Robot

Abstract

The utility model relates to the technical field of robots, and provides a robot which comprises a sealing assembly and at least two joints, and the at least two joints are adjacent and rotationally connected. The sealing assemblies are arranged at the connecting positions of at least two adjacent joints, the connecting positions of all the joints are sealed through the sealing assemblies, the sealing performance of the robot is improved, leakage of the connecting positions of all the joints is prevented, substances outside the robot are prevented from entering the robot through the connecting positions of the joints, and the safety and movement stability of the robot are guaranteed; the service life of the robot is prolonged. The sealing assembly comprises an elastic sealing piece and a sleeve, in every two adjacent joints, the sleeve is arranged on one joint, the elastic sealing piece is arranged between the sleeve and the other joint, and when every two adjacent joints rotate, the sleeve rotates relative to the elastic sealing piece. The elastic sealing piece and the joint are separated through the sleeve, the friction force of the elastic sealing piece is reduced, abrasion of the elastic sealing piece is delayed, and the service life of the elastic sealing piece is prolonged.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot. Background Technology

[0002] With the continuous development of intelligent products, intelligent robots are being applied to various industries, especially in the field of industrial manufacturing.

[0003] In harsh working environments, robots can replace human labor, reducing labor costs. In such environments, the robot's joints are equipped with seals that provide a tight seal at the joint connections.

[0004] However, during joint movement, the seals rub against the joint, which can easily wear down the seals. Utility Model Content

[0005] This application provides a robot that, through the cooperation of an elastic seal and a sleeve, reduces the friction of the elastic seal during the movement of the robot's joints, thereby delaying the wear of the elastic seal, extending its service life, further improving the robot's sealing performance, and extending the robot's service life.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] This application provides a robot, including:

[0008] At least two joints, and at least two of the joints are adjacent and rotatably connected;

[0009] A sealing assembly is disposed at the connection of at least two adjacent joints;

[0010] The sealing assembly includes an elastic seal and a sleeve. In two adjacent joints, the inner ring of the sleeve is connected to one of the joints, and the elastic seal is sealed against the outer ring of the sleeve between the other joint.

[0011] When two adjacent joints rotate, the sleeve rotates relative to the elastic seal.

[0012] In one possible implementation, the surface roughness of the outer ring of the sleeve is less than the surface roughness of the inner ring of the sleeve.

[0013] In one possible implementation, the elastic seal is an annular element, which is sleeved on the sleeve.

[0014] In one possible implementation, the resilient seal includes a sealing body, an inner lip, and an outer lip. Along the axial direction of the resilient seal, the inner lip and the outer lip are connected to the same side of the sealing body and are spaced apart radially along the resilient seal.

[0015] The inner lip and the outer ring of the sleeve are in a sealing abutment; the outer lip and the corresponding joint are in a sealing abutment.

[0016] In one possible implementation, the robot further includes a connector; there are multiple joints, including a first joint, a second joint, and a third joint, which are rotatably connected in sequence with respect to the first joint, the second joint, the third joint, and the connector;

[0017] There are multiple sealing components, and the sealing components are respectively disposed at the connection between the first joint and the second joint, the second joint and the third joint, and the third joint and the connector.

[0018] In one possible implementation, the robot further includes a first seal, and the second joint includes a first housing and a first cover that are interconnected.

[0019] The first housing and the first cover are sealed together by the fourth seal.

[0020] As one possible implementation, the robot further includes a second seal, and at least one of the first housing and the first housing cover is provided with an end cap;

[0021] The second seal is provided correspondingly to the end cap, and the second seal is connected between the end cap and the corresponding first housing and / or the first housing cap.

[0022] In one possible implementation, the robot further includes a third seal, and the third joint includes a second housing and a second cover that are interconnected.

[0023] The second housing and the second cover are sealed together by the third seal.

[0024] In one possible implementation, the robot further includes a fourth seal, and the first joint includes a third housing and a plurality of third housing covers connected to the third housing;

[0025] The fourth sealing element and the third housing cover are correspondingly provided, and the third housing cover and the third housing are sealed together by the fourth sealing element.

[0026] In one possible implementation, the second joint and the first joint are coaxially arranged, and the second joint rotates relative to the first joint about a first rotation axis;

[0027] The third joint rotates relative to the second joint about a second rotation axis, and the second rotation axis intersects the first rotation axis;

[0028] The connector and the third joint are coaxially arranged. The connector rotates relative to the third joint about a third rotation axis. The extension direction of the third rotation axis is parallel to the extension direction of the first rotation axis.

