Joint and robot

Abstract

The utility model provides a joint and a robot. The joint comprises a shell, the driving part is mounted on the shell; the speed reducing part is mounted on the shell and is in driving connection with the driving part; the output part is in driving connection with the speed reducing part; the low-speed shaft is in driving connection with the output piece, the low-speed shaft sequentially penetrates through the speed reduction piece and the driving piece in the length direction of the shell, the speed reduction piece, the driving piece and the low-speed shaft are coaxial, and a wiring channel extending in the axial direction is formed in the low-speed shaft. According to the joint and the robot, the problems that in the prior art, a joint is large in size, and internal wiring is inconvenient can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a joint and a robot. Background Art

[0002] In robot joints, the drive assembly is mainly composed of a motor and a reducer, which determines the load capacity of the joint. In the prior art, some joints use a combination of a servo motor and an RV reducer to improve the load capacity of the joint. However, due to the structural characteristics of the servo motor and the RV reducer, the servo motor needs to be installed offset, resulting in a larger radial volume of the joint and making it more difficult to achieve internal wiring. Utility Model Content

[0003] The main purpose of the utility model is to provide a joint and a robot to solve the problems in the prior art that the joints are large in size and inconvenient internal wiring.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, a joint is provided, which includes a shell; a driving member, which is mounted on the shell; a reduction member, which is mounted on the shell and is drivingly connected to the driving member; an output member, which is drivingly connected to the reduction member; and a low-speed shaft, which is drivingly connected to the output member. Along the length direction of the shell, the low-speed shaft sequentially penetrates the reduction member and the driving member, the reduction member, the driving member and the low-speed shaft are coaxial, and the interior of the low-speed shaft has an axially extending wiring channel.

[0005] Furthermore, the output member is arranged on a side of the reduction member facing away from the driving member.

[0006] Furthermore, the output member has a mounting hole coaxial with the low-speed shaft, and at least a portion of the low-speed shaft is arranged inside the mounting hole.

[0007] Furthermore, the driving component is a frameless motor, and the reduction component is an RV reducer.

[0008] Furthermore, the joint also includes a bearing, the driving member has an output shaft, and the output shaft is rotatably connected to the housing through the bearing; and\or a bearing is arranged between the output member and the low-speed shaft; and\or the output shaft is rotatably connected to the low-speed shaft through the bearing.

[0009] Furthermore, the joint also includes a seal, and the seals are arranged at both ends of the speed reducer along the length direction of the shell.

[0010] Furthermore, the sealing element adopts a skeleton oil seal structure.

[0011] Furthermore, the joint also includes an encoder, which is arranged on the low-speed shaft.

[0012] Furthermore, at least two encoders are provided, wherein a code disc of one encoder is rotationally connected to an output shaft of a driving member, and a code disc of another encoder is rotationally connected to a low-speed shaft.

[0013] According to another aspect of the utility model, a robot is provided, comprising the above-mentioned joint.

[0014] By applying the technical solution of the utility model, the following technical effects are achieved:

[0015] 1. The reduction member, the driving member and the low-speed shaft are coaxial, the low-speed shaft passes through the reduction member and the driving member, and there is a wiring channel inside the low-speed shaft. The present application sets the low-speed shaft inside the joint, which can reduce the overall volume of the joint, thereby reducing the space occupied by the robot; at the same time, the lines inside the joint are concentrated in the wiring channel inside the low-speed shaft, which can not only protect the lines and reduce the entanglement of other components with the lines during operation, but also reduce the space occupied by the lines, further reduce the volume of the joint, and solve the problem that traditional driving members cannot achieve coaxial internal wiring.

[0016] 2. The driving member is used as a power source. The driving member is arranged at one end of the housing along the axial direction of the housing. The driving member transmits the rotation to the output member through the reduction member. The reduction member has an input end on one side and an output end on the other side along the axial direction of the housing. In order to better transmit the power, the driving member and the output member are respectively driven and matched with the input shaft and the output shaft to transmit in sequence.

