Wrist structure and robot

Abstract

The utility model provides a wrist structure and a robot, and the wrist structure comprises a base which is provided with a first cavity and a second cavity; the driving assembly is arranged on the base and partially located in the first cavity; the wire harness assembly is electrically connected with the driving assembly, and a part of the wire harness assembly is located in the second cavity; at least part of the first cavity and at least part of the second cavity are located on the same side of the base. At least one part of the first cavity and at least one part of the second cavity are located on the same side of the base, that is, the wrist structure adopts a same-side wire passing mode, so that compared with a double-side supporting wrist structure in the related technology, internal wiring can be achieved, meanwhile, the overall width of the wrist structure can be reduced, and the reliability of the wrist structure is improved. Therefore, the overall size of the wrist structure is reduced, the dead weight of the wrist structure is reduced, the load-dead weight ratio of the whole robot is increased, the performance of the whole robot is improved, and the comprehensive cost of the robot is reduced.

Description

Technical Field

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

[0002] Currently, industrial robot wrist structures are generally categorized as either single-sided or double-sided. Single-sided wrists often lack proper wiring, or the wiring harness is located outside the wrist, reducing its lifespan. Double-sided wrists, on the other hand, are wider, resulting in a larger body, increased weight, and higher overall costs. Utility Model Content

[0003] The embodiments of the present utility model are intended to solve at least one of the technical problems existing in the prior art.

[0004] To this end, a first aspect of an embodiment of the present invention provides a wrist structure.

[0005] A second aspect of the embodiments of the present invention provides a robot.

[0006] In view of this, according to the first aspect of an embodiment of the present utility model, a wrist structure is provided, which includes: a base, the base is provided with a first chamber and a second chamber; a drive assembly, which is provided on the base and partially located in the first chamber; a wiring harness assembly, which is electrically connected to the drive assembly, and a portion of the wiring harness assembly is located in the second chamber; wherein, at least part of the first chamber and at least part of the second chamber are located on the same side of the base.

[0007] The wrist structure provided by the embodiment of the present invention includes a base, a drive assembly and a wiring harness assembly. Specifically, the drive assembly is arranged on the base, and the wiring harness assembly is electrically connected to the drive assembly.

[0008] The base is provided with a first chamber and a second chamber, a part of the drive assembly is located in the first chamber, and a part of the wiring harness assembly is located in the second chamber, thereby realizing the internal routing of the unilaterally supported wrist structure, avoiding damage to the wiring harness assembly due to external interference, which is beneficial to extending the service life of the wiring harness assembly and improving the reliability of the robot with this wrist structure during operation.

[0009] At least a portion of the first chamber and at least a portion of the second chamber are located on the same side of the base, that is, the wrist structure adopts a same-side wiring method. Therefore, compared with the bilaterally supported wrist structure in the related technology, it can realize internal routing while reducing the overall width of the wrist structure, thereby reducing the overall volume of the wrist structure, reducing the weight of the wrist structure, and improving the load-to-weight ratio of the robot, which is beneficial to improving the performance of the whole machine and reducing the overall cost of the robot.

[0010] In addition, the wrist structure provided by the above technical solution of the present invention also has the following additional technical features:

[0011] In some technical solutions, optionally, the wrist structure further includes a partition plate connected to the base and used to separate the first chamber from the second chamber.

[0012] In this technical solution, it is defined that the wrist structure further includes a partition plate. Specifically, the partition plate is connected to the base, and the partition plate can separate the first chamber and the second chamber.

[0013] Since part of the drive assembly is located in the first chamber and part of the wiring harness assembly is located in the second chamber, the drive assembly and the wiring harness assembly can be separated by the partition plate. Therefore, during the operation of the robot, it can effectively prevent lubricating oil and other substances in the drive assembly from entering the second chamber and contaminating the wiring harness assembly, which is beneficial to improving the reliability and durability of the wiring harness assembly.

[0014] In some technical solutions, optionally, the wrist structure further includes a first seal, which is provided at the connection between the partition plate and the base.

[0015] In this technical solution, it is defined that the wrist structure also includes a first seal. Specifically, the first seal is arranged at the connection between the partition plate and the base, thereby sealing the connection between the partition plate and the base, achieving a high protection effect of the wrist structure, and making the unilaterally supported wrist structure have a higher protection level, which is beneficial to improving the reliability of the robot.

[0016] Optionally, the first sealing member comprises a sealing gasket.

[0017] In some technical solutions, optionally, the base includes a base body and a cover body, wherein the cover body is connected to the base body and encloses the base body to form a first chamber and a second chamber, and the second seal is provided at the connection between the cover body and the base body.

[0018] This technical solution defines a base comprising a base body and a cover. Specifically, the cover is connected to the base body, thereby enclosing a first chamber and a second chamber. With a portion of the drive assembly located within the first chamber and a portion of the wiring harness assembly located within the second chamber, this allows for internal wiring within the unilaterally supported wrist structure, preventing damage to the wiring harness assembly from external interference, extending its service life, and improving the operational reliability of a robot equipped with this wrist structure.

[0019] The second seal is arranged at the connection between the seat body and the cover body, thereby sealing the connection between the seat body and the cover body, further achieving a high protection effect of the wrist structure, so that the unilaterally supported wrist structure has a higher protection level, which is beneficial to improving the reliability of the robot.

[0020] Optionally, the second sealing member comprises a sealing gasket.

[0021] Optionally, the cover and the seat body are fixed by screws.

[0022] In some technical solutions, optionally, the drive assembly includes a first motor, a first reducer and at least two gears, wherein the first motor includes a motor shaft, the at least two gears are meshed with each other, one of the at least two gears is connected to the motor shaft, the other of the at least two gears is connected to the first reducer, and the at least two gears are located in the first chamber; and the at least two gears are arranged in a direction perpendicular to the central axis of the motor shaft.

[0023] In this technical solution, it is defined that the driving assembly includes a first motor, a first reducer and at least two gears. Specifically, at least two gears are meshed with each other. Optionally, the number of gears is three, and the three gears are meshed in sequence.

