Robot joint structure and robot
By setting a seal between the outside of the reducer module of the robot joint and the first robot arm, the problem of gear oil leakage is solved, environmental and product pollution is prevented, and product pass rate is improved.
Patent Information
- Application Number
- CN202421512399.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-28
- Publication Date
- 2025-04-15
- Estimated Expiration
- 2034-06-28
AI Technical Summary
After long-term use of the reducer module of existing robot joints, gear oil leakage will occur, resulting in contamination of the working environment and products, affecting the product qualification rate.
A robot joint structure is designed to form a seal between the outside of the reducer module and the first robotic arm to prevent gear oil from leaking to the outside.
Effectively avoid or delay the leakage of gear oil, reduce pollution to the working environment and products, and improve product qualification rate.
Smart Images
Figure CN222755486U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of robotics technology, and in particular to a robot joint structure and a robot. Background Art
[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can perform tasks such as operation or movement through programming and automatic control. There are many types of robots available, including but not limited to industrial robots, service robots, entertainment robots, etc.
[0003] The robot joint is one of the cores of the entire robot. The existing robot joint device generally includes a drive motor, a reducer module and a robotic arm. The reducer module reduces the rotation of the drive motor and drives the robotic arm to move.
[0004] However, after a long period of use, the reducer module will leak gear oil due to the aging of the seals inside the reducer module. The leaked gear oil will pollute the working environment of the robot. For industrial robots, the leaked gear oil will pollute the products produced and cause a decrease in the product qualification rate. Summary of the invention
[0005] Based on this, it is necessary to provide a robot joint structure and a robot to address the problem of gear oil leakage in the reducer module of the robot joint after long-term use.
[0006] A robot joint structure, comprising:
[0007] The first mechanical arm is provided with a receiving hole;
[0008] A reducer module connected to the first mechanical arm, and at least a portion of the reducer module is located in the receiving hole;
[0009] The sealing member is arranged between the circumferential side wall of the reducer module and the inner wall of the accommodating hole.
[0010] In one of the embodiments, the sealing member is disposed on one of the first robot arm and the reducer module, and in a radial direction of the accommodating hole, the sealing member is spaced apart from the other one.
[0011] In one of the embodiments, the sealing member is disposed on one of the first robot arm and the reducer module, and in the radial direction of the accommodating hole, the sealing member abuts against the other one.
[0012] In one embodiment, the robot joint structure also includes a second robotic arm, which is connected to the reducer module. One of the second robotic arm and the first robotic arm can rotate relative to the other around a rotation axis, and the rotation axis is parallel to the axis of the accommodating hole.
[0013] In one embodiment, the reducer module is installed on the first robotic arm, the reducer module has an output unit, the output unit is rotatable around the rotation axis relative to the first robotic arm, and the output unit is connected to the second robotic arm.
[0014] In one embodiment, the first mechanical arm is further provided with a driving cavity, and the driving cavity is communicated with the containing hole;
[0015] In one embodiment, the second mechanical arm includes an arm body and a connecting member, wherein the connecting member is mounted on the arm body, and the connecting member and the arm body are surrounded by a fastening cavity, and a fastening hole communicating with the fastening cavity is formed on the connecting member;
[0016] Part of the output unit enters the fastening cavity through the fastening hole, and the part of the output unit located in the fastening cavity has a mounting block bent away from the fastening hole, and the mounting block is connected to the connecting member.
[0017] In one embodiment, the connecting member is integrally formed with the arm body.
[0018] In one of the embodiments, a side of the connecting member away from a side of the mounting block abuts against the reducer module, and a sealing groove is provided on the side of the connecting member abutting against the reducer module, and a sealing ring is provided in the sealing groove.
[0019] In one embodiment, the sealing element is a sealing material or an oil absorbing material.
[0020] A robot comprises the robot joint structure as described in any one of the above items.
[0021] The above-mentioned robot joint structure forms a seal between the outside of the reducer module and the first robotic arm through a seal. Even if the reducer module leaks gear oil, the leaked gear oil will enter the receiving hole and accumulate in the receiving hole. Since the gap between the first robotic arm and the outside of the reducer module is sealed by the seal, the gear oil in the receiving hole can be prevented or delayed from leaking to the outside, thereby reducing the occurrence of gear oil pollution of the environment or product. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1This is a schematic diagram of the structure of the robot joint in some embodiments of the present application.
[0023] Figure 2 This is a schematic diagram of the structure of the robot joint in some other embodiments of the present application.
