Mechanical arm joint with high sealing performance

Abstract

The utility model discloses a mechanical arm joint with high sealing performance, which relates to the technical field of mechanical arms, and comprises a joint provided with a first end and a second end which are oppositely arranged, a second connecting rod which covers the joint and is connected with the end part of a first connecting rod through a first connecting piece, and a second connecting rod which covers the second connecting rod. The joint protecting cover is arranged between the first connecting rod and the second connecting rod and used for sealing gaps between the joint and the first connecting rod and gaps between the joint and the second connecting rod, and the sealing piece is located between the joint side portion and the joint protecting cover and used for sealing gaps between the joint and the second connecting rod. According to the arrangement, a hierarchical sealing barrier is constructed through a double-sealing structure of the joint protecting cover and the side extrusion sealing piece, external pollutants are effectively prevented from invading the joint, meanwhile, dynamic deformation is compensated through the design, and high dynamic response of the mechanical arm is ensured.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm joint with high sealing performance. Background Technology

[0002] The sealing performance of robotic arm joints under complex conditions such as humidity and high dust levels directly affects their reliability. Current mainstream solutions, such as sealants, waterproof coatings, and labyrinth structures, all have significant drawbacks: sealants are prone to cracking due to vibration, waterproof coatings are easily worn off, and while labyrinth designs extend the liquid intrusion path, they are structurally complex and offer insufficient protection against direct splashes. More importantly, these technologies mostly rely on a single protection mechanism and lack redundant design. Once the main seal fails, contaminants will directly enter the joint, causing damage to precision components.

[0003] Existing technologies struggle to balance dynamic sealing with compact structural requirements. Traditional single-layer seals cannot accommodate the non-uniform gaps between joints and connecting rods, and frequent oscillations can easily cause interface separation, creating leakage channels. While multi-layer seals improve protection, they result in bulky joints and increased manufacturing costs. Therefore, a multi-stage sealing solution is urgently needed that can block contaminant intrusion through a synergistic sealing mechanism while maintaining the simplified installation and high integration of the joint structure to meet the stringent requirements of high-end applications. Utility Model Content

[0004] The main purpose of this invention is to provide a robotic arm joint with high sealing performance, which aims to solve the problem of poor sealing performance and easy water immersion in robotic arm joints.

[0005] To achieve the above objectives, this utility model proposes a robotic arm joint with high sealing performance, the robotic arm joint comprising:

[0006] A joint having a first end and a second end that are positioned opposite to each other;

[0007] The first link, the end of the first link being connected to the first end via a first connector;

[0008] The second link covers the joint and its end is connected to the second end via a second connector;

[0009] A joint cover is disposed between the first link and the second link to seal the gaps between the joint and the first link and the second link, respectively.

[0010] A seal located between the joint side and the joint cover.

[0011] Preferably, a drive motor is provided between the interior of the first end and the interior of the first connecting rod;

[0012] A connecting plate is provided on the outer side of the drive motor, and the connecting plate is clamped at the connection between the first end and the first connecting rod.

[0013] The first end face facing the connecting plate is provided with a notch, which mates with the end face of the connecting plate facing the first end to form a first channel capable of accommodating the seal.

[0014] Preferably, the end face of the connecting plate constituting the first channel is provided with a first chamfer.

[0015] Preferably, the connecting plate has a second chamfer on the outer periphery of its end face facing one end of the first connecting rod; and

[0016] The outer periphery of the end face of the first end away from the connecting plate is provided with a third chamfer.

[0017] Preferably, the first end side has a recessed second channel capable of accommodating the seal.

[0018] Preferably, a fourth chamfer is provided on the outer periphery of the end face of the second channel used to support the seal;

[0019] The outer periphery of the end face of the first end away from the connecting plate is provided with a fifth chamfer.

[0020] Preferably, the seal includes an O-ring.

[0021] Preferably, the O-ring is made of an elastic material.

[0022] Preferably, an installation groove is provided on the inner wall of the second connecting rod port;

[0023] The joint cover includes an annular cover body, and a stepped platform adapted to the mounting groove is provided on the outer side of one end of the annular cover body. The stepped platform is bonded to the mounting groove.

[0024] The inner wall of the other end of the annular cover is abutted against the sealing element.

[0025] Preferably, the first connector includes a plurality of first fastening screws;

[0026] The second connector includes a plurality of second fastening screws.

