Robot

Abstract

The utility model relates to the technical field of robots, and provides a robot which comprises a base, a first joint part, a joint arm, a second joint part, a plurality of driving assemblies and a sealing assembly. Wherein the base, the first joint piece, the joint arm and the second joint piece are rotationally connected in sequence. The first driving assembly is arranged on the base, the second driving assembly is arranged on the joint arm, the third driving assembly is arranged on the second joint piece, the first driving assembly is configured to drive the first joint piece to rotate relative to the base, and the second driving assembly is configured to drive the joint arm to rotate relative to the first joint piece. The third driving assembly is configured to drive the second joint piece to rotate relative to the joint arm. The multiple sealing assemblies are arranged at the connecting positions of the driving assemblies and at least one of the base, the first joint piece, the joint arm and the second joint piece. Through the structural arrangement, the sealing performance of the robot is improved, and the service life of the robot 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 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.

[0004] Therefore, there is an urgent need to design a robot with good sealing performance in order to extend the robot's service life. Utility Model Content

[0005] This application provides a robot that can improve the robot's sealing performance and extend its service life.

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

[0007] This application provides a robot, including:

[0008] Rotate the connected base, first joint, joint arm, and second joint in sequence;

[0009] Multiple drive components, including a first drive component, a second drive component, and a third drive component, wherein the first drive component is disposed on the base, the second drive component is disposed on the articulated arm, and the third drive component is disposed on the second articulated member; the first drive component is configured to drive the first articulated member to rotate relative to the base, the second drive component is configured to drive the articulated arm to rotate relative to the first articulated member, and the third drive component is configured to drive the second articulated member to rotate relative to the articulated arm;

[0010] Multiple sealing components are respectively disposed at the connection points of at least one of the first drive component and the base, the second drive component and the articulated arm, and the third drive component and the second articulated member.

[0011] In one possible implementation, each of the sealing assemblies includes a first seal, the first seal of each sealing assembly being connected to at least one of the following: the first drive assembly and the base, the second drive assembly and the articulated arm, and the third drive assembly and the second articulated arm.

[0012] In one possible implementation, the first drive assembly, the second drive assembly, and the third drive assembly all include a motor and a reducer, with the output shaft of the motor connected to the input side of the reducer;

[0013] The connection between the motor of the first drive assembly and the base, and / or the connection between the reducer of the second drive assembly and the base, are sealed by a first seal.

[0014] The connection between the motor of the second drive assembly and the articulated arm, and / or the connection between the reducer of the second drive assembly and the articulated arm, are sealed together by the first seal.

[0015] The connection between the reducer of the third drive assembly and the second joint is sealed by the first seal.

[0016] As one possible implementation, the robot further includes a second seal connected between the base and the first joint; and / or,

[0017] The second seal is connected between the first joint member and the first end of the joint arm; and / or,

[0018] The second seal is connected between the second end of the articulated arm and the second articulated member.

[0019] In one possible implementation, the robot further includes a connector, which is correspondingly disposed with the second seal, the second seal being an annular member and sleeved on the connector; the connector rotates relative to the second seal.

[0020] In one possible implementation, the robot further includes a third seal, and the articulated arm includes a first housing and a first cover that are interconnected.

[0021] The first housing and the first cover are sealed together by the third seal.

[0022] As one possible implementation, the robot further includes a fourth seal, wherein at least one of the first housing and the first housing cover is provided with a first end cap;

[0023] The fourth sealing element is correspondingly provided with the first end cap, and the fourth sealing element is connected between the first end cap and the corresponding first housing and / or the first housing cover.

[0024] In one possible implementation, the robot further includes a fifth seal, and the second joint includes a second housing and a plurality of second shell covers connected to the second housing;

[0025] The fifth seal is provided correspondingly to the second housing cover, and the fifth seal is connected between the second housing and the second housing cover.

[0026] In one possible implementation, the robot further includes a sixth seal, and the base includes an interconnected third housing and a plurality of third housing covers connected to the third housing;

[0027] The sixth sealing element is provided correspondingly to the third housing cover, and the sixth sealing element is connected between the third housing and the third housing cover.

[0028] In one possible implementation, the robot further includes a seventh seal, and the first joint includes a fourth housing and a plurality of fourth housing covers connected to the fourth housing;

[0029] The seventh seal is provided correspondingly to the fourth shell cover, and the seventh seal is connected between the fourth shell cover and the fourth shell.

[0030] In one possible implementation, the robot further includes an eighth seal, at least one of the fourth shell covers having a second end cap, the eighth seal being connected between the second end cap and the fourth shell cover.

[0031] In one possible implementation, the first joint rotates relative to the base about a first rotation axis;

[0032] The articulated arm rotates relative to the first articulated member about a second rotation axis to adjust the angle between the articulated arm and the base; the second rotation axis intersects the first rotation axis;

[0033] The second joint member rotates relative to the joint arm about a third rotation axis to adjust the orientation of the second joint member; the third rotation axis is parallel to the second rotation axis.

[0034] The robot provided in this application has a drive assembly connected to the base, the articulated arm, and the second articulated member, respectively, which enables the relative rotation between the robot's components. A sealing assembly is disposed at the connection point between the drive assembly and the base, the first articulated member and the articulated arm, and the articulated arm and the second articulated member, thereby achieving a sealed connection between the drive assembly and each part. This improves the robot's sealing performance, prevents internal oil leakage, reduces contamination of the external working environment or picked-up workpieces during robot operation, and also prevents substances from the external environment from entering the robot's interior, improving the smoothness of robot movement and extending the robot's service life. Attached Figure Description

[0035] 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.

