Robot joint and robot

Abstract

The utility model provides a robot joint and a robot, and relates to the technical field of robots, the robot joint does not need a bearing seat, the number of parts is reduced, and assembly steps are simplified. The robot joint comprises a shell, a first gear, a first bearing and a first gland. An accommodating cavity is formed in the shell; a first opening communicated with the accommodating cavity is formed in the shell; a part of the first gear extends into the accommodating cavity from the first opening, and a first shaft shoulder is arranged on the first gear; the first bearing sleeves the first gear and is located in the first opening; the first bearing comprises a first end face and a second end face which are opposite, and the first end face abuts against the first shaft shoulder. The first gland surrounds the first gear and is located on the side, away from the containing cavity, of the first opening. The first gland is connected with the shell and abuts against the second end face of the first bearing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot joint and a robot. BACKGROUND

[0002] At present, the robot joint is an important component of the robot, and a plurality of gears are arranged inside the robot joint, various movements of the robot arm are realized through gear transmission, and the layout of the gears inside the joint affects the transmission ratio and the utilization rate of the internal space of the robot joint.

[0003] Meanwhile, bearings are arranged around the gears, the bearings are arranged on the bearing seat, the assembly precision between the bearing seat and the shell is ensured to ensure the gear transmission precision, which not only increases the cost, but also increases the part machining precision and assembly precision requirements, and increases the difficulty of ensuring the gear transmission precision. Content of the utility model

[0004] The utility model provides a kind of robot joint and robot, the robot joint does not need bearing seat, reduces the quantity of parts, simplifies assembly step.

[0005] In the first aspect, the present application provides a kind of robot joint.The robot joint includes: shell, first gear, first bearing and first gland;The shell is formed with containing cavity;The first opening is arranged on the shell and communicated with the containing cavity;Part of the first gear is inserted into the containing cavity by the first opening, and the first gear is provided with first shoulder;First bearing is sleeved on the first gear and located in the first opening;The first bearing includes opposite first end face and second end face, and the first end face is in contact with the first shoulder;First gland is arranged around the first gear and located on the side of the first opening away from the containing cavity;The first gland is connected with the shell, and is in contact with the second end face of the first bearing.

[0006] Based on the above scheme, the present application provides a kind of robot joint, which does not need to be provided with bearing seat, and is connected with first bearing through first gear, and first bearing is connected with shell through first gland;The first end face of the first bearing is pressed by the first shoulder, so that the first bearing cannot move away from the second end face;The second end face of the first bearing is pressed by the first gland, so that the first bearing cannot move away from the first end face.In this way, the first bearing cannot move, so as to be fixed on the first gear.When bearing seat is used, not only bearing seat itself is needed, but also other fixing parts are needed, which is high in cost, and the assembly process is complicated;In the present application, bearing seat does not need to be arranged, and the first bearing can also be fixed, and the number of parts used is reduced, and the assembly step is simplified, so that the assembly precision can be improved to better meet the first gear transmission precision requirement.

[0007] In some embodiments, the housing has a first mounting surface on a side of the first opening away from the accommodating cavity, the first mounting surface surrounding the first opening; a portion of the first gland away from the axis of the first gear is connected with the first mounting surface, and a portion of the first gland close to the axis of the first gear is in abutment with the second end surface of the first bearing.

[0008] In some embodiments, the robot joint further comprises a locking component sleeved on the first gear; a portion of the second end surface of the first bearing close to the axis of the first gear is in abutment with the locking component.

[0009] In some embodiments, the first gland is arranged around the locking component.

[0010] In some embodiments, a first step surface is arranged in the first opening, the first step surface surrounding the first gear and being flush with a surface of the first shaft shoulder away from the first gland; a portion of the first end surface of the first bearing close to the axis of the first gear is in abutment with the first shaft shoulder, and a portion of the first end surface of the first bearing away from the axis of the first gear is in abutment with the first step surface.

[0011] In some embodiments, a second step surface is arranged in the first opening, the second step surface surrounding the first gear and facing a surface of the first shaft shoulder away from the first gland.

