Joint connection structure and robot
By designing a compact joint connection structure including connecting shaft, bearing and seal structure, the problem of the complex joint connection structure of existing robots resulting in excessive weight and size is solved, and a more compact structural design and more flexible movement is achieved.
Patent Information
- Application Number
- CN202421503059.8
- 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
The joint connection structure of existing robots is complex, which leads to the excessive weight and size of the robot and needs improvement.
A joint connection structure including a connecting shaft, a bearing and a seal structure is designed. Through the inner and outer sleeve arrangement of the bearing and seal structure, the size of the joint connection structure in the reference axis direction is reduced, thereby reducing the overall size and weight of the robot.
A more compact structural design is achieved, reducing the weight and size of the robot while improving the lightness and flexibility of movement.
Smart Images
Figure CN222755487U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of robotics technology, and in particular to a joint connection structure and a robot. Background Art
[0002] Industrial robots are widely used in the industrial field, have a certain degree of automation, and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots include multi-joint manipulator robots, which have multiple sections of mechanical arms, and adjacent mechanical arms are movably connected at the joints to achieve relative movement.
[0003] The joint connection structure of current robots is complex, which easily leads to large weight and size of the robots, and needs to be improved urgently. Utility Model Content
[0004] Based on this, it is necessary to provide a joint connection structure and a robot to address the problem that the joint connection structure is complex, resulting in large weight and size of the robot.
[0005] On the one hand, the present application provides a joint connection structure, which is used to connect the first part and the second part of a robot. The joint connection structure includes a connecting shaft, a bearing and a sealing structure. The connecting shaft is used to connect the first part and rotate with the second part; the bearing is sleeved on the connecting shaft to allow the first part and the second part to rotate relative to each other; the sealing structure is sleeved on the connecting shaft to seal the fitting between the first part and the second part; wherein, along a direction perpendicular to the axis of the connecting shaft, one of the bearing and the sealing structure is installed at a position circumferentially outside the other.
[0006] In one embodiment, the joint connection structure also includes a mounting sleeve and a matching sleeve, wherein the mounting sleeve is used to connect with the first part and is arranged on the outer periphery of the connecting shaft, and the matching sleeve is used to connect with the second part; taking the axis of the connecting shaft as the reference axis, in the direction perpendicular to the reference axis from inside to outside, the connecting shaft, the bearing, the matching sleeve, the sealing structure and the mounting sleeve are sequentially sleeved; along the direction perpendicular to the reference axis, the projections of the bearing, the matching sleeve, the sealing structure and the mounting sleeve on the connecting shaft have the same overlapping area.
[0007] In one embodiment, the sealing structure includes a sealing ring and an anti-wear ring. The sealing ring is tightly clamped on the inner wall of the mounting sleeve, the anti-wear ring is sleeved on the matching tube, and the sealing ring is sleeved outside the anti-wear ring to seal the matching point between the mounting sleeve and the matching tube.
[0008] In one of the embodiments, the outer circumference of the mating tube is recessed to form a mounting groove, and the anti-wear ring is arranged in the mounting groove.
[0009] In one embodiment, the connecting shaft and the mounting sleeve are used to be connected to the positioning end wall of the first part, the inner peripheral wall of the mounting sleeve, the positioning end wall and the outer peripheral wall of the connecting shaft together form an accommodating cavity, the bearing and the sealing structure are arranged in the accommodating cavity and are used to abut against the positioning end wall for positioning.
[0010] In one embodiment, the joint connection structure also includes a wire sleeve, which is inserted into the connecting shaft for arranging the cables. One of the outer wall of the wire sleeve and the inner wall of the connecting shaft is recessed with a limiting groove, and the other is protruding with a limiting body. The limiting body is snap-fitted with the limiting groove to fix the wire sleeve relative to the connecting shaft.
[0011] In one embodiment, the wire sleeve includes a sleeve body and a limit plate, the sleeve body passes through the connecting shaft, the limit plate is located outside the connecting shaft and is used to abut against the first part; the joint connection structure also includes a baffle, the baffle and the limit plate are located at the same end of the connecting shaft, and the baffle and the partial structure of the limit plate are axially aligned.
[0012] In one of the embodiments, along the reference axis, a distance between the baffle and the limiting plate when in contact with the first portion is less than or equal to an axial length of the sleeve.