[0036] Figure 1 Front view of the robot provided in the embodiments of this application Figure 1 ;

[0037] Figure 2 An axonometric view of the robot provided in an embodiment of this application;

[0038] Figure 3 Front view of the robot provided in the embodiments of this application Figure 2 ;

[0039] Figure 4 for Figure 3 Sectional view AA of part A in the middle;

[0040] Figure 5 for Figure 4 A magnified view of part D in the middle;

[0041] Figure 6 for Figure 3 Sectional view AA of part B in the middle;

[0042] Figure 7 for Figure 6 A magnified view of part E in the middle;

[0043] Figure 8 for Figure 3 Sectional view AA of part C;

[0044] Figure 9 for Figure 8 A magnified view of part F in the middle;

[0045] Figure 10 Front view of the robot provided in the embodiments of this application Figure 3 ;

[0046] Figure 11 for Figure 10 Sectional view AA of part I;

[0047] Figure 12 for Figure 10 Sectional view AA of part II;

[0048] Figure 13 for Figure 10 Sectional view AA of part III;

[0049] Figure 14 for Figure 10 Sectional view AA of part IV;

[0050] Figure 15 Front view of the robot provided in the embodiments of this application Figure 4 ;

[0051] Figure 16 for Figure 15 Sectional view of part I (BB);

[0052] Figure 17 for Figure 15 Sectional view of part II (BB);

[0053] Figure 18 for Figure 15 BB section view of part III.

[0054] Explanation of reference numerals in the attached figures:

[0055] 100 - Robot; 110 - Base; 111 - Third shell; 112, 112a, 112b - Third shell cover;

[0056] 120 - First joint component; 121 - Fourth housing; 122, 122a, 122b - Fourth housing cover; 123 - Second end cover;

[0057] 130 - Articulated arm; 131 - First housing; 132 - First housing cover; 133, 133a, 133b - First end caps;

[0058] 140 - Second joint component; 141 - Second housing; 142, 142a, 142b - Second housing cover;

[0059] 150a - First drive assembly; 151a - First motor; 152a - First reducer; 150b - Second drive assembly; 151b - Second motor; 152b - Second reducer; 150c - Third drive assembly; 152c - Third reducer;

[0060] 160a, 160b, 160c, 160d, 160e, 160f, 160g, 160h - First seal; 161a, 161b, 161c - Second seal; 162a, 162b, 162c - Connector; 163 - Third seal; 164a, 164b - Fourth seal; 165, 165a, 165b - Fifth seal; 166a, 166b - Sixth seal; 167, 167a, 167b - Seventh seal; 168 - Eighth seal. Detailed Implementation

[0061] 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.

[0062] With the continuous development of intelligent products, intelligent robots are being applied to various industries, especially in the field of industrial manufacturing.

[0063] Commonly, robots replace human labor in harsh working environments, reducing labor costs. For example, robots are used in machining processes such as spraying, grinding, and welding. If the robot's sealing is inadequate, spray dust and grinding metal shavings may enter the robot's interior, severely damaging its joint mobility. Furthermore, in special environments like the food industry, cleanrooms, or dust-free workshops, robots must not generate pollution during operation, such as powder shedding or oil leakage. Moreover, in precision industries like printed circuit board (PCB) handling, grease leakage can damage the PCB.

[0064] Therefore, there is an urgent need to design a robot with good sealing performance in order to extend the robot's service life.

[0065] To overcome the deficiencies in the prior art, this application provides a robot, including a base, a first joint member, a joint arm, and a second joint member sequentially rotatably connected. A drive assembly is connected to the base, the joint arm, and the second joint member respectively to drive the first joint member to rotate relative to the base, drive the joint arm to rotate relative to the first joint member, and drive the second joint member to rotate relative to the joint arm. Sealing assemblies are respectively disposed at the connection points between the drive assembly and at least one of the base and the first joint member, the first joint member and the joint arm, and the joint arm and the second joint member, achieving sealed connections between the drive assembly and the base, the drive assembly and the joint arm, and the drive assembly and the second joint member. This prevents oil leakage, avoids the entry of external substances into the robot's interior, improves the robot's sealing performance, ensures smooth robot movement, and extends the robot's service life.

[0066] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0067] Figure 1 Front view of the robot provided in the embodiments of this application Figure 1 . Figure 2 An axonometric view of the robot provided in an embodiment of this application. Figure 3 Front view of the robot provided in the embodiments of this application Figure 2 . Figure 4 for Figure 3 Section AA of part A in the middle. Figure 5 for Figure 4 A magnified view of part D in the middle. Figure 6 for Figure 3 Section AA of part B. Figure 7 for Figure 6 A magnified view of part E in the middle. Figure 8 for Figure 3 Section AA of part C. Figure 9 for Figure 8 A magnified view of part F in the middle.

[0068] like Figures 1-9 As shown, this application provides a robot 100, including: a base 110, a first joint 120, an articulated arm 130, a second joint 140, a plurality of drive components and a sealing component.

[0069] The base 110, the first joint 120, the joint arm 130, and the second joint 140 are rotatably connected in sequence.

[0070] Multiple drive components include a first drive component 150a, a second drive component 150b, and a third drive component 150c. The first drive component 150a is disposed on the base 110, the second drive component 150b is disposed on the articulated arm 130, and the third drive component 150c is disposed on the second articulated member 140. The first drive component 150a is configured to drive the first articulated member 120 to rotate relative to the base 110, the second drive component 150b is configured to drive the articulated arm 130 to rotate relative to the first articulated member 120, and the third drive component 150c is configured to drive the second articulated member 140 to rotate relative to the articulated arm 130.

