Joint and robot

Abstract

The utility model provides a joint and a robot. The joint comprises a shell, the driving part is mounted on the shell; the speed reducing mechanism is mounted on the shell, and the speed reducing mechanism is in driving connection with the driving part; the output part is located on the side, away from the driving part, of the speed reducing mechanism, the output part is in driving connection with the speed reducing mechanism, an output shaft of the speed reducing mechanism, the rotating axis of the output part and an output shaft of the driving part are arranged in parallel, and the rotating axis of the output part and the output shaft of the driving part are arranged in a staggered mode in the radial direction of the output shaft. The joint and the robot can solve the problems that in the prior art, a joint is large in size and weight.

Description

Technical Field

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

[0002] The joint drive assembly is mainly composed of a motor and a reducer. In the prior art, the load capacity of a harmonic reducer and a frameless motor is limited and cannot meet the application scenarios of large loads. While using an RV reducer and a servo motor will result in a longer axial dimension of the joint, which is not conducive to configuration design and motion control. Summary of the Utility Model

[0003] The main purpose of the utility model is to provide a joint and a robot to solve the problem of large volume and weight of the joint in the prior art.

[0004] To achieve the above object, according to one aspect of the utility model, a joint is provided, which includes a housing; a driving member mounted on the housing; a speed reduction mechanism mounted on the housing, the speed reduction mechanism being drivingly connected to the driving member; an output member located on a side of the speed reduction mechanism away from the driving member, the output member being drivingly connected to the speed reduction mechanism, the output shaft of the speed reduction mechanism, the rotation axis of the output member, and the output shaft of the driving member are arranged in parallel, and the rotation axis of the output member and the output shaft of the driving member are arranged in a radial offset along the radial direction of the output shaft.

[0005] Further, the speed reduction mechanism includes a first speed reduction component drivingly connected to the driving member; a second speed reduction component drivingly connected to the first speed reduction component, and the output member is drivingly connected to the second speed reduction component.

[0006] Further, the first speed reduction component includes: a first transmission member drivingly connected to the output shaft of the driving member; a second transmission member, the first transmission member being drivingly connected to the second transmission member, the axis of the first transmission member being parallel to the axis of the second transmission member, and the second transmission member being drivingly connected to the input shaft of the second speed reduction component.

[0007] Further, the first transmission member is a first gear, the second transmission member is a second gear meshing with the first gear, and the number of teeth of the first gear is less than the number of teeth of the second gear.

[0008] Further, the joint further includes a low-speed shaft passing through part of the speed reduction mechanism, and the rotation axis of the low-speed shaft is collinear with the rotation axis of the output member.

[0009] Further, the output member has a mounting hole coaxial with the low-speed shaft, and at least a part of the low-speed shaft is arranged inside the mounting hole.

[0010] Further, the inside of the low-speed shaft has a wire routing channel extending along its axis direction.

[0011] Furthermore, the joint further includes a seal, which includes a first seal and a second seal. The first seal is located at one end of the low-speed shaft close to the reduction mechanism for sealing between the low-speed shaft and the reduction mechanism; the second seal is located at the other end of the low-speed shaft for sealing between the low-speed shaft and external components.

[0012] Furthermore, the joint further includes an encoder. The code disc of the encoder is fixedly connected to the low-speed shaft, and the read head of the encoder is mounted on the housing.

[0013] According to another aspect of the present invention, there is provided a joint including the above-mentioned robot.

[0014] Applying the technical solution of the present invention, the following technical effects are achieved:

[0015] 1. The output shaft of the driving member is arranged parallel to the output shaft of the reduction mechanism. The driving member can be arranged at one end of the reduction mechanism and fixed to the remaining rigid components at the same time. In this way, the driving member does not serve as a load-bearing part of the joint, and the overall weight of the joint can be reduced.

[0016] 2. The first gear and the second gear mesh with each other, which is convenient for transmitting the rotation of the driving member to the second reduction component. The gear set can avoid the problem of insufficient external output capacity of the joint caused by the reduction of the speed ratio, and at the same time, it can also reduce the volume of the reduction mechanism.

