Joint sealing structure and robot

Abstract

The embodiment of the utility model provides a joint sealing structure and a robot, and relates to the technical field of industrial robots. The joint sealing structure comprises a first joint shell, a second joint shell and a fixing piece, one of the first joint shell and the second joint shell is provided with a flange, the other one of the first joint shell and the second joint shell is provided with a protruding end matched with the flange, and the protruding end is bonded with the flange through sealant. The fixing piece is connected with the flange and the end of the protrusion at the same time. The joint sealing structure can improve the joint sealing effect and the connecting strength of the robot and improve the assembly efficiency.

Description

Technical Field

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

[0002] In the field of industrial robots, the demand for highly protected robots is becoming more and more widespread. Traditional unprotected robots are gradually unable to adapt to the increasingly demanding market environment. Among the various parameters of industrial robots, in addition to basic indicators such as load, arm span, and repeated positioning accuracy, the protection level of the robot must also be considered. Especially in some application scenarios with relatively harsh environments, robots that do not have a protection level can easily be damaged, thus affecting production.

[0003] At present, the existing technology uses plastic parts, rubber parts and other seals to seal the joints of the robot. However, as the use time increases, these seals will age or deform, resulting in reduced connection strength and failure of protection. In addition, there will be problems with incomplete assembly during the assembly process, which will affect the assembly efficiency and easily lead to failure of protection. Utility Model Content

[0004] The purpose of the utility model is to provide a joint sealing structure and a robot, which can improve the joint sealing effect and connection strength of the robot and enhance the assembly efficiency.

[0005] The embodiment of the utility model is achieved as follows:

[0006] In a first aspect, the utility model provides a joint sealing structure, comprising:

[0007] A first joint housing and a second joint housing, wherein one of the first joint housing and the second joint housing is provided with a flange, and the other is provided with a raised end portion matched with the flange, and the raised end portion and the flange are bonded with a sealant; and

[0008] A fixing member is connected to the flange and the raised end at the same time.

[0009] In an optional embodiment, the end face of the flange close to the raised end is provided with a first outer ring glue-coated surface and a first inner ring glue-coated surface, the first outer ring glue-coated surface is bonded to the outer ring end face of the raised end by means of a sealant, and the first inner ring glue-coated surface is bonded to the inner ring end face of the raised end by means of a sealant; and / or,

[0010] The end face of the raised end close to the flange is provided with a second outer ring glue-coated surface and a second inner ring glue-coated surface, the second outer ring glue-coated surface is bonded to the outer ring end face of the flange by sealant, and the second inner ring glue-coated surface is bonded to the inner ring end face of the flange by sealant.

[0011] In an optional embodiment, the first outer ring rubber coating surface is provided with a first annular rubber storage groove, and / or the first inner ring rubber coating surface is provided with a second annular rubber storage groove.

[0012] In an optional embodiment, the number of the first annular glue storage grooves is multiple, and the multiple first annular glue storage grooves are arranged at intervals along the radial direction of the flange; and / or,

[0013] There are multiple second annular glue storage grooves, and the multiple second annular glue storage grooves are arranged at intervals along the radial direction of the flange.

[0014] In an optional embodiment, the second outer ring rubber coating surface is provided with a third annular rubber storage groove, and / or the second inner ring rubber coating surface is provided with a fourth annular rubber storage groove.

[0015] In an optional embodiment, the number of the third annular glue storage grooves is multiple, and the multiple third annular glue storage grooves are arranged at intervals along the radial direction of the protruding end; and / or,

[0016] There are multiple fourth annular glue storage grooves, and the multiple fourth annular glue storage grooves are arranged at intervals along the radial direction of the protruding end.

[0017] In an optional embodiment, the first outer ring rubber coating surface and the first inner ring rubber coating surface are spaced apart along the radial direction of the flange; and / or,

[0018] The second outer ring rubber coating surface and the second inner ring rubber coating surface are arranged at intervals along the radial direction of the raised end.

[0019] In an optional embodiment, a mounting step is provided on the side of the raised end close to the flange, and the outer peripheral edge of the flange abuts against the inner side wall of the mounting step; the end face of the flange close to the raised end is bonded to the bottom wall of the mounting step by sealant.