[0071] There are multiple sealing components, which are respectively disposed at the connection between at least one of the first drive component 150a and the base 110, the second drive component 150b and the articulated arm 130, and the third drive component 150c and the second articulated member 140.

[0072] According to the robot 100 provided in the embodiments of this application, multiple drive components are respectively disposed on the base 110, the articulated arm 130, and the second joint 140, realizing independent drive for the relative rotation between the various parts of the robot 100. Multiple sealing components are respectively disposed at the connection points of at least one of the first drive component 150a and the base 110, the second drive component 150b and the articulated arm 130, the third drive component 150c and the second joint 140, realizing sealed connection between each drive component and each connecting part of the robot 100, improving the sealing performance of the robot 100, preventing oil leakage inside the robot 100, reducing the pollution of the external working environment or the picked-up workpiece during the operation of the robot 100, and at the same time, preventing substances in the external environment from entering the robot 100, improving the smoothness of the robot 100's movement, and extending the service life of the robot 100.

[0073] The specific structure of robot 100 and various possible implementation methods are described in detail below.

[0074] For example, the base 110 of robot 100 is used to support other components of robot 100. The base 110 of robot 100 is stably connected to an external worktable via threaded fasteners. A first joint 120 is connected to the top of the base 110, and the first joint 120 is rotatably connected to the base 110. The joint arm 130 is rotatably connected to the first joint 120. Thus, the rotation of the first joint 120 relative to the base 110 causes the joint arm 130 to rotate relative to the base 110 around a first rotation axis. The first rotation axis may be along a first direction (P direction).

[0075] The second joint 140 and the second end of the joint arm 130 are rotatably connected. The joint arm 130 rotates relative to the first joint 120 around a second rotation axis, causing the second joint 140 to change its position around both the first and second rotation axes. Simultaneously, the second joint 140 rotates relative to the joint arm 130 around a third rotation axis, thus realizing a positional transformation of the motion output of the second joint 140. Through the rotational connections between the components, the posture adjustment of the robot 100 is achieved. In this embodiment, the second rotation axis intersects the first rotation axis, and the second and third rotation axes are parallel.

[0076] In this embodiment, the base 110 has a first accommodating cavity, the first driving component 150a is located in the first accommodating cavity, the first driving component 150a is connected to the inner wall of the base 110, the output end of the first driving component 150a is connected to the first joint 120, and the first driving component 150a drives the first joint 120 to rotate relative to the base 110 around the first rotation axis.

[0077] It is easy to understand that the articulated arm 130 has a second accommodating cavity, and the second drive assembly 150b is located in the second accommodating cavity of the articulated arm 130. The second drive assembly 150b is connected to the inner wall of the articulated arm 130, and the output end of the second drive assembly 150b is connected to the first joint member 120. The second drive assembly 150b drives the articulated arm 130 to rotate relative to the first joint member 120 around a second rotation axis, thereby adjusting the pitch attitude of the robot 100. That is to say, the second rotation axis intersects the first rotation axis.

[0078] In some specific implementations, the second rotation axis and the first rotation axis may be perpendicular to each other.

[0079] The second joint 140 has a third accommodating cavity, and the third drive assembly 150c is located in the third accommodating cavity of the second joint 140. The third drive assembly 150c is connected to the inner wall of the second joint 140, and the output end of the third drive assembly 150c is connected to the joint arm 130. The third drive assembly 150c drives the second joint 140 to rotate relative to the joint arm 130 around a third rotation axis, so as to adjust the movement position of the second joint 140 of the robot 100, so that the end of the second joint 140 away from the joint arm 130 has a different orientation, thereby increasing the range of motion of the robot 100.

[0080] In some embodiments, the third rotation axis and the second rotation axis are arranged parallel to each other.

[0081] During operation, grease inside the various drive components may leak and seep out from the interconnections of the robot 100's components, contaminating the robot 100's components or the working environment. Furthermore, in certain special working environments, external substances may enter the robot 100 along the connection points of its components, potentially causing robot 100 malfunction. To reduce the occurrence of such situations, the robot 100 in this embodiment also includes multiple sealing components, which are respectively disposed at the connection points of the robot 100's components to achieve a sealed connection between the components.

[0082] Specifically, multiple sealing components can be respectively connected to the connection points of the drive assembly with at least one of the base 110 and the first joint 120, the first joint 120 and the joint arm 130, and the joint arm 130 and the second joint 140. It is understood that the first drive assembly 150a and the base 110 are sealed together by sealing components, the second drive assembly 150b and the joint arm 130 are sealed together by sealing components, and the third drive assembly 150c and the second joint 140 are sealed together by sealing components.

[0083] Understandably, the sealing assembly includes multiple first seals, which are respectively connected between the first drive assembly 150a and the base 110, the second drive assembly 150b and the articulated arm 130, and the third drive assembly 150c and the second articulated member 140. In this embodiment, the first seals achieve a sealed connection between each drive assembly and each component of the robot 100, preventing grease leakage from each drive assembly from affecting the internal and external parts of the robot 100, improving the sealing performance of the robot 100, ensuring the smoothness and stability of movement between the components of the robot 100, and extending the service life of the robot 100.

[0084] Furthermore, the first drive assembly 150a, the second drive assembly 150b, and the third drive assembly 150c each 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 reducer of the first drive assembly 150a and the base 110, and / or, the connection between the reducer of the first drive assembly 150a and the base 110 is sealed by a first seal; the connection between the motor of the second drive assembly 150b and the articulated arm 130, and / or, the connection between the reducer of the second drive assembly 150b and the articulated arm 130 is sealed by a first seal; the connection between the reducer of the third drive assembly 150c and the second articulated member 140 is sealed by a first seal.