[0029] In one possible implementation, the first joint is used to connect to an external device, and the first joint is rotatably configured relative to the external device.

[0030] The robot provided in this application includes a sealing assembly and at least two joints, which are adjacent and rotatably connected. The sealing assembly is disposed at the connection points of the at least two adjacent joints to seal these connections, improving the robot's sealing performance, preventing leakage at the joint connections, and preventing external substances from entering the robot through these connections. This ensures the robot's safety and motion stability, and extends its service life. The sealing assembly includes an elastic seal and a sleeve. In one of the adjacent joints, the inner ring of the sleeve is disposed on one joint, and the elastic seal is disposed on the outer ring of the sleeve and on the other joint. When the two adjacent joints rotate, the sleeve rotates relative to the elastic seal. The sleeve separates the elastic seal from the joint, reducing friction and slowing wear on the elastic seal, thereby extending its service life. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 An axonometric view of the robot provided in an embodiment of this application;

[0033] Figure 2 Front view of the robot provided in the embodiments of this application Figure 1 ;

[0034] Figure 3 Front view of the robot provided in the embodiments of this application Figure 2 ;

[0035] Figure 4 for Figure 3 Sectional view AA of part A in the middle;

[0036] Figure 5 for Figure 4 A magnified view of part C in the middle;

[0037] Figure 6 for Figure 3 Sectional view AA of part B in the middle;

[0038] Figure 7 for Figure 6 A magnified view of part D in the middle;

[0039] Figure 8 for Figure 6 A magnified view of part E in the middle;

[0040] Figure 9 Front view of the robot provided in the embodiments of this application Figure 3 ;

[0041] Figure 10 for Figure 9 Sectional view AA of part I;

[0042] Figure 11 for Figure 9 Sectional view AA of part II;

[0043] Figure 12 for Figure 9 Sectional view AA of part III;

[0044] Figure 13 for Figure 9 Sectional view AA of part IV;

[0045] Figure 14 for Figure 9 Section AA view of part V.

[0046] Explanation of reference numerals in the attached figures:

[0047] 10-Robot;

[0048] 100-Joint;

[0049] 110 - First joint; 111 - Third shell; 112, 112a, 112b - Third shell cover;

[0050] 120 - Second joint; 121 - First housing; 122 - First housing cover; 123, 123a, 123b - End caps;

[0051] 130 - Third joint; 131 - Second shell; 132 - Second shell cover;

[0052] 140 - Connector;

[0053] 150a - First drive assembly; 150b - Second drive assembly; 150c - Third drive assembly;

[0054] 151c - Motor;

[0055] 152a - First reducer; 152b - Second reducer; 152c - Third reducer;

[0056] 160a, 160b, 160c, 160d, 160e, 160f, 160g - Fifth seal;

[0057] 161 - Sixth seal;

[0058] 162-Resilient seal; 1621-Seal body; 1622-Inner lip; 1623-Outer lip;

[0059] 163-Sleeve;

[0060] 164 - First seal;

[0061] 165a, 165b - Second seals;

[0062] 166 - Third seal;

[0063] 167a - Fourth seal. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0065] With the continuous development of intelligent products, intelligent robots are being applied to various industries, especially in the field of industrial manufacturing.

[0066] In harsh working environments, robots can replace human labor to reduce labor costs. However, in such environments, external substances can easily enter the robot through the joints between its components, and internal grease can easily leak out due to insufficient sealing. All of these factors can reduce the robot's lifespan.

[0067] Therefore, there is an urgent need to design a robot with good sealing performance in order to extend the robot's service life.

[0068] In order to overcome the shortcomings of existing technologies, combined with Figure 1 , Figure 2 , Figure 9 ,and Figure 10 This application provides a robot 10, including a sealing assembly and at least two joints 100, which are adjacent and rotatably connected. The sealing assembly is disposed at the connection of the at least two adjacent joints 100 to seal the connection of the joints 100 of the robot 10, thereby improving the sealing performance of the robot 10, preventing leakage at the connection of the joints of the robot 10, and preventing external substances from entering the robot 10 through the connection of the joints 100, ensuring the safety and motion stability of the robot 10, and extending the service life of the robot 10. The sealing assembly includes an elastic seal 162 and a sleeve 163. In the two adjacent joints 100, the inner ring of the sleeve 163 is disposed on one of the joints 100, and the elastic seal 162 is disposed on the outer ring of the sleeve 163 and the other joint 100. When the two adjacent joints 100 rotate, the sleeve 163 rotates relative to the elastic seal 162. The sleeve 163 separates the elastic seal 162 from the joint 100 to reduce the friction of the elastic seal 162, delay the wear of the elastic seal 162, and thus extend the service life of the elastic seal 162.