[0020] In an optional embodiment, the fixing member is a screw, and the screw is simultaneously passed through the flange and the raised end portion to fix the flange and the raised end portion together.

[0021] In a second aspect, the utility model provides a robot comprising the joint sealing structure described in any one of the aforementioned embodiments.

[0022] The beneficial effects of the embodiments of the utility model include:

[0023] The joint sealing structure includes a first joint housing, a second joint housing and a fixing part. One of the first joint housing and the second joint housing is provided with a flange, and the other is provided with a raised end portion matched with the flange. The raised end portion and the flange are bonded by a sealant. The fixing part is connected to the flange and the raised end portion at the same time. During assembly, the end face of the flange is first bonded to the end face of the raised end portion using a sealant, and then the two are further fixedly connected by a fixing part. After applying the sealant, the assembly can be performed, which reduces the operation links such as aligning the seal in the prior art, and the assembly efficiency is high. At the same time, the sealant has good anti-aging performance, which reduces the aging problem of the seal in the prior art and improves the sealing effect. In addition, the sealant can also provide better connection strength, thereby improving the overall operation stability of the robot.

[0024] The robot includes a joint sealing structure, which has all the beneficial effects of the joint sealing structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic structural diagram of a joint sealing structure provided by an embodiment of the utility model;

[0027] Figure 2 A schematic diagram of the assembly of the flange and the second joint housing provided in an embodiment of the utility model;

[0028] Figure 3 A schematic diagram of partial assembly of the flange and the second joint housing provided in an embodiment of the utility model;

[0029] Figure 4 A schematic diagram of the structure of a second joint housing provided in an embodiment of the utility model;

[0030] Figure 5 A schematic diagram of the structure of a flange provided in an embodiment of the utility model;

[0031] Figure 6 for Figure 5 A partial enlarged view of point A in the middle.

[0032] Icons: 100-joint sealing structure; 10-first joint housing; 11-flange; 111-first outer ring glue coating surface; 1111-first annular glue storage groove; 112-first inner ring glue coating surface; 1121-second annular glue storage groove; 113-first through hole; 20-second joint housing; 21-raised end; 211-installation step; 212-second through hole; 30-fixing part. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model 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 utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0037] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] As described in the background technology, the robot needs to consider its protection level in some application scenarios with harsh environments. Robots without protection levels are easily damaged, thus affecting production. At present, the existing technology uses plastic parts, rubber parts and other seals to seal the joints of the robot. However, as the use time increases, these seals will age or deform, resulting in reduced connection strength and protection failure; and there will also be problems with incomplete assembly during the assembly process, which affects assembly efficiency and easily leads to protection failure.

[0040] Based on this, please refer to Figure 1-Figure 6 The embodiment of the utility model provides a joint sealing structure 100 and a robot, which can effectively improve the above-mentioned technical problems, that is, it can improve the joint sealing effect and connection strength of the robot and improve the assembly efficiency. The joint sealing structure 100 and the robot will be described in detail below.

[0041] This embodiment provides a robot, which includes a robot body and a joint sealing structure 100. The joint sealing structure 100 can seal each joint connection part of the robot body, thereby improving the protection level of the robot. It is easy to understand that the robot can also include other devices such as a controller and a driver. The controller is used to control the driver to drive each joint structure to realize various functions of the robot.

[0042] Please refer to Figure 1 , Figure 1 The structural diagram of the joint sealing structure 100 provided in this embodiment is shown in FIG. Figure 1 The joint sealing structure 100 includes a first joint housing 10, a second joint housing 20 and a fixing part 30. One of the first joint housing 10 and the second joint housing 20 is provided with a flange 11, and the other is provided with a raised end 21 that cooperates with the flange 11. The raised end 21 and the flange 11 are bonded by a sealant; the fixing part 30 is connected to the flange 11 and the raised end 21 at the same time.

[0043] During assembly, sealant is first used to bond the end face of the flange 11 to the end face of the raised end 21, and then the two are further fixedly connected by the fixing member 30. After applying the glue, the assembly can be carried out, which reduces the operation steps such as aligning the seal in the prior art and improves the assembly efficiency. At the same time, the sealant has good anti-aging performance, reduces the aging problem of the seal in the prior art, and improves the sealing effect. In addition, the sealant can also provide better connection strength, thereby improving the overall operation stability of the robot.