[0024] Specifically, one gear is connected to the motor shaft, and the other gear is connected to the first reducer. Thus, driven by the first motor, at least two gears can drive the first reducer to rotate, achieving power transmission. Furthermore, power transmission through gears helps improve the stability of power transmission, enhancing the reliability and efficiency of the robot during operation.

[0025] At least two gears are arranged in a direction perpendicular to the central axis of the motor shaft, that is, at least two gears are arranged horizontally, which is beneficial to reducing gear backlash, ensuring gear meshing stability and transmission rigidity. At the same time, it is also beneficial to reduce the overall width of the wrist structure, and then reduce the overall volume of the wrist structure, reduce the weight of the wrist structure, and improve the load-to-weight ratio of the robot, which is beneficial to improving the performance of the whole machine and reducing the overall cost of the robot.

[0026] It is worth noting that the overall width of the wrist structure is the width in the axial direction of the motor shaft.

[0027] Optionally, the gears comprise spur gears or helical gears.

[0028] In some technical solutions, optionally, along a direction perpendicular to the central axis of the motor shaft, the center lines of at least two gears can coincide.

[0029] In this technical solution, it is stipulated that the center lines of at least two gears can coincide in the direction perpendicular to the central axis of the motor shaft. Specifically, the center lines of at least two gears coincide or the extensions of the center lines of at least two gears coincide, thereby eliminating gear backlash and improving the stability of gear meshing and transmission rigidity.

[0030] Moreover, it is also beneficial to further reduce the overall width of the wrist structure, thereby reducing the overall volume of the wrist structure, reducing the weight of the wrist structure, and improving the load-to-weight ratio of the entire robot, which is beneficial to improving the performance of the entire machine and reducing the overall cost of the robot.

[0031] In some technical solutions, optionally, one of the at least two gears is interference fit with the motor shaft.

[0032] In this technical solution, one of the at least two gears is interference-fitted with the motor shaft, thereby achieving a rigid connection between the gear and the motor shaft, and further achieving reliable transmission of torque.

[0033] In some technical solutions, optionally, there are multiple gears, including a first gear, a second gear and a third gear, the second gear is located between the first gear and the third gear, the first gear is connected to the motor shaft, and the third gear is connected to the first reducer; the drive assembly also includes a gear shaft and at least one bearing, wherein the gear shaft is connected to the base, the second gear is located radially outside the gear shaft, and at least one bearing is arranged between the gear shaft and the second gear.

[0034] This technical solution specifies that the drive assembly further includes a gear shaft and at least one bearing. Specifically, the multiple gears include a first gear, a second gear, and a third gear. It is understood that the second gear meshes with the first gear and the third gear, respectively. Furthermore, the first gear is connected to the motor shaft, and the third gear is connected to the first reducer.

[0035] The second gear is located radially outside the gear shaft, the gear shaft is fixed on the base, and at least one bearing is arranged between the second gear and the gear shaft. That is, the inner ring of the bearing is installed on the gear shaft, and the outer ring of the bearing is installed on the second gear, thereby realizing reliable transmission of power, ensuring the stability and reliability of the transmission, and thus helping to ensure the reliable operation of the robot.

[0036] Optionally, the gear transmission backlash elimination method can adopt a fixed center distance method, or the three gears can be distributed in a non-straight line (triangle) and the center distance of the two sets of gears can be adjusted by adjusting the intermediate gear shaft during assembly, thereby eliminating the gear backlash and ensuring gear meshing stability and transmission rigidity.

[0037] Optionally, the bearing comprises a deep groove ball bearing, a junction ball bearing or a double row ball bearing.

[0038] Optionally, the wrist structure further includes a pressure cover and a long screw. The pressure cover presses the end face of the bearing, passes through the gear shaft through the long screw, and is locked and fixed on the base.

[0039] In some technical solutions, optionally, the number of bearings is at least two, and at least two bearings are arranged along the axial direction of the gear shaft; the wrist structure also includes a separator and a gasket, wherein the separator is arranged between any two adjacent bearings, and along the axial direction of the gear shaft, at least a portion of the gasket is located between at least one bearing and the second gear.

[0040] In this technical solution, it is defined that the wrist structure also includes a separator and a gasket. Specifically, the separator is arranged between any two adjacent bearings to separate at least two bearings distributed along the axial direction, which is beneficial to extend the service life of the bearings and ensure the stability and reliability of the transmission.

[0041] Along the axial direction of the gear shaft, at least part of the gasket is located between at least one bearing and the second gear, thereby eliminating the axial clearance of the bearing and further improving the stability and reliability of the transmission.

[0042] Optionally, the gasket comprises a corrugated spring washer.

[0043] In some technical solutions, optionally, the wrist structure further includes a third seal and a fourth seal, wherein the third seal is arranged in the gap between the base and the motor shaft, and the fourth seal is arranged in the gap between the first reducer and the base.

[0044] In this technical solution, it is defined that the wrist structure also includes a third seal and a fourth seal. Specifically, the third seal is arranged in the gap between the base and the motor shaft, thereby sealing the gap between the base and the motor shaft, improving the sealing of the wrist structure, and making the single-sided supported wrist structure have a higher protection level, which is beneficial to improving the reliability of the robot.

[0045] The fourth seal is arranged in the gap between the first reducer and the base, thereby sealing the gap between the base and the first reducer, further improving the sealing of the wrist structure, and making the unilaterally supported wrist structure have a higher protection level, which is beneficial to improving the reliability of the robot.

[0046] Optionally, the third sealing member comprises an oil seal.

[0047] Optionally, the fourth sealing member comprises an oil seal.

[0048] In some technical solutions, optionally, the motor shaft includes a shaft body and a spacer, wherein at least one of the two gears is connected to the shaft body, the spacer is arranged on the outside of the shaft body, the third seal is arranged in the gap between the outer wall of the spacer and the base, and the wrist structure also includes a fifth seal, which is arranged between the shaft body and the spacer.