[0069] In some embodiments, the robot 10 further includes a connector 140, and multiple joints 100, including a first joint 110, a second joint 120, and a third joint 130. The first joint 110, the second joint 120, the third joint 130, and the connector 140 are rotatably connected in sequence.

[0070] A sealing assembly is disposed at the connection of at least one of the first joint 110 and the second joint 120, the second joint 120 and the third joint 130, and the third joint 130 and the connector 140.

[0071] In this embodiment, a sealing assembly is used to achieve a sealed connection between the joints 100 of the robot 10, improving the robot 10's sealing performance, preventing leakage at the joint connections, reducing the risk of grease leakage during operation from contaminating the external working environment or picked-up workpieces, and preventing substances from the external environment from entering the robot 10. This ensures the robot 10's safety, smooth movement, and extends its service life. It is easy to understand that the multiple joints 100 increase the robot 10's range of motion and expand its application scope.

[0072] For example, the robot 10 in this embodiment can be used in various fields to perform tasks such as handling and picking up workpieces. As an optional implementation, the first joint 110 can be connected to an external device, which can be a work platform or other robot joints, to adapt the robot 10 to different work requirements. Of course, the robot 10 in this embodiment can also be used as a bionic joint in the medical field.

[0073] In some implementations, the first joint 110 may be rotatably connected to an external device.

[0074] Understandably, in this embodiment, the second joint 120 and the first joint 110 are rotatably connected. The second joint 120 can rotate relative to the first joint 110 around a first rotation axis. The rotation of the second joint 120 relative to the first joint 110 drives the third joint 130 and the connecting member 140 to rotate around the first rotation axis. In this embodiment, the first rotation axis can be along a first direction (Q direction).

[0075] The third joint 130 is connected to the end of the second joint 120 opposite to the first joint 110, and the third joint 130 is rotatable relative to the second joint 120 around a second rotation axis. The rotation of the third joint 130 relative to the second joint 120 causes the connecting member 140 to rotate around the second rotation axis. In this embodiment, the second rotation axis may be along a second direction (P direction).

[0076] The connector 140 is connected to the end of the third joint 130 opposite to the second joint 120, and the connector 140 can rotate about a third rotation axis relative to the third joint 130. In this embodiment, the end of the connector 140 opposite to the third joint 130 can be connected to an external device to realize the motion output of the robot 10.

[0077] It should be noted that the third rotation axis in this embodiment may also be along the first direction (Q direction), and the third rotation axis and the first rotation axis are parallel or intersecting in the same plane.

[0078] In some embodiments, the first and second rotation axes may intersect in the same plane. For example, the first and second rotation axes may be perpendicular. Thus, the robot 10 adjusts its range of motion through the rotational connections between its components to meet various work requirements.

[0079] Furthermore, the relative rotation between the components of robot 10 is achieved through the connection of the drive assembly and the components. Specifically, the first joint 110 has a receiving cavity, and the first drive assembly 150a is located in the first receiving cavity of the first joint 110. The first drive assembly 150a is connected to the inner wall of the first joint 110, and the output end of the first drive assembly 150a faces the second joint 120 and is connected to the second joint 120. The first drive assembly 150a outputs a circular motion to drive the second joint 120 to rotate relative to the first joint 110 around a first rotation axis.

[0080] It is easy to understand that the third joint 130 has a second accommodating cavity, the second drive assembly 150b is located in the second accommodating cavity of the third joint 130, the second drive assembly 150b is connected to the inner wall of the third joint 130, the output end of the second drive assembly 150b is directed toward the second joint 120 along the second direction (P direction) and is connected to the second joint 120, the second drive assembly 150b outputs circumferential motion to drive the third joint 130 to rotate relative to the second joint 120 around the second rotation axis.

[0081] The third drive assembly 150c is located in the second accommodating cavity of the third joint 130. The third drive assembly 150c is connected to the inner wall of the third joint 130. The output end of the third drive assembly 150c is directed toward the connector 140 along the first direction (Q direction) and connected to the connector 140. The third drive assembly 150c outputs circumferential motion to drive the connector 140 to rotate relative to the third joint 130 around the third rotation axis.

[0082] Figure 9 Front view of the robot provided in the embodiments of this application Figure 3 . Figure 10 for Figure 9 Section AA of part I.