[0044] It should be noted that, in this embodiment, the first joint housing 10 is provided with a flange 11, and the second joint housing 20 is provided with a raised end 21; of course, in other embodiments, the first joint housing 10 may be provided with a raised end 21, and the second joint housing 20 may be provided with a flange 11, as long as the sealing between the two housings can be achieved.

[0045] In addition, it should be noted that the first joint housing 10 and the second joint housing 20 can be understood as the housing of the joint structure of the robot body, that is, the robot body can include a first axis joint and a second axis joint, the first axis joint includes the first joint housing 10 and components arranged in the first joint housing 10, and the second axis joint includes the second joint housing 20 and components arranged in the second joint housing 20. It is easy to understand that the flange 11 of the first joint housing 10 and the raised end 21 of the second joint housing 20 are bonded by sealant, and then the two are connected by the fixing member 30, thereby realizing the connection and fixation of the first axis joint and the second axis joint, and ensuring the sealing and protection effect.

[0046] Of course, the robot body may include multiple axial joints, and any two axial joints may be sealed and protected by the joint sealing structure 100 .

[0047] For further information, please refer to Figure 2-Figure 4 , Figure 2 The schematic diagram of the assembly of the flange 11 and the second joint housing 20 provided in this embodiment is as follows: Figure 3 This is a schematic diagram of the partial assembly of the flange 11 and the second joint housing 20 provided in this embodiment. Figure 4 The schematic diagram of the structure of the second joint housing 20 provided in this embodiment, combined with Figure 2-Figure 4 In order to facilitate the assembly of the flange 11 and the raised end 21, in this embodiment, a mounting step 211 is provided on the side of the raised end 21 close to the flange 11, and the outer peripheral edge of the flange 11 abuts against the inner side wall of the mounting step 211; the end face of the flange 11 close to the raised end 21 is bonded to the bottom wall of the mounting step 211 by a sealant.

[0048] It is easy to understand that the installation step 211 can play a role of positioning and guiding, facilitating the cooperation between the flange 11 and the raised end 21 during the installation process, making the assembly of the flange 11 smoother, thereby further improving the assembly efficiency.

[0049] It should be noted that, in the present embodiment, the fixing member 30 is specifically a screw, which is inserted through the flange 11 and the raised end 21 to fix the flange 11 to the raised end 21. Of course, in other embodiments, the fixing member 30 may also be other fixing structures such as a screw, a bolt or a pin, as long as the flange 11 and the raised end 21 can be fixedly connected.

[0050] Specifically, please refer to Figure 5 , Figure 5 The structural diagram of the flange 11 provided in this embodiment, combined with Figure 3-Figure 5 The end face of the flange 11 is provided with a plurality of first through holes 113, and the plurality of first through holes 113 are arranged at circumferential annular intervals along the end face of the flange 11. The end face of the raised end portion 21 that cooperates with the flange 11 is provided with a plurality of second through holes 212, and the plurality of second through holes 212 are arranged at circumferential annular intervals along the raised end portion 21, and correspond one-to-one to the plurality of first through holes 113. It is easy to understand that the number of the fixing members 30 is also multiple, and the plurality of fixing members 30 respectively cooperate with the plurality of first through holes 113 and the plurality of second through holes 212.

[0051] It should be noted that, since the fixing member 30 in this embodiment is a screw, correspondingly, the first through hole 113 and the second through hole 212 are both threaded holes, thereby further ensuring the connection stability.

[0052] Please continue to combine Figure 5 The end face of the flange 11 close to the raised end 21 is provided with a first outer ring rubber coating surface 111 and a first inner ring rubber coating surface 112. The first outer ring rubber coating surface 111 is bonded to the outer ring end face of the raised end 21 by a sealant, and the first inner ring rubber coating surface 112 is bonded to the inner ring end face of the raised end 21 by a sealant.

[0053] That is to say, when bonding, sealant is applied to the first outer ring glue-coated surface 111 and the first inner ring glue-coated surface 112 respectively, and then they are bonded to the corresponding positions of the raised end 21 respectively; in this way, the sealing between the two joint shells can be achieved by bonding the first outer ring glue-coated surface 111 to the outer ring end face of the raised end 21, and the connection strength can be further enhanced by bonding the first inner ring glue-coated surface 112 to the inner ring end face of the raised end 21.

