Actuator and robot joint

Abstract

The utility model discloses an actuator and a robot joint. The actuator comprises a shell, a motor, a speed reducer and a coded disc shaft. The shell comprises a cylindrical side wall, a top wall connected to the top of the side wall and a bottom wall connected to the bottom of the side wall, a through hole is formed in the top wall, a cylindrical supporting wall extending downwards is arranged on the portion, located on the periphery of the through hole, of the lower surface of the top wall, and a mounting hole is formed in the bottom wall; the coded disc shaft penetrates through the motor and the speed reducer, the coded disc shaft comprises a first end and a second end, the first end is connected into the cylindrical supporting wall in a penetrating manner, the second end extends to the bottom wall, and an output flange embedded into the mounting hole is connected to the second end; a first bearing and a first sealing piece are arranged between the first end of the coded disc shaft and the cylindrical supporting wall; and a second bearing and a second sealing piece are arranged between the outer periphery of the output flange and the inner edge surface of the mounting hole. According to the utility model, the coded disc shaft can be ensured to rotate stably, and meanwhile, the whole actuator is ensured to have better sealing performance.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot drive technical field, concretely relates to an actuator and robot joint. BACKGROUND

[0002] The actuator is an important component of the robot joint, which is used to provide power for the relative movement between two movable parts of the robot joint, and accurately control the movement angle of the two movable parts in the robot joint. In the working environment of some robots, there are usually a lot of water, dust and the like, and water and dust and the like are easy to enter the inside of the actuator, affecting the normal work of the motor, reducer and the like mechanism in the inside of the actuator; in order to be able to more accurately control the relative movement of the parts in the robot joint, a code disc shaft is usually arranged in the inside of the actuator, the code disc shaft cooperates with the inductive encoder and other electronic devices in the inside of the actuator to obtain the parameters such as the output shaft speed of the actuator and the output shaft speed of the motor, the code disc shaft extends along the axial direction of the actuator and penetrates through both ends of the outer shell of the actuator, and water and dust can enter the inside of the actuator through the periphery of the code disc shaft. SUMMARY

[0003] The utility model aims at solving one of the technical problems existing in the prior art, and therefore, the purpose of the utility model is to provide an actuator and robot joint, so as to solve the problem of poor waterproof and dustproof performance of the actuator in the prior art.

[0004] The purpose of the utility model is achieved by adopting the following technical scheme:

[0005] An actuator comprises an outer shell, a motor, a reducer and a code disc shaft.

[0006] The outer shell comprises a cylindrical side wall, a top wall connected to the top of the side wall and a bottom wall connected to the bottom of the side wall, a through hole is arranged on the top wall, a cylindrical support wall extending downward is arranged on the part of the lower surface of the top wall around the through hole, and an installation hole is arranged on the bottom wall.

[0007] The motor and the reducer are both located in the inside of the outer shell.

[0008] The code disc shaft penetrates through the motor and the reducer, the code disc shaft comprises a first end and a second end opposite to the first end, the first end is inserted into the cylindrical support wall, the second end extends to the bottom wall, and an output flange embedded in the installation hole is connected to the second end; a first bearing is arranged between the first end of the code disc shaft and the cylindrical support wall, a first sealing element is arranged outside the first bearing; a second bearing is arranged between the outer periphery of the output flange and the inner edge surface of the installation hole, and a second sealing element is arranged outside the second bearing.

[0009] According to the actuator of the utility model embodiments, the first end and the second end of the code disc shaft are respectively pivotally connected to the top wall and the bottom wall of the shell through the first bearing and the second bearing, and the first end and the second end of the code disc shaft are provided with radial support, the gap between the code disc shaft and the cylindrical support wall is sealed by the first sealing element, and the gap between the output flange and the bottom wall is sealed by the second sealing element, so that the code disc shaft can stably rotate, water, dust and other impurities are effectively prevented from entering the inside of the shell through the gap between the code disc shaft and the shell, and the whole actuator has better sealing performance.

[0010] In the preferred embodiments, the second end of the code disc shaft is provided with a connecting flange, the connecting flange is arranged below the output flange and is fixedly connected to the output flange through bolts, and a sealing ring is clamped between the connecting flange and the output flange. When assembling, the first end of the code disc shaft is passed through the hole in the output flange from bottom to top, the sealing ring is arranged between the connecting flange and the output flange, and the connecting flange and the output flange are fixed together through the bolts, so that the code disc shaft can be conveniently assembled with the output flange, and then the whole actuator can be conveniently assembled, and meanwhile the sealing ring can seal the gap between the connecting flange and the output flange, and the sealing performance of the actuator is further improved.