[0083] In some embodiments, the sealing assembly includes a plurality of resilient seals 162, which are respectively disposed at the connection points between the first joint 110 and at least one of the second joint 120, the third joint 130, and the second joint 120. In this embodiment, the resilient seals 162 prevent external substances from entering the robot 10, thereby ensuring the stability and smoothness of the robot 10's movement, improving the robot 10's sealing performance, and extending the robot 10's service life.

[0084] Combination Figure 2 , Figure 9 , Figure 10For example, the elastic seal 162 is located at the connection between the second joint 120 and the third joint 130. It is understood that the third joint 130 rotates relative to the second joint 120 about a second rotation axis, forming a rotation cavity between the second joint 120 and the third joint 130. The elastic seal 162 is located in this rotation cavity, with its lip facing the second joint 120 along the second direction (P direction). Along the radial direction of the elastic seal 162, both sides of the elastic seal 162 abut against the third joint 130 and seal against the second joint 120, respectively. Thus, by sealing the rotational connection between the third joint 130 and the second joint 120 with the elastic seal 162, substances outside the robot 10 (e.g., water, dust, etc.) are prevented from entering the robot 10 through the rotational connection between the second joint 120 and the third joint 130, improving the robot 10's sealing performance and ensuring its safety and motion stability.

[0085] Of course, the elastic seal 162 can also be provided at the rotational connection of the second joint 120 and the first joint 110, and seal the rotational connection of the second joint 120 and the first joint 110 to prevent external substances from entering the robot 10 from this point.

[0086] However, when the third joint 130 rotates relative to the second joint 120, the elastic seal 162 is located in the rotating cavity formed by the third joint 130 and the second joint 120. The sidewalls of the third joint 130 and the elastic seal 162 rotate relative to each other, creating friction between them. This causes the elastic seal 162 to wear, reducing the sealing performance between the second joint 120 and the third joint 130. It is easy to understand that the sealing performance at the joints 100 of the robot 10 will deteriorate.

[0087] Therefore, combining Figure 2 , Figure 9 , Figure 10 The sealing assembly in this embodiment further includes a sleeve 163, which is disposed in the rotating cavity of the third joint 130 and the second joint 120. The inner ring of the sleeve 163 is connected to the third joint 130. An elastic seal 162 is sleeved on the sleeve 163. The two sides of the elastic seal 162 respectively seal against the outer ring of the sleeve 163 and the second joint 120, so as to separate the elastic seal 162 and the joint 100 through the sleeve 163, thereby reducing the friction of the elastic seal 162 and delaying the wear of the elastic seal 162.

[0088] It should be noted that the sleeve 163 in this embodiment is a metal ring, and the surface roughness of the outer ring of the sleeve 163 is less than that of the inner ring. It can be understood that the sleeve 163 and the joint 100 are interference-fitted, and the outer ring of the sleeve 163 has a smoother surface than the inner ring to ensure a good sealing contact between the elastic seal 162 and the sleeve 163, while also reducing frictional damage to the elastic seal 162.

[0089] Of course, the sleeve 163 can also be set at the first joint 110 and the second joint 120, and cooperate with the elastic seal 162 at the first joint 110 and the second joint 120. This can improve the sealing performance at the first joint 110 and the second joint 120, and reduce the friction of the elastic seal 162 at this location, thereby delaying the friction damage of the elastic seal 162 and extending its service life.

[0090] In some implementations, see Figure 10 The elastic seal 162 includes a sealing body 1621, an inner lip 1622, and an outer lip 1623. Along the axial direction of the elastic seal 162, the inner lip 1622 and the outer lip 1623 are connected to the same side of the sealing body 1621 and are spaced apart along the radial direction of the elastic seal 162. The inner lip 1622 and the outer ring of the sleeve 163 are in sealing contact. The outer lip 1623 and the corresponding joint 100 are in sealing contact.

[0091] It is easy to understand that the sealing body 1621, the inner lip 1622, and the outer lip 1623 form the lip of the elastic seal 162. The lip of the elastic seal 162 faces the second joint 120. When the elastic seal 162 is compressed, the elasticity of the elastic seal 162 will keep the inner lip 1622 and the outer ring of the sleeve 163 in a sealed contact. The outer lip 1623 of the elastic seal 162 and the second joint 120 will also keep in a sealed contact, so as to form gap compensation through the elastic seal 162 and maintain a stable sealed connection during the movement of the second joint 120 and the third joint 130.

[0092] Figure 11 for Figure 9 Section AA of part II.

