided with a connecting hole, which connects the oil chamber of the second reducer and the first oil drain hole.

[0012] In some optional examples, the second flange is further provided with a second vent hole, the second vent hole is connected to the oil chamber of the second reducer, and the second joint arm also includes a second vent plug, and the second vent plug is arranged in the second vent hole.

[0013] In some optional examples, the first driving member is used to drive the first shell to rotate relative to the base around a first axis, and the second driving member is used to drive the second shell to rotate relative to the first shell around a second axis, and the first axis is parallel to the second axis.

[0014] In a second aspect, an embodiment of the present application further provides a robot, comprising the above-mentioned joint body and an end driver, wherein the end driver is connected to the joint body.

[0015] In some optional examples, the end drive includes a first drive component, a second drive component and an output member, the first drive component is transmission-connected to the output member for driving the output member to rotate around a third axis, and the second drive component is transmission-connected to the output member for driving the output member to move along the third axis.

[0016] Compared with the prior art, in the joint body provided by the embodiment of the present application, one end of the second driving member is embedded in the first shell, the first shell is provided with a first oil drain hole, the first oil drain hole is connected with the oil cavity of the second driving member in the first shell, and the first oil drain plug is arranged in the first oil drain hole to prevent oil leakage. When the oil needs to be drained, the first oil drain plug is directly removed from the first shell, and the oil in the oil cavity of the second driving member can be discharged through the first oil drain hole, without removing the second driving member from between the first shell and the second shell, which is simple and convenient, and greatly improves the efficiency of oil change. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a module block diagram of a robot provided in one embodiment of the present application.

[0019] Figure 2 It is a three-dimensional structural schematic diagram of a joint body and an end driver provided in one embodiment of the present application.

[0020] Figure 3 yes Figure 2 Schematic diagram of the internal structure of the joint body and end drive.

[0021] Figure 4 yes Figure 2 A schematic diagram of the exploded structure of the second driving member and the first shell of the joint body is shown.

[0022] Figure 5 yes Figure 2 A schematic structural diagram of the base of the joint body shown.

[0023] Figure 6 yes Figure 2 A schematic structural diagram of the first driving component of the joint body is shown.

[0024] Description of reference numerals: 100, joint body; 10, base; 12, fixing seat; 121, top surface; 123, bottom surface; 125, first mounting cavity; 127, first mounting hole; 14, connecting seat; 141, first connecting part; 143, first clamping part; 20, first joint arm; 21, first housing; 212, first oil drain hole; 23, first driving member; 232, first motor; 234, first flange; 235, first oil filling hole; 236, first reducer; 237, second oil drain hole; 238, first vent hole; 25, first oil filling plug; 27, second oil drain plug; 28, first vent plug; 30. second articulated arm; 32. second shell; 321. first mounting shell; 323. second mounting shell; 324. second connecting portion; 325. second clamping portion; 34. second driving member; 341. second motor; 343. second flange; 3432. connecting hole; 3434. second vent hole; 345. second reducer; 346. second oil filling hole; 36. first oil drain plug; 38. second oil filling plug; 39. second vent plug; 200. robot; 201. end drive; 2012. first driving assembly; 2014. second driving assembly; 2016. output member; 203. execution end. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0026] If certain words 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 use differences in names as a way to distinguish components, but use differences in components' functions as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0027] See also Figure 1 , an embodiment of the present application provides a joint body 100 and a robot 200 , and the joint body 100 can be applied to the robot 200 .

[0028] This specification does not limit the specific type of the robot 200. For example, the robot 200 may be an industrial robot arm robot or a collaborative robot. In this embodiment, the robot 200 is a cylindrical coordinate industrial robot. The robot 200 may include the aforementioned joint body 100, an end driver 201, and an execution end 203. The end driver 201 is connected between the joint body 100 and the execution end 203, and is used to drive the execution end 203 to move relative to the joint body 100 under the drive of the joint body 100. This specification does not limit the specific type of the execution end 203. The execution end 203 may be a joint of the robot 200, such as a wrist joint or an elbow joint. The execution end 203 may also be a fixture.