[0011] In the preferred embodiments, the inner surface of the cylindrical support wall is provided with a first groove and a bearing cavity arranged below the first groove and spaced apart from the first groove, the first sealing element is a first Gley ring embedded in the first groove, and the first bearing is arranged in the bearing cavity. The gap between the code disc shaft and the cylindrical support wall is sealed by the Gley ring, and the sealing performance of the actuator is further improved.

[0012] In the preferred embodiments, the top wall is detachably fixed to the top of the side wall, and a first sealing gasket is clamped between the top wall and the top end face of the side wall. The top wall and the side wall are detachably connected together, the assembly of the reducer and the motor in the shell can be facilitated, and meanwhile the sealing performance of the shell is ensured by the first sealing gasket.

[0013] In the preferred embodiments, a second groove is arranged on the inner edge face of the mounting hole, the second sealing element is a second Gley ring embedded in the second groove, the bottom wall is detachably fixedly connected to the bottom of the side wall, and a second sealing gasket is clamped between the bottom wall and the bottom end face of the side wall. The gap between the output flange and the bottom wall is sealed by the Gley ring, and the sealing performance of the actuator is further improved. The bottom wall and the side wall are detachably connected, the assembly of the actuator can be further facilitated, and the sealing performance of the shell is ensured by the second sealing gasket.

[0014] In a preferred embodiment, a first stepped surface is provided on the outer edge of the output flange, and a pressure ring is removably fixedly connected to the output flange, located above the first stepped surface. A second stepped surface is provided on the inner edge of the mounting hole, located above and spaced apart from the second groove. The inner ring of the second bearing is clamped between the first stepped surface and the pressure ring, with the bottom of the outer ring of the second bearing abutting against the second stepped surface. The removable pressure ring on the output flange cooperates with the first stepped surface to secure the inner ring of the second bearing to the output flange, with the outer ring of the second bearing being defined by the second stepped surface. When the bottom wall and side walls are assembled, the clearance of the second bearing is adjusted to ensure flexible rotation of the output flange while preventing excessive wear of the second bearing, thereby extending the service life of the actuator.

[0015] In a preferred embodiment, the reducer includes a first-stage planetary reducer and a second-stage planetary reducer located below the first-stage planetary reducer. The motor includes a rotor located outside the first-stage planetary reducer, a stator fixedly engaged with the housing and matching the rotor, and a code disk shaft extending through the sun gear of both the first-stage planetary reducer and the second-stage planetary reducer. The sun gear of the first-stage planetary reducer is synchronously coupled to the rotor. By providing a two-stage planetary reducer, the actuator's transmission ratio can be increased, enabling the output flange to output greater torque. Furthermore, the code disk shaft extending through the sun gears of both planetary reducers makes the actuator's internal structure more compact and reasonable.

[0016] In a preferred embodiment, the output flange has an upwardly protruding support rib on its upper surface. A third bearing is positioned between the axle of the sun gear of the two-stage planetary reducer and the support rib. The third bearing pivotally connects the sun gear and the output flange, providing radial support for both, ensuring optimal rotational stability.

[0017] In a preferred embodiment, the planetary support of the two-stage planetary reducer is fixedly matched with the output flange. The output flange is integrated into the planetary support of the two-stage planetary reducer, thereby simplifying the structure of the actuator.

[0018] A robot joint comprising the aforementioned actuator.

[0019] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a cross-sectional view of the utility model;

[0021] Figure 2 for Figure 1 Magnified view at point A in the middle;

[0022] Figure 3 for Figure 1 Magnified view at point B in the middle;

[0023] Figure 4 for Figure 1 Enlarged view at center C;

[0024] Figure 5 for Figure 1 Magnified view at point D in the middle;

[0025] Figure 6 This is an assembly diagram of the present invention.

[0026] In the figure: 11, side wall; 111, first sealing gasket; 112, first bolt; 113, second sealing gasket; 114, second bolt; 120, through hole; 121, cylindrical support wall; 122, first groove; 123, bearing cavity; 124, first sealing member; 125, first bearing; 12, top wall; 13, bottom wall; 130, mounting hole; 131, second groove; 132, second sealing member; 133, second step surface; 134, second bearing; 20, code disk shaft; 201, first end; 202, second end; 21, connecting flange; 211, sealing ring; 212, third bolt; 30, output flange; 301, first step surface; 302, pressure ring; 31, supporting rib; 32, third bearing; 40, motor; 41, stator; 42, rotor; 50, reducer; 51, first sun gear; 52, second sun gear DETAILED DESCRIPTION

[0027] Below, the present invention is further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Unless otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar numbers throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0028] In the description of this application, it should be understood that the terms "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting this application. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.