[0093] Combination Figure 2 , Figure 9 , Figure 11In some embodiments, the robot 10 further includes a first seal 164; the second joint 120 includes a first housing 121 and a first cover 122 connected to each other; the first housing 121 and the first cover 122 are sealed together by the first seal 164. The embodiments of this application improve the sealing performance of the second joint 120 by providing the first seal 164, thereby preventing external substances from entering the second joint 120.

[0094] The first housing 121 and the first cover 122 of the second joint 120 are connected by insertion, snap-fit, or threaded fasteners. A first seal 164 is provided on the side of the first housing 121 facing the first cover 122. The opposite sides of the first seal 164 abut against the side of the first housing 121 facing the first cover 122, and the side of the first cover 122 facing the first housing 121, respectively. After the first housing 121 and the first cover 122 are connected, they compress the first seal 164 to make the sealing contact of the first seal 164 more stable, thereby preventing substances outside the robot 10 from entering the second joint 120 through the connection between the first housing 121 and the first cover 122.

[0095] Figure 12 for Figure 9 Section AA of part III.

[0096] Possibly, the robot 10 also includes a second seal; an end cap 123 is provided on at least one of the first housing 121 and the first cover 122; the second seal and the end cap 123 are correspondingly provided, and the second seal connects the end cap 123 to the corresponding first housing 121 and / or first cover 122. In this embodiment, the second seal seals the connection between the end cap 123 and the first housing 121 and the first cover 122, further improving the overall sealing performance of the robot 10.

[0097] Combination Figure 2 , Figure 9 , Figure 10 , Figure 12An end cap 123a may be provided on the first housing 121. The end cap 123a and the first housing 121 can be snapped, plugged in, or connected by threaded fasteners. A second sealing member 165a is located at the connection between the end cap 123a and the first housing 121. The opposite sides of the second sealing member 165a abut against the side of the end cap 123a facing the first housing 121 and the side of the first housing 121 facing the end cap 123a, respectively. After the end cap 123a and the first housing 121 are stably connected, the end cap 123a and the first housing 121 compress the second sealing member 165a, making the sealing contact of the second sealing member 165a more stable at this point. This prevents substances outside the robot 10 from entering the second joint 120 through the connection between the end cap 123a and the first housing 121, thereby improving the overall sealing performance of the robot 10.

[0098] Of course, an end cap 123b can also be provided on the first shell cover 122. The end cap 123b and the first shell cover 122 can be snapped together, plugged in, or connected by threaded fasteners. The second seal 165b is located at the connection between the end cap 123b and the first shell cover 122. The opposite sides of the second seal 165b abut against the side of the end cap 123b facing the first shell cover 122 and the side of the first shell cover 122 facing the end cap 123b, respectively. After the end cap 123b and the first shell cover 122 are relatively stably connected, the end cap 123b and the first shell cover 122 compress the second seal 165b, making the sealing contact of the second seal 165b at this point more stable and reducing the amount of material outside the robot 10 entering the second joint 120 through the connection between the end cap 123b and the first shell cover 122.

[0099] It should be noted that the end cap 123 in the embodiments of this application can be disposed on one of the first housing 121 or the first housing cover 122, or it can be disposed on both the first housing 121 and the first housing cover 122. This part does not make specific limitations on this.

[0100] Figure 13 for Figure 9 Section AA of section IV.

[0101] Combination Figure 2 , Figure 9 , Figure 13 In some embodiments, the robot 10 further includes a third seal 166, and the third joint 130 includes a second housing 131 and a second cover 132 connected to each other; the second housing 131 and the second cover 132 are sealed together by the third seal 166. The third seal 166 enhances the sealing performance of the third joint 130, preventing external substances from entering the robot 10 and further ensuring the safety and smooth movement of the robot 10.

[0102] The second housing 131 and the second cover 132 of the third joint 130 are connected by insertion, snap-fit, or threaded fasteners. A third seal 166 is provided on the side of the second housing 131 facing the second cover 132. The opposite sides of the third seal 166 abut against the side of the second housing 131 facing the second cover 132, and the side of the second cover 132 facing the second housing 131, respectively. After the second housing 131 and the second cover 132 are connected, they compress the third seal 166, making the sealing abutment of the third seal 166 at this point more stable. This prevents substances outside the robot 10 from entering the third joint 130 through the connection between the second housing 131 and the second cover 132, improving the sealing and safety of the robot 10.

[0103] Figure 14 for Figure 9 Section AA view of part V.