[0049] This technical solution defines a motor shaft comprising a shaft body and a spacer sleeve. Specifically, one of at least two gears is connected to the shaft body to transmit torque. Optionally, the first gear and the shaft body are rigidly connected via an interference fit. The spacer sleeve is positioned outside the shaft body, that is, between the shaft body and the base, thereby reducing wear on the shaft body and extending the service life of the first motor.

[0050] The third seal is arranged in the gap between the outer wall of the spacer and the base, and the fifth seal is arranged between the shaft body and the spacer, thereby forming a reliable seal between the motor shaft and the base, which is conducive to further improving the sealing of the wrist structure, so that the unilaterally supported wrist structure has a higher protection level, thereby improving the reliability of the robot.

[0051] Optionally, the fifth sealing member comprises an O-ring.

[0052] In some technical solutions, optionally, the first reducer is provided with a wire passing channel, and the wrist structure also includes a protective member, which is provided on the base and partially extends into the wire passing channel. The protective member is provided with a through hole, which is connected to the wire passing channel, and the wiring harness assembly passes through the through hole and the wire passing channel respectively.

[0053] In this technical solution, it is defined that the wrist structure also includes a protective member. Specifically, the protective member is fixed on the base, and a portion of the protective member extends into the wire passage of the first reducer.

[0054] The protective part is provided with a through hole, and the through hole is connected to the wire passage. The wiring harness assembly passes through the through hole and the wire passage respectively, thereby realizing internal routing of the wrist structure, that is, the first reducer is a hollow reducer.

[0055] Since the protective piece is arranged on the outside of the wiring harness assembly, it can protect the wiring harness assembly. When the wrist structure rotates, it can effectively prevent the wiring harness assembly from contacting the base and causing wear, and prevent the wiring harness assembly from failing due to wear, which is beneficial to further extend the service life of the wiring harness assembly and improve the reliability of the wrist structure and the robot having the wrist structure during operation.

[0056] Optionally, the protective element is a plastic element.

[0057] Optionally, the first reducer includes a sleeve, the sleeve is provided with a wire passing channel, the fourth seal is provided in the gap between the sleeve and the base, and the third gear is sleeved on the outside of the sleeve.

[0058] In some technical solutions, optionally, the wrist structure also includes a first fixing member and a second fixing member, wherein the first fixing member is arranged on the base and connected to the wiring harness assembly, and the second fixing member and the first fixing member are respectively located on both sides of the first reducer in the axial direction and connected to the wiring harness assembly.

[0059] In this technical solution, it is defined that the wrist structure also includes a first fixing part and a second fixing part. Specifically, the first fixing part is arranged on the base, and the first fixing part is connected to the wiring harness assembly, so as to fix the wiring harness assembly. Therefore, when the wrist structure rotates during the operation of the robot, the wear caused by the friction between the wiring harness assembly and the base can be reduced, which is conducive to further extending the service life of the wiring harness assembly and improving the reliability of the robot.

[0060] The second fixing part is connected to the wiring harness assembly, and the second fixing part and the first fixing part are respectively located on both sides of the axial direction of the first reducer. That is to say, the wiring harness assembly is fixed on both sides of the axial direction of the first reducer by the first fixing part and the second fixing part. During the operation of the robot, when the wrist structure rotates, it is beneficial to further reduce the wear caused by friction between the wiring harness assembly and the base, and improve the durability and reliability of the wiring harness assembly.

[0061] Optionally, the first fixing member includes a clamp or a cable tie.

[0062] Optionally, the second fixing member includes a clamp or a cable tie.

[0063] Optionally, the wrist structure further includes a cable tie for fixing the wiring harness assembly.

[0064] In some technical solutions, optionally, the drive assembly also includes a deceleration mechanism, which is provided on the first reducer, and the deceleration mechanism includes a second motor and a second reducer, and the second motor is connected to the second reducer; the wrist structure also includes a partition cover, which is provided on the deceleration mechanism and is used to separate the second motor and the wiring harness assembly.

[0065] This technical solution specifies that the drive assembly also includes a reduction mechanism. Specifically, the reduction mechanism is disposed on a first reducer and includes a second motor and a second reducer, the second motor being connected to the second reducer. In other words, the second reducer is capable of rotating under the drive of the second motor. Optionally, the reduction mechanism also includes a wrist casting, the wrist casting being disposed on the first reducer, and the second motor and the second reducer being disposed on the wrist casting.

[0066] The separation cover is arranged on the deceleration mechanism, and the separation cover can isolate the second motor and the wiring harness assembly, thereby avoiding wear between the wiring harness assembly and the second motor due to friction during the operation of the robot. Moreover, it is understandable that the second motor will generate heat when working, and the separation cover can also effectively block the heat generated by the second motor from being transferred to the wiring harness assembly, which is conducive to further improving the durability and reliability of the wiring harness assembly.

[0067] Optionally, the partition cover is a plastic part.

[0068] Optionally, the drive assembly further includes a fourth gear and a fifth gear, the fourth gear and the fifth gear are engaged with each other, the fourth gear is arranged on the second reducer, and the fifth gear is rigidly connected to the transmission shaft of the second motor through an interference fit, thereby transmitting torque.

[0069] Optionally, the second fixing member is provided on the speed reduction mechanism.

[0070] According to a second aspect of the present invention, a robot is provided, comprising a wrist structure as provided by any of the above technical solutions, thereby possessing all the beneficial technical effects of the wrist structure, which will not be described in detail here.

[0071] Additional aspects and advantages of the present invention will be given in the following description, and some will become obvious from the following description, or will be understood through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0073] Figure 1 FIG1 shows one of the structural schematic diagrams of a wrist structure according to an embodiment of the present utility model;

[0074] Figure 2 Shown Figure 1 An enlarged view of the wrist structure at point A of the illustrated embodiment;

[0075] Figure 3 FIG2 shows a second structural schematic diagram of a wrist structure according to an embodiment of the present utility model;

[0076] Figure 4 The third structural diagram of the wrist structure according to an embodiment of the present invention is shown.