[0029] Please also see Figure 2 , Figure 3 and Figure 4 The joint body 100 may include a base 10, a first joint arm 20 and a second joint arm 30. The base 10 may be arranged on a workbench in the application environment of the robot 200 and is suitable for being fixed to the workbench, and is used to install other structures of the robot 200. The first joint arm 20 may include a first housing 21 and a first driving member 23, and the first housing 21 is rotatably connected to the base 10. The first driving member 23 is transmission-connected between the base 10 and the first housing 21, and the first housing 21 is provided with a first oil drain hole 212. The second joint arm 30 includes a second housing 32, a second driving member 34 and a first oil drain plug 36, and the second housing 32 is rotatably connected to the first housing 21. The second driving member 34 is transmission-connected between the first housing 21 and the second housing 32. One end of the second driving member 34 is embedded in the first housing 21, the first oil drain hole 212 is connected to the oil chamber of the second driving member 34, and the first oil drain plug 36 is arranged in the first oil drain hole 212.

[0030] In the joint body 100 provided in the embodiment of the present application, one end of the second driving member 34 is embedded in the first housing 21, and a first oil drain hole 212 is provided on the first housing 21. The first oil drain hole 212 is connected to the oil cavity of the second driving member 34 in the first housing 21, and a first oil drain plug 36 is provided in the first oil drain hole 212 to prevent oil leakage. When the oil needs to be drained, the first oil drain plug 36 is directly removed from the first housing 21, and the oil in the oil cavity of the second driving member 34 can be discharged through the first oil drain hole 212, without removing the second driving member 34 from between the first housing 21 and the second housing 32, which is simple and convenient, and greatly improves the efficiency of oil change.

[0031] In this application, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed" and the like 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 a direct connection, or it can be indirectly connected through an intermediate medium, it can be internal communication between two elements, or it can be only surface contact. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0032] Please also see Figure 2 and Figure 5 In this embodiment, the base 10 may include a fixing seat 12 and a connecting seat 14. The fixing seat 12 is used to be fixedly connected to the workbench, and the fixing seat 12 has a top surface 121 and a bottom surface 123 opposite to each other, and the bottom surface 123 is used to support the use place of the robot 200. Among them, the "bottom surface 123" can be understood as the side surface of the fixing seat 12 that is fixed and in contact with the workbench in the application scenario, and the "top surface 121" is the side surface of the fixing seat 12 that is away from the aforementioned workbench. The fixing seat 12 is provided with a first mounting cavity 125 and a first mounting hole 127, the first mounting cavity 125 is located between the top surface 121 and the bottom surface 123, the first mounting hole 127 is provided on the top surface 121, and the first mounting hole 127 connects the first mounting cavity 125 and the outside of the base 10.

[0033] In this embodiment, the connection seat 14 is connected to the top surface 121 of the fixed seat 12. The connection seat 14 is set to a hollow structure and communicates with the inner cavity of the fixed seat 12. The hollow space in the connection seat 14 can be used for routing cables of the robot 200. This specification does not limit the specific structure of the connection seat 14. As an example, the connection seat 14 may include a first connection portion 141 and a first clamping portion 143. The first connection portion 141 is connected to the fixed seat 12 and protrudes relative to the top surface 121 of the fixed seat 12. The first clamping portion 143 is connected to one end of the first connection portion 141 away from the fixed seat 12. The first clamping portion 143 protrudes relative to the side wall of the first connection portion 141 to be arranged relative to the fixed seat 12.