[0054] It should be noted that, in other embodiments, a glue-coated surface may be provided only on the corresponding end face of the raised end portion 21, that is, a second outer ring glue-coated surface and a second inner ring glue-coated surface (not shown) are provided on the end face of the raised end portion 21 close to the flange 11, and the second outer ring glue-coated surface is bonded to the outer ring end face of the flange 11 by means of sealant, and the second inner ring glue-coated surface is bonded to the inner ring end face of the flange 11 by means of sealant; in other words, glue-coated surfaces are provided on the corresponding mating ends of the flange 11 and the raised end portion 21, and sealant is applied to the two mating end faces in advance, and the specific gluing conditions may be determined according to design requirements or actual assembly conditions.

[0055] Please continue to combine Figure 5 It should also be noted that the first through hole 113 in this embodiment is specifically located on the first inner ring rubber coating surface 112. In this way, after the first inner ring rubber coating surface 112 is bonded to the raised end portion 21, the connection strength between the two can be further improved. At the same time, the opening of the through hole will not affect the sealing effect of the first outer ring rubber coating surface 111.

[0056] Similarly, in some other embodiments, the second outer ring rubber coating surface and the second inner ring rubber coating surface of the raised end portion 21 may also be arranged at intervals along the radial direction of the raised end portion 21 .

[0057] For further information, please refer to Figure 6 , Figure 6 for Figure 5 The local enlarged view of A in the middle, combined with Figure 5 and Figure 6 In this embodiment, the first outer ring glue coating surface 111 and the first inner ring glue coating surface 112 are arranged at intervals along the radial direction of the flange 11, that is, the glue coating area of ​​the first outer ring and the glue coating area of ​​the first inner ring have a certain distance, so that the glue coating of the two does not affect each other; of course, in other embodiments, the first outer ring glue coating surface 111 and the first inner ring glue coating surface 112 may not be provided with an obvious dividing line, so as to facilitate the simultaneous application of sealant and improve assembly efficiency.

[0058] In order to prevent the sealant from overflowing during the application and subsequent bonding process, in this embodiment, the first outer ring glue coating surface 111 is provided with a first annular glue storage groove 1111, and the first inner ring glue coating surface 112 is provided with a second annular glue storage groove 1121. The provision of the glue storage groove can also facilitate the storage of the sealant, so that more sealant can be bonded to the flange 11 and the raised end 21 at the same time, so as to improve the sealing effect and connection strength.

[0059] Of course, in other embodiments, the first annular glue storage groove 1111 may be provided only on the first outer ring glue coating surface 111 , or the second annular glue storage groove 1121 may be provided only on the first inner ring glue coating surface 112 .

[0060] Furthermore, there are multiple first annular glue storage grooves 1111, which are spaced apart along the radial direction of the flange 11; there are multiple second annular glue storage grooves 1121, which are spaced apart along the radial direction of the flange 11. This further facilitates the storage of sealant, prevents sealant from overflowing, and further improves the sealing effect and connection strength between the two joint housings.

[0061] Similarly, in other embodiments, a glue storage groove can also be provided on the glue coating surface of the raised end 21, that is, the second outer ring glue coating surface is provided with a third annular glue storage groove, and the second inner ring glue coating surface is provided with a fourth annular glue storage groove; it is easy to understand that in some embodiments, it is possible to choose to set the third annular glue storage groove only on the second outer ring glue coating surface, or to set the fourth annular glue storage groove only on the second inner ring glue coating surface, or to set both the third annular glue storage groove and the fourth annular glue storage groove at the same time.

[0062] Similarly, in order to further improve the sealing effect and connection strength, the number of third annular glue storage grooves can also be multiple, and multiple third annular glue storage grooves are arranged at radial intervals along the raised end 21; the number of fourth annular glue storage grooves can also be multiple, and multiple fourth annular glue storage grooves are arranged at radial intervals along the raised end 21.