[0077] in, Figures 1 to 4 The corresponding relationship between the reference numerals and component names is as follows:

[0078] 100 wrist structure, 110 base, 111 first chamber, 112 second chamber, 113 seat body, 114 cover body, 115 second seal, 120 drive assembly, 121 first motor, 122 first reducer, 123 motor shaft, 124 gear, 125 gear shaft, 126 bearing, 127 shaft body, 128 spacer, 129 fifth seal, 130 wiring harness assembly, 140 partition plate, 150 first seal, 160 first gear, 170 second gear, 180 third gear, 190 partition, 210 gasket, 220 third seal, 230 fourth seal, 240 wire passage, 250 protective member, 251 through hole, 260 first fixing member, 270 second fixing member, 280 reduction mechanism, 281 second motor, 282 second reducer, 290 partition cover, 310 central axis, 320 center line. DETAILED DESCRIPTION

[0079] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0080] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0081] Refer to the following Figures 1 to 4 The wrist structure 100 and the robot provided according to some embodiments of the present invention are described.

[0082] In one embodiment according to the present application, Figure 1 、 Figure 3 and Figure 4 As shown, a wrist structure 100 is proposed, which includes: a base 110, which is provided with a first chamber 111 and a second chamber 112; a drive component 120, which is provided on the base 110 and partially located in the first chamber 111; a wiring harness component 130, which is electrically connected to the drive component 120, and a portion of the wiring harness component 130 is located in the second chamber 112; wherein, at least part of the first chamber 111 and at least part of the second chamber 112 are located on the same side of the base 110.

[0083] The wrist structure 100 provided by the embodiment of the present invention includes a base 110 , a driving assembly 120 and a wiring harness assembly 130 . Specifically, the driving assembly 120 is disposed on the base 110 , and the wiring harness assembly 130 is electrically connected to the driving assembly 120 .

[0084] The base 110 is provided with a first chamber 111 and a second chamber 112. A portion of the drive assembly 120 is located in the first chamber 111, and a portion of the wiring harness assembly 130 is located in the second chamber 112, thereby realizing the internal routing of the unilaterally supported wrist structure 100, avoiding damage to the wiring harness assembly 130 due to external interference, which is beneficial to extending the service life of the wiring harness assembly 130 and improving the reliability of the robot with the wrist structure 100 during operation.

[0085] At least a portion of the first chamber 111 and at least a portion of the second chamber 112 are located on the same side of the base 110, that is, the wrist structure 100 adopts a same-side wiring method. Therefore, compared with the bilaterally supported wrist structure in the related art, it can reduce the overall width of the wrist structure 100 while realizing internal routing, thereby reducing the overall volume of the wrist structure 100, reducing the weight of the wrist structure 100, and improving the load-to-weight ratio of the entire robot, which is beneficial to improving the performance of the entire machine and reducing the overall cost of the robot.

[0086] like Figure 1 As shown, in some embodiments, optionally, the wrist structure 100 further includes a separator 140 , which is connected to the base 110 and is used to separate the first chamber 111 from the second chamber 112 .

[0087] In this embodiment, the wrist structure 100 further includes a separator 140 . Specifically, the separator 140 is connected to the base 110 , and the separator 140 can separate the first chamber 111 from the second chamber 112 .

[0088] Since a portion of the drive assembly 120 is located in the first chamber 111 and a portion of the wiring harness assembly 130 is located in the second chamber 112, the drive assembly 120 and the wiring harness assembly 130 can be separated by the partition plate 140. Therefore, during the operation of the robot, it can effectively avoid the problem of lubricating oil and other substances in the drive assembly 120 entering the second chamber 112 and then contaminating the wiring harness assembly 130, which is beneficial to improving the reliability and durability of the wiring harness assembly 130.

[0089] like Figure 1 As shown, in some embodiments, optionally, the wrist structure 100 further includes a first seal 150 , which is disposed at the connection between the partition plate 140 and the base 110 .

[0090] In this embodiment, it is defined that the wrist structure 100 also includes a first seal 150. Specifically, the first seal 150 is arranged at the connection between the partition plate 140 and the base 110, thereby sealing the connection between the partition plate 140 and the base 110, achieving a high protection effect of the wrist structure 100, and making the unilaterally supported wrist structure 100 have a higher protection level, which is beneficial to improving the reliability of the robot.

[0091] Optionally, the first sealing member 150 includes a sealing gasket.

[0092] like Figure 1 As shown, in some embodiments, optionally, the base 110 includes a seat body 113 and a cover body 114, wherein the cover body 114 is connected to the seat body 113 and encloses the seat body 113 to form a first chamber 111 and a second chamber 112, and a second seal 115 is provided at the connection between the cover body 114 and the seat body 113.

[0093] In this embodiment, base 110 is defined as comprising a base body 113 and a cover body 114. Specifically, cover body 114 is connected to base body 113, thereby enclosing base body 113 and cover body 114 to form a first chamber 111 and a second chamber 112. Because a portion of drive assembly 120 is located within first chamber 111, and a portion of wiring harness assembly 130 is located within second chamber 112, internal wiring of unilaterally supported wrist structure 100 is implemented, preventing wiring harness assembly 130 from damage due to external interference, thereby extending the service life of wiring harness assembly 130 and improving the reliability of a robot equipped with this wrist structure 100 during operation.

[0094] The second seal 115 is arranged at the connection between the base body 113 and the cover body 114, thereby sealing the connection between the base body 113 and the cover body 114, further achieving a high protection effect of the wrist structure 100, so that the unilaterally supported wrist structure 100 has a higher protection level, which is beneficial to improving the reliability of the robot.

[0095] Optionally, the second sealing member 115 includes a sealing gasket.

[0096] Optionally, the cover 114 and the seat body 113 are fixed by screws.

[0097] like Figure 1As shown, in some embodiments, optionally, the drive assembly 120 includes a first motor 121, a first reducer 122 and at least two gears 124, wherein the first motor 121 includes a motor shaft 123, at least two gears 124 are meshed with each other, one of the at least two gears 124 is connected to the motor shaft 123, the other of the at least two gears 124 is connected to the first reducer 122, and the at least two gears 124 are located in the first chamber 111; at least two gears 124 are arranged in a direction perpendicular to the central axis 310 of the motor shaft 123.