[0017] 3. The structural arrangement of the reduction member and the driving member of the present application can, firstly, facilitate the installation between the various components, especially the low-speed shaft passing through the reduction member and the driving member. Secondly, the reduction member of the present application adopts an RV reducer and the driving member adopts a frameless motor, both of which have the advantages of small size and light weight, which can save the space required for installation and reduce the rotational inertia of the joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0019] Figure 1 A schematic diagram of the overall structure of the joint provided by the utility model;

[0020] Figure 2 This is a schematic diagram of the internal structure of the joint provided by the utility model.

[0021] The above drawings include the following reference numerals:

[0022] 1. Housing; 2. Driving part; 3. Speed ​​reducer; 4. Output part; 41. Mounting hole; 5. Low-speed shaft; 6. Bearing; 7. Seal. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0025] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0026] In order to solve the problem that the servo motors used in the prior art robots are large in size and have inconvenient internal wiring, the present embodiment provides a joint that overcomes the problems in the prior art by changing the layout of the driving member and the reduction member and replacing them with a specific model of driving member.

[0027] Embodiment 1

[0028] A joint, see Figure 1 and Figure 2 , including a shell 1, a driving member 2, a reduction member 3, an output member 4 and a low-speed shaft 5. The driving member 2 is installed on the shell, the reduction member 3 is installed on the shell 1, the reduction member 3 is drivingly connected to the driving member 2, the output member 4 is drivingly connected to the reduction member 3, and the low-speed shaft 5 is drivingly connected to the driving member 2. Along the length direction of the shell 1, the low-speed shaft 5 sequentially penetrates the reduction member 3 and the driving member 2, the reduction member 3, the driving member 2 and the low-speed shaft 5 are coaxial, and the interior of the low-speed shaft 5 has an axially extending wiring channel.

[0029] The driving member 2, as a power source, transmits power to the reduction member 3, and after being decelerated by the reduction member 3, the power is output through the output member 4 to achieve the power output of the joint. Since the low-speed shaft 5 passes through the reduction member 3 and the driving member 2 in sequence, it can be understood that the reduction member 3 and the driving member 2 are sleeved on the low-speed shaft 5. Through such an arrangement, the low-speed shaft 5 can be hidden inside the reduction member 3 and the driving member 2, which can reduce the overall volume of the joint and reduce the space occupied by the joint.

[0030] Specifically, the reduction member 3, the driving member 2 and the low-speed shaft 5 are coaxially arranged, and the interior of the low-speed shaft 5 has an extended wiring channel, which can be used for the setting of the internal lines of the joint. By centrally collecting and setting the internal lines of the joint in the wiring channel inside the low-speed shaft 5, not only can the lines be protected and the entanglement of other components with the lines during operation can be reduced, but also the space occupied by the lines can be reduced, further reducing the volume of the joint, thereby solving the problem that the traditional driving member 2 cannot achieve coaxial internal wiring.

[0031] Furthermore, the output member 4 is arranged on a side of the reduction member 3 facing away from the driving member 2 .

[0032] It can be understood that the driving member 2 is used as a power source. The driving member 2 is arranged at one end of the housing 1 along the axial direction of the housing 1. The driving member 2 transmits the rotation to the output member 4 through the reduction member 3. Along the axial direction of the housing, one side of the reduction member 3 has an input end, and the other side has an output end. In order to better transmit the power, the driving member 2 and the output member 4 are respectively arranged on both sides of the reduction member 3, and are respectively driven and matched with the input shaft and the output shaft to transmit in sequence.

[0033] Furthermore, the output member 4 has a mounting hole 41 coaxial with the low-speed shaft 5 , and at least a portion of the low-speed shaft 5 is disposed inside the mounting hole 41 .

[0034] In this embodiment, the low-speed shaft 5 is installed on the installation hole 41 by opening the installation hole 41, which is convenient for installing the low-speed shaft 5. A part of the low-speed shaft 5 is installed inside the installation hole 41 to achieve a driving connection between the low-speed shaft 5 and the output member 4, so that when the output member 4 rotates, the low-speed shaft 5 installed on the output member 4 will be driven to rotate together, thereby realizing the rotation of the low-speed shaft 5.

[0035] Furthermore, the driving member 2 is a motor, and specifically may be a frameless motor.

[0036] Furthermore, the speed reducer 3 is an RV reducer.