[0085] In this embodiment, the first sealing element seals the connection between the reducer and motor of each drive component and other parts of the robot 100, preventing grease leakage from the robot 100 during operation from damaging the reducer and the motor connected to the reducer, thereby further ensuring the safety and stability of the robot 100.

[0086] To facilitate understanding of the contents of this application by those skilled in the art, the motor of the first drive assembly 150a is defined as the first motor 151a; the reducer of the first drive assembly 150a is defined as the first reducer 152a; the motor of the second drive assembly 150b is defined as the second motor 151b; the reducer of the second drive assembly 150b is defined as the second reducer 152b; the motor of the third drive assembly 150c is defined as the third motor; and the reducer of the third drive assembly 150c is defined as the third reducer 152c.

[0087] Combination Figure 1 , Figures 3-5 The first motor 151a is located in the first accommodating cavity of the base 110. The output shaft of the first motor 151a faces the first joint 120. The output shaft of the first motor 151a outputs a circular motion to drive the first joint 120 to rotate relative to the base 110 around the first rotation axis. During the high-speed rotation of the first motor 151a, some grease may flow out. In order to prevent grease from entering the first accommodating cavity, a first sealing member 160a is provided between the first motor 151a and the inner wall of the base 110. The first sealing member 160a can be fitted onto the first motor 151a. The other side of the first sealing member 160a abuts against the inner wall of the base 110 to achieve a sealed connection between the first motor 151a and the base 110.

[0088] Of course, the first seal 160a can be located on the end face of the first motor 151a facing the first joint 120. The two end faces of the first seal 160a abut against the end face of the first motor 151a and the inner wall of the base 110, respectively. When the first motor 151a and the inner wall of the base 110 are relatively stably connected, the inner wall of the base 110 and the end of the first motor 151a compress the first seal 160a. The first seal 160a prevents leaked grease from entering the first accommodating cavity of the base 110, reduces the impact of leaked grease on the operation of the circuit board installed in the base 110, improves the sealing performance of the robot 100, ensures the stability of the relative movement between the first joint 120 and the base 110, and extends the service life of the drive components of the robot 100 and the robot 100 as a whole.

[0089] Combination Figure 1 , Figure 3 , Figure 6 and Figure 7The second motor 151b is located on the side of the articulated arm 130 near the first joint member 120 and within the second receiving cavity of the articulated arm 130. The second motor 151b and the inner wall of the articulated arm 130 are stably connected. The output shaft of the second motor 151b is directed towards the first joint member 120 along the second direction (Q direction). The output circular motion of the second motor 151b drives the articulated arm 130 to rotate relative to the first joint member 120 around the second rotation axis, thus realizing the pitch motion of the robot 100. Correspondingly, the output shaft of the second motor 151b may splatter oil during rotation. To prevent oil leakage from damaging the second motor 151b and the robot 100, the first seal 160b is connected between the inner wall of the articulated arm 130 and the second motor 151b.

[0090] The first seal 160b is located on the end face of the output shaft of the second motor 151b facing the first joint 120. The two end faces of the first seal 160b along the second direction (Q direction) abut against the end face of the second motor 151b and the inner wall of the joint arm 130, respectively, and the side wall of the first seal 160b also abuts against the inner wall of the joint arm 130. When the second motor 151b and the inner wall of the joint arm 130 are relatively stably connected, the inner wall of the joint arm 130 and the end face of the second motor 151b exert a squeezing effect on the first seal 160b. The first seal 160b can block grease leaking from the output shaft side of the second motor 151b, preventing the leaked grease from damaging the second motor 151b and the robot 100, improving the sealing performance and motion reliability of the robot 100, and further extending the service life of the robot 100.

[0091] Of course, the first seal 160b can also be fitted onto the second motor 151b. In this case, the side wall of the first seal 160b abuts against the surface of the second motor 151b and the inner wall of the articulated arm 130, which can also improve the sealing performance of the robot 100.

[0092] The third motor (not shown in the figure) is located in the third accommodating cavity of the second joint 140. The inner walls of the third motor and the second joint are stably connected. The output shaft of the third motor is directed towards the joint arm 130 along the second direction (Q direction). The output shaft of the third motor outputs a circular motion, which drives the second joint 140 to rotate relative to the joint arm 130 around the third rotation axis. Similarly, oil leakage may occur during the rotation of the third motor. Therefore, in this embodiment, the first seal (not shown in the figure) can be disposed between the third motor and the second joint 140.

[0093] The first seal (not shown in the figure) is located on the end face of the third motor's output shaft facing the articulated arm 130. The two end faces of the first seal along the second direction (Q direction) abut against the end face of the third motor and the inner wall of the second articulated arm 140, respectively. The side wall of the first seal also abuts against the inner wall of the second articulated arm 140. When the third motor and the inner walls of the second articulated arm 140 are stably connected, the inner wall of the second articulated arm 140 and the end face of the third motor exert a squeezing force on the first seal. The first seal can block grease leakage from the output shaft side of the third motor, preventing this grease from damaging the third motor and the robot 100, improving the sealing performance and motion reliability of the robot 100, and further extending the service life of the robot 100.