[0034] The base 10 can be integrally formed by casting to ensure high structural strength and transmission stability. Therefore, although the fixed seat 12 and the connecting seat 14 use different names to refer to different parts of the base 10, these names should not be regarded as restrictions on the structure of the base 10. These names are made only for the convenience of description. For example, the connection between the fixed seat 12 and the connecting seat 14 can be an integrally formed connection structure, and there may be no obvious dividing line between the fixed seat 12 and the connecting seat 14. In other embodiments, the base 10 can be formed by assembly connection to reduce the difficulty of preparation and increase the convenience of assembly. For example, after the fixed seat 12 and the connecting seat 14 can be independently prepared, they can be assembled together by fasteners to form the overall structure of the base 10. In this embodiment, the connection between the first connecting portion 141 and the fixed seat 12 is an integrally formed connection structure, which improves the structural strength of the two. In order to facilitate assembly, the first clamping portion 143 is independently prepared and connected to the first connecting portion 141 by fasteners during assembly.

[0035] Please also see Figure 5 and Figure 6 In this embodiment, the first driving member 23 is installed in the first installation cavity 125 through the first installation hole 127. The first driving member 23 may include a first motor 232, a first flange 234 and a first reducer 236. The first reducer 236 is connected to the output shaft of the first motor 232, and the first flange 234 is connected between the first reducer 236 and the first motor 232. The first motor 232 is installed in the first installation cavity 125, and the first reducer 236 is located outside the first installation cavity 125 so as to be connected to the first joint arm 20, and the first housing 21 is transmission-connected to the output end of the first reducer 236.

[0036] Please also see Figure 3 and Figure 6 The first driving member 23 is used to drive the first housing 21 to rotate relative to the base 10 around the first axis X. When the robot 200 is in use, the base 10 is fixed on the workbench, and the first axis X intersects with the plane where the workbench is located. For example, the first axis X is substantially perpendicular to the plane where the workbench is located. This specification does not limit the specific structure of the first driving member 23. For example, the first driving member 23 may include a rotating motor, a reducer, or other structures, or the first driving member 23 may also include a driving member such as a rotating cylinder.

[0037] The first reducer 236 is provided with a first oil filling hole 235, and the first oil filling hole 235 is connected to the oil chamber of the first reducer 236. The first flange 234 is provided with a second oil drain hole 237, and the second oil drain hole 237 is connected to the oil chamber of the first reducer 236. The first joint arm 20 also includes a first oil filling plug 25 and a second oil drain plug 27, the first oil filling plug 25 is arranged in the first oil filling hole 235, and the second oil drain plug 27 is arranged in the second oil drain hole 237. When filling oil, the first oil filling plug 25 is removed, and oil is filled into the oil chamber of the first reducer 236 through the first oil filling hole 235. When draining oil, the second oil drain plug 27 is removed, and oil is drained through the second oil drain hole 237.

[0038] Specifically, the first oil injection hole 235 is disposed on the end surface of the first reducer 236 away from the first motor 232 (that is, the output end of the first reducer 236). Figure 5 The aperture of the first motor 232 is smaller than the outer diameter of the first flange 234 and larger than the outer diameter of the first motor 232, so that the first motor 232 can be installed in the first installation cavity 125 from the first installation hole 127 on the top surface 121 of the fixing seat 12; the first flange 234 is connected to the fixing seat 12 and will not be embedded in the first installation cavity 125 due to the limitation of the first installation hole 127, so that the output end of the first reducer 236 is located outside the first installation cavity 125. The first oil injection hole 235 is set at the output end of the first reducer 236, located outside the base 10. When injecting oil, there is no need to remove the first driving member 23 from the base 10, thereby improving the oil injection efficiency.

[0039] In other embodiments, the second oil drain hole 237 may also be provided on the side wall of the fixed seat 12, and may be connected to the oil chamber of the first reducer 236 in the fixed seat 12 through a pipeline. Therefore, when draining the oil, there is no need to remove the first driving member 23 from the base 10, thereby improving the oil drainage efficiency.