[0104] Combination Figure 2 , Figure 9 , Figure 14 Possibly, the robot 10 also includes a fourth seal; the first joint 110 includes a third housing 111 and a plurality of third housing covers 112 connected to the third housing 111; the fourth seal and the third housing covers 112 are correspondingly disposed, and the third housing covers 112 and the third housing 111 are sealed together by the fourth seal. In this embodiment, the fourth seal prevents substances outside the robot 10 from entering the first joint 110 through the connection between the third housing 111 and the third housing covers 112, thereby improving the overall sealing performance of the robot 10.

[0105] The third housing 111 and the third housing cover 112a are mated together and can be connected by snap-fit, plug-in, or threaded fasteners. The fourth seal 167a is located at the connection between the third housing 111 and the third housing cover 112a. The opposite sides of the fourth seal 167a abut against the side of the third housing 111 facing the third housing cover 112a, and the side of the third housing cover 112a facing the third housing 111, respectively. After the third housing 111 and the third housing cover 112a are connected, they compress the fourth seal 167a, making the sealing contact of the fourth seal 167a at this location more stable, thereby reducing the amount of material from outside the robot 10 entering the first joint 110 through the connection between the third housing 111 and the third housing cover 112a.

[0106] The third housing 111 and the third housing cover 112b are mated together and can be snapped, plugged in, or connected by threaded fasteners. A fourth seal (not shown) is located at the connection between the third housing 111 and the third housing cover 112b. The opposite sides of the fourth seal abut against the side of the third housing 111 facing the third housing cover 112b, and the side of the third housing cover 112b facing the third housing 111, respectively. After the third housing 111 and the third housing cover 112b are connected, they compress the fourth seal, making the sealing contact of the fourth seal at this location more stable, thereby reducing the amount of material from outside the robot 10 entering the first joint 110 through the connection between the third housing 111 and the third housing cover 112b.

[0107] During operation, grease may leak from the internal drive components of robot 10 and seep out from the joints between its parts, contaminating the workpiece or working environment. Additionally, in certain working environments, external substances (e.g., moisture, dust, particulate matter) may enter robot 10 along the joints. To mitigate these issues, the robot 10 in this embodiment includes a sealing assembly disposed at the joints between its parts, ensuring a sealed connection between them.

[0108] In some embodiments, the robot 10 further includes multiple fifth seals. The connection between the first drive assembly 150a and the first joint 110 and the second joint 120 is sealed by the fifth seals. The connection between the second drive assembly 150b and the third joint 130 and the second joint 120 is sealed by the fifth seals. The connection between the third drive assembly 150c and the third joint 130 and the connector 140 is sealed by the fifth seals. This prevents the flow of grease leaking from each drive assembly, reduces the entry of substances from the external environment into the robot 10, improves the sealing performance of the robot 10, ensures the smoothness and stability of the movement between the various components of the robot 10, and extends the service life of the robot 10.

[0109] Specifically, the first drive assembly 150a, the second drive assembly 150b, and the third drive assembly 150c all include a motor and a reducer, with the output shaft of the motor connected to the input side of the reducer; the connection between the motor of the third drive assembly 150c and the third joint 130 is sealed by a fifth seal; and / or, the connections between the reducer of the first drive assembly 150a and the first joint 110, the reducer of the second drive assembly 150b and the third joint 130, and the reducer of the third drive assembly 150c and the connector 140 are sealed by different fifth seals. In this embodiment, the fifth seals seal the connections between the motor, the reducer, and each joint 100 of the robot 10, preventing leakage from the reducer and motor, thereby ensuring the safety and reliability of the reducer and motor, further ensuring smooth movement between the joints 100 of the robot 10, and improving the overall service life of the robot 10.

[0110] The reducer of the first drive assembly 150a is defined as the first reducer 152a, the reducer of the second drive assembly 150b is defined as the second reducer 152b, and the reducer of the third drive assembly 150c is defined as the third reducer 152c.

[0111] Understandably, the first drive assembly 150a includes a motor (not shown) and a first reducer 152a. The motor is located in the first receiving cavity of the first joint 110 and is fixedly connected to the inner wall of the first joint 110. The output shaft of the motor faces the second joint 120 along the first direction (Q direction). Correspondingly, the first reducer 152a is located in the first receiving cavity of the first joint 110 and is fixedly connected to the inner wall of the first joint 110. The input side of the first reducer 152a is connected to the output shaft of the motor, and the output side of the first reducer 152a faces the second joint 120 along the first direction (Q direction) and is fixedly connected to the second joint 120. The output shaft of the motor outputs circular motion, which is transmitted through the motion of the first reducer 152a, driving the second joint 120 to rotate relative to the first joint 110 around a first rotation axis.