[0013] In one of the embodiments, on the reference axis, a minimum distance from the thread sleeve to a side of the second portion facing away from the first portion is less than or equal to a first preset value.
[0014] On the other hand, the present application also provides a robot, which includes the joint connection structure as described above.
[0015] In the above-mentioned joint connection structure, the first part and the second part can rotate relative to each other around the axis of the connection shaft, and the bearing and the sealing structure are both sleeved on the connection shaft. Since the bearing and the sealing structure are arranged in a positional relationship of inner and outer sleeve in the direction perpendicular to the reference axis, the size of the joint connection structure in the direction of the reference axis can be relatively reduced, thereby reducing the overall size and weight of the robot including the joint connection structure. In addition, the first part and the second part that can rotate relative to each other can be closer to each other, the structure is more compact and the bending moment borne by the sleeved rotation of the two parts can be reduced, making the movement of the robot more light and flexible. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1A schematic cross-sectional view of a robot at a joint connection structure provided in one embodiment of the present application.
[0017] Figure 2 This is a schematic cross-sectional view of a robot at a joint connection structure provided in a second aspect of an embodiment of the present application.
[0018] Figure 3 A schematic cross-sectional view of a robot at a joint connection structure provided in a third aspect of an embodiment of the present application.
[0019] Reference numerals:
[0020] 10. first part; 110. connecting shaft; 111. limiting groove; 120. mounting sleeve; 130. positioning end wall; 140. accommodating cavity;
[0021] 20, second part; 210, matching cylinder; 211, mounting groove;
[0022] 300, bearing; 400, sealing structure; 410, sealing ring; 420, anti-wear ring; 500, thread sleeve; 501, limit body; 510, limit plate; 520, sleeve body; 600, baffle;
[0023] 30. Opposite member; 40. Cable; O. Reference axis; O1. First side; O2. Second side. DETAILED DESCRIPTION
[0024] 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.
[0025] 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.
[0026] 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.
[0027] 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.
[0028] 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.
[0029] 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.
[0030] An embodiment of the present application provides a robot, the robot includes a first part 10, a second part 20 and a joint connection structure, and the first part 10 and the second part 20 are rotatably connected through the joint connection structure. The joint connection structure is compact, so after the first part 10 and the second part 20 are connected through the joint connection structure, the overall structure of the robot is compact and the movement is more light and flexible. For example, in one embodiment, the first part 10 can be configured as a base of the robot, and the second part 20 can be configured as a rocker arm. Of course, in other embodiments, the first part 10 can be one of the robot's mechanical arms, and the second part 20 can be another mechanical arm connected thereto.
[0031] See also Figure 1 , Figure 1 The cross-sectional schematic diagram of the joint connection structure provided by an embodiment of the present application is shown. An embodiment of the present application provides a joint connection structure. As mentioned above, the joint connection structure is used to connect the first part 10 and the second part 20 of the robot. The joint connection structure includes a connecting shaft 110, a bearing 300 and a sealing structure 400. The connecting shaft 110 is used to connect the first part 10 and rotate with the second part 20, that is, the first part 10 and the second part 20 can rotate relative to each other with the axis of the connecting shaft 110 as the rotation axis. The bearing 300 is sleeved on the connecting shaft 110 for relative rotation of the first part 10 and the second part 20. The sealing structure 400 is sleeved on the connecting shaft 110 for sealing the matching place between the first part 10 and the second part 20. Among them, along the direction perpendicular to the axis of the connecting shaft 110, one of the bearing 300 and the sealing structure 400 is installed at a position circumferentially outside the other.
[0032] In the above-mentioned joint connection structure, the first part 10 and the second part 20 can rotate relative to each other around the axis of the connecting shaft 110, and the bearing 300 and the sealing structure 400 are both sleeved on the connecting shaft 110. Since the bearing 300 and the sealing structure 400 are arranged in a positional relationship of inner and outer sleeve in the direction perpendicular to the reference axis O, the size of the joint connection structure in the direction of the reference axis O can be relatively reduced, thereby reducing the overall size and weight of the robot including the joint connection structure. In addition, the first part 10 and the second part 20 that can rotate relative to each other can be closer to each other, the structure is more compact and the bending moment borne by the sleeved rotation of the two can be reduced, making the movement of the robot more light and flexible.