[0063] In summary, the embodiment of the utility model provides a joint sealing structure 100 and a robot, wherein the joint sealing structure 100 includes a first joint housing 10, a second joint housing 20 and a fixing member 30, wherein one of the first joint housing 10 and the second joint housing 20 is provided with a flange 11, and the other is provided with a raised end portion 21 matched with the flange 11, and the raised end portion 21 is bonded to the flange 11 by a sealant; and the fixing member 30 is connected to the flange 11 and the raised end portion 21 at the same time. During assembly, the end face of the flange 11 is first bonded to the end face of the raised end portion 21 by a sealant, and then the two are further fixedly connected by the fixing member 30, and the assembly can be performed after the glue is applied, thereby reducing the operation links such as aligning the seal in the prior art, and the assembly efficiency is high; at the same time, the sealant has good anti-aging performance, which reduces the aging problem of the seal in the prior art and improves the sealing effect; and the sealant can also provide better connection strength, thereby improving the overall operation stability of the robot.

[0064] The robot includes the joint sealing structure 100 , and has all the functions and beneficial effects of the joint sealing structure 100 .

[0065] The above description is only a specific embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model may 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 sealing structure, characterized in that: include: A first joint housing (10) and a second joint housing (20), wherein one of the first joint housing (10) and the second joint housing (20) is provided with a flange (11), and the other is provided with a raised end portion (21) matched with the flange (11), and the raised end portion (21) and the flange (11) are bonded by a sealant; and A fixing member (30) is connected to the flange (11) and the raised end (21) at the same time.

2. The joint sealing structure according to claim 1, characterized in that: The end surface of the flange (11) close to the raised end portion (21) is provided with a first outer ring rubber coating surface (111) and a first inner ring rubber coating surface (112), the first outer ring rubber coating surface (111) and the outer ring end surface of the raised end portion (21) are bonded by a sealant, and the first inner ring rubber coating surface (112) and the inner ring end surface of the raised end portion (21) are bonded by a sealant; and / or, The end face of the raised end portion (21) close to the flange (11) is provided with a second outer ring rubber coating surface and a second inner ring rubber coating surface, the second outer ring rubber coating surface is bonded to the outer ring end face of the flange (11) by means of a sealant, and the second inner ring rubber coating surface is bonded to the inner ring end face of the flange (11) by means of a sealant.

3. The joint sealing structure according to claim 2, characterized in that: The first outer ring rubber coating surface (111) is provided with a first annular rubber storage groove (1111), and / or the first inner ring rubber coating surface (112) is provided with a second annular rubber storage groove (1121).

4. The joint sealing structure according to claim 3, characterized in that: The number of the first annular glue storage grooves (1111) is multiple, and the multiple first annular glue storage grooves (1111) are arranged at intervals along the radial direction of the flange (11); and / or, The number of the second annular glue storage grooves (1121) is multiple, and the multiple second annular glue storage grooves (1121) are arranged at intervals along the radial direction of the flange (11).

5. The joint sealing structure according to claim 2, characterized in that: The second outer ring rubber coating surface is provided with a third annular rubber storage groove, and / or the second inner ring rubber coating surface is provided with a fourth annular rubber storage groove.

6. The joint sealing structure according to claim 5, characterized in that: The number of the third annular glue storage grooves is multiple, and the multiple third annular glue storage grooves are arranged at intervals along the radial direction of the protruding end (21); and / or, There are multiple fourth annular glue storage grooves, and the multiple fourth annular glue storage grooves are arranged at intervals along the radial direction of the protruding end (21).

7. The joint sealing structure according to claim 2, characterized in that: The first outer ring rubber coating surface (111) and the first inner ring rubber coating surface (112) are arranged at intervals along the radial direction of the flange (11); and / or, The second outer ring rubber coating surface and the second inner ring rubber coating surface are arranged at intervals along the radial direction of the raised end portion (21).

8. The joint sealing structure according to claim 1, characterized in that: A mounting step (211) is provided on one side of the raised end portion (21) close to the flange (11), and the outer peripheral edge of the flange (11) abuts against the inner side wall of the mounting step (211); and the end surface of the flange (11) close to the raised end portion (21) is bonded to the bottom wall of the mounting step (211) by means of a sealant.

9. The joint sealing structure according to claim 1, characterized in that: The fixing member (30) is a screw, and the screw is simultaneously passed through the flange (11) and the raised end portion (21) to fix the flange (11) and the raised end portion (21) together.

10. A robot, characterized in that: The joint sealing structure (100) comprises the joint sealing structure (100) according to any one of claims 1 to 9.

Images