[0029] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "connected," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, a connection through an intermediary medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0030] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. In addition, the terms "including," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to the process, method, product, or apparatus.

[0031] Please refer to Figures 1-6 As shown, an actuator of the present invention includes a shell, a motor 40, a reducer 50, and a code disk shaft 20. The shell includes a cylindrical side wall 11, a top wall 12, and a bottom wall 13. The side wall 11 extends along the axial direction of the actuator, the top wall 12 is connected to the top of the side wall 11, and the bottom wall 13 is connected to the bottom of the side wall 11. Thus, a closed space is formed by the side walls 11, the top wall 12, and the bottom wall 13. A through hole 120 is provided at the center position of the top wall 12, and a cylindrical support wall 121 extending downward is provided on the portion of the lower surface of the top wall 12 located at the periphery of the through hole 120; a mounting hole 130 is provided on the bottom wall 13; the motor 40 and the reducer 50 are both located in the closed space inside the shell; the code disk shaft 20 passes through the motor 40 and the reducer 50.

[0032] The code disk shaft 20 includes a first end 201 at its top and a second end 202 at its bottom. The second end 202 is arranged opposite to the first end 201, wherein the first end 201 is connected to the cylindrical support wall 121 and the second end 202 extends to the bottom wall 13. An output flange 30 is connected to the second end 202 of the code disk shaft 20. The output flange 30 is embedded in the mounting hole 130 so that the output flange 30 is exposed on the surface of the lower end of the shell so that the output flange 30 can be connected to the moving parts in the robot joint, thereby The power of the actuator is output to the moving parts of the robot joint through the output flange 30; a first bearing 125 and a first seal 124 are arranged between the first end 201 of the code disk shaft 20 and the cylindrical support wall 121. The first bearing 125 pivotally connects the first end 201 of the code disk shaft 20 and the cylindrical support wall 121, and provides radial support for the first end 201 of the code disk shaft 20 through the first bearing 125. The first seal 124 is located above the first bearing 125, that is, the first seal 124 is located on the outside of the first bearing 125.

[0033] A second bearing 134 and a second seal 132 are provided between the outer periphery of the output flange 30 and the inner edge surface of the mounting hole 130. The second bearing 134 pivotally connects the output flange 30 and the inner edge surface of the mounting hole 130 so that the output flange 30 can rotate relative to the bottom wall 13 and provides radial support for the output flange 30 through the second bearing 134. The second seal 132 is located below the second bearing 134, that is, the second seal 132 is located on the outside of the second bearing 134.

[0034] In the present utility model, the first end 201 and the second end 202 of the code disk shaft 20 are pivotally connected to the top wall 12 and the bottom wall 13 of the outer shell by the first bearing 125 and the second bearing 134 respectively, and radial support is provided for the first end 201 and the second end 202 of the code disk shaft 20. The gap between the code disk shaft 20 and the cylindrical support wall 121 is sealed by the first seal 124, and the gap between the output flange 30 and the bottom wall 13 is sealed by the second seal 132, ensuring that the code disk shaft 20 can rotate stably, effectively preventing water, dust and other impurities from entering the interior of the outer shell through the gap between the code disk shaft 20 and the outer shell, and ensuring that the actuator as a whole has better sealing.

[0035] In a preferred embodiment, a connecting flange 21 is provided at the second end 202 of the code disc shaft 20. The connecting flange 21 is positioned below the output flange 30. Specifically, a hole is provided in the middle of the output flange 30, through which the code disc shaft 20 is inserted. A third bolt 212 is used to connect the connecting flange 21 and the output flange 30, securing the two. Furthermore, a sealing ring 211 is sandwiched between the connecting flange 21 and the output flange 30. During assembly, the first end 201 of the code disc shaft 20 is passed from bottom to top through the hole in the output flange 30, the sealing ring 211 is positioned between the connecting flange 21 and the output flange 30, and the connecting flange 21 and the output flange 30 are secured together by the third bolt 212. This facilitates assembly of the code disc shaft 20 with the output flange 30, thereby facilitating assembly of the entire actuator. At the same time, the sealing ring 211 can seal the clearance between the connecting flange 21 and the output flange 30, further improving the sealing performance of the actuator.

[0036] In other embodiments, the connecting flange 21 may be placed above the output flange 30 and the two may be fixed together by bolts; in other embodiments, the code disk shaft 20 and the output flange 30 may be configured as an integrated structure.