[0012] In some embodiments, the housing further has a second opening in communication with the accommodating cavity; the robot joint further comprises a second gear and a second bearing; the second gear is at least partially located in the accommodating cavity; one end of the second gear faces the second opening, the other end of the second gear is in meshing connection with the first gear, and the axial direction of the second gear is perpendicular to the axial direction of the first gear; the second gear has a second shaft shoulder; the second bearing is sleeved on the second gear and located in the second opening; the second bearing comprises opposite third and fourth end surfaces, the third end surface is in abutment with the second shaft shoulder, and the fourth end surface is connected with the housing; one end of the second gear in the axial direction thereof faces the second opening.

[0013] In some embodiments, an inner surface of the housing comprises a second mounting surface surrounding the second opening; the robot joint further comprises a second gland arranged around the second gear; a portion of the second gland away from the axis of the second gear is connected with the second mounting surface, and a portion of the second gland close to the axis of the second gear is in abutment with the third end surface of the second bearing.

[0014] In some embodiments, the housing comprises an extension, the extension surrounds the second opening and is located on one side of the fourth end surface of the second bearing; the fourth end surface of the second bearing is connected with the extension.

[0015] In some embodiments, the robot joint further comprises an output flange connected with the second gear via the second opening.

[0016] In some embodiments, the robot joint further comprises a third gear, a fourth gear and a motor; the third gear is sleeved on the shaft of the first gear, the third gear and the fourth gear are connected in meshing; the motor is connected with the fourth gear, and the motor is used to power the fourth gear.

[0017] In some embodiments, the first gear is a quasi-hyperboloid driving gear, the second gear is a quasi-hyperboloid driven gear, the third gear is a cylindrical driven gear, and the fourth gear is a cylindrical driving gear.

[0018] The motor is configured to drive the cylindrical driving gear, the cylindrical driving gear is configured to drive the cylindrical driven gear in meshing; the cylindrical driven gear is configured to drive the quasi-hyperboloid driving gear; the quasi-hyperboloid driving gear is configured to drive the quasi-hyperboloid driven gear in meshing, and the power is output through the output flange; wherein the cylindrical driving gear and the cylindrical driven gear are a first-stage reducer, and the quasi-hyperboloid driving gear and the quasi-hyperboloid driven gear are a second-stage reducer.

[0019] In a second aspect, the present application provides a robot, comprising a robot joint.

[0020] The beneficial effects of the robot are the same as those of the robot joint described above, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present application, form a part of the present application and illustrate embodiments of the present application and together with the description serve to explain the present application. In the drawings:

[0022] Figure 1 A cross-sectional view of a robot joint according to some embodiments of the present application;

[0023] Figure 2 An enlarged view of the O area of a robot joint according to some embodiments of the present application;

[0024] Figure 3 A schematic view of two first bearings according to some embodiments of the present application;

[0025] Figure 4 Another cross-sectional view of a robot joint provided for some embodiments of the present disclosure;

[0026] Figure 5 A schematic view of a robot joint provided for some embodiments of the present disclosure;

[0027] Figure 6 A schematic view of a robot joint as a whole provided for some embodiments of the present disclosure;

[0028] Figure 7 A structural block diagram of a robot provided for some embodiments of the present disclosure. DETAILED DESCRIPTION

[0029] The technical solutions in some embodiments of the present application will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments provided by the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0030] Unless otherwise required by the context, throughout the specification and claims, the term "comprising" is to be interpreted as open, inclusive, meaning "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", or "some examples" are intended to mean that a particular feature, structure, material, or characteristic included in at least one embodiment or example of the present application. The illustrative representation of the above terms does not necessarily mean the same embodiment or example. In addition, the specific features, structures, materials or characteristics described can be included in any one or more embodiments or examples in any appropriate manner.

[0031] The robot joint is an important part of the robot, and a plurality of gears are arranged inside the robot joint. Various movements of the robot arm are realized through gear transmission. The layout of the gears inside the joint affects the transmission ratio and the utilization rate of the internal space of the robot joint.