[0094] Combination Figure 1 , Figures 3-5 A first reducer 152a and a first motor 151a are correspondingly arranged. The input side of the first reducer 152a is connected to the output shaft of the first motor 151a. The output side of the first reducer 152a faces the first joint member 120 along the first direction (P direction) and is connected to the first joint member 120. A first seal 160c and a first seal 160d are respectively arranged on opposite sides of the first reducer 152a along the first direction (P direction). The first seal 160c is located between the input side of the first reducer 152a and the inner wall of the base 110, and the first seal 160d is located between the output side of the first reducer 152a and the inner wall of the first joint member 120. Thus, by sealing the input and output sides of the first reducer 152a with the first seal 160c and the first seal 160d, the grease leakage of the first reducer 152a is prevented from causing damage to the first reducer 152a, the first motor 151a and the robot 100, thereby improving the overall sealing performance of the robot 100 and extending the service life of the robot 100.

[0095] Combination Figure 1 , Figure 3 , Figure 6 and Figure 7The second reducer 152b and the second motor 151b are correspondingly arranged. The input side of the second reducer 152b is connected to the output shaft of the second motor 151b. The output side of the second reducer 152b faces the first joint member 120 along the second direction (Q direction) and is connected to the first joint member 120. The first seal 160e and the first seal 160f are respectively arranged on opposite sides of the second reducer 152b along the second direction (Q direction). The first seal 160e is located between the input side of the second reducer 152b and the inner wall of the joint arm 130, and the first seal 160f is located between the output side of the second reducer 152b and the inner wall of the first joint member 120. Thus, by sealing the input and output sides of the second reducer 152b with the first seal 160e and the first seal 160f, the grease leakage of the second reducer 152b is prevented from causing damage to the second reducer 152b, the second motor 151b and the robot 100, thereby improving the overall sealing performance of the robot 100 and extending the service life of the robot 100.

[0096] Combination Figure 1 , Figure 3 , Figure 8 and Figure 9 The third reducer 152c and the third motor are correspondingly arranged. The input side of the third reducer 152c is connected to the output shaft of the third motor. The output side of the third reducer 152c faces the articulated arm 130 along the second direction (Q direction) and is connected to the articulated arm 130. The first seal 160g and the first seal 160h are respectively arranged on opposite sides of the third reducer 152c along the second direction (Q direction). The first seal 160g is located between the input side of the third reducer 152c and the inner wall of the second articulated member 140, and the first seal 160h is located between the output side of the third reducer 152c and the inner wall of the articulated arm 130. In this way, the input and output sides of the third reducer 152c are sealed by the first seal 160g and the first seal 160h, preventing grease leakage from the third reducer 152c from causing damage to the third reducer 152c, the third motor, and the robot 100, improving the overall sealing performance of the robot 100 and extending the service life of the robot 100.

[0097] Possibly, the sealing assembly includes a second seal, with the second seal 161a connected between the base 110 and the first joint 120; and / or, the second seal 161b connected between the first joint 120 and the first end of the joint arm 130; and / or, the second seal 161c connected between the second end of the joint arm 130 and the second joint 140. In this embodiment, the second seal prevents external substances from entering the robot 100, ensuring the stability and smoothness of the robot 100's movement, improving the robot 100's sealing performance, and extending the robot 100's service life.

[0098] Combination Figure 1 , Figures 3-5 The first joint 120 rotates relative to the base 110 around a first rotation axis, forming a rotation cavity between the first joint 120 and the base 110. The second seal 161a is located in this rotation cavity, with the lip of the second seal 161a facing the base 110. One side of the lip of the second seal 161a abuts against the base 110, and the other side of the lip of the second seal 161a abuts against the first joint 120. In this way, the second seal 161a seals the rotational connection between the base 110 and the first joint 120, preventing external substances (such as water, dust, etc.) from entering the robot 100 through the rotational connection between the base 110 and the first joint 120, thereby improving the sealing performance of the robot 100 and ensuring the safety and movement stability of the robot 100.

[0099] Combination Figure 1 , Figure 3 and Figure 6 The articulated arm 130 rotates relative to the first joint member 120 around the second rotation axis. A rotation cavity is formed between the first end of the articulated arm 130 and the second joint member 140. The second seal 161b is located in this rotation cavity. The lip of the second seal 161b faces the first joint member 120. One side of the lip of the second seal 161b abuts against the articulated arm 130, and the other side of the lip of the second seal 161b abuts against the first joint member 120. In this way, the rotational connection between the articulated arm 130 and the first joint member 120 is sealed by the second seal 161b, preventing substances from outside the robot 100 from entering the robot 100 through the rotational connection between the articulated arm 130 and the first joint member 120, thereby improving the sealing performance of the robot 100 and ensuring the safety and stable movement of the robot 100.

[0100] Combination Figure 1 , Figure 3 and Figure 8 The second joint 140 rotates relative to the joint arm 130 around a third rotation axis, forming a rotation cavity between the second joint 140 and the joint arm 130. The second seal 161c is located in this rotation cavity, with the lip of the second seal 161c facing the joint arm 130. One side of the lip of the second seal 161c abuts against the joint arm 130, and the other side of the lip of the second seal 161c abuts against the second joint 140. In this way, the second seal 161c seals the rotational connection between the second joint 140 and the joint arm 130, preventing substances from outside the robot 100 from entering the robot 100 through the rotational connection between the second joint 140 and the joint arm 130, thereby further improving the sealing performance of the robot 100, as well as the safety and motion reliability of the robot 100.

[0101] It should be noted that the second sealing element in the embodiments of this application may be an elastic sealing ring.

[0102] Furthermore, the sealing assembly also includes a connector, which is correspondingly provided with a second sealing element. The second sealing element is an annular element and is sleeved on the connector; the connector rotates relative to the second sealing element.