[0112] See Figures 2-5The fifth seal 160a and the fifth seal 160b are respectively disposed on the output side and the input side of the first reducer 152a. Specifically, the fifth seal 160a is located between the output side of the first reducer 152a and the second joint 120. The sealing surface of the fifth seal 160a is in sealing contact with the first joint 110, the first reducer 152a, and the second joint 120, respectively. This prevents grease leaking from the output side of the first reducer 152a from flowing to the first joint 110. At the same time, it also prevents substances outside the first joint 110 from entering the first joint 110 and the second joint 120 through the connection between the first joint 110 and the second joint 120, thereby improving the sealing performance of the connection between the first joint 110 and the second joint 120 and the overall sealing performance of the robot 10.

[0113] The fifth seal 160b is located on the input side of the first reducer 152a. The fifth seal 160b seals against the input side of the first reducer 152a and the inner wall of the first joint 110 to prevent leakage on the input side of the first reducer 152a and to protect the first reducer 152a and the motor connected to the first reducer 152a, so as to ensure reliable movement between the second joint 120 and the first joint 110.

[0114] Combination Figure 2 , Figure 3 , Figure 6 , Figure 7 The second drive assembly 150b is located in the second accommodating cavity of the third joint 130, and includes a motor and a second reducer 152b. It is easy to understand that the motor is located in the second accommodating cavity of the third joint 130 and is fixedly connected to the inner wall of the third joint 130. The output shaft of the motor faces the second joint 120 along the second direction (P direction). Correspondingly, the second reducer 152b is located in the second accommodating cavity of the third joint 130 and is fixedly connected to the inner wall of the third joint 130. The input side of the second reducer 152b is connected to the output shaft of the motor, and the output side of the second reducer 152b faces the second joint 120 along the second direction (P direction) and is fixedly connected to the second joint 120. The output shaft of the motor outputs circular motion, which is transmitted through the motion of the second reducer 152b, driving the third joint 130 to rotate relative to the second joint 120 around a second rotation axis.

[0115] The fifth seal 160c and the fifth seal 160d are respectively disposed on the input side and the output side of the second reducer 152b. Specifically, the fifth seal 160c is located between the input side of the second reducer 152b and the third joint 130. The sealing sidewall of the fifth seal 160c seals against the third joint 130 and the second reducer 152b, respectively, thereby preventing grease leaking from the input side of the second reducer 152b from flowing to the motor connected to the second reducer 152b.

[0116] The fifth seal 160d is located on the output side of the second reducer 152b. The fifth seal 160d seals against the output side of the second reducer 152b and the inner wall of the third joint 130, preventing leakage on the output side of the second reducer 152b and protecting the second reducer 152b and the motor connected to the second reducer 152b. This ensures the driving safety and smooth operation of the robot 10, further improves the sealing performance of the robot 10, and extends the service life of the robot 10.

[0117] Combination Figure 2 , Figure 3 , Figure 6 , Figure 8 The third drive assembly 150c is located in the second accommodating cavity of the third joint 130. The third drive assembly 150c includes a motor 151c and a third reducer 152c. It is easy to understand that the motor 151c is located in the second accommodating cavity of the third joint 130 and is fixedly connected to the inner wall of the third joint 130. The output shaft of the motor 151c faces the connector 140 along the first direction (Q direction). Correspondingly, the third reducer 152c is located in the second accommodating cavity of the third joint 130 and is fixedly connected to the inner wall of the third joint 130. The input side of the third reducer 152c is connected to the output shaft of the motor 151c, and the output side of the third reducer 152c faces the connector 140 along the first direction (Q direction) and is fixedly connected to the connector 140. The output shaft of the motor 151c outputs circular motion, which is transmitted through the motion of the third reducer 152c, driving the connector 140 to rotate relative to the third joint 130 around the third rotation axis.

[0118] The fifth seal 160e and the fifth seal 160f are respectively disposed on the input side and the output side of the third reducer 152c. Specifically, the fifth seal 160e is located between the input side of the third reducer 152c and the third joint 130. The sealing sidewall of the fifth seal 160e is in sealing contact with the third joint 130 and the third reducer 152c, respectively, which can prevent the grease leaking from the input side of the third reducer 152c from flowing towards the motor 151c.

[0119] The fifth seal 160f is located on the output side of the third reducer 152c. The fifth seal 160f seals against the output side of the second reducer 152b and the connector 140 to prevent leakage from the output side of the third reducer 152c. It also protects the third reducer 152c and the motor 151c connected to the third reducer 152c, thereby ensuring the driving safety and smooth operation of the robot 10, further improving the sealing performance of the robot 10 and extending its service life.