[0037] The frameless motor has two parts, a stator and a rotor. The rotor is usually an internal part, which is connected by a steel ring assembly with a permanent magnet and is directly mounted on the machine shaft; the stator is an external part, with steel sheets and copper windings wrapped around the outside of the gear to generate an electromagnetic force that is tightly attached to the machine housing. In this application, the stator of the frameless motor is fixed to the housing 1, and the output shaft is fixed to the rotor, and the output shaft is drivingly connected to the speed reducer 3.

[0038] Since the frameless motor is small in size, the space required for installation can be reduced, which facilitates the penetration of the low-speed shaft 5; it can also reduce weight and reduce the moment of inertia. The RV reducer is small in size and light in weight. An axially extending through hole can be opened in the middle of the RV reducer for the low-speed shaft 5 to penetrate.

[0039] The structural arrangement of the reduction member 3 and the driving member 2 of the present embodiment can, firstly, facilitate the installation between the various components, especially the low-speed shaft 5 that passes through the reduction member 3 and the driving member 2. Secondly, the reduction member in the present embodiment adopts the RV reducer and the frameless motor, both of which have the advantages of small size and light weight, which can save the space required for installation and reduce the rotational inertia of the joint.

[0040] See also Figure 1 and Figure 2 The joint further comprises a bearing 6, and the driving member 2 has an output shaft.

[0041] Furthermore, the output shaft is rotatably connected to the housing 1 via a bearing 6, and the bearing 6 is disposed between the output shaft and the housing 1 to enable the output shaft to be rotatably disposed relative to the housing 1. The bearing 6 has the function of positioning the output shaft and also has the function of supporting the output shaft to improve the stability of the output shaft installation.

[0042] Furthermore, a bearing 6 is arranged between the output member 4 and the low-speed shaft 5. The bearing 6 is arranged between the output member 4 and the low-speed shaft 5 to enable the low-speed shaft 5 to be rotatable relative to the output member 4. The bearing 6 has the function of positioning the low-speed shaft 5 and also has the function of supporting the low-speed shaft 5 to improve the stability of the installation of the low-speed shaft 5.

[0043] Furthermore, the output shaft is rotatably connected to the low-speed shaft 5 via a bearing 6, and the bearing 6 is disposed between the output shaft and the low-speed shaft 5 to enable the output shaft to be rotatably disposed with the low-speed shaft 5. The bearing 6 has the function of positioning the low-speed shaft 5, and also has the function of supporting the low-speed shaft 5 to improve the stability of the installation of the low-speed shaft 5.

[0044] It should be noted that two adjacent components are rotationally connected via the bearing 6, which can reduce the relative friction of the two adjacent components during rotation, improve the efficiency of relative rotation between adjacent components, and reduce the wear caused by mutual rotation between adjacent components, thereby increasing the life of the components.

[0045] In this embodiment, the joint further comprises a sealing member 7 , and the sealing members 7 are arranged at both ends of the speed reducer 3 along the length direction of the housing 1 , that is, in the axial direction of the housing 1 .

[0046] It should be noted that the housing 1 in this embodiment is a columnar structure coaxial with the output shaft and the low-speed shaft 5 .

[0047] Furthermore, the seal 7 adopts a skeleton oil seal structure. The oil seal can seal both ends of the speed reducer 3, prevent the leakage of grease inside the speed reducer, avoid the influence of grease leakage on other components, and increase the stability of the joint work.

[0048] In this embodiment, the joint further includes an encoder, which is disposed on the low-speed shaft 5 . By disposing the encoder on the low-speed shaft 5 , the rotation speed of the low-speed shaft 5 for power output can be detected.

[0049] Furthermore, at least two encoders are provided, wherein a code disc of one encoder is rotationally connected to the output shaft of the driving member 2 , and a code disc of another encoder is rotationally connected to the low-speed shaft 5 .

[0050] In this embodiment, two encoders detect the rotation speed of the driving member 2 and the rotation speed of the low-speed shaft 5 respectively, and can timely feedback the rotation speed of the low-speed shaft 5 and the driving member 2; since the low-speed shaft 5 is drivingly connected to the output member 4, the encoder connected to the low-speed shaft 5 detects the rotation speed of the output member 4. The low-speed shaft 5 can play a lead-out role, and the output member 4 is located on the side of the reduction member away from the driving member 2. If there is no low-speed shaft 5, the encoder needs to be installed at this end to detect the low-speed shaft 5. Through the lead-out of the low-speed shaft 5, the encoder can be installed on the low-speed shaft 5 and installed at the end of the low-speed shaft 5 close to the driving member 2, so as to facilitate the detection of the rotation speeds of the driving member 2 and the output member 4.