[0103] Combination Figure 1 , Figure 2 , Figures 3-5 It can be understood that when the first joint member 120 rotates relative to the base 110, the second seal member 161a is located in the rotating cavity formed by the first joint member 120 and the base 110. The side lips of the first joint member 120 and the second seal member 161a rotate relative to each other, and friction is formed between them. In this embodiment, the connector 162a is disposed in the rotating cavity of the first joint member 120 and the base 110. One side of the connector 162a is connected to the first joint member 120, and the second seal member 161a is sleeved on the connector 162a, so that the side lip of the second seal member 161a facing away from the base 110 contacts the connector 162a. The second seal member 161a rotates relative to the connector 162a around the first rotation axis, thereby reducing the frictional force of the second seal member 161a, reducing frictional damage to the second seal member 161a, and extending the service life of the second seal member 161a.

[0104] Combination Figure 1 , Figure 2 , Figure 3 and Figure 6 The second seal 161b is located in the rotating cavity formed by the first end of the articulated arm 130 and the first articulated member 120. The first end of the articulated arm 130 and the side lips of the second seal 161b rotate relative to each other, creating friction between them. The connector 162b is located in the rotating cavity formed by the first end of the articulated arm 130 and the first articulated member 120. One side of the connector 162b is connected to the articulated arm 130. The second seal 161b is sleeved on the connector 162b, and the side lip of the second seal 161b facing the articulated arm 130 contacts the connector 162b. The second seal 161b rotates relative to the connector 162b about a second rotation axis, reducing the frictional force on the second seal 161b, thereby preventing frictional damage to the second seal 161b and extending its service life.

[0105] Combination Figure 1 , Figure 2 , Figure 3 and Figure 8The second seal 161c is located in the rotating cavity formed by the second end of the joint arm 130 and the second joint 140. The side lips of the second joint 140 and the second seal 161c rotate relative to each other, creating friction between them. The connector 162c is located in the rotating cavity formed by the second end of the joint arm 130 and the second joint 140. One side of the connector 162c is connected to the second joint 140. The second seal 161c is sleeved on the connector 162c, and the side lip of the second seal 161c facing the second joint 140 contacts the connector 162c. The second seal 161c rotates relative to the connector 162c about a third rotation axis, reducing the frictional force on the second seal 161c, reducing frictional damage to the second seal 161c, and extending the service life of the second seal 161c.

[0106] It should be noted that the connector in this embodiment can be a metal ring to ensure that the side of the connector and the second seal that abuts is a relatively smooth plane. This ensures that the second seal and the connector form a good sealing contact and also reduces frictional damage to the second seal.

[0107] Figure 10 Front view of the robot provided in the embodiments of this application Figure 3 . Figure 11 for Figure 10 Section AA of part I. Figure 12 for Figure 10 Section AA of part II. Figure 13 for Figure 10 Section AA of part III.

[0108] Combination Figure 1 , Figure 2 , Figures 10-13 In some embodiments, the articulated arm 130 includes a first housing 131 and a first cover 132 connected to each other; the sealing assembly includes a third seal 163, through which the first housing 131 and the first cover 132 are sealed together. The embodiments of this application improve the sealing performance of the articulated arm 130 by providing the third seal 163, thereby preventing external substances from entering the articulated arm 130.

[0109] The first housing 131 and the first cover 132 of the articulated arm 130 are connected by insertion, snap-fit, or threaded fasteners. A third seal 163 is provided on the side of the first housing 131 facing the first cover 132. The opposite sides of the third seal 163 abut against the side of the first housing 131 facing the first cover 132, and the side of the first cover 132 facing the first housing 131, respectively. After the first housing 131 and the first cover 132 are connected, they compress the third seal 163 to make the sealing contact of the third seal 163 more stable, thereby preventing substances outside the robot 100 from entering the articulated arm 130 through the connection between the first housing 131 and the first cover 132.

[0110] Possibly, at least one of the first housing 131 and the first cover 132 is provided with a first end cap 133; the sealing assembly includes a fourth seal, which is correspondingly provided with the first end cap 133 and connected between the first end cap 133 and the corresponding first housing 131 and / or first cover 132. In this embodiment, the fourth seal seals the connection between the first end cap 133, the first housing 131, and the first cover 132, further improving the overall sealing performance of the robot 100.

[0111] A first end cap 133a may be provided on the first housing 131. The first end cap 133a and the first housing 131 can be snapped, plugged in, or connected by threaded fasteners. A fourth sealing member 164a is located at the connection between the first end cap 133a and the first housing 131. The opposite sides of the fourth sealing member 164a abut against the side of the first end cap 133a facing the first housing 131 and the side of the first housing 131 facing the first end cap 133a, respectively. After the first end cap 133a and the first housing 131 are relatively stably connected, the first end cap 133a and the first housing 131 compress the fourth sealing member 164a. The sealing abutment of the fourth sealing member 164a at this point is more stable, preventing substances outside the robot 100 from entering the articulated arm 130 through the connection between the first end cap 133a and the first housing 131, thus ensuring the overall sealing of the robot 100.

[0112] Of course, a first end cap 133b can also be provided on the first shell cover 132. The first end cap 133b and the first shell cover 132 can be snapped together, plugged in, or connected by threaded fasteners. The fourth seal 164b is located at the connection between the first end cap 133b and the first shell cover 132. The opposite sides of the fourth seal 164b abut against the side of the first end cap 133b facing the first shell cover 132 and the side of the first shell cover 132 facing the first end cap 133b, respectively. After the first end cap 133b and the first shell cover 132 are relatively stably connected, the first end cap 133b and the first shell cover 132 compress the fourth seal 164b. The sealing abutment of the fourth seal 164b at this point is more stable, reducing the amount of material outside the robot 100 entering the articulated arm 130 through the connection between the first end cap 133b and the first shell cover 132.