[0033] Regarding the connecting shaft 110 and the matching sleeve 210 and the mounting sleeve 120 mentioned below, although the three are described as components of the joint connection structure in the embodiments of the present application, it should be emphasized that in the actual product of the robot, the connecting shaft 110 and the mounting sleeve 120 can be used as one of the components of the first part 10, and the matching sleeve 210 can be one of the components of the second part 20. For example, the connecting shaft 110 and the mounting sleeve 120 can be integrated with the first part 10, and the matching sleeve 210 can be integrated with the second part 20. Of course, in another embodiment, the connecting shaft 110 and the mounting sleeve 120 can also be designed as a split with the first part 10, and the matching sleeve 210 can also be designed as a split with the second part 20. This is not limited in the embodiments of the present application, and the robot can be adaptively selected according to the needs during the actual design, and will not be repeated below.
[0034] Please continue reading Figure 1 In one embodiment, the joint connection structure further includes a mounting sleeve 120 and a matching sleeve 210. The mounting sleeve 120 is used to connect with the first part 10 and is disposed on the outer periphery of the connecting shaft 110. The matching sleeve 210 is used to connect with the second part 20 and is sleeved with the connecting shaft 110. With the axis of the connecting shaft 110 as the reference axis O, the connecting shaft 110, the bearing 300, the matching sleeve 210, the sealing structure 400 and the mounting sleeve 120 are sleeved in sequence in the direction perpendicular to the reference axis O from inside to outside. Along the direction perpendicular to the reference axis O, the projections of the bearing 300, the matching sleeve 210, the sealing structure 400 and the mounting sleeve 120 on the connecting shaft 110 have the same overlapping area. With such an arrangement, the bearing 300, the matching cylinder 210, the sealing structure 400 and the mounting sleeve 120 included in the joint connection structure are approximately located at the same axial position along the reference axis O, thereby greatly reducing the axial dimension of the joint connection structure. After the first part 10 and the second part 20 are connected by the joint connection structure, the axial dimension is smaller, so the weight and size of the robot can be reduced.
[0035] The inner ring of the bearing 300 may be interference fit with the connecting shaft 110 , and the outer ring of the bearing 300 may be clearance fit or transition fit with the matching cylinder 210 .
[0036] Please continue reading Figure 3In one embodiment, the sealing structure 400 includes a sealing ring 410 and an anti-wear ring 420. The sealing ring 410 is tightly clamped on the inner circumferential wall of the mounting sleeve 120, and the anti-wear ring 420 is sleeved on the matching cylinder 210. The sealing ring 410 is sleeved on the outside of the anti-wear ring 420 to seal the matching part between the mounting sleeve 120 and the matching cylinder 210. It can be understood that the mounting sleeve 120 is connected to the first part 10, and the matching cylinder 210 is connected to the second part 20, and the mounting sleeve 120 and the matching cylinder 210 will rotate relative to each other. The material of the matching cylinder 210 is usually the same as that of the second part 20 (for example, a metal casting). If the sealing ring 410 is directly set to be sleeved on the matching cylinder 210, the inner ring of the sealing ring 410 will be susceptible to friction and wear when the two rotate relative to each other, resulting in gradual failure of the seal. In this embodiment, by setting the anti-wear ring 420, the wear of the sealing ring 410 can be reduced and the sealing life can be improved. It can be understood that the sealing ring 410 is rotatably sleeved on the anti-wear ring 420.
[0037] Furthermore, the sealing ring 410 may be interference fit with the inner circumferential wall of the mounting sleeve 120. The anti-wear ring 420 may be interference fit or transition fit with the matching cylinder 210.
[0038] Please continue reading Figure 1 In one embodiment, the outer circumference of the mating cylinder 210 is recessed with a mounting groove 211, and the anti-wear ring 420 is disposed in the mounting groove 211. Thus, on the one hand, it is convenient to assemble and position the anti-wear ring 420. On the other hand, since the mounting groove 211 is recessed and disposed on the outer circumference of the mating cylinder 210, the anti-wear ring 420 is disposed in the mounting groove 211, which can relatively reduce the overall radial dimension of the anti-wear ring 420 when it is assembled in the mating cylinder 210, thereby relatively reducing the overall radial dimension of the joint connection structure, making the joint connection structure more compact. The radial direction described in each embodiment of the present application is a direction perpendicular to the reference axis O.