[0098] In this embodiment, the driving assembly 120 is defined to include a first motor 121, a first reducer 122 and at least two gears 124. Specifically, at least two gears 124 are meshed with each other. Optionally, there are three gears 124, and the three gears 124 are meshed in sequence.

[0099] Specifically, one gear 124 is connected to the motor shaft 123, and the other gear 124 is connected to the first reducer 122. Thus, driven by the first motor 121, at least two gears 124 can drive the first reducer 122 to rotate, achieving power transmission. Furthermore, power transmission via the gears 124 improves the stability of power transmission and enhances the reliability and efficiency of the robot during operation.

[0100] At least two gears 124 are arranged in a direction perpendicular to the central axis 310 of the motor shaft 123, that is, at least two gears 124 are arranged horizontally, which is beneficial to reducing the backlash of the gears 124 and ensuring the meshing stability and transmission rigidity of the gears 124. At the same time, it is also beneficial to reduce the overall width of the wrist structure 100, and then reduce the overall volume of the wrist structure 100, reduce the weight of the wrist structure 100, and improve the load-to-weight ratio of the entire robot, which is beneficial to improving the performance of the entire machine and reducing the overall cost of the robot.

[0101] It is worth noting that the overall width of the wrist structure 100 is the width of the motor shaft 123 in the axial direction.

[0102] Optionally, the gear 124 comprises a spur gear or a helical gear.

[0103] like Figure 1 As shown, in some embodiments, optionally, along a direction perpendicular to the central axis 310 of the motor shaft 123 , the center lines 320 of at least two gears 124 can coincide.

[0104] In this embodiment, it is defined that in a direction perpendicular to the central axis 310 of the motor shaft 123, the center lines 320 of at least two gears 124 can coincide with each other. Specifically, the center lines 320 of at least two gears 124 coincide with each other or the extension lines of the center lines 320 of at least two gears 124 coincide with each other, thereby eliminating the backlash of the gears 124 and improving the meshing stability and transmission rigidity of the gears 124.

[0105] Moreover, it is also beneficial to further reduce the overall width of the wrist structure 100, thereby reducing the overall volume of the wrist structure 100, reducing the weight of the wrist structure 100, and improving the load-to-weight ratio of the entire robot, which is beneficial to improving the performance of the entire machine and reducing the overall cost of the robot.

[0106] In some embodiments, optionally, at least one of the two gears 124 is interference fit with the motor shaft 123 .

[0107] In this embodiment, one of the at least two gears 124 is interference fit with the motor shaft 123 , thereby achieving a rigid connection between the gear 124 and the motor shaft 123 , thereby achieving reliable transmission of torque.

[0108] like Figure 1 As shown, in some embodiments, optionally, there are multiple gears 124, and the multiple gears 124 include a first gear 160, a second gear 170 and a third gear 180, the second gear 170 is located between the first gear 160 and the third gear 180, the first gear 160 is connected to the motor shaft 123, and the third gear 180 is connected to the first reducer 122; the drive assembly 120 also includes a gear shaft 125 and at least one bearing 126, wherein the gear shaft 125 is connected to the base 110, the second gear 170 is located radially outside the gear shaft 125, and at least one bearing 126 is arranged between the gear shaft 125 and the second gear 170.

[0109] In this embodiment, the drive assembly 120 further includes a gear shaft 125 and at least one bearing 126. Specifically, the plurality of gears 124 include a first gear 160, a second gear 170, and a third gear 180. It is understood that the second gear 170 meshes with the first gear 160 and the third gear 180, respectively. The first gear 160 is connected to the motor shaft 123, and the third gear 180 is connected to the first reducer 122.

[0110] The second gear 170 is located radially outside the gear shaft 125, the gear shaft 125 is fixed on the base 110, and at least one bearing 126 is arranged between the second gear 170 and the gear shaft 125, that is, the inner ring of the bearing 126 is installed on the gear shaft 125, and the outer ring of the bearing 126 is installed on the second gear 170, thereby realizing reliable transmission of power, ensuring the stability and reliability of the transmission, and thus helping to ensure the reliable operation of the robot.

[0111] Optionally, the gear 124 transmission clearance elimination method can adopt a fixed center distance method, or the three gears 124 can be distributed in a non-straight line (triangle) and the center distance of the two sets of gears 124 can be adjusted by adjusting the intermediate gear shaft 125 during assembly, thereby eliminating the backlash of the gear 124 and ensuring the stable meshing and transmission rigidity of the gear 124.

[0112] Optionally, the bearing 126 includes a deep groove ball bearing, a junction ball bearing, or a double row ball bearing.

[0113] Optionally, the wrist structure 100 further includes a pressure cover and a long screw. The pressure cover presses the end face of the bearing 126 , penetrates the gear shaft 125 through the long screw, and is locked and fixed on the base 110 .

[0114] like Figure 1 and Figure 2 As shown, in some embodiments, optionally, the number of bearings 126 is at least two, and at least two bearings 126 are arranged along the axial direction of the gear shaft 125; the wrist structure 100 also includes a separator 190 and a gasket 210, wherein the separator 190 is arranged between any two adjacent bearings 126, and along the axial direction of the gear shaft 125, at least a portion of the gasket 210 is located between at least one bearing 126 and the second gear 170.

[0115] In this embodiment, it is defined that the wrist structure 100 further includes a separator 190 and a gasket 210. Specifically, the separator 190 is arranged between any two adjacent bearings 126 to separate at least two bearings 126 distributed along the axial direction, which is beneficial to extending the service life of the bearings 126 and ensuring the stability and reliability of the transmission.

[0116] Along the axial direction of the gear shaft 125 , at least part of the gasket 210 is located between at least one bearing 126 and the second gear 170 , thereby eliminating the axial clearance of the bearing 126 and further improving the stability and reliability of the transmission.

[0117] Optionally, the gasket 210 includes a corrugated spring washer.