[0027] The beneficial effects of this utility model are as follows: the robotic arm joint constructs a layered sealing barrier through the double sealing structure of the joint cover and the sealing element, which effectively prevents external pollutants from entering the joint. At the same time, the above design also compensates for dynamic deformation and ensures the high dynamic response of the robotic arm. Secondly, the joint cover and the sealing element in this structure do not occupy much space, which meets the sealing requirements of joints with limited space. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of the robotic arm joint in this utility model;

[0030] Figure 2 This is an exploded view of the joint of the robotic arm in this utility model;

[0031] Figure 3 This is a cross-sectional view of the robotic arm joint in this utility model;

[0032] Figure 4 for Figure 3 A magnified view of part A in the image;

[0033] Figure 5 This is a cross-sectional view of a robotic arm joint in another embodiment of the present invention;

[0034] Label Explanation:

[0035] 1. Joint; 11. First end; 111. First channel; 112. Third chamfer; 113. Second channel; 1131. Fourth chamfer; 114. Fifth chamfer; 12. Second end; 121. Harmonic reducer; 122. Harmonic cover plate;

[0036] 2. First link;

[0037] 3. Second connecting rod; 31. Mounting slot;

[0038] 4. Joint covers; 41. Stepped platform;

[0039] 5. Sealing components;

[0040] 6. Drive motor; 61. Connecting plate; 611. First chamfer; 612. Second chamfer;

[0041] 7. First connecting component;

[0042] 8. Second connector.

[0043] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0044] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0045] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0046] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if the word "and / or" appears throughout the text, it means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0047] This utility model proposes a robotic arm joint with high sealing performance. Please refer to [reference needed]. Figures 1-5The robotic arm joint includes a joint 1 with a first end 11 and a second end 12 disposed opposite to each other, a first link 2, the end of the first link 2 being connected to the first end 11 via a first connector 7, a second link 3 covering the joint 1, and the end of the second link 3 being connected to the second end 12 via a second connector 8, and a joint cover 4 disposed between the first link 2 and the second link 3 to seal the gaps between the joint 1 and the first link 2 and the second link 3 respectively. A sealing element 5 is squeezed inside the joint cover 4 and is located between the side of the joint 1 and the joint cover 4 to provide a secondary seal between the joint 1 and the first link 2 and the second link 3 respectively. The above arrangement, through the double sealing structure of the joint cover 4 and the side-squeezed sealing element 5, constructs a layered sealing barrier, effectively preventing external contaminants from entering the joint 1. At the same time, the above design also compensates for dynamic deformation, ensuring the high dynamic response of the robotic arm. Furthermore, the joint cover 4 and the sealing element 5 in this structure do not occupy much space, meeting the sealing requirements of the joint 1 in a confined space.

[0048] In this embodiment, please refer to Figures 2-4 A drive motor 6 is provided between the interior of the first end 11 and the interior of the first link 2. A connecting plate 61 is provided on the outer side of the drive motor 6. The connecting plate 61 is clamped at the connection between the first end 11 and the first link 2. This arrangement is used to fix the drive motor 6 inside the first link 2 and the joint 1, and to provide power for the operation of the robotic arm joint.

[0049] The first end 11 has a notch or groove on the end face facing the connecting plate 61. The notch or groove mates with the end face of the connecting plate 61 facing the first end 11 to form a first channel 111 that can accommodate the seal 5. Since the seal 5 is made of elastic material and includes an O-ring, this arrangement allows the O-ring to elastically deform due to force or friction when the robotic arm joint is running. However, during this process, the O-ring still maintains close contact with the inner surface of the joint 1 and the joint cover 4, achieving dynamic sealing.

[0050] In other embodiments, the seal 5 can also be other structures, such as a lip seal ring.

[0051] In this embodiment, please refer to Figure 4 The end face of the connecting plate 61 that forms the first channel 111 is provided with a first chamfer 611. This chamfer prevents the O-ring from being easily scratched when it is assembled into the first channel 111, and prevents the O-ring from being squeezed to the opening end of the first channel 111 and cut or worn when the robotic arm joint is running, thereby affecting the sealing performance.

[0052] Following on from the above, please refer to... Figure 3 and Figure 4The connecting plate 61 has a second chamfer 612 on the outer periphery of the end face facing the first connecting rod 2; and the first end 11 has a third chamfer 112 on the outer periphery of the end face away from the connecting plate 61. The above-mentioned arrangement is to prevent the joint cover 4 from being scratched by the first end 11 and the connecting plate 61 when it is assembled on the joint 1. That is, the arrangement mainly plays a protective role for the joint cover 4.

[0053] In another embodiment, please refer to Figure 5 The first end 11 has a recessed second channel 113 on its side that can accommodate the seal 5, and the outer periphery of the end face of the second channel 113 that carries the seal 5 is provided with a fourth chamfer. Furthermore, the outer periphery of the end face of the first end 11 away from the connecting plate 61 is provided with a fifth chamfer 114. The difference between this embodiment and the previous embodiment is that the second channel 113 is directly provided on the side of the first end 11, without the need to cooperate with the mounting plate on the drive motor 6, which simplifies the installation process of the joint 1 and the connecting plate 61.

[0054] For the assembly between the joint cover 4 and the second link 3, please refer to... Figure 4 In this embodiment, an installation groove 31 is provided on the inner wall of the port of the second connecting rod 3; the joint cover 4 includes an annular cover body, and a stepped platform 41 adapted to the installation groove 31 is provided on the outer side of one end of the annular cover body. The stepped platform 41 is bonded to the installation groove 31. After the second connecting rod 3, the joint 1 and the first connecting rod 2 are assembled, the inner wall of the other end of the annular cover body abuts against the sealing member 5, so that the sealing member 5 simultaneously seals the gap between the joint 1 and the first connecting rod 2, and the gap between the second connecting rod 3.