[0039] In one embodiment, the outer circumferential surface of the anti-wear ring 420 may be arranged to be located on the same cylindrical surface as the outermost outer circumferential surface of the matching cylinder 210 .
[0040] See also Figure 1 In one embodiment, the connecting shaft 110 and the mounting sleeve 120 are used to connect to the positioning end wall 130 of the first part 10. The inner peripheral wall of the mounting sleeve 120, the positioning end wall 130 and the outer peripheral wall of the connecting shaft 110 are surrounded to form a receiving cavity 140, and the bearing 300 and the sealing structure 400 are arranged in the receiving cavity 140 and are used to abut against the positioning end wall 130 for positioning. The positioning of the bearing 300 and the sealing structure 400 by the positioning end wall 130 facilitates rapid assembly and improves the position stability of the two. At the same time, the bearing 300 and the sealing structure 400 are both abutted against the positioning end wall 130 for positioning, that is, the bearing 300 and the sealing structure 400 are close to the positioning end wall 130, so the axial distance between the first part 10 and the second part 20 can be further reduced.
[0041] Furthermore, in the sealing structure 400 , the sealing ring 410 is abutted against the positioning end wall 130 for positioning, and the anti-wear ring 420 can be abutted against the side wall of the installation groove 211 for positioning.
[0042] Please continue reading Figure 1 In one embodiment, the joint connection structure further includes a wire sleeve 500, which is inserted into the connecting shaft 110, and the wire sleeve 500 is hollow for laying the cable 40. In this way, the joint connection structure is not only used to connect the first part 10 and the second part 20, but also can be used to arrange the cable 40. It is easy to understand that for a robot, its control module is usually located at the base, and the control module needs to transmit signals through the cable 40 to control the remote mechanical arm and its end effector, and the cable 40 can also transmit the electrical energy required for the movement of each component. The wire sleeve 500 can provide a layout space for the cable 40. Since the material of the connecting shaft 110 is usually the same as that of the first component (such as a metal casting), its surface is relatively rough. Compared with contacting with the connecting shaft 110, the wire sleeve 500 is arranged to pass through the connecting shaft 110 in this embodiment, so that the cable 40 contacts the wire sleeve 500, which can reduce the wear of the cable 40.
[0043] In one embodiment, the wire guide sleeve 500 may be made of a polymer material, such as plastic, etc. Compared with a metal material, the wire guide sleeve 500 made of a polymer material is lighter and can reduce the motion load.
[0044] See also Figure 1 In one embodiment, one of the outer circumferential wall of the wire sleeve 500 and the inner circumferential wall of the connecting shaft 110 is recessed with a limiting groove 111, and the other is protruding with a limiting body 501, and the limiting body 501 is engaged with the limiting groove 111 to fix the wire sleeve 500 relative to the connecting shaft 110. In this way, the probability of the wire sleeve 500 loosening and falling off during the operation of the robot can be reduced. Compared with the interference fit fixation of the wire sleeve 500 and the inner wall of the connecting shaft 110, the wire sleeve 500 and the connecting shaft 110 are mechanically engaged and fixed by the limiting body 501 and the limiting groove 111, so that even if the wire sleeve 500 is deformed due to the change of heat during the operation of the robot, it can maintain a stable relative position with the connecting shaft 110.
[0045] like Figure 1 The limiting body 501 can be arranged on the outer peripheral wall of the thread sleeve 500, and the limiting groove 111 can be opened on the inner wall of the connecting shaft 110. The limiting body 501 can be hook-shaped to engage with the groove wall of the limiting groove 111. It can be understood that the radial dimension of the thread sleeve 500 at the limiting body 501 is smaller than the radial dimension at the bottom wall of the limiting groove 111, so that the limiting body 501 can be inserted into the limiting groove 111.