[0040] In the present application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0041] In this embodiment, the first reducer 236 is further provided with a first vent hole 238, which is connected to the oil chamber of the first reducer 236. The first joint arm 20 also includes a first vent plug 28, which is arranged at the first vent hole 238. The first vent hole 238 is also arranged at the end face of the output end of the first reducer 236, and is spaced apart from the first oil filling hole 235. When actually filling the oil, both the first oil filling plug 25 and the first vent plug 28 are removed, and then the oil is filled from the first oil filling hole 235. At this time, the first vent hole 238 is used for ventilation to ensure that the oil chamber of the first reducer 236 is at a constant pressure with the atmosphere, thereby facilitating the injection of the oil. When draining the oil, both the first vent plug 28 and the second oil drain plug 27 need to be removed, and the oil flows out through the second oil drain hole 237. Similarly, the first vent hole 238 is used for ventilation to ensure that the oil chamber of the first reducer 236 is at a constant pressure with the atmosphere, thereby facilitating the discharge of the oil.

[0042] Please refer again Figure 2 and Figure 3 One end of the first housing 21 is rotatably connected between the first clamping portion 143 and the fixing seat 12, and the first clamping portion 143 and the fixing seat 12 are respectively located on opposite sides of the first housing 21 to jointly clamp the first housing 21. The first clamping portion 143 and the fixing seat 12 jointly clamp the first housing 21, indirectly providing a pulling force to resist the bending moment to the first housing 21, improving the stability of the installation and operation of the first housing 21, and improving the overall rigidity of the joint body 100.

[0043] One side of the first shell 21 close to the fixed seat 12 is covered outside the partial structure of the first driving member 23 and is transmission-connected to the output end of the first driving member 23. The first shell 21 has an inner cavity, and the output end of the first driving member 23 is accommodated in the inner cavity of the first shell 21. The first clamping portion 143 is connected to the first shell 21, and the connecting portion of the two is provided with a connecting hole to make the first installation cavity 125 connect to the inner cavity of the first shell 21. In order to facilitate the installation of the cables of the robot 200, the first shell 21 can be split into two parts for processing, for example, split into a lower shell and an upper cover. During installation, the cables are first laid in the lower shell. After the laying is completed, the upper cover is fixed to the lower shell to form a complete first shell 21.

[0044] In this embodiment, the second articulated arm 30 is connected to one end of the first articulated arm 20 away from the base 10. The second housing 32 may include a first mounting shell 321 and a second mounting shell 323, and the second mounting shell 323 is connected to the first mounting shell 321. The present specification does not limit the specific structure of the second mounting shell 323. As an example, the second mounting shell 323 may include a second connecting portion 324 and a second clamping portion 325, and the second connecting portion 324 is connected to the bottom of the first mounting shell 321 (the side of the first mounting shell 321 close to the first articulated arm 20) and protrudes relative to the bottom. The second clamping portion 325 is connected to one end of the second connecting portion 324 away from the first mounting shell 321, and the second clamping portion 325 protrudes relative to the side wall of the second connecting portion 324 to be arranged relative to the first mounting shell 321.

[0045] In this embodiment, the connection between the second connection portion 324 and the first mounting shell 321 is an integrally formed connection structure, which improves the structural strength of the two. In order to facilitate assembly, the second clamping portion 325 is prepared independently and connected to the second connection portion 324 by fasteners during assembly.

[0046] One end of the first housing 21 away from the base 10 is rotatably connected between the second clamping portion 325 and the first mounting shell 321. The second clamping portion 325 and the first mounting shell 321 are respectively located on opposite sides of the first joint arm 20 to jointly clamp the first joint arm 20. The second clamping portion 325 and the first mounting shell 321 jointly clamp the first joint arm 20, indirectly providing a pulling force to resist the bending moment to the first joint arm 20, improving the stability of the installation and operation of the first joint arm 20, and improving the overall rigidity of the robot 200.