[0037] The inner surface of the cylindrical support wall 121 is provided with a first groove 122 and a bearing cavity 123 located below the first groove 122. The bearing cavity 123 is spaced a certain distance from the first groove 122. The first seal 124 is a grid ring embedded in the first groove 122. The first bearing 125 is placed in the bearing cavity 123, with its inner ring tightly fitting the outer circumference of the code disk shaft 20 and the inner ring tightly fitting the side wall of the bearing cavity 123. The grid ring is used to seal the gap between the code disk shaft 20 and the cylindrical support wall 121, further improving the sealing performance of the actuator.

[0038] In the present invention, the housing is an assemblable structure. Specifically, the top wall 12 is fixed to the top of the side wall 11 in a detachable manner. Specifically, the outer peripheral edge of the top wall 12 overlaps the top of the side wall 11, and the peripheral edge of the top wall 12 and the top of the side wall 11 are fixed together by a first bolt 112. In addition, a first sealing gasket 111 is clamped between the top surface of the top wall 12 and the top surface of the side wall 11, and the first sealing gasket 111 is used to seal the fitting gap between the top wall 12 and the side wall 11. The top wall 12 and the side wall 11 are detachably connected together, which can facilitate the assembly of the reducer 50 and the motor 40 inside the housing. At the same time, the first sealing gasket 111 is used to ensure the sealing of the housing. It should be pointed out that the top wall 12 and the side wall 11 can also be fixed together by other detachable connection methods, not limited to bolt connection.

[0039] The inner edge surface of the mounting hole 130 is provided with a second groove 131, and a second sealing member 132 in the form of a gasket is embedded in the second groove 131. The gasket is used to seal the fitting gap between the output flange 30 and the bottom wall 13, thereby further improving the sealing performance of the actuator. In addition, the bottom wall 13 can be detachably fixed to the bottom of the side wall 11. A second sealing gasket 113 is clamped between the bottom wall 13 and the bottom end surface of the side wall 11. Specifically, the peripheral edge of the bottom wall 13 is fixedly connected to the bottom end surface of the side wall 11 by means of a second bolt 114. Of course, the bottom wall 13 can also be fixed to the side wall 11 by means of other detachable connection methods. The detachable connection between the bottom wall 13 and the side wall 11 can further facilitate the assembly of the actuator, and the second sealing gasket 113 can ensure that the housing has better sealing performance.

[0040] The outer edge surface of the output flange 30 is provided with a first step surface 301, and a pressing ring 302 is arranged on the upper surface of the output flange 30. The pressing ring 302 is fixed to the output flange 30 by means of bolt connection or other detachable connection methods. The inner edge surface of the mounting hole 130 is provided with a second step surface 133 above the second groove 131. The second step surface 133 is arranged at a certain distance from the second groove 131 in the height direction. The inner ring top of the second bearing 134 abuts against the pressing ring 302, and the inner ring bottom abuts against the first step surface 301. Thus, the inner ring of the second bearing 134 is clamped between the pressing ring 302 and the first step surface 301. The outer ring bottom of the second bearing 134 abuts against the second step surface 133, thereby mounting the second bearing 134 between the output flange 30 and the bottom wall 13. The inner ring of the second bearing 134 is fixed to the output flange 30 by means of the detachable pressing ring 302 and the first step surface 301 of the output flange 30. The outer ring of the second bearing 134 is limited by the second step surface 133. When the bottom wall 13 and the side wall 11 are assembled (for example, the tightening degree of the second bolt 114 connecting the bottom wall 13 and the side wall 11 is adjusted), the play of the second bearing 134 is adjusted to ensure that the output flange 30 can rotate flexibly while preventing excessive wear of the second bearing 134, thereby prolonging the service life of the actuator.

[0041] The utility model discloses, the reducer includes one -level planetary reducer and the planetary reducer of two -level below one -level planetary reducer, motor 40 includes the rotor 42 of one -level planetary reducer periphery, and the stator 41 fixedly cooperated with the lateral wall 11 of shell, and the stator 41 is cooperated with rotor 42 to drive rotor 42 rotation, and the first sun gear 51 of one -level planetary reducer is synchronous coupling with rotor 42, and the axial hole is all arranged on the first sun gear 51 of one -level planetary reducer and the second sun gear 52 of planetary reducer of two -level, and the axial hole of the first sun gear 51 and the second sun gear 52 of code disc axle 20 is penetrated. Through setting two -level planetary reducer, can increase the transmission ratio of actuator, makes the output flange 30 can output larger torque, and code disc axle 20 penetrates the first sun gear 51 and the second sun gear 52 of two planetary reducers, makes the internal structure of actuator more compact and reasonable.