[0017] 3. The wire routing channel can be used for placing the internal wires of the robot. By concentrating and summarizing the internal wires of the robot into the wire routing channel inside the low-speed shaft, not only can the wires be protected, reducing the entanglement of the wires with other components during the working process, but also the occupied space of the wires can be reduced, further reducing the volume of the joint. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 is a schematic diagram of the overall structure of the joint provided in this embodiment;

[0020] Figure 2 is a cross-sectional view of the joint provided in this embodiment.

[0021] Among them, the above-mentioned drawings include the following reference numerals:

[0022] 1. Housing; 2. Reduction mechanism; 21. First reduction component; 211. First transmission member; 212. Second transmission member; 22. Second reduction component; 3. Driving member; 4. Low-speed shaft; 5. Output member; 6. Sealing member. Detailed implementation mode

[0023] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0024] It should be pointed out that unless otherwise specified, all technical and scientific terms used in the present application have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.

[0025] In the present invention, unless otherwise stated, the orientation words such as "upper, lower, top, bottom" are usually in the direction shown in the drawings, or in the vertical, perpendicular or gravitational direction of the component itself; similarly, for the convenience of understanding and description, "inner, outer" refer to the inner and outer of the contour of each component itself, but the above orientation words do not limit the present invention.

[0026] To solve the problem that the joint volume and weight are large in the prior art, the present application provides a joint. By setting multi-stage reduction and arranging the output shaft of the driving member parallel to the axis of the output member, the problems in the prior art are overcome.

[0027] Embodiment 1

[0028] A joint, see Figure 1 and Figure 2 , including a housing 1, a driving member 3, a reduction mechanism 2 and an output member 5; the driving member 3 is installed on the housing 1, the reduction mechanism 2 is installed on the housing 1, the reduction mechanism 2 is drivingly connected to the driving member 3, the output member 5 is located on the side of the reduction mechanism 2 away from the driving member 3, the output member 5 is drivingly connected to the reduction mechanism 2, the output shaft of the reduction mechanism 2, the rotation shaft of the output member 5 and the output shaft of the driving member 3 are parallelly arranged, and the rotation axis of the output member 5 and the output shaft of the driving member 3 are radially offset along the output shaft.

[0029] The driving member 3 provides power for the movement of the joint. The power of the driving member 3 is transmitted to the reduction mechanism 2 through the output shaft of the driving member 3. After being reduced by the reduction mechanism 2, the power is transmitted to the output member 5, and the output member 5 outputs power to the outside. The output shaft of the driving member 3 is arranged parallel to the output shaft of the reduction mechanism 2. The driving member 3 can be arranged at one end of the reduction mechanism 2 and fixed to the remaining rigid components at the same time. In this way, the driving member 3 does not serve as the load-bearing part of the joint, which can reduce the overall weight of the joint. At the same time, the reduction mechanism 2 includes an RV reducer, and the RV reducer has the characteristics of light weight and small volume, which can further reduce the mass of the joint and reduce the volume of the joint.

[0030] Further, the reduction mechanism 2 includes a first reduction component 21 and a second reduction component 22. The first reduction component 21 is drivingly connected to the driving member 3, the second reduction component 22 is drivingly connected to the first reduction component 21, and the output member 5 is drivingly connected to the second reduction component 22.

[0031] Among them, the reduction mechanism 2 includes a first reduction component 21 and a second reduction component 22. After two-stage reduction by the reduction mechanism 2, the rotation speed of the output member 5 can be further reduced to meet the actual use requirements. The two-stage reduction also overcomes the problem that the reduction ratio required for single-stage reduction is large, resulting in a large volume occupied by the reduction mechanism. The second reduction component 22 can adopt an RV reducer, and at the same time, the inside of the RV reducer is provided with a relatively large hollow hole, which is convenient for the low-speed shaft 4 to pass through. The RV reducer has a small mass, which can further reduce the moment of inertia.

[0032] Further, the first reduction component 21 includes a first transmission member 211 and a second transmission member 212. The first transmission member 211 is drivingly connected to the output shaft of the driving member 3. The first transmission member 211 is drivingly connected to the second transmission member 212. The axis of the first transmission member 211 is arranged parallel to the axis of the second transmission member 212. The second transmission member 212 is drivingly connected to the input shaft of the second reduction component 22.

[0033] Further, the first transmission member 211 is a first gear, the second transmission member 212 is a second gear meshing with the first gear, and the number of teeth of the first gear is less than the number of teeth of the second gear.