[0047] See also Figure 3 and Figure 4 In this embodiment, the second driving member 34 is connected between the end of the first shell 21 away from the base 10 and the first mounting shell 321. The second driving member 34 may include a second motor 341, a second flange 343 and a second reducer 345. The second reducer 345 is connected to the output shaft of the second motor 341, and the second flange 343 is connected between the second reducer 345 and the second motor 341. The second motor 341 is arranged in the first mounting shell 321, and the first shell 21 is transmission-connected to the output end of the second reducer 345. The second driving member 34 is used to drive the first mounting shell 321 to rotate around the second axis Y relative to the first shell 21. When the robot 200 is in use, the base 10 is fixed on the workbench, and the second axis Y intersects with the plane where the workbench is located, for example, the second axis Y is substantially perpendicular to the plane where the workbench is located. In this embodiment, the first axis X is parallel to the second axis Y.

[0048] The second reducer 345 is also provided with a second oil filling hole 346, and the second oil filling hole 346 is connected to the oil chamber of the second reducer 345. The second articulated arm 30 also includes a second oil filling plug 38, and the second oil filling plug 38 is arranged at the second oil filling hole 346. When filling oil, the second oil filling plug 38 is removed, and oil is filled into the oil chamber of the second reducer 345 through the second oil filling hole 346. When draining oil, the first oil drain plug 36 is removed, and oil is drained through the first oil drain hole 212. The outer diameter of the second flange 343 is larger than the outer diameter of the second motor 341. Specifically in this embodiment, the second oil filling hole 346 is arranged on the end surface of the second flange 343 facing the second motor 341.

[0049] The second flange 343 and the second reducer 345 are arranged in the first housing 21, and the side wall of the second flange 343 is provided with a connecting hole 3432, which connects the oil chamber of the second reducer 345 and the first oil drain hole 212. The connecting hole 3432 realizes the connection between the oil chamber of the second reducer 345 and the first oil drain hole 212, so that the second driving member 34 can be directly drained outside the first housing 21 without disassembling the second driving member 34, thereby improving the oil drain efficiency. In other embodiments, the oil chamber of the second reducer 345 can also be connected to the first oil drain hole 212 through a connecting pipe.

[0050] In this embodiment, the second flange 343 is further provided with a second vent hole 3434, which is connected to the oil chamber of the second reducer 345. The second joint arm 30 also includes a second vent plug 39, which is arranged at the second vent hole 3434. The second vent hole 3434 is also arranged at the end surface of the second flange 343 close to the second motor 341, and is spaced apart from the second oil filling hole 346. When actually filling the oil, the second oil filling plug 38 and the second vent plug 39 are both removed, and then the oil is filled from the second oil filling hole 346. At this time, the second vent hole 3434 is used for ventilation to ensure that the oil chamber of the second reducer 345 is at a constant pressure with the atmosphere, thereby facilitating the injection of oil. When draining the oil, the second vent plug 39 and the first oil drain plug 36 also need to be removed, and the oil flows out through the first oil drain hole 212. Similarly, the second vent hole 3434 is used for ventilation to ensure that the oil chamber of the second reducer 345 is at a constant pressure with the atmosphere, which facilitates the discharge of the oil.

[0051] In this embodiment, the end driver 201 may include a first drive assembly 2012, a second drive assembly 2014, and an output member 2016. The first drive assembly 2012 is transmission-connected to the output member 2016 to drive the output member 2016 to rotate around the third axis Z, and the second drive assembly 2014 is transmission-connected to the output member 2016 to drive the output member 2016 to move along the third axis Z. The first axis X, the second axis Y, and the third axis Z are all parallel to each other.

[0052] The first driving assembly 2012 and the second driving assembly 2014 are both disposed in the first mounting shell 321. The output member 2016 is located outside the first mounting shell 321 and can move relative to the first mounting shell 321 under the drive of the first driving assembly 2012 and / or the second driving assembly 2014.