[0032] At the same time, bearings are arranged around the gears. The bearings are arranged on the bearing seat, and the assembly accuracy between the bearing seat and the shell is ensured to ensure the gear transmission accuracy. This not only increases the cost, but also increases the part machining accuracy and assembly accuracy requirements, and increases the difficulty of ensuring the gear transmission accuracy.

[0033] Based on this, some embodiments of the present application provide a robot joint. As shown in Figure 1 The robot joint 100 includes a shell 10, a first gear 11, a first bearing 12, and a first gland 13.

[0034] The shell 10 is formed with a receiving cavity N, and the shell 10 is provided with a first opening A in communication with the receiving cavity N.

[0035] The blank part in the shell refers to the receiving cavity N formed inside the shell, Figure 1 The dashed part in the shell refers to the first opening A, through which the first gear 11 and the first bearing 12 can be placed. Figure 1 As shown in

[0036] and Figure 1 , the O area in Figure 2 is an enlarged view of the O area. Figure 2 Figure 1

[0037] Part of the first gear 11 extends into the receiving cavity N through the first opening A, and the first gear 11 is provided with a first shaft shoulder 111; the first bearing 12 is sleeved on the first gear 11 and located in the first opening A.

[0038] The first bearing 12 includes opposite first and second end faces 121 and 122, and the first end face 121 abuts against the first shaft shoulder 111; the first gland 13 is arranged around the first gear 11 and located on the side of the first opening A away from the receiving cavity N; the first gland 13 is connected with the shell 10 and abuts against the second end face 122 of the first bearing 12.

[0039] That is, the first end face 121 of the first bearing 12 is abutted by the first shaft shoulder 111, so that the first bearing cannot move away from the second end face 122; the second end face 122 of the first bearing 12 is abutted by the first gland, so that the first bearing cannot move away from the first end face 121. In this way, the first bearing cannot move and is fixed on the first gear, so that the bearing seat in the prior art is not needed, thereby reducing the use of parts and lowering the cost.

[0040] During assembly, first, the first bearing 12 is placed in the receiving cavity N of the shell 10 through the first opening A, then part of the first gear is placed in the receiving cavity N of the shell 10, and the shaft of the first gear passes through the middle of the first bearing, while the first end face 121 of the first bearing 12 abuts against the first shaft shoulder 111; then the second end face 122 of the first bearing 12 abuts against the first gland 13, and then the first gland 13 is fixed, thereby fixing the first bearing 12.

[0041] ​​In some embodiments, the first gear 11 is a hypoid gear. A hypoid gear, also known as an "altitude gear", is a bevel gear with axes that are not parallel (i.e., not parallel and not intersecting), whose tooth surfaces are complex curved surfaces. The pitch surface of a hypoid gear is theoretically a single-sheet hyperboloid, but due to manufacturing difficulties, two point-contacting cone surfaces are often used instead of a single-sheet hyperboloid as its pitch surface in actual design. This design allows the two gears to form a "hypoid" shape similar to an ellipsoid when meshing, thereby achieving high-precision transmission.

[0042] The main function of a hypoid gear is to achieve transmission between two axes with axes misaligned. Through its unique tooth surface design and offset distance setting, it achieves high-precision, high-torque, low-noise, and long-life transmission effects.

[0043] In some embodiments, the first bearing 12 is an angular contact bearing. An angular contact bearing is a device with inner and outer rings and steel balls, which mainly uses spherical rolling elements to support the rotation of the bearing in its structure, and the contact points between the balls and the inner and outer rings are angular contact points. Angular contact ball bearings can simultaneously withstand radial and axial loads and can work at high speeds.

[0044] In some embodiments, the first bearing 12 can be multiple, with multiple angular contact bearings stacked together.

[0045] Although a single angular contact bearing can simultaneously withstand radial and axial loads, its load-carrying capacity is limited. In some high-load applications, a single bearing may not meet the requirements, resulting in limited device performance or premature bearing failure. By stacking or connecting multiple angular contact bearings in parallel, the load-carrying capacity of the bearing system can be significantly improved. This configuration can more effectively distribute loads, extend bearing service life, and improve overall device performance. In particular, in applications requiring bidirectional axial load, the use of multiple angular contact bearings in series or parallel can provide better balance and higher load-carrying capacity.