[0034] It can be understood that the output shaft of the driving member 3 is drivingly connected to the first gear, the second gear is drivingly connected to the input shaft of the second reduction component 22, and the first gear and the second gear mesh with each other, which is convenient for transmitting the rotation of the driving member 3 to the second reduction component. The gear set can avoid the problem of insufficient output capacity of the joint due to the reduction of the speed ratio, and at the same time, it can also reduce the volume of the reduction component. Since the first gear and the second gear need to perform the function of speed reduction, the number of teeth of the first gear is less than the number of teeth of the second gear.

[0035] In this embodiment, the joint further includes a low-speed shaft 4, which is drivingly connected to the output member 5. The low-speed shaft 4 penetrates at least part of the speed reduction mechanism 2, and the rotation axis of the low-speed shaft 4 is collinear with the rotation axis of the output member 5.

[0036] Specifically, since the low-speed shaft 4 is drivingly connected to the output member 5, the rotation of the output member 5 can be transmitted to the low-speed shaft 4, and the two can rotate at the same speed. Moreover, the low-speed shaft 4 penetrates part of the speed reduction mechanism 2. In this way, when it is necessary to detect the rotation speed of the output member 5, the rotation speed of the output member 5 can be detected on the side of the low-speed shaft 4 away from the output member 5. This avoids the situation where it is inconvenient to detect the rotation of the output member 5 due to the installation of other structures on the output member 5, and enables the convenient detection of the rotation speed of the output member 5.

[0037] Furthermore, the output member 5 has a mounting hole coaxial with the low-speed shaft 4, and at least a part of the low-speed shaft 4 is disposed inside the mounting hole.

[0038] It can be understood that by providing the mounting hole and installing the low-speed shaft 4 on the mounting hole, it is convenient to install the low-speed shaft 4. By installing part of the low-speed shaft 4 inside the mounting hole, the connection between the low-speed shaft 4 and the output member 5 is realized. In this way, when the output member 5 rotates, it will drive the low-speed shaft 4 installed on the output member 5 to rotate together, realizing the rotation of the low-speed shaft 4.

[0039] Furthermore, the inside of the low-speed shaft 4 has a wire routing channel extending along its axis.

[0040] Among them, the wire routing channel can be used for placing the internal wires of the joint. By gathering the internal wires of the joint into the wire routing channel inside the low-speed shaft 4, not only can the wires be protected, reducing the entanglement of the wires with other components during the operation of other components, but also the occupied space of the wires can be reduced, further reducing the overall volume of the joint.

[0041] Furthermore, the joint further includes a seal 6. The seal includes a first seal and a second seal. The first seal is located at one end of the low-speed shaft 4 close to the speed reduction mechanism 2 for sealing between the low-speed shaft 4 and the speed reduction mechanism 2; the second seal is located at the other end of the low-speed shaft 4 for sealing between the low-speed shaft 4 and external components.

[0042] Among them, the seals 6 provided at both ends of the second speed reduction component 22 can seal both ends of the second speed reduction component 22, preventing the leakage of grease inside the second speed reduction component 22, avoiding the influence on other components caused by grease leakage, and increasing the working stability of the joint.

[0043] The seals 6 provided at both ends of the low-speed shaft 4 can seal the low-speed shaft 4, preventing grease from entering the interior of the low-speed shaft 4 and affecting the wiring inside the low-speed shaft 4. Moreover, after sealing the low-speed shaft 4, it can prevent the grease in the reduction mechanism 2 and the driving member 3 from leaking and affecting the components installed on the low-speed shaft 4.

[0044] Further, the joint further includes an encoder. The code disk of the encoder is fixedly connected to the low-speed shaft 4, and the read head of the encoder is installed on the housing 1.

[0045] The driving member 3 is usually a servo motor, so that the rotation of the driving member 3 can be directly understood. The encoder detects the rotation speed of the low-speed shaft 4, and can timely feedback and understand the rotation speed of the low-speed shaft 4. Since the low-speed shaft 4 is drivingly connected to the output member 5, the encoder connected to the low-speed shaft 4 detects the rotation speed of the output member 5. The low-speed shaft 4 can play a role in leading out. The output member 5 is located on the side of the reduction mechanism 2 away from the driving member 3. Without the low-speed shaft 4, the encoder needs to be installed at this end to detect the low-speed shaft 4. Through the leading out of the low-speed shaft 4, the encoder can be installed on the low-speed shaft 4 and at one end of the low-speed shaft 4 close to the driving member 3, which is convenient for detecting the rotation speed of the output member 5.