[0046] In one embodiment, the wire sleeve 500 includes a sleeve body 520 and a limiting plate 510, wherein the sleeve body 520 is provided with the connecting shaft 110, and the limiting plate 510 is located outside the connecting shaft 110 and is used to abut against the first part 10. Taking the case where the wire sleeve 500 moves from the first side O1 to the second side O2 along the reference axis O to insert the connecting shaft 110 as an example, at this time, the limiting plate 510 can be located on the first side O1, and the limiting plate 510 abuts against the first part 10, so that the limiting plate 510 at least will not be disengaged from the connecting shaft 110 from the second side O2. Therefore, the limiting body 501 can be arranged on the side of the sleeve body 520 away from the limiting plate 510 (i.e., the second side O2), and the limiting body 501 is set to abut against the groove wall of the limiting groove 111 facing the second side O2, so as to limit the wire sleeve 500 from retreating in the direction from the second side O2 to the first side O1.
[0047] Of course, the wire sleeve 500 is not limited to being inserted into the connecting shaft 110 in the direction from the first side O1 to the second side O2, that is, the limiting plate 510 is not limited to being in contact with the first side O1. Figure 3 As shown, in another embodiment, the wire sleeve 500 can be inserted into the connecting shaft 110 along the direction from the second side O2 to the first side O1 to achieve insertion, and at this time, the limiting plate 510 abuts against the second side O2.
[0048] In one embodiment, the limiting body 501 is disposed on the sleeve 520 , and the outer diameter of the sleeve 520 may be slightly smaller than the inner diameter of the inner cavity of the connecting shaft 110 , so that the sleeve 520 protruding with the limiting body 501 can be inserted into the connecting shaft 110 .
[0049] Please refer again Figure 1 In one embodiment, the joint connection structure further includes a baffle 600, and the baffle 600 and the limiting disk 510 are located on the same side of the connecting shaft 110. In addition, the baffle 600 and the limiting disk 510 are partially aligned axially. Along the reference axis O, the distance L1 between the baffle 600 and the limiting disk 510 when abutting against the first part 10 is less than or equal to the axial length of the sleeve 520. Therefore, if the wire sleeve 500 retreats to the side where the limiting disk 510 is located, since the above-mentioned distance L1 is less than or equal to the axial length of the sleeve 520, when the sleeve 520 has not completely withdrawn from the connecting shaft 110, the baffle 600 can abut against the limiting disk 510, so that the wire sleeve 500 will not completely fall out of the connecting shaft 110.
[0050] The axial alignment of the partial structures of the baffle plate 600 and the limiting plate 510 mentioned above refers to the projection of the limiting plate 510 along the reference axis O on the surface where the baffle plate 600 is located, and part of it is located on the baffle plate 600 .
[0051] Furthermore, the end surface of the baffle 600 can be set to a smooth curved surface to reduce the probability of scratching the cable 40 .
[0052] Since the limiting plate 510 and the limiting body 501 can both play a role in limiting and fixing, Figure 2 , Figure 3 In some embodiments, the joint connection structure may not include the baffle 600.
[0053] Please refer again Figure 1 In one embodiment, on the reference axis O, the minimum distance from the wire sleeve 500 to the side of the second part 20 away from the first part 10 is less than or equal to the first preset value L2. Figure 1 Taking the second part 20 shown as being located on the second side O2 as an example, the present application is configured such that the end face of the wire sleeve 500 on the second side O2 is designed to be as close as possible to the side face of the second part 20 in the axial direction, so that the cable 40 in the second part 20 can be inserted into the wire sleeve 500 more smoothly without additional bending. The first preset value L2 can be between 2mm and 6mm, that is, 2mm≤L2≤6mm. For example, the minimum distance from the wire sleeve 500 to the side face of the second part 20 away from the first part 10 can be set to 4mm.
[0054] In one embodiment, the second part 20 of the robot is also provided with power elements such as a motor and a reducer, and the element provided in the second part 20 and close to the wire sleeve 500 is recorded as the counter-piece 30. In order to allow the cable 40 in the second part 20 to smoothly pass through the wire sleeve 500, it can also be set along the reference axis O that the distance between the wire sleeve 500 and the counter-piece 30 is less than the second preset value L3, and the second preset value L3 can be between 10mm and 20mm. The second preset value L3 can be selected specifically according to the bending radius of the cable 40 when passing through the wire sleeve 500, and will not be repeated here.