[0118] like Figure 1As shown, in some embodiments, optionally, the wrist structure 100 further includes a third seal 220 and a fourth seal 230 , wherein the third seal 220 is disposed in the gap between the base 110 and the motor shaft 123 , and the fourth seal 230 is disposed in the gap between the first reducer 122 and the base 110 .

[0119] In this embodiment, it is defined that the wrist structure 100 also includes a third seal 220 and a fourth seal 230. Specifically, the third seal 220 is arranged in the gap between the base 110 and the motor shaft 123, thereby sealing the gap between the base 110 and the motor shaft 123, improving the sealing performance of the wrist structure 100, and making the unilaterally supported wrist structure 100 have a higher protection level, which is beneficial to improving the reliability of the robot.

[0120] The fourth seal 230 is arranged in the gap between the first reducer 122 and the base 110, thereby sealing the gap between the base 110 and the first reducer 122, further improving the sealing performance of the wrist structure 100, and making the unilaterally supported wrist structure 100 have a higher protection level, which is beneficial to improving the reliability of the robot.

[0121] Optionally, the third sealing member 220 includes an oil seal.

[0122] Optionally, the fourth sealing member 230 includes an oil seal.

[0123] like Figure 1 As shown, in some embodiments, optionally, the motor shaft 123 includes a shaft body 127 and a spacer 128, wherein at least one of the two gears 124 is connected to the shaft body 127, the spacer 128 is sleeved on the outside of the shaft body 127, and the third seal 220 is arranged in the gap between the outer wall of the spacer 128 and the base 110, and the wrist structure 100 also includes a fifth seal 129, which is arranged between the shaft body 127 and the spacer 128.

[0124] In this embodiment, the motor shaft 123 is defined as comprising a shaft body 127 and a spacer sleeve 128. Specifically, at least one of the two gears 124 is connected to the shaft body 127 to transmit torque. Optionally, the first gear 160 is rigidly connected to the shaft body 127 via an interference fit. The spacer sleeve 128 is disposed outside the shaft body 127, that is, between the shaft body 127 and the base 110, thereby reducing wear on the shaft body 127 and extending the service life of the first motor 121.

[0125] The third seal 220 is arranged in the gap between the outer wall of the spacer 128 and the base 110, and the fifth seal 129 is arranged between the shaft body 127 and the spacer 128, thereby forming a reliable seal between the motor shaft 123 and the base 110, which is conducive to further improving the sealing performance of the wrist structure 100, so that the unilaterally supported wrist structure 100 has a higher protection level, thereby improving the reliability of the robot.

[0126] Optionally, the fifth sealing member 129 includes an O-ring.

[0127] like Figure 1 As shown, in some embodiments, optionally, the first reducer 122 is provided with a wire passage 240, and the wrist structure 100 further includes a protective member 250, which is provided on the base 110 and partially extends into the wire passage 240, and the protective member 250 is provided with a through hole 251, which is connected to the wire passage 240, and the wiring harness assembly 130 passes through the through hole 251 and the wire passage 240 respectively.

[0128] In this embodiment, the wrist structure 100 is defined to further include a protective member 250 . Specifically, the protective member 250 is fixed on the base 110 , and a portion of the protective member 250 extends into the wire passage 240 of the first reducer 122 .

[0129] The protective member 250 is provided with a through hole 251, and the through hole 251 is connected to the wire channel 240. The wiring harness assembly 130 passes through the through hole 251 and the wire channel 240 respectively, thereby realizing the internal routing of the wrist structure 100, that is, the first reducer 122 is a hollow reducer.

[0130] Since the protective part 250 is arranged on the outside of the wiring harness assembly 130, the wiring harness assembly 130 can be protected. When the wrist structure 100 rotates, the wiring harness assembly 130 is effectively prevented from contacting with the base 110 and causing wear, and the wiring harness assembly 130 is prevented from failing due to wear, which is beneficial to further extend the service life of the wiring harness assembly 130 and improve the reliability of the wrist structure 100 and the robot having the wrist structure 100 during operation.

[0131] Optionally, the protective member 250 is a plastic member.

[0132] Optionally, the first reducer 122 includes a sleeve, the sleeve is provided with a wire passage 240 , the fourth seal 230 is provided at a gap between the sleeve and the base 110 , and the third gear 180 is sleeved on the outside of the sleeve.

[0133] like Figure 1 and Figure 3As shown, in some embodiments, optionally, the wrist structure 100 further includes a first fixing member 260 and a second fixing member 270, wherein the first fixing member 260 is disposed on the base 110 and is connected to the wiring harness assembly 130, and the second fixing member 270 and the first fixing member 260 are respectively located on both sides of the first reducer 122 in the axial direction and are connected to the wiring harness assembly 130.

[0134] In this embodiment, it is defined that the wrist structure 100 also includes a first fixing member 260 and a second fixing member 270. Specifically, the first fixing member 260 is arranged on the base 110, and the first fixing member 260 is connected to the wiring harness assembly 130, thereby fixing the wiring harness assembly 130. Therefore, when the wrist structure 100 rotates during the operation of the robot, the wear caused by the friction between the wiring harness assembly 130 and the base 110 can be reduced, which is conducive to further extending the service life of the wiring harness assembly 130 and improving the reliability of the robot.

[0135] The second fixing member 270 is connected to the wiring harness assembly 130, and the second fixing member 270 and the first fixing member 260 are respectively located on both sides of the axial direction of the first reducer 122. That is to say, the wiring harness assembly 130 is fixed on both sides of the axial direction of the first reducer 122 by the first fixing member 260 and the second fixing member 270. During the operation of the robot, when the wrist structure 100 rotates, it is beneficial to further reduce the wear caused by the friction between the wiring harness assembly 130 and the base 110, thereby improving the durability and reliability of the wiring harness assembly 130.

[0136] Optionally, the first fixing member 260 includes a clamp or a cable tie.

[0137] Optionally, the second fixing member 270 includes a clamp or a cable tie.

[0138] Optionally, the wrist structure 100 further includes a cable tie for fixing the wire harness assembly 130 .