[0046] Embodiment 2

[0047] This embodiment provides a robot, including the joint in Embodiment 1.

[0048] From the above description, it can be seen that the above embodiments of the present utility model achieve the following technical effects:

[0049] 1. The output shaft of the driving member 3 is arranged parallel to the output shaft of the reduction mechanism 2. The driving member 3 can be arranged at one end of the reduction mechanism 2 and fixed to the remaining rigid components at the same time. In this way, the driving member 3 does not serve as the load-bearing part of the joint, and the overall weight of the joint can be reduced.

[0050] 2. The first gear and the second gear mesh with each other, which is convenient for transmitting the rotation of the driving member 3 to the second reduction assembly. The gear set can avoid the problem of insufficient output capacity of the joint due to the reduction of the speed ratio, and at the same time, it can also reduce the volume of the reduction mechanism.

[0051] 3. The wiring channel can be used for placing the internal lines of the robot. By concentrating and summarizing the internal lines of the robot into the wiring channel inside the low-speed shaft 4, not only can the lines be protected, reducing the entanglement of the lines with other components during the working process, but also the occupied space of the lines can be reduced, further reducing the volume of the joint.

[0052] Obviously, the embodiments described above are only a part of the embodiments of the present utility model, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0053] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0054] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order different from those illustrated or described herein.

[0055] The foregoing is only the preferred embodiment of the present utility model and is not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A joint, characterized in that: include: Housing (1); A driving member (3), wherein the driving member (3) is mounted on the housing (1); A speed reduction mechanism (2), the speed reduction mechanism (2) being mounted on the housing (1), and the speed reduction mechanism (2) being drivingly connected to the driving member (3); An output member (5), the output member (5) is located on a side of the reduction mechanism (2) away from the driving member (3), the output member (5) is drivingly connected to the reduction mechanism (2), the output shaft of the reduction mechanism (2), the rotation axis of the output member (5) and the output shaft of the driving member (3) are arranged in parallel, and the rotation axis of the output member (5) and the output shaft of the driving member (3) are offset along the radial direction of the output shaft.

2. The joint according to claim 1, characterized in that The speed reduction mechanism (2) comprises: A first reduction assembly (21), the first reduction assembly (21) being drivingly connected to the driving member (3); A second reduction assembly (22), the second reduction assembly (22) is drivingly connected to the first reduction assembly (21), and the output member (5) is drivingly connected to the second reduction assembly (22).

3. The joint according to claim 2, characterized in that The first deceleration component (21) comprises: A first transmission member (211), the first transmission member (211) being drivingly connected to an output shaft of the driving member (3); A second transmission member (212), the first transmission member (211) is drivingly connected to the second transmission member (212), the axis of the first transmission member (211) is arranged parallel to the axis of the second transmission member (212), and the second transmission member (212) is drivingly connected to the input shaft of the second reduction assembly (22).

4. The joint according to claim 3, characterized in that The first transmission member (211) is a first gear, the second transmission member (212) is a second gear meshing with the first gear, and the number of teeth of the first gear is smaller than the number of teeth of the second gear.

5. The joint according to claim 1, characterized in that The joint further comprises a low-speed shaft (4), the low-speed shaft (4) being drivingly connected to the output member (5), the low-speed shaft (4) passing through a portion of the reduction mechanism (2), and the rotation axis of the low-speed shaft (4) being colinear with the rotation axis of the output member (5).

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

7. The joint according to claim 5, characterized in that The low-speed shaft (4) has a wiring channel extending along its axial direction inside.

8. The joint according to claim 5, characterized in that The joint further comprises a seal (6), wherein the seal (6) comprises a first seal and a second seal, wherein the first seal is located at one end of the low-speed shaft (4) close to the reduction mechanism (2) and is used for sealing between the low-speed shaft (4) and the reduction mechanism (2); and the second seal is located at the other end of the low-speed shaft (4) and is used for sealing between the low-speed shaft (4) and an external component.

9. The joint according to claim 5, characterized in that The joint further comprises an encoder, the code disc of the encoder is fixedly connected to the low-speed shaft (4), and the reader of the encoder is mounted on the housing (1).

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

Images