[0055] It should be noted that the second end 12 of the joint 1 includes a harmonic reducer 121 and a harmonic cover plate 122. The harmonic reducer 121 is connected to the output end of the drive motor 6 located between the inside of the first end 11 and the inside of the first connecting rod 2. The harmonic cover plate 122 is fixedly connected to the harmonic reducer 121 and is located between the inside of the second connecting rod 3 and the end face of the harmonic reducer 121. The second connecting rod 3, the harmonic cover plate 122 and the harmonic reducer 121 form a structure through the second connecting member 8.

[0056] For further details, please refer to... Figures 1-5When the robotic arm joint is stationary, the O-ring generates a pre-tightening force in the first channel 111, tightly adhering to the surfaces of the joint 1 and the joint cover 4, forming a static sealing barrier. In this embodiment, the joint cover 4 covers the joint 1 body with only a 0.3-0.6mm gap for movement. This design prevents most moisture and dust from entering the joint 1 from the outside. When the robotic arm joint is in operation, i.e., when the drive motor 6 is driven, the structure will rotate around the first end 11 of the joint 1. In other words, the O-ring will undergo a certain elastic deformation due to the force or friction when the joint cover 4 connected to the second link 3 rotates, but the O-ring still maintains close contact with the inner surfaces of the joint 1 and the joint cover 4, achieving dynamic sealing.

[0057] In this embodiment, the O-ring and the joint cover 4 together constitute a double waterproof structure for the robotic arm joint. The O-ring is mainly responsible for preventing water from entering through the gap between the joint 1 and the joint cover 4, while the joint cover 4 provides external protection for the entire joint 1, preventing water from penetrating from the surface of the joint 1. This multi-layered waterproof design enables the robotic arm joint to maintain good waterproof performance in various complex working environments, effectively extending the service life and reliability of the robotic arm.

[0058] In this embodiment, the first connector 7 includes a plurality of first fastening screws, and the second connector 8 includes a plurality of second fastening screws. This arrangement mainly serves to fix and connect the corresponding structures, ensuring that the robotic arm joints will not experience loosening of the connecting rods or other structures during operation.

[0059] Of course, in other embodiments, the first connector 7 and the second connector 8 can be other structures, such as bolts, or other structures that can connect and disassemble the structures.

[0060] The above description is only an optional embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A robotic arm joint with high sealing performance, characterized in that, The mechanical arm joint comprises: a joint having a first end and a second end arranged oppositely; a first connecting rod, an end of which is connected with the first end through a first connecting piece; a second connecting rod, which is arranged in the joint, and an end of which is connected with the second end through a second connecting piece; a joint cover arranged between the first connecting rod and the second connecting rod for sealing the gap between the joint and the first connecting rod and the second connecting rod respectively; a sealing member arranged between the side of the joint and the joint cover.

2. The robot arm joint according to claim 1, characterized in that, A driving motor is arranged between the inside of the first end and the inside of the first connecting rod; a connecting plate is arranged on the outside of the driving motor, which is clamped at the connecting position of the first end and the first connecting rod; an end surface of the first end facing the connecting plate is provided with a notch groove, which cooperates with the end surface of the connecting plate facing the first end to form a first groove capable of accommodating the sealing member.

3. The robotic arm joint of claim 2, wherein, The end surface of the connecting plate forming the first groove is provided with a first chamfer.

4. The robotic arm joint of claim 3, wherein, The end surface of the connecting plate facing one end of the first connecting rod is provided with a second chamfer; and the end surface of the first end away from one end of the connecting plate is provided with a third chamfer.

5. The robotic arm joint of claim 4, wherein, The side of the first end is recessed inwardly to form a second groove capable of accommodating the sealing member.

6. The robotic arm joint of claim 5, wherein, The end surface of the second groove for bearing the sealing member is provided with a fourth chamfer; the end surface of the first end away from one end of the connecting plate is provided with a fifth chamfer.

7. The robot arm joint according to any one of claims 1-6, characterized in that, The sealing member comprises an O-shaped sealing ring.

8. The robotic arm joint of claim 7, wherein, The O-shaped sealing ring is made of elastic material.

9. The robotic arm joint of claim 8, wherein, An installation groove is arranged on the inner wall of the second connecting rod port; The joint cover comprises an annular cover body, an outer end of which is provided with a stepped platform adapted to the installation groove, and the stepped platform is arranged in adhesive connection with the installation groove; the inner wall of the other end of the annular cover body is arranged in abutment with the sealing member.

10. The robotic arm joint of claim 1, wherein, The first connecting piece comprises a plurality of first fastening screws; The second connecting piece comprises a plurality of second fastening screws.

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