[0113] It should be noted that the first end cap 133 in the embodiments of this application can be disposed on one of the first housing 131 or the first housing cover 132, or can be disposed on both the first housing 131 and the first housing cover 132. This part does not make specific limitations on this.

[0114] Figure 15 Front view of the robot provided in the embodiments of this application Figure 4 . Figure 16 for Figure 15 BB section view of part I. Figure 17 for Figure 15 Section BB view of part II.

[0115] Combination Figure 1 , Figure 2 , Figures 15-17 In some embodiments, the second joint 140 includes a second housing 141 and a plurality of second cover plates 142 connected to the second housing 141; the sealing assembly includes a fifth seal 165, which is correspondingly disposed with the second housing 141 and connected between the second housing 141 and the second cover plates 142. The embodiments of this application improve the sealing performance of the second joint 140 by providing the fifth seal 165.

[0116] The second housing 141 and the second cover 142a are mated together and can be connected by snap-fit, plug-in, or threaded fasteners. A fifth seal 165a is located at the connection between the second housing 141 and the second cover 142a. The opposite sides of the fifth seal 165a abut against the side of the second housing 141 facing the second cover 142a, and the side of the second cover 142a facing the second housing 141, respectively. After the second housing 141 and the second cover 142a are connected, they compress the fifth seal 165a, making the sealing contact of the fifth seal 165a at this location more stable, thereby reducing the amount of material from outside the robot 100 entering the second joint 140 through the connection between the second housing 141 and the second cover 142a.

[0117] The second housing 141 and the second cover 142b are mated together and can be connected by snap-fit, plug-in, or threaded fasteners. A fifth seal 165b is located at the connection between the second housing 141 and the second cover 142b. The opposite sides of the fifth seal 165b abut against the side of the second housing 141 facing the second cover 142b, and the side of the second cover 142b facing the second housing 141, respectively. After the second housing 141 and the second cover 142b are connected, they compress the fifth seal 165b, making the sealing contact of the fifth seal 165b at this location more stable, thereby reducing the amount of material from outside the robot 100 entering the second joint 140 through the connection between the second housing 141 and the second cover 142b.

[0118] Figure 18 for Figure 15 BB section view of part III.

[0119] Combination Figure 1 , Figure 2 , Figure 15 , Figure 18 Possibly, the base 110 includes a third housing 111 and a plurality of third housing covers 112 connected to the third housing 111; the sealing assembly includes a sixth seal, which is correspondingly disposed with the third housing cover 112 and is connected between the third housing 111 and the third housing cover 112.

[0120] In this embodiment, the third housing 111 and the third housing cover 112a are engaged, plugged in, or connected by threaded fasteners. The sixth sealing element 166a is located at the connection between the third housing 111 and the third housing cover 112a. The opposite sides of the sixth sealing element 166a 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. After the third housing 111 and the third housing cover 112a are connected, they compress the sixth sealing element 166a, making the sealing contact of the sixth sealing element 166a at this location more stable. This reduces the amount of material outside the robot 100 entering the base 110 through the connection between the third housing 111 and the third housing cover 112a, improving the sealing performance of the base 110, further enhancing the overall sealing performance of the robot 100, and extending the service life of the robot 100.

[0121] The third housing 111 and the third housing cover 112b are engaged, plugged in, or connected by threaded fasteners. The sixth seal 166b is located at the connection between the third housing 111 and the third housing cover 112b. The opposite sides of the sixth seal 166b 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 sixth seal 166b, making the sealing contact of the sixth seal 166b at this point more stable. This reduces the amount of material outside the robot 100 entering the base 110 through the connection between the third housing 111 and the third housing cover 112b, improves the sealing performance of the base 110, further enhances the overall sealing performance of the robot 100, and extends the service life of the robot 100.

[0122] Figure 14 for Figure 10 Section AA of part IV.

[0123] Combination Figure 1 , Figure 2 , Figure 10 , Figure 14 In some embodiments, the first joint member 120 includes a fourth housing 121 and a plurality of fourth housing covers 122 connected to the fourth housing 121; the sealing assembly includes a seventh seal 167, which is correspondingly disposed with the fourth housing covers 122 and connected between the fourth housing covers 122 and the fourth housing 121. The embodiments of this application improve the sealing performance of the first joint member 120 by providing the seventh seal 167.

[0124] The first joint member 120 in this embodiment includes a fourth housing 121 and fourth housing covers 122a and 122b. The fourth housing covers 122a are located on both sides of the fourth housing 121 along the second direction (Q direction) and are connected to the fourth housing 121. The seventh sealing member 167a is located at the connection between the fourth housing cover 122a and the fourth housing 121. After the fourth housing cover 122a and the fourth housing 121 are stably connected, the fourth housing cover 122a and the fourth housing 121 respectively seal against the seventh sealing member 167a.

[0125] In this embodiment, the fourth cover 122b is connected to the fourth housing 121 along the first direction (P direction), and the seventh seal 167b is located at the connection between the fourth cover 122b and the fourth housing 121. After the fourth cover 122b and the fourth housing 121 are stably connected, the fourth cover 122b and the fourth housing 121 respectively seal and abut against the seventh seal 167b.

[0126] Possibly, at least one fourth cover 122 is provided with a second end cover 123, and the sealing assembly further includes an eighth seal 168 connected between the second end cover 123 and the fourth cover 122.

[0127] Combination Figure 1 , Figure 10 , Figure 14 The fourth shell cover 122a is provided with a second end cover 123. The eighth sealing element 168 is located at the connection between the fourth shell cover 122a and the second end cover 123. After the second end cover 123 and the fourth shell cover 122a are stably connected, the second end cover 123 and the fourth shell cover 122a respectively seal and abut against the eighth sealing element 168.