[0024] Figure 3 This is a schematic diagram of the structure of the robot joint in some embodiments of the present application.
[0025] Description of reference numerals:
[0026] First mechanical arm 10; accommodating hole 11; driving cavity 12;
[0027] Reducer module 20; output unit 21; input unit 22; mounting block 23; fastener 24;
[0028] Seal 30;
[0029] Second mechanical arm 40; arm body 41; connecting member 42; sealing groove 43; sealing ring 44; fastening cavity 45; fastening hole 46;
[0030] Transmission module 50; DETAILED DESCRIPTION
[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.
[0032] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.
[0033] In addition, if the terms "first" or "second" appear, these terms 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0034] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.
[0035] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
[0036] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.
[0037] See also Figure 1 , Figure 1 A structural schematic diagram of a robot joint structure in an embodiment of the present application is shown. The robot joint structure provided in an embodiment of the present application includes a first robot arm 10, a reducer module 20, a seal 30 and a second robot arm 40.
[0038] A receiving hole 11 is provided on the first robotic arm 10, the reducer module 20 is connected to the first robotic arm 10, and at least a portion of the reducer module 20 is located in the receiving hole 11, and the seal 30 is provided between the circumferential side wall of the reducer module 20 and the inner wall of the receiving hole 11, thereby forming a seal between the outside of the reducer module 20 and the first robotic arm 10 through the seal 30.
[0039] During actual use, the sealing components of the reducer module 20, such as oil seals, are usually arranged inside the reducer module 20, so as to seal the gear oil inside the reducer module 20. However, after long-term use, components such as oil seals will age and leak from the reducer module 20 to the outside of the reducer module 20.
[0040] A seal is formed between the outside of the reducer module 20 and the first robotic arm 10 by the seal 30. Even if the gear oil leaks from the reducer module 20, the leaked gear oil will enter the receiving hole 11 and accumulate in the receiving hole 11. Since the gap between the first robotic arm 10 and the outside of the reducer module 20 is sealed by the seal 30, the leakage of the gear oil in the receiving hole 11 to the outside can be avoided or delayed, thereby reducing the occurrence of gear oil pollution of the environment or product.
[0041] In actual use, the first robotic arm 10 can be used as an action component to perform different actions, or as a main component to play a supporting role. According to the different functions of the first robotic arm 10, the setting of the seal 30 is also different.
[0042] Specifically, in some embodiments of the present application, the first mechanical arm 10 is used as an action component, and the first mechanical arm 10 is connected to the power source of the robot through the reducer module 20, so that the first mechanical arm 10 can rotate relative to the reducer module 20, thereby performing different actions. In this embodiment, the seal 30 is provided on one of the first mechanical arm 10 and the reducer module 20, and in the radial direction of the accommodating hole 11, the seal 30 is spaced from the other, that is, the seal 30 does not contact the other, so that when the first mechanical arm 10 and the reducer module 20 generate relative motion, the seal 30 will not hinder the relative motion of the two, but when the reducer module 20 leaks oil, the seal 30 can delay the leakage of gear oil to the outside.
[0043] In some other embodiments of the present application, the first mechanical arm 10 is the main component, the reducer module 20 is arranged on the first mechanical arm 10, the first mechanical arm 10 remains stationary and relatively still with the reducer module 20. In this embodiment, the seal 30 is arranged on one of the first mechanical arm 10 and the reducer module 20, and the seal 30 abuts against the other in the radial direction of the receiving hole 11. In other words, the seal 30 abuts against the inner wall of the reducer module 20 and the receiving hole 11, thereby sealing the gap between the two, isolating the reducer module 20 from the external environment, and avoiding oil leakage from the reducer module 20 to contaminate the product.
[0044] In some embodiments of the present application, the robot joint structure also includes a second robotic arm 40, which is connected to the reducer module 20. One of the second robotic arm 40 and the first robotic arm 10 can rotate relative to the other around a rotation axis, and the rotation axis is parallel to the axis of the accommodating hole 11.
[0045] The second robotic arm 40 and the first robotic arm 10 are connected by the reducer module 20 so that the two can generate relative rotation. Specifically, the second robotic arm 40 and the first robotic arm 10 can generate relative rotation in the following three ways:
[0046] In the first method, the first robotic arm 10 is fixed, the reducer module 20 is installed on the first robotic arm 10, and the second robotic arm 40 is connected to the power source through the reducer module 20, so that the second robotic arm 40 can rotate.