[0042] The upper surface of the output flange 30 is also provided with an upwardly protruding support rib 31, and a third bearing 32 is arranged between the wheel shaft of the second sun gear 52 of the two-stage planetary reducer and the support rib 31. The second sun gear 52 of the two-stage planetary reducer and the output flange 30 are pivoted together through the third bearing 32, so that the third bearing 32 provides radial support for the second sun gear 52 of the two-stage planetary reducer and the output flange 30, to ensure better rotation stability of the two.

[0043] In addition, the planetary support of the two-stage planetary reducer is fixedly matched with the output flange 30, and the output flange 30 is integrated onto the planetary support of the two-stage planetary reducer, so that the structure of the actuator is simplified.

[0044] The robot joint of the utility model, including above -mentioned actuator, other structure of robot joint is same with prior art, here does not make detailed explanation.

[0045] Although only some parts and embodiments of the present application have been illustrated and described, many modifications and changes can be made by those skilled in the art without departing from the scope and spirit of the claims, such as: changes in size, dimension, structure, shape and proportion, mounting arrangement, material use, color, orientation, etc. of various elements.

[0046] The above-mentioned embodiments are only preferred embodiment modes of the utility model embodiment, and cannot be used to limit the range of protection of the utility model embodiment, and any non-essential changes and substitutions made by those skilled in the art on the basis of the utility model embodiment all belong to the range of protection claimed by the utility model embodiment.

Claims

1. An actuator, characterized in that: Including housing, motor, reducer and code disk shaft; The housing includes a cylindrical side wall, a top wall connected to the top of the side wall, and a bottom wall connected to the bottom of the side wall. The top wall is provided with a through hole. A portion of the lower surface of the top wall located around the through hole is provided with a cylindrical support wall extending downward. The bottom wall is provided with a mounting hole. The motor and reducer are both located inside the housing; The code disk shaft passes through the motor and the reducer. The code disk shaft includes a first end and a second end opposite to the first end. The first end is connected to the cylindrical support wall, and the second end extends to the bottom wall. The second end is connected to an output flange embedded in the mounting hole; a first bearing and a first seal located on the outside of the first bearing are arranged between the first end of the code disk shaft and the cylindrical support wall; a second bearing and a second seal located on the outside of the second bearing are arranged between the outer periphery of the output flange and the inner edge surface of the mounting hole.

2. The actuator according to claim 1, wherein: The second end of the code disc shaft is provided with a connecting flange, which is placed below the output flange and fixedly connected to the output flange by bolts, and a sealing ring is clamped between the connecting flange and the output flange.

3. The actuator according to claim 1, wherein: The inner surface of the cylindrical support wall is provided with a first groove and a bearing cavity located below the first groove and spaced apart from the first groove. The first seal is a first grid ring embedded in the first groove, and the first bearing is placed in the bearing cavity.

4. The actuator according to claim 1, wherein: The top wall is fixed to the top of the side wall in a detachable manner, and a first sealing gasket is clamped between the top wall and the top end surface of the side wall.

5. The actuator according to claim 1, wherein: A second groove is provided on the inner edge surface of the mounting hole, and the second sealing member is a second grid ring embedded in the second groove; the bottom wall is fixedly connected to the bottom of the side wall in a detachable manner, and a second sealing gasket is clamped between the bottom wall and the bottom end surface of the side wall.

6. The actuator according to claim 5, characterized in that A first step surface is provided on the outer edge surface of the output flange, and a pressure ring located above the first step surface is fixedly connected to the output flange in a detachable manner; a second step surface is provided on the inner edge surface of the mounting hole, which is located above the second groove and spaced apart from the second groove, and the inner ring of the second bearing is clamped between the first step surface and the pressure ring, and the bottom of the outer ring of the second bearing abuts against the second step surface.

7. The actuator according to claim 1, wherein: The reducer includes a first-stage planetary reducer and a second-stage planetary reducer located below the first-stage planetary reducer. The motor includes a rotor located outside the first-stage planetary reducer, a stator fixedly fitted with the outer casing and matched with the rotor. The code disk shaft passes through the sun gear of the first-stage planetary reducer and the sun gear of the second-stage planetary reducer. The sun gear of the first-stage planetary reducer is synchronously connected to the rotor.

8. The actuator according to claim 7, characterized in that The upper surface of the output flange is provided with an upwardly protruding supporting rib, and a third bearing is provided between the wheel shaft of the sun gear of the two-stage planetary reducer and the supporting rib.

9. The actuator according to claim 7, wherein: The planetary support of the two-stage planetary reducer is fixedly matched with the output flange.

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

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