[0046] For example, Figure 3 The first bearing 12 in FIG. 1 is two, the first end surface of the first first bearing is in abutment with the first shaft shoulder, the second end surface of the first first bearing is connected with the first end surface of the second first bearing, and the second end surface of the second first bearing is in abutment with the first gland.

[0047] That is, the first end face 121 of the first first bearing is abutted by the first shaft shoulder 111, so that the first first bearing cannot move away from the second end face 122 of the first first bearing; the second end face of the first first bearing is connected with the first end face of the second first bearing, so that the first first bearing and the second first bearing are integrated; the second end face of the second first bearing is abutted by the first gland, so that the second first bearing cannot move away from the first end face 121 of the second first bearing. In this way, the first first bearing and the second first bearing cannot move, so as to be fixed on the first gear, so that the bearing seat in the prior art is not needed, the use of parts is reduced, and the cost is reduced.

[0048] In the assembly process, the second first bearing 12 is first placed in the accommodating cavity N of the shell 10 through the first opening A, and then the first first bearing 12 is placed on the first end face of the second first bearing through the first opening A; then part of the first gear is placed in the accommodating cavity N of the shell 10, and the shaft of the first gear passes through the middle of the first bearing, while the first end face 121 of the first first bearing 12 is abutted by the first shaft shoulder 111; then the second end face 122 of the second first bearing 12 is abutted by the first gland 13, and then the first gland 13 is fixed, so as to fix the first first bearing 12 and the second first bearing 12.

[0049] In summary, the robot joint provided in the embodiment of the application does not need to be provided with a bearing seat, is connected with the first gear through the first bearing, and is connected with the shell through the first gland; the first end face of the first bearing is abutted by the first shaft shoulder, so that the first bearing cannot move away from the second end face; the second end face of the first bearing is abutted by the first gland, so that the first bearing cannot move away from the first end face. In this way, the first bearing cannot move, so as to be fixed on the first gear. When the bearing seat is used, not only the bearing seat itself is needed, but also other fixing parts are needed, the cost is high, and the assembly process is complicated; in the application, the bearing seat is not needed, the first bearing can be fixed, the number of parts used is reduced, the assembly steps are simplified, the assembly precision is improved, and the transmission precision requirement of the first gear is better met.

[0050] As shown in Figure 1 and Figure 4 , the shell 10 has a first mounting face 10A on the side away from the accommodating cavity N of the first opening A, and the first mounting face 10A surrounds the first opening A; the part of the first gland 13 away from the axis of the first gear 11 is connected with the first mounting face 10A, and the part of the first gland 13 close to the axis of the first gear 11 is abutted by the second end face 122 of the first bearing 12.

[0051] That is, Figure 4 The middle dotted line part encloses the first opening A, through which the first gear 11 and the first bearing 12 can be put in, and the first mounting surface 10A refers to the plane covered by the first opening A.

[0052] Part of the first gland 13 abuts against the first bearing 12, and the other part of the first gland 13 is connected with the first mounting surface 10A; since the first mounting surface 10A belongs to the housing 10, the other part of the first gland 13 is connected with the housing.

[0053] Referring to Figure 4 , the first opening A is provided with a first step surface A1, which surrounds the first gear 11 and is flush with the surface of the first shaft shoulder 111 close to the first gland 13.

[0054] In the first end surface 121 of the first bearing 12, the part close to the axis of the first gear 11 abuts against the first shaft shoulder 111, and the part away from the axis of the first gear 11 abuts against the first step surface A1.

[0055] In some embodiments, the first opening A is provided with a second step surface A2, which surrounds the first gear 11 and faces away from the surface of the first shaft shoulder 111 away from the first gland 13.

[0056] Wherein, referring to Figure 4 , it can be seen that the two sides of the first gear 11 protrude, that is, the first shaft shoulder, which is used to limit the first bearing, and the first step surface and the second step surface refer to the edge profile of the first opening A.

[0057] As Figure 4 shown, in some embodiments, the robot joint further comprises: a locking component 14 sleeved on the first gear 11; the part of the second end surface 122 of the first bearing 12 close to the axis of the first gear 11 abuts against the locking component 14.