[0047] The second method is to fix the second robotic arm 40, install the reducer module 20 on the second robotic arm 40, and connect the first robotic arm 10 to the power source through the reducer module 20, so that the first robotic arm 10 can rotate.
[0048] In the third mode, the first robotic arm 10 and the second robotic arm 40 are both connected to a power source, and the reducer module 20 serves to connect the first robotic arm 10 and the second robotic arm 40, so that the first robotic arm 10 and the second robotic arm 40 can both rotate, but the rotation speeds of the first robotic arm 10 and the second robotic arm 40 are different, resulting in a rotation speed difference between the first robotic arm 10 and the second robotic arm 40, thereby generating a relative motion mode.
[0049] Depending on whether the first robotic arm 10 rotates relative to the reducer module 20, the seal 30 can choose to abut against both the first robotic arm 10 and the reducer module 20, or only one of them. The specific setting method can refer to the above embodiment and will not be repeated here.
[0050] In some embodiments, the reducer module 20 is installed on the first robotic arm 10, and the first robotic arm 10 is used to be installed on the main structure of the robot, so that the first robotic arm 10 and the reducer module 20 remain stationary, so that the seal 30 can seal the gap between the first robotic arm 10 and the reducer module 20.
[0051] The reducer module 20 has an output unit 21 , which is rotatable around a rotation axis relative to the first robotic arm 10 . The output unit 21 is connected to the second robotic arm 40 so that the second robotic arm 40 can generate relative movement relative to the first robotic arm 10 .
[0052] Furthermore, in order to drive the second mechanical part to rotate, the robot joint structure also includes a transmission module 50, and the reducer module 20 also includes an input unit 22. The input unit 22 is connected to the transmission module 50 in transmission. The power of the transmission module 50 is input into the reducer module 20 through the input unit 22, and is decelerated by the reducer module 20 and then transmitted to the output unit 21, and finally the second mechanical arm 40 is driven to rotate through the output unit 21.
[0053] In one embodiment, see Figure 1 A driving cavity 12 is opened on the first robot arm 10, and the transmission module 50 is located in the driving cavity 12, so that the driving cavity 12 provides space for the installation of the transmission module 50.
[0054] In other embodiments, the driving motor may also be directly installed on the robot body and connected to the input unit 22 of the reducer module 20 via transmission components such as a connecting shaft, thereby driving the second robot arm 40.
[0055] In some other embodiments, such as Figure 2 or Figure 3 As shown, the second mechanical arm 40 includes an arm body 41 and a connecting member 42, the connecting member 42 is mounted on the arm body 41, and the connecting member 42 and the arm body 41 are surrounded to form a fastening cavity 45, and a fastening hole 46 communicating with the fastening cavity 45 is opened on the connecting member 42. Part of the output unit 21 enters the fastening cavity 45 through the fastening hole 46, and the part of the output unit 21 located in the fastening cavity 45 has a mounting block 23 bent away from the fastening hole 46, and the mounting block 23 is connected to the connecting member 42.
[0056] The connection with the connecting member 42 is carried out through the mounting block 23 located in the fastening cavity 45, so that one side of the connecting member 42 is used to connect with the output unit 21 to form power transmission between the output unit 21 and the arm body 41, and the other side of the connecting member 42 can be used to abut against the reducer module 20, thereby forming a seal between the other side of the connecting member 42 and the reducer module 20.
[0057] Specifically, the side of the connecting member 42 away from the mounting block 23 abuts against the reducer module 20, and a sealing groove 43 is provided on the side of the connecting member 42 abutting against the reducer module 20, and a sealing ring 44 is provided in the sealing groove 43, so that the gap between the connecting member 42 and the reducer module 20 is sealed by the sealing ring 44. Even if gear oil leakage occurs at the output unit 21, the gear oil will be blocked by the sealing ring 44 to prevent the gear oil from leaking to the outside.
[0058] The connecting member 42 can be provided separately from the arm body 41. If the connecting member 42 is provided separately from the arm body 41, Figure 2 As shown, a sealing groove 43 is also provided on the side where the connecting member 42 abuts against the arm body 41 , and a sealing ring 44 is also provided in the sealing groove 43 to seal the gap between the connecting member 42 and the arm body 41 .
[0059] In some other embodiments, such as Figure 3 As shown, the connecting member 42 can also be integrally formed with the arm body 41, so that no gap will be generated between the connecting member 42 and the arm body 41, thereby reducing the risk of oil leakage and saving the installation steps of the robot.