[0055] It should be noted that a driving element (such as a harmonic reducer, which can be referred to as the opposing member 30) is usually provided at the connection between the first part 10 and the second part 20, and the driving element is usually arranged laterally along the reference axis O. The following briefly describes the distribution position of the joint connection structure with reference to the driving element. It can be understood that the driving element has a power output side (such as the side where the rigid-flexible wheel is located in the harmonic reducer), and a support side that is arranged opposite to the power output side. Since the power output side of the driving element needs to output power, the connection of the power output side is relatively complex, so the joint connection structure can usually be distributed on the support side. The drawings in the various specifications of this application also take this as an example to show the position and connection relationship between the joint connection structure and the first part 10 and the second part 20. However, the joint connection structure described in the various embodiments of the present application is not limited to being arranged on the support side. In some embodiments, the connection relationship of the components at the power output side can also be adjusted so that the joint connection structure is arranged on the power output side.
[0056] 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.
[0057] 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 joint connection structure for connecting a first part and a second part of a robot, characterized in that: The joint connection structure comprises: A connecting shaft, the connecting shaft is used to connect the first part and rotate with the second part; A bearing, the bearing being sleeved on the connecting shaft and used for relative rotation of the first part and the second part; A sealing structure, which is sleeved on the connecting shaft and is used to seal the matching position between the first part and the second part; Wherein, along a direction perpendicular to the axis of the connecting shaft, one of the bearing and the sealing structure is installed at a position circumferentially outside the other.
2. The joint connection structure according to claim 1, characterized in that: It also includes a mounting sleeve and a matching sleeve, wherein the mounting sleeve is used to connect with the first part and is arranged on the outer periphery of the connecting shaft, and the matching sleeve is used to connect with the second part; taking the axis of the connecting shaft as a reference axis, in a direction perpendicular to the reference axis and from inside to outside, the connecting shaft, the bearing, the matching sleeve, the sealing structure and the mounting sleeve are sleeved in sequence; Along the direction perpendicular to the reference axis, projections of the bearing, the matching cylinder, the sealing structure and the mounting sleeve on the connecting shaft have the same overlapping area.
3. The joint connection structure according to claim 2, characterized in that: The sealing structure includes a sealing ring and an anti-wear ring. The sealing ring is tightly clamped on the inner circumferential wall of the mounting sleeve, the anti-wear ring is sleeved on the matching tube, and the sealing ring is sleeved outside the anti-wear ring to seal the matching portion between the mounting sleeve and the matching tube.
4. The joint connection structure according to claim 3, characterized in that: The outer circumference of the matching cylinder is recessed to form a mounting groove, and the anti-wear ring is arranged in the mounting groove.
5. The joint connection structure according to claim 2, characterized in that: The connecting shaft and the mounting sleeve are used to be connected to the positioning end wall of the first part. The inner circumferential wall of the mounting sleeve, the positioning end wall and the outer circumferential wall of the connecting shaft together form an accommodating cavity. The bearing and the sealing structure are arranged in the accommodating cavity and are used to abut against the positioning end wall for positioning.
6. The joint connection structure according to claim 2, characterized in that: The joint connection structure also includes a wire sleeve, which is inserted into the connecting shaft for arranging cables. One of the outer circumferential wall of the wire sleeve and the inner circumferential wall of the connecting shaft is recessed with a limiting groove, and the other is protruding with a limiting body. The limiting body is snap-fitted with the limiting groove to fix the wire sleeve relative to the connecting shaft.
7. The joint connection structure according to claim 6, characterized in that: The wire sleeve includes a sleeve body and a limit plate, the sleeve body passes through the connecting shaft, the limit plate is located outside the connecting shaft and is used to abut against the first part; the joint connection structure also includes a baffle, the baffle and the limit plate are located at the same end of the connecting shaft, and the baffle and the partial structure of the limit plate are axially aligned.
8. The joint connection structure according to claim 7, characterized in that: Along the reference axis, a distance between the baffle and the limiting plate when in contact with the first portion is less than or equal to an axial length of the sleeve.
9. The joint connection structure according to claim 6, characterized in that: On the reference axis, a minimum distance from the wire sleeve to a side of the second part facing away from the first part is less than or equal to a first preset value.
10. A robot, characterized in that: The robot comprises the joint connection structure as described in any one of claims 1 to 9.