Rotary joint

Abstract

The utility model relates to the technical field of transmission, in particular to a rotating joint, which comprises a shell, a rotating shaft, a rotating shaft and a rotating shaft, the main shaft is rotatably arranged in the shell in a penetrating manner through a first bearing and is in driving connection with the harmonic reducer; the driving part is arranged in the shell, is in driving connection with the main shaft and is used for driving the main shaft to rotate; the supporting part comprises a first pressing plate and a second pressing plate which are fixed in the shell; the outer ring of the first bearing is clamped and fixed between the first pressing plate and the second pressing plate; the main shaft is sleeved with the first bearing, and a first step is arranged on the main shaft; the main shaft is in threaded connection with at least one fixing nut, and the fixing nut is matched with the first step to be clamped on the inner ring of the first bearing. The problems that in order to enable the overall structure to be compact and flexible, positioning and structural reinforcement of an internal structure are reduced, the anti-collision and anti-falling performance is poor, and the working performance and stability of a robot are affected are solved.

Description

A type of rotational joint Technical Field

[0001] This utility model relates to the field of transmission technology, specifically to a rotary joint. Background Technology

[0002] In the field of modern industrial automation and intelligent robotics, the robot's rotary joint, as a key component, plays a decisive role in the robot's motion flexibility, working accuracy, and load capacity. As the manufacturing industry's demands for production efficiency, product quality, and production flexibility continue to increase, robots are being used more and more widely in various industries, such as automobile manufacturing, electronic assembly, and logistics warehousing.

[0003] In related technologies, robot rotary joints generally employ various structures and drive methods. For example, many industrial robots use a drive method that combines harmonic reducers or RV reducers with servo motors for their rotary joints. This method can achieve high transmission accuracy and large torque output, especially harmonic reducers, which meet the requirements of industrial production for robot accuracy and load capacity.

[0004] However, there are still some problems to be solved in robot rotary joint technology, especially in harmonic reducers. In order to make the overall structure compact and flexible, the positioning and reinforcement of the internal structure have been reduced, resulting in weaker anti-collision and anti-fall performance, which affects the working performance and stability of the robot. Summary of the Invention

[0005] This invention provides a rotary joint that solves the problem that existing robot rotary joints, in order to make the overall structure compact and agile, reduce the positioning and reinforcement of the internal structure, resulting in weak anti-collision and anti-fall performance, which affects the working performance and stability of the robot.

[0006] In view of this, the present invention provides a rotary joint, comprising:

[0007] The housing has a harmonic reducer connected to one end;

[0008] The main shaft is rotatably mounted inside the housing via a first bearing and is driven by the harmonic reducer.

[0009] A drive component, disposed within the housing, is drive-connected to the main shaft and is used to drive the main shaft to rotate;

[0010] The support component includes a first pressure plate and a second pressure plate fixed inside the housing; the outer ring of the first bearing is clamped and fixed between the first pressure plate and the second pressure plate; the first bearing is sleeved on the main shaft, and the main shaft is provided with a first step; at least one fixing nut is threaded onto the main shaft, and the fixing nut cooperates with the first step to clamp the inner ring of the first bearing.

[0011] Optionally, it also includes:

[0012] The second bearing is coaxially embedded in the housing with the main shaft, and the inner ring of the second bearing is connected to the main shaft through a retainer.

[0013] Optionally, the inner sidewall of the housing is provided with a second step, and the first pressure plate is located between the second step and the second pressure plate; the first pressure plate is connected to the second step by a first screw, and the second pressure plate is connected to the first pressure plate by a second screw.

[0014] Optionally, it also includes a brake, which is disposed within the housing and is used to brake the main shaft; the periphery of the brake is pressed and fixed between the first pressure plate and the second step by the first screw.

[0015] Optionally, the support component includes a plurality of pins, which are sequentially inserted into the second pressure plate, the first pressure plate, the brake, and the second step.

[0016] Optionally, a second flange is provided on the outer periphery of the housing.

[0017] Optionally, a first sealing component is provided between the harmonic reducer and the drive component; the first sealing component includes a first oil seal and a first sealing element, the first oil seal is sealed and fixed on the main shaft and sealed with the first pressure plate; the first sealing element is disposed between the second pressure plate and the harmonic reducer.

[0018] Optionally, the side of the harmonic reducer away from the housing is coaxially connected to a first flange via a steel wheel. The first flange is used to fix an external load device. The first flange is coaxially connected to a flange shaft, which is coaxially arranged with the main shaft via a third bearing. The flange shaft is rotatably inserted into the main shaft and is hollow.

[0019] Optionally, the end of the housing opposite to the harmonic reducer is sealed to a rear cover via a second sealing component; the second sealing component includes a second oil seal and a second sealing element; the second oil seal is fitted onto the end of the flange shaft near the rear cover and is sealed to the rear cover; the second sealing element is disposed between the rear cover and the housing.

[0020] Optionally, a third flange is coaxially connected to the end of the flange shaft opposite to the first flange, and the third flange is used to connect an external load device.

[0021] The technical solution of this utility model has the following advantages:

[0022] This invention uses a first pressure plate and a second pressure plate to fix the outer ring of the first bearing, and a first step and a fixing nut to clamp and fix the inner ring of the first bearing. This not only supports the main shaft, but also plays a positioning role, preventing the main shaft from moving axially, thus improving the overall anti-collision and anti-fall performance and ensuring the working performance and stability of the robot. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 is a structural schematic diagram of the rotary joint provided in the first embodiment of the present invention from a first perspective.