[0060] Specifically in some embodiments, in order to connect the connecting member 42 with the mounting block 23, the robot joint structure also includes a fastener 24, a fastening hole 46 is opened on the mounting block 23, and a threaded hole is opened on the connecting member 42. The fastener 24 is passed through the fastening hole 46 and is threadedly connected to the threaded hole, thereby fixing the mounting block 23 on the connecting member 42.
[0061] In some embodiments, since the first robotic arm 10 remains stationary, the seal 30 can be made of a static sealing material to seal the gap between the first robotic arm 10 and the reducer module 20. In other embodiments, the seal 30 can also be made of an oil-absorbing material, such as oil-absorbing cotton, so that when the gear oil leaks in the reducer module, the leaked gear oil can be absorbed by the seal 30 made of the oil-absorbing material, which can also achieve the effect of avoiding gear oil leakage.
[0062] An embodiment of the present application also provides a robot, including the robot joint structure as in any of the above embodiments. The robot includes the above robot joint structure. Since the robot includes all the technical features of the above robot joint structure, the robot has all the technical effects of the above robot joint structure, which will not be repeated here.
[0063] The above robot joint structure has at least the following advantages:
[0064] A seal is formed between the outside of the reducer module 20 and the first robotic arm 10 by the seal 30. Even if the gear oil leaks from the reducer module 20, the leaked gear oil will enter the receiving hole 11 and accumulate in the receiving hole 11. Since the gap between the first robotic arm 10 and the outside of the reducer module 20 is sealed by the seal 30, the gear oil in the receiving hole 11 can be prevented from leaking to the outside or delayed, thereby reducing the occurrence of gear oil pollution to the environment or product.
[0065] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0066] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.
Claims
1. A robot joint structure, characterized in that: The robot joint structure comprises: The first mechanical arm (10) is provided with a receiving hole (11); A reducer module (20) connected to the first mechanical arm (10), and at least a portion of the reducer module (20) is located in the accommodating hole (11); The sealing member (30) is arranged between the circumferential side wall of the reducer module (20) and the inner wall of the accommodating hole (11).
2. The robot joint structure according to claim 1, characterized in that: The sealing member (30) is arranged on one of the first mechanical arm (10) and the reducer module (20), and in the radial direction of the accommodating hole (11), the sealing member (30) is arranged at a distance from the other one.
3. The robot joint structure according to claim 1, characterized in that: The sealing member (30) is provided on one of the first mechanical arm (10) and the reducer module (20), and in the radial direction of the accommodating hole (11), the sealing member (30) abuts against the other one.
4. The robot joint structure according to any one of claims 1 to 3, characterized in that: The robot joint structure also includes a second robot arm (40), the second robot arm (40) being connected to the reducer module (20), and one of the second robot arm (40) and the first robot arm (10) being rotatable relative to the other about a rotation axis, wherein the rotation axis is parallel to the axis of the accommodating hole (11).
5. The robot joint structure according to claim 4, characterized in that: The reducer module (20) is mounted on the first mechanical arm (10), the reducer module (20) has an output unit (21), the output unit (21) is rotatable around the rotation axis relative to the first mechanical arm (10), and the output unit (21) is connected to the second mechanical arm (40).
6. The robot joint structure according to claim 5, characterized in that: The second mechanical arm (40) comprises an arm body (41) and a connecting member (42), wherein the connecting member (42) is mounted on the arm body (41), and the connecting member (42) and the arm body (41) enclose a fastening cavity (45), and the connecting member (42) is provided with a fastening hole (46) which is in communication with the fastening cavity (45); Part of the output unit (21) enters the fastening cavity (45) via the fastening hole (46), and the part of the output unit (21) located in the fastening cavity (45) has a mounting block (23) bent away from the fastening hole (46), and the mounting block (23) is connected to the connecting member (42).
7. The robot joint structure according to claim 6, characterized in that: The connecting piece (42) and the arm body (41) are integrally formed.
8. The robot joint structure according to claim 6, characterized in that: A side of the connecting member (42) away from a side of the mounting block (23) abuts against the reducer module (20), and a sealing groove (43) is provided on the side of the connecting member (42) abutting against the reducer module (20), and a sealing ring (44) is provided in the sealing groove (43).
9. The robot joint structure according to any one of claims 1 to 3, characterized in that: The sealing element (30) is a sealing material or an oil absorbing material.
10. A robot, characterized in that: Comprising a robot joint structure as described in any one of claims 1-9.