[0053] In this embodiment, in the joint body 100 provided in the embodiment of the present application, one end of the second driving member 34 is embedded in the first housing 21, and the first housing 21 is provided with a first oil drain hole 212, which is connected to the oil cavity of the second driving member 34 in the first housing 21, and the first oil drain plug 36 is arranged in the first oil drain hole 212 to prevent oil leakage. When the oil needs to be drained, the first oil drain plug 36 is directly removed from the first housing 21, and the oil in the oil cavity of the second driving member 34 can be discharged through the first oil drain hole 212, without removing the second driving member 34 from between the first housing 21 and the second housing 32, which is simple and convenient, and greatly improves the efficiency of oil change.

[0054] 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 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 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.

[0055] 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 it. 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 joint body, characterized in that: include: A base, used for fixing to a workbench; A first articulated arm, the first articulated arm comprising a first housing and a first driving member, the first housing being rotatably connected to the base, the first driving member being transmission-connected between the base and the first housing, and the first housing being provided with a first oil drain hole; And a second articulated arm, the second articulated arm includes a second shell, a second driving member and a first oil drain plug, the second shell is rotatably connected to the first shell, and the second driving member is transmission-connected between the first shell and the second shell; one end of the second driving member is embedded in the first shell, the first oil drain hole is connected to the oil chamber of the second driving member, and the first oil drain plug is arranged in the first oil drain hole.

2. The joint body according to claim 1, characterized in that: The first driving member includes a first motor, a first flange and a first reducer, the first reducer is connected to the output shaft of the first motor, the first flange is connected between the first reducer and the first motor, the first motor is arranged in the base, and the first shell is transmission-connected to the output end of the first reducer.

3. The joint body according to claim 2, characterized in that: The first reducer is provided with a first oil filling hole, the first oil filling hole is connected to the oil chamber of the first reducer, the first flange is provided with a second oil drain hole, the second oil drain hole is connected to the oil chamber of the first reducer; the first articulated arm also includes a first oil filling plug and a second oil drain plug, the first oil filling plug is arranged at the first oil filling hole, and the second oil drain plug is arranged at the second oil drain hole.

4. The joint body according to claim 3, characterized in that: The first reducer is further provided with a first vent hole, which is connected to the oil chamber of the first reducer. The first joint arm also includes a first vent plug, which is arranged on the first vent hole.

5. The joint body according to claim 1, characterized in that: The second driving member includes a second motor, a second flange and a second reducer, the second reducer is connected to the output shaft of the second motor, the second flange is connected between the second reducer and the second motor, the second motor is arranged in the second housing, and the first housing is transmission-connected to the output end of the second reducer.

6. The joint body according to claim 5, characterized in that: The second reducer is further provided with a second oil filling hole, which is connected to the oil chamber of the second reducer. The second articulated arm also includes a second oil filling plug, which is arranged at the second oil filling hole.

7. The joint body according to claim 6, characterized in that: The second oil filling hole is opened on the end surface of the second flange close to the second motor, the second flange and the second reducer are arranged in the first shell, and the side wall of the second flange is provided with a connecting hole, which connects the oil cavity of the second reducer and the first oil drain hole.

8. The joint body according to claim 7, characterized in that: The second flange is further provided with a second vent hole, which is connected to the oil chamber of the second reducer. The second articulated arm also includes a second vent plug, which is arranged on the second vent hole.

9. The joint body according to any one of claims 1 to 8, characterized in that: The first driving member is used to drive the first shell to rotate relative to the base around a first axis, and the second driving member is used to drive the second shell to rotate relative to the first shell around a second axis, and the first axis is parallel to the second axis.

10. A robot, characterized in that: include: A joint body as claimed in any one of claims 1 to 9; and an end driver connected to the joint body.

11. The robot according to claim 10, characterized in that: The end driver includes a first drive component, a second drive component and an output member, the first drive component is transmission-connected to the output member to drive the output member to rotate around a third axis, and the second drive component is transmission-connected to the output member to drive the output member to move along the third axis.

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