[0051] Embodiment 2

[0052] This embodiment provides a robot, and the robot includes the joint in the first embodiment.

[0053] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0054] 1. The reduction member 3, the driving member 2 and the low-speed shaft 5 are coaxially arranged. The interior of the low-speed shaft 5 has an extended wiring channel, and the wiring channel can be used for the setting of the internal lines of the joint. By centrally collecting and setting the internal lines of the joint in the wiring channel inside the low-speed shaft 5, not only can the lines be protected and the entanglement of other components with the lines during operation can be reduced, but also the space occupied by the lines can be reduced, and the volume of the joint can be further reduced, which solves the problem that the traditional driving member 2 cannot achieve coaxial internal wiring.

[0055] 2. The driving member 2 is used as a power source. The driving member 2 is arranged at one end of the housing 1 along the axial direction of the housing 1. The driving member 2 transmits the rotation to the output member 4 through the reduction member 3. Along the axial direction of the housing, one side of the reduction member 3 has an input end, and the other side has an output end. In order to better transmit the power, the driving member 2 and the output member 4 are respectively arranged on both sides of the reduction member 3, and are respectively driven and matched with the input shaft and the output shaft to transmit in sequence.

[0056] 3. The structural arrangement of the reduction member 3 and the driving member 2 of the present application can, firstly, facilitate the installation between the various components, especially the low-speed shaft 5 that passes through the reduction member 3 and the driving member 2. Secondly, the reduction member in this embodiment adopts the RV reducer and the frameless motor, both of which have the advantages of small size and light weight, which can save the space required for installation and reduce the rotational inertia of the joint.

[0057] Obviously, the embodiments described above are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0058] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0059] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0060] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A joint, characterized in that: include: Housing (1); A driving member (2), wherein the driving member (2) is mounted on the housing (1); A speed reducer (3), the speed reducer (3) being mounted on the housing (1), the speed reducer (3) being drivingly connected to the driving member (2); An output member (4), the output member (4) being drivingly connected to the speed reduction member (3); A low-speed shaft (5), the low-speed shaft (5) is drivingly connected to the output member (4), and along the length direction of the housing (1), the low-speed shaft (5) sequentially penetrates the reduction member (3) and the drive member (2), the reduction member (3), the drive member (2) and the low-speed shaft (5) are coaxial, and the interior of the low-speed shaft (5) has an axially extending wiring channel.

2. The joint according to claim 1, characterized in that The output member (4) is arranged on a side of the speed reduction member (3) facing away from the driving member (2).

3. The joint according to claim 2, characterized in that The output member (4) has a mounting hole (41) coaxial with the low-speed shaft (5), and at least a portion of the low-speed shaft (5) is arranged inside the mounting hole (41).

4. The joint according to claim 1, characterized in that The driving component (2) is a frameless motor, and the speed reduction component (3) is an RV speed reducer.

5. The joint according to claim 1, characterized in that The joint further comprises a bearing (6), the drive member (2) comprises an output shaft, The output shaft is rotatably connected to the housing (1) via the bearing (6); and\or The bearing (6) is arranged between the output member (4) and the low-speed shaft (5); and\or The output shaft is rotationally connected to the low-speed shaft (5) via the bearing (6).

6. The joint according to claim 1, characterized in that The joint further comprises a sealing member (7), and the sealing member (7) is provided at both ends of the speed reducer (3) along the length direction of the housing (1).

7. The joint according to claim 6, characterized in that The sealing element (7) adopts a skeleton oil seal structure.

8. The joint according to claim 1, characterized in that The joint further comprises an encoder, which is arranged on the low-speed shaft (5).

9. The joint according to claim 8, characterized in that At least two encoders are provided, wherein the code disc of one encoder is rotationally connected to the output shaft of the driving member (2), and the code disc of the other encoder is rotationally connected to the low-speed shaft (5).

10. A robot, characterized in that: The invention comprises the joint according to any one of claims 1 to 9.

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