[0128] The robot 100 provided in this application embodiment includes: a base 110, a first joint 120, a joint arm 130, a second joint 140, multiple drive components, and a sealing component. The base 110, first joint 120, joint arm 130, and second joint 140 are rotatably connected in sequence. A first drive component 150a is disposed on the base 110, a second drive component 150b is disposed on the joint arm 130, and a third drive component 150c is disposed on the second joint 140. The first drive component 150a is configured to drive the first joint 120 to rotate relative to the base 110, the second drive component 150b is configured to drive the joint arm 130 to rotate relative to the first joint 120, and the second drive component 150c is configured to drive the second joint 140 to rotate relative to the joint arm 130. Sealing components are respectively disposed at the connection points between each drive component and at least one of the base 110, joint arm 130, and second joint 140. This structural design improves the sealing performance of robot 100 and extends its service life.

[0129] 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.

[0130] 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.

[0131] 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).

[0132] 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.

[0133] 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 (100), characterized in that, include: The base (110), the first joint (120), the joint arm (130), and the second joint (140) are rotated in sequence. A plurality of drive components, including a first drive component (150a), a second drive component (150b), and a third drive component (150c); the first drive component (150a) is disposed on the base (110), the second drive component (150b) is disposed on the articulated arm (130), and the third drive component (150c) is disposed on the second articulated member (140); the first drive component (150a) is configured to drive the first articulated member (120) to rotate relative to the base (110), the second drive component (150b) is configured to drive the articulated arm (130) to rotate relative to the first articulated member (120), and the third drive component (150c) is configured to drive the second articulated member (140) to rotate relative to the articulated arm (130); Multiple sealing components are respectively disposed at the connection points of at least one of the first drive component (150a) and the base (110), the second drive component (150b) and the articulated arm (130), and the third drive component (150c) and the second articulated member (140).

2. The robot (100) according to claim 1, characterized in that, Each of the sealing assemblies includes a first seal, which is connected to at least one of the following: the first drive assembly (150a) and the base (110); the second drive assembly (150b) and the articulated arm (130); and the third drive assembly (150c) and the second articulated member (140).

3. The robot (100) according to claim 2, characterized in that, The first drive assembly (150a), the second drive assembly (150b), and the third drive assembly (150c) each 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 first drive assembly (150a) and the base (110), and / or the connection between the reducer of the first drive assembly (150a) and the base (110) is sealed by the first seal. The connection between the motor of the second drive assembly (150b) and the articulated arm (130), and / or the connection between the reducer of the second drive assembly (150b) and the articulated arm (130) is sealed by the first seal. The reducer of the third drive assembly (150c) is sealed to the second joint (140) via the first seal.

4. The robot (100) according to any one of claims 1-3, characterized in that, It also includes a second seal, which is connected between the base (110) and the first joint (120); and / or, The second seal is connected between the first joint member (120) and the first end of the joint arm (130); and / or, The second seal is connected between the second end of the articulated arm (130) and the second articulated member (140).

5. The robot (100) according to claim 4, characterized in that, It also includes a connector, which is correspondingly provided with the second seal, the second seal being an annular member and sleeved on the connector; the connector rotates relative to the second seal.

6. The robot (100) according to any one of claims 1-3, characterized in that, It also includes a third seal (163); the articulated arm (130) includes a first housing (131) and a first cover (132) connected to each other; The first housing (131) and the first cover (132) are sealed together by the third seal (163).

7. The robot (100) according to claim 6, characterized in that, It also includes a fourth seal; at least one of the first housing (131) and the first housing cover (132) is provided with a first end cap (133); The fourth seal is correspondingly provided with the first end cap (133), and the fourth seal is connected between the first end cap (133) and the corresponding first housing (131) and / or the first housing cover (132).

8. The robot (100) according to any one of claims 1-3, characterized in that, It also includes a fifth seal (165), and the second joint (140) includes a second housing (141) and a plurality of second housing covers (142) connected to the second housing (141); The fifth seal (165) and the second cover (142) are respectively provided, and the fifth seal (165) is connected between the second housing (141) and the second cover (142).

9. The robot (100) according to any one of claims 1-3, characterized in that, It also includes a sixth seal; the base (110) includes a third housing (111) and a plurality of third housing covers (112) connected to the third housing (111); The sixth sealing element and the third shell cover are respectively provided, and the sixth sealing element is connected between the third shell (111) and the third shell cover (112).

10. The robot (100) according to any one of claims 1-3, characterized in that, It also includes a seventh seal (167), and the first joint (120) includes a fourth housing (121) and a plurality of fourth housing covers (122) connected to the fourth housing (121); The seventh seal (167) and the fourth shell cover (122) are respectively provided, and the seventh seal (167) is connected between the fourth shell cover (122) and the fourth shell (121).

11. The robot (100) according to claim 10, characterized in that, It also includes an eighth seal (168); at least one of the fourth housing cover (122) is provided with a second end cap (123), and the eighth seal (168) is connected between the second end cap (123) and the fourth housing cover (122).

12. The robot (100) according to any one of claims 1-3, characterized in that, The first joint (120) rotates relative to the base (110) about a first rotation axis; The articulated arm (130) rotates relative to the first articulated member (120) about a second rotation axis to adjust the included angle between the articulated arm (130) and the base (110); The second rotation axis intersects the first rotation axis; The second joint (140) rotates relative to the joint arm (130) about a third rotation axis to adjust the orientation of the second joint (140); The third rotation axis is parallel to the second rotation axis.

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