[0058] Wherein, the first gland 13 is arranged around the locking component 14.

[0059] In some embodiments, the locking component is a locking nut. The locking nut mainly prevents the bolt from loosening automatically by increasing the friction between the threads.

[0060] Lock nuts prevent loosening: In environments with frequent vibration or external impact, bolts are prone to loosening. Lock nuts increase the friction between the threads, providing additional torque to maintain the bolt's secure position and effectively prevent loosening. Lock nuts maintain tightening force by increasing the contact area between the bolt and nut, thus providing a lasting tightening force. This helps prevent bolts from loosening due to operational vibration or load changes, ensuring the stability and safety of machinery. Lock nuts can also withstand additional loads. In high-load or high-temperature environments, lock nuts enhance the bolt's tightening capacity and strength, improving the reliability and durability of mechanical devices.

[0061] For example, during the assembly process, the first bearing 12 is first placed in the receiving cavity N of the housing 10 through the first opening A, and then the first gear is placed into the receiving cavity N of the housing 10, with the shaft of the first gear passing through the middle of the first bearing. At the same time, the first end face 121 of the first bearing 12 abuts against the first shoulder 111. Then, the first bearing is pre-tightened and positioned by the locking component 14. Finally, the first pressure cover 13 abuts against the second end face 122 of the first bearing 12, and then the first pressure cover 13 is fixed, thereby fixing the first bearing 12.

[0062] like Figure 5 As shown, in some embodiments, the housing 10 is further provided with a second opening B that communicates with the receiving cavity N.

[0063] The robot joint 100 also includes: a second gear 15 and a second bearing 16.

[0064] The second gear 15 is at least partially located within the receiving cavity N; one end of the second gear 15 faces the second opening B, the other end of the second gear 15 is meshed with the first gear 11, and the axial direction of the second gear 15 is perpendicular to the axial direction of the first gear 11.

[0065] The second gear 15 is provided with a second shoulder 151; the second bearing 16 is sleeved on the second gear 15 and is located in the second opening B.

[0066] The second bearing 16 includes a third end face 163 and a fourth end face 164 opposite to each other. The third end face 163 abuts against the second shoulder 151, and the fourth end face 164 is connected to the housing 10.

[0067] In other words, the third end face 163 of the second bearing abuts against the second shoulder 151, and the fourth end face of the second bearing abuts against the housing, thus fixing the second bearing and preventing it from moving.

[0068] For example, in the assembly process, the second gear 15 is first put into the accommodating cavity N of the housing 10 through the second opening B or by opening the P area, and then the second bearing 16 is sleeved on the shaft of the second gear 15 through the second opening B, the third end face 163 of the second bearing 16 abuts against the second shaft shoulder 151, and then the fourth end face 164 of the second bearing 16 abuts against the housing. In this way, the second bearing can be roughly fixed.

[0069] The inner surface of the housing 10 comprises a second mounting surface 10B surrounding the second opening B.

[0070] In some embodiments, the second gear 15 is a quasi-hypoid gear. The first gear 11 is a quasi-hypoid driving gear, and the second gear 15 is a quasi-hypoid driven gear.

[0071] Figure 5 The dashed line part surrounds the second opening B, through which the second gear 15 and the second bearing 16 can be put in, and the second mounting surface 10B refers to the plane covered by the second opening B.

[0072] As shown in Figure 5 The robot joint further comprises a second gland 17.

[0073] The second gland 17 is arranged around the second gear 15; the part of the second gland 17 away from the axis of the second gear 15 is connected with the second mounting surface 10B, and the part of the second gland 17 close to the axis of the second gear 15 abuts against the third end face 163 of the second bearing 16.

[0074] For example, in the assembly process, the second gear 15 is first put into the accommodating cavity N of the housing 10 through the second opening B or by opening the P area, and then the second bearing 16 is sleeved on the shaft of the second gear 15 through the second opening B, the third end face 163 of the second bearing 16 abuts against the second shaft shoulder 151, and then the fourth end face 164 of the second bearing 16 abuts against the housing. In this way, the second bearing can be roughly fixed.