[0120] The fifth seal 160g is located on the side of the motor 151c facing the third reducer 152c. The fifth seal 160g abuts against the inner wall of the motor 151c and the third joint 130, further preventing grease leakage from the third reducer 152c from causing damage to the motor 151c.

[0121] Based on the foregoing embodiments, combined with Figure 2 , Figure 3 , Figure 6 , Figure 7 The sixth seal 161 is located on the output side of the second reducer 152b. The lip of the sixth seal 161 faces the second reducer 152b along the second direction. One side of the lip of the sixth seal 161 abuts against the second reducer 152b, and the other side of the lip of the sixth seal 161 abuts against the inner wall of the third joint 130, thereby preventing leakage on the output side of the second reducer 152b. It should be noted that the sixth seal 161 in this embodiment can be an elastic sealing ring.

[0122] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0123] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0124] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0125] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A robot (10), characterized in that, include: At least two joints (100), the at least two joints (100) being adjacent and rotatably connected; A sealing assembly disposed at the connection of at least two adjacent joints (100); The sealing assembly includes an elastic seal (162) and a sleeve (163). In two adjacent joints (100), the inner ring of the sleeve (163) is connected to one of the joints (100), and the elastic seal (162) seals against the outer ring of the sleeve (163) between the other joint (100). When two adjacent joints (100) rotate, the sleeve (163) rotates relative to the elastic seal (162).

2. The robot (10) according to claim 1, characterized in that, The surface roughness of the outer ring of the sleeve (163) is less than the surface roughness of the inner ring of the sleeve (163).

3. The robot (10) according to claim 1, characterized in that, The elastic seal (162) is an annular member, and the elastic seal (162) is sleeved on the sleeve (163).

4. The robot (10) according to claim 3, characterized in that, The elastic seal (162) includes a sealing body (1621), an inner lip (1622) and an outer lip (1623). Along the axial direction of the elastic seal (162), the inner lip (1622) and the outer lip (1623) are connected to the same side of the sealing body (1621) and are arranged at radial intervals along the elastic seal (162). The inner lip (1622) and the outer ring of the sleeve (163) are sealed together; the outer lip (1623) and the corresponding joint (100) are sealed together.

5. The robot (10) according to any one of claims 1-4, characterized in that, It also includes a connector (140); there are multiple joints (100), and the multiple joints (100) include a first joint (110), a second joint (120) and a third joint (130), and the first joint (110), the second joint (120), the third joint (130) and the connector (140) are rotatably connected in sequence; The sealing components are multiple, and the sealing components are respectively disposed at the connection of at least one of the first joint (110) and the second joint (120), the second joint (120) and the third joint (130), and the third joint (130) and the connector (140).

6. The robot (10) according to claim 5, characterized in that, It also includes a first seal (164); the second joint (120) includes a first housing (121) and a first cover (122) connected to each other; The first housing (121) and the first cover (122) are sealed together by the first seal (164).

7. The robot (10) according to claim 6, characterized in that, It also includes a second seal; at least one of the first housing (121) and the first housing cover (122) is provided with an end cap (123); The second seal is provided correspondingly to the end cap (123), and the second seal is connected between the end cap (123) and the corresponding first housing (121) and / or the first housing cap (122).

8. The robot (10) according to claim 5, characterized in that, It also includes a third seal (166); the third joint (130) includes a second housing (131) and a second cover (132) connected to each other; The second housing (131) and the second cover (132) of the sealing assembly are sealed together by the third seal (166).

9. The robot (10) according to claim 5, characterized in that, It also includes a fourth seal; the first joint (110) includes a third housing (111) and a plurality of third housing covers (112) connected to the third housing (111); The fourth sealing element and the third housing cover (112) are respectively provided, and the third housing cover (112) and the third housing (111) are sealed and connected by the fourth sealing element.

10. The robot (10) according to claim 5, characterized in that, The second joint (120) and the first joint (110) are coaxially arranged, and the second joint (120) rotates relative to the first joint (110) about a first rotation axis; The third joint (130) rotates relative to the second joint (120) about a second rotation axis, and the second rotation axis intersects the first rotation axis; The connector (140) and the third joint (130) are coaxially arranged. The connector (140) rotates relative to the third joint (130) about a third rotation axis. The extension direction of the third rotation axis is parallel to the extension direction of the first rotation axis.

11. The robot (10) according to claim 5, characterized in that, The first joint (110) is used to connect to an external device, and the first joint (110) is rotatably configured relative to the external device.

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