[0139] like Figure 1 As shown, in some embodiments, optionally, the drive assembly 120 further includes a deceleration mechanism 280, which is disposed on the first reducer 122, and the deceleration mechanism 280 includes a second motor 281 and a second reducer 282, and the second motor 281 is connected to the second reducer 282; the wrist structure 100 further includes a separator cover 290, which is disposed on the deceleration mechanism 280 and is used to separate the second motor 281 and the wiring harness assembly 130.

[0140] In this embodiment, the drive assembly 120 is further defined as comprising a reduction mechanism 280. Specifically, the reduction mechanism 280 is disposed on the first reducer 122 and comprises a second motor 281 and a second reducer 282. The second motor 281 is connected to the second reducer 282, that is, the second reducer 282 is capable of rotating under the drive of the second motor 281. Optionally, the reduction mechanism 280 further comprises a wrist casting, which is disposed on the first reducer 122, and the second motor 281 and the second reducer 282 are disposed on the wrist casting.

[0141] The separation cover 290 is arranged on the deceleration mechanism 280, and the separation cover 290 can isolate the second motor 281 and the wiring harness assembly 130, so as to avoid wear between the wiring harness assembly 130 and the second motor 281 due to friction during the operation of the robot. Moreover, it can be understood that the second motor 281 will generate heat when working, and the separation cover 290 can also effectively block the heat generated by the second motor 281 from being transferred to the wiring harness assembly 130, which is conducive to further improving the durability and reliability of the wiring harness assembly 130.

[0142] Optionally, the partition cover 290 is a plastic part.

[0143] Optionally, the drive assembly 120 further includes a fourth gear and a fifth gear, the fourth gear and the fifth gear are engaged with each other, the fourth gear is arranged on the second reducer 282, and the fifth gear is rigidly connected to the transmission shaft of the second motor 281 through interference fit, thereby transmitting torque.

[0144] Optionally, the second fixing member 270 is disposed on the speed reduction mechanism 280 .

[0145] According to a second aspect of the present invention, a robot is provided, comprising the wrist structure 100 provided in any of the above embodiments, thereby possessing all the beneficial technical effects of the wrist structure 100, which will not be described in detail here.

[0146] Specifically, if Figure 1 、 Figure 3 and Figure 4 As shown, the wrist structure 100 includes a base 110 , a driving assembly 120 and a wiring harness assembly 130 . Specifically, the driving assembly 120 is disposed on the base 110 , and the wiring harness assembly 130 is electrically connected to the driving assembly 120 .

[0147] The base 110 is provided with a first chamber 111 and a second chamber 112. A portion of the drive assembly 120 is located in the first chamber 111, and a portion of the wiring harness assembly 130 is located in the second chamber 112, thereby realizing the internal routing of the unilaterally supported wrist structure 100, avoiding damage to the wiring harness assembly 130 due to external interference, which is beneficial to extending the service life of the wiring harness assembly 130 and improving the reliability of the robot with the wrist structure 100 during operation.

[0148] At least a portion of the first chamber 111 and at least a portion of the second chamber 112 are located on the same side of the base 110, that is, the wrist structure 100 adopts a same-side wiring method. Therefore, compared with the bilaterally supported wrist structure in the related art, it can reduce the overall width of the wrist structure 100 while realizing internal routing, thereby reducing the overall volume of the wrist structure 100, reducing the weight of the wrist structure 100, and improving the load-to-weight ratio of the entire robot, which is beneficial to improving the performance of the entire machine and reducing the overall cost of the robot.

[0149] like Figure 1 As shown, in some embodiments, optionally, the drive assembly 120 includes a first motor 121, a first reducer 122 and at least two gears 124, wherein the first motor 121 includes a motor shaft 123, at least two gears 124 are meshed with each other, at least one of the two gears 124 is connected to the motor shaft 123, the other of the at least two gears 124 is connected to the first reducer 122, and at least two gears 124 are located in the first chamber 111; at least two gears 124 are arranged in a direction perpendicular to the central axis 310 of the motor shaft 123.

[0150] In this embodiment, the driving assembly 120 is defined to include a first motor 121, a first reducer 122 and at least two gears 124. Specifically, at least two gears 124 are meshed with each other. Optionally, there are three gears 124, and the three gears 124 are meshed in sequence.

[0151] Specifically, one gear 124 is connected to the motor shaft 123, and the other gear 124 is connected to the first reducer 122. Thus, driven by the first motor 121, at least two gears 124 can drive the first reducer 122 to rotate, achieving power transmission. Furthermore, power transmission via the gears 124 improves the stability of power transmission and enhances the reliability and efficiency of the robot during operation.

[0152] At least two gears 124 are arranged in a direction perpendicular to the central axis 310 of the motor shaft 123, that is, at least two gears 124 are arranged horizontally, which is beneficial to reducing the backlash of the gears 124 and ensuring the meshing stability and transmission rigidity of the gears 124. At the same time, it is also beneficial to reduce the overall width of the wrist structure 100, and then reduce the overall volume of the wrist structure 100, reduce the weight of the wrist structure 100, and improve the load-to-weight ratio of the entire robot, which is beneficial to improving the performance of the entire machine and reducing the overall cost of the robot.

[0153] like Figure 1 As shown, in some embodiments, optionally, the first reducer 122 is provided with a wire passage 240, and the wrist structure 100 further includes a protective member 250, which is provided on the base 110 and partially extends into the wire passage 240, and the protective member 250 is provided with a through hole 251, which is connected to the wire passage 240, and the wiring harness assembly 130 passes through the through hole 251 and the wire passage 240 respectively.

[0154] In this embodiment, the wrist structure 100 is defined to further include a protective member 250 . Specifically, the protective member 250 is fixed on the base 110 , and a portion of the protective member 250 extends into the wire passage 240 of the first reducer 122 .

[0155] The protective member 250 is provided with a through hole 251, and the through hole 251 is connected to the wire channel 240. The wiring harness assembly 130 passes through the through hole 251 and the wire channel 240 respectively, thereby realizing the internal routing of the wrist structure 100, that is, the first reducer 122 is a hollow reducer.