[0075] In some embodiments, the housing 10 comprises an extension 10C surrounding the second opening B and located on one side of the fourth end face 164 of the second bearing 16; the fourth end face 164 of the second bearing 16 is connected with the extension 10C.

[0076] That is, the fourth end face 164 of the second bearing 16 abuts against the housing through the extension 10C.

[0077] AsFigure 6 As shown in some embodiments, the robot joint further comprises: an output flange 18 connected with the second gear 15 via the second opening B.

[0078] As shown in some embodiments, the robot joint further comprises: a third gear 19, a fourth gear 20 and a motor 21; the third gear 19 is sleeved on the shaft of the first gear 11, the third gear 19 and the fourth gear 20 are meshed and connected; the motor 21 is connected with the fourth gear 20, and the motor 21 is used to provide power for the fourth gear 20. Figure 6

[0079] In some embodiments, the third gear 19 and the fourth gear 20 are both cylindrical gears, the third gear 19 is a cylindrical driven gear, and the fourth gear is a cylindrical driving gear.

[0080] The motor 21 provides power for the fourth gear 20, and the fourth gear 20 rotates at the same time to drive the third gear 19 to rotate, and the third gear 19 transmits power to the first gear 11, and the first gear 11 starts to rotate, then drives the second gear 15 to rotate, and the second gear 15 transmits power to the output flange 18 through rotation.

[0081] For example, the assembly process is as follows: first, connect the shaft of the fourth gear 20 with the motor 21, then mesh the fourth gear 20 with the third gear 19, and then sleeve the third gear 19 on the shaft of the first gear 11 (here, the first gear has not been placed yet, and the third gear can be placed according to the position of the first gear), fix it by screw, then place the first bearing 12 in the accommodating cavity N of the shell 10 through the first opening A, then place part of the first gear into the accommodating cavity N of the shell 10, and the shaft of the first gear passes through the middle of the first bearing, at the same time, the first end face 121 of the first bearing 12 abuts against the first shaft shoulder 111; then pre-tighten and position the first bearing by the locking part 14, and finally abut the second end face 122 of the first bearing 12 against the first pressure cover 13, and then fix the first pressure cover 13, so as to fix the first bearing 12.

[0082] Then, through the second opening B or by opening the P area, place the second gear 15 into the accommodating cavity N of the shell 10 and mesh it with the first gear 11, then sleeve the second bearing 16 on the shaft of the second gear 15 through the second opening B, at the same time, part of the third end face 163 of the second bearing 16 abuts against the second shaft shoulder 151, then the fourth end face 164 of the second bearing 16 abuts against the shell, finally abut the other part of the third end face 163 of the second bearing 16 against the second pressure cover 17, and then fix the second pressure cover 17, so as to fix the second bearing 16. And connect the output flange 18 with the second gear 15 via the second opening B. ​

[0083] In this way, the robot joint is assembled, the fourth gear 20 is directly driven by the motor 21, the fourth gear and the third gear are in meshing transmission. Since the third gear is fixedly connected to the first gear shaft, the first gear can be directly driven to rotate; the first gear and the second gear are in meshing transmission, so as to output power through the output flange.

[0084] Among them, the third gear and the fourth gear are a first-stage reducer, the first gear and the second gear are a second-stage reducer, the torque, that is, the power, is increased by reducing the rotating speed, and the power is transmitted layer by layer to the output flange.

[0085] As shown in Figure 7 The application further provides a robot 200, which comprises the robot joint 100.

[0086] Among them, the robot joint 100 is a key component for the robot 200 to realize various actions and movements. For example, for an industrial robot, each industrial robot is composed of independent robot joints, the robot joint is the connection between two connecting rods, allowing relative movement between them; the connection of these robot joints helps the industrial robot to move materials, tools and equipment in the process of performing various tasks.

[0087] In summary, the application provides a robot, which can complete various precise controls through the robot joint 100, and outputs power through the output flange 18 to drive the connecting rod to move.

[0088] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the application, but not to limit them; although the application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application.

Claims

1. A robot joint, characterized in that, include: The housing has a receiving cavity; the housing has a first opening communicating with the receiving cavity. A first gear, a portion of which extends into the receiving cavity through the first opening, and a first shoulder is provided on the first gear; A first bearing is sleeved on the first gear and located within the first opening; the first bearing includes a first end face and a second end face opposite to each other, and the first end face abuts against the first shaft shoulder; A first pressure cap is disposed around the first gear and located on the side of the first opening away from the receiving cavity; the first pressure cap is connected to the housing and abuts against the second end face of the first bearing.

2. The robot joint according to claim 1, characterized in that, The housing has a first mounting surface on the side of the first opening away from the receiving cavity, and the first mounting surface surrounds the first opening; The portion of the first gland away from the axis of the first gear is connected to the first mounting surface, and the portion of the first gland close to the axis of the first gear abuts against the second end face of the first bearing.

3. The robot joint according to claim 2, characterized in that, The robot joint further includes a locking component, which is sleeved on the first gear; The portion of the second end face of the first bearing near the axis of the first gear abuts against the locking component.

4. The robot joint according to claim 3, characterized in that, The first pressure cap is disposed around the locking component.

5. The robot joint according to claim 1, characterized in that, The first opening has a first stepped surface, which surrounds the first gear and is flush with the surface of the first shoulder near the first cover. In the first end face of the first bearing, the portion near the axis of the first gear abuts against the first shoulder, and the portion away from the axis of the first gear abuts against the first stepped surface.

6. The robot joint according to claim 1, characterized in that, The first opening has a second stepped surface, which surrounds the first gear and faces the surface of the first shoulder away from the first cover.

7. The robot joint according to any one of claims 1 to 6, characterized in that, The housing is also provided with a second opening that communicates with the receiving cavity; The robot joint also includes: The second gear is at least partially located within the receiving cavity; one end of the second gear faces the second opening, the other end of the second gear meshes with the first gear, and the axial direction of the second gear is perpendicular to the axial direction of the first gear; the second gear is provided with a second shoulder. The second bearing is sleeved on the second gear and located inside the second opening; the second bearing includes a third end face and a fourth end face opposite to each other, the third end face abutting against the second shaft shoulder, and the fourth end face being connected to the housing; The axial end of the second gear faces the second opening.

8. The robot joint according to claim 7, characterized in that, The inner surface of the housing includes a second mounting surface surrounding the second opening; The robot joint further includes: a second pressure cover, disposed around the second gear; The portion of the second cover away from the axis of the second gear is connected to the second mounting surface, and the portion of the second cover close to the axis of the second gear abuts against the third end face of the second bearing.

9. The robot joint according to claim 7, characterized in that, The housing includes an extension that surrounds the second opening and is located on one side of the fourth end face of the second bearing; The fourth end face of the second bearing is connected to the extension.

10. The robot joint according to claim 7, characterized in that, The robot joint further includes an output flange, which is connected to the second gear via the second opening.

11. The robot joint according to claim 10, characterized in that, The robot joint also includes: The third gear and the fourth gear are fitted onto the axle of the first gear and are meshed together. An electric motor is connected to the fourth gear, and the electric motor is used to provide power to the fourth gear.

12. The robot joint according to claim 11, characterized in that, The first gear is a quasi-hyperboloid driving gear, the second gear is a quasi-hyperboloid driven gear, the third gear is a cylindrical driven gear, and the fourth gear is a cylindrical driving gear; The motor is configured to drive the cylindrical drive gear, and the cylindrical drive gear is configured to engage the cylindrical driven gear in a meshing transmission. The cylindrical driven gear is configured to drive the quasi-hyperboloid driving gear; the quasi-hyperboloid driving gear is configured to drive the quasi-hyperboloid driven gear to mesh and transmit power through the output flange; The cylindrical driving gear and the cylindrical driven gear form a first-stage reducer, and the quasi-hyperboloid driving gear and the quasi-hyperboloid driven gear form a second-stage reducer.

13. A robot, characterized in that, include: The robot joint as described in any one of claims 1 to 12.

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