[0156] Since the protective part 250 is arranged on the outside of the wiring harness assembly 130, the wiring harness assembly 130 can be protected. When the wrist structure 100 rotates, the wiring harness assembly 130 is effectively prevented from contacting with the base 110 and causing wear, and the wiring harness assembly 130 is prevented from failing due to wear, which is beneficial to further extend the service life of the wiring harness assembly 130 and improve the reliability of the wrist structure 100 and the robot having the wrist structure 100 during operation.

[0157] like Figure 1 and Figure 3 As shown, in some embodiments, optionally, the wrist structure 100 further includes a first fixing member 260 and a second fixing member 270, wherein the first fixing member 260 is disposed on the base 110 and is connected to the wiring harness assembly 130, and the second fixing member 270 and the first fixing member 260 are respectively located on both sides of the first reducer 122 in the axial direction and are connected to the wiring harness assembly 130.

[0158] In this embodiment, it is defined that the wrist structure 100 also includes a first fixing member 260 and a second fixing member 270. Specifically, the first fixing member 260 is arranged on the base 110, and the first fixing member 260 is connected to the wiring harness assembly 130, thereby fixing the wiring harness assembly 130. Therefore, when the wrist structure 100 rotates during the operation of the robot, the wear caused by the friction between the wiring harness assembly 130 and the base 110 can be reduced, which is conducive to further extending the service life of the wiring harness assembly 130 and improving the reliability of the robot.

[0159] The second fixing member 270 is connected to the wiring harness assembly 130, and the second fixing member 270 and the first fixing member 260 are respectively located on both sides of the axial direction of the first reducer 122. That is to say, the wiring harness assembly 130 is fixed on both sides of the axial direction of the first reducer 122 by the first fixing member 260 and the second fixing member 270. During the operation of the robot, when the wrist structure 100 rotates, it is beneficial to further reduce the wear caused by the friction between the wiring harness assembly 130 and the base 110, thereby improving the durability and reliability of the wiring harness assembly 130.

[0160] In this specification, the terms "connect," "install," and "fix" should be understood broadly. For example, "connect" can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0161] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0162] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A wrist structure, characterized in that: include: a base, the base being provided with a first chamber and a second chamber; a drive assembly disposed on the base and partially located within the first chamber; a wiring harness assembly electrically connected to the drive assembly, wherein a portion of the wiring harness assembly is located in the second cavity; Wherein, at least a portion of the first chamber and at least a portion of the second chamber are located on the same side of the base.

2. The wrist structure according to claim 1, characterized in that: Also includes: A partition plate is connected to the base and is used to separate the first chamber and the second chamber.

3. The wrist structure according to claim 2, characterized in that: Also includes: The first sealing member is provided at the connection between the partition plate and the base.

4. The wrist structure according to any one of claims 1 to 3, characterized in that: The base comprises: seat body; a cover body connected to the base body and enclosing the cover body to form the first chamber and the second chamber; The second sealing member is provided at the connection between the cover body and the seat body.

5. The wrist structure according to any one of claims 1 to 3, characterized in that: The drive assembly includes: a first motor and a first reducer, wherein the first motor includes a motor shaft; at least two gears, the at least two gears meshing with each other, one of the at least two gears connected to the motor shaft, the other of the at least two gears connected to the first reducer, and the at least two gears located in the first chamber; Wherein, at least two of the gears are arranged in a direction perpendicular to the central axis of the motor shaft.

6. The wrist structure according to claim 5, characterized in that: Along a direction perpendicular to the central axis of the motor shaft, center lines of at least two of the gears can coincide.

7. The wrist structure according to claim 5, characterized in that: At least one of the two gears is interference fit with the motor shaft.

8. The wrist structure according to claim 5, characterized in that: There are multiple gears, including a first gear, a second gear, and a third gear, the second gear is located between the first gear and the third gear, the first gear is connected to the motor shaft, and the third gear is connected to the first reducer; The drive assembly further includes: a gear shaft connected to the base, wherein the second gear is located radially outside the gear shaft; At least one bearing is provided between the gear shaft and the second gear.

9. The wrist structure according to claim 8, characterized in that: The number of the bearings is at least two, and at least two of the bearings are arranged along the axial direction of the gear shaft; The wrist structure further comprises: A separator, provided between any two adjacent bearings; A washer, along the axial direction of the gear shaft, at least a portion of the washer is located between at least one of the bearings and the second gear.

10. The wrist structure according to claim 5, characterized in that: Also includes: a third sealing member, provided in the gap between the base and the motor shaft; A fourth sealing member is provided in the gap between the first reducer and the base.

11. The wrist structure according to claim 10, characterized in that: The motor shaft comprises: a shaft body, to which at least one of the two gears is connected; a spacer sleeve, sleeved on the outer side of the shaft body, wherein the third sealing member is provided in the gap between the outer wall of the spacer sleeve and the base; The wrist structure further comprises: A fifth sealing member is provided between the shaft body and the spacer sleeve.

12. The wrist structure according to claim 5, characterized in that: The first reducer is provided with a wire passage, and the wrist structure further comprises: A protective member is provided on the base and partially extends into the wire-passing channel. The protective member is provided with a through hole, which is communicated with the wire-passing channel. The wiring harness assembly passes through the through hole and the wire-passing channel respectively.

13. The wrist structure according to claim 5, characterized in that: Also includes: a first fixing member, provided on the base and connected to the wiring harness assembly; The second fixing member and the first fixing member are respectively located on both sides of the first reducer in the axial direction and are connected to the wiring harness assembly.

14. The wrist structure according to claim 5, characterized in that: The drive assembly further includes: a reduction mechanism, provided on the first reducer, the reduction mechanism comprising a second motor and a second reducer, the second motor being connected to the second reducer; The wrist structure further comprises: A separation cover is provided on the speed reduction mechanism and is used to separate the second motor and the wiring harness assembly.

15. A robot, characterized in that: The wrist structure comprises the wrist structure according to any one of claims 1 to 14.

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