[0025] Figure 2 is a cross-sectional view of the rotary joint shown in Figure 1;

[0026] Figure 3 is an exploded view of the rotary joint shown in Figure 1;

[0027] Figure 4 is a schematic diagram of the installation of the rotary joint shown in Figure 1;

[0028] Figure 5 is a partial structural schematic diagram of the rotary joint shown in Figure 4;

[0029] Figure 6 is a structural schematic diagram of the rotary joint provided in the second embodiment of the present invention from a second perspective.

[0030] Figure 7 is a schematic diagram of the installation of the rotary joint shown in Figure 6;

[0031] Figure 8 is a structural schematic diagram of the rotary joint provided in the third embodiment of this utility model from a third perspective;

[0032] Figure 9 is a schematic diagram of the connection between the rotary joint and the load device shown in Figure 8;

[0033] Figure 10 is a schematic diagram of the installation of the rotary joint shown in Figure 8;

[0034] Figure 11 is a structural schematic diagram of the harmonic reducer provided by this utility model from the fourth perspective.

[0035] Figure 12 is a cross-sectional view of the harmonic reducer shown in Figure 11.

[0036] Explanation of reference numerals in the attached figures:

[0037] 1. Housing; 2. Harmonic reducer; 201. Flexible bearing; 202. Steel wheel; 203. Flexible wheel; 3. Main shaft; 4. First bearing; 5. Drive component; 6. First pressure plate; 7. Second pressure plate; 8. First step; 9. Fixing nut; 10. Second bearing; 11. Retainer; 12. Second step; 13. First screw; 14. Second screw; 15. Brake; 16. Fourth bearing; 17. Second flange; 18. First oil seal; 19. First sealing element; 20. First flange; 21. Load device; 22. Flange shaft; 23. Third bearing; 24. Rear cover; 25. Second oil seal; 26. Third sealing element; 27. Third flange. Detailed Implementation

[0038] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0039] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0041] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0042] Please refer to Figures 1 to 12. This embodiment provides a rotary joint, including: a housing 1, with a harmonic reducer 2 connected to at least one end; a main shaft 3, rotatably mounted inside the housing 1 via a first bearing 4, and drivenly connected to the harmonic reducer 2; a driving component 5, disposed inside the housing 1, drivenly connected to the main shaft 3, for driving the main shaft 3 to rotate; a supporting component, including a first pressure plate 6 and a second pressure plate 7 fixed inside the housing 1; the outer ring of the first bearing 4 is clamped and fixed between the first pressure plate 6 and the second pressure plate 7; the first bearing 4 is sleeved on the main shaft 3, and the main shaft 3 is provided with a first step 8; at least one fixing nut 9 is threadedly connected to the main shaft 3, and the fixing nut 9 cooperates with the first step 8 to clamp the inner ring of the first bearing 4.

[0043] It should be noted that both the first pressure plate 6 and the second pressure plate 7 have through holes for the spindle 3 to pass through.

[0044] In this embodiment, a first pressure plate 6 and a second pressure plate 7 are provided inside the housing 1. The first pressure plate 6 and the second pressure plate 7 cooperate to fix the outer ring of the first bearing 4. When installing the main shaft 3, the main shaft 3 can be inserted through the inner ring of the first bearing 4 until it abuts against the first step 8. Then, by threading a fixing nut 9 onto the main shaft 3, the inner ring of the first bearing 4 is clamped and fixed between the fixing nut 9 and the first step 8. This not only supports the main shaft 3 but also plays a positioning role, preventing the main shaft 3 from moving axially. This improves the overall anti-collision and anti-fall performance and ensures the working performance and stability of the robot. During operation, the main shaft 3 is driven to rotate by the drive component 5, and then the main shaft 3 drives the harmonic reducer 2 to rotate to drive the load to rotate.

[0045] Specifically, the first pressure plate 6 and the second pressure plate 7 are located between the drive component 5 and the harmonic reducer 2 to separate the two.

[0046] Specifically, the main shaft 3 is connected to the flexible bearing 201 of the harmonic reducer 2.

[0047] In one embodiment, as shown in Figures 2 and 3, the rotary joint further includes a second bearing 10, which is coaxially embedded in the housing 1 with the main shaft 3, and the inner ring of the second bearing 10 is connected to the main shaft 3 through a retainer 11.

[0048] It should be noted that the second bearing 10 and the first bearing 4 are spaced apart axially.

[0049] In this embodiment, the main shaft 3 is further supported by a second bearing 10, thereby improving the overall rigidity and anti-collision and anti-drop performance.

[0050] In one embodiment, as shown in Figures 2 and 3, the inner sidewall of the housing 1 is provided with a second step 12, and a first pressure plate 6 is located between the second step 12 and the second pressure plate 7; the first pressure plate 6 is connected to the second step 12 by a first screw 13, and the second pressure plate 7 is connected to the first pressure plate 6 by a second screw 14.

[0051] In this embodiment, by setting a second step 12, the first pressure plate 6 is fixed on the second step 12 by the first screw 13, so as to fix it to the housing 1. At the same time, the second pressure plate 7 is fixed on the first pressure plate 6 by the second screw 14, thereby improving the overall rigidity, drop resistance and impact resistance.

[0052] Specifically, a first clamping cavity for clamping and fixing the outer ring of the first bearing 4 is formed between the first pressure plate 6 and the second pressure plate 7.

[0053] In one embodiment, as shown in Figures 2 and 3, the rotary joint further includes a brake 15, which is disposed in the housing 1 and is used to brake the main shaft 3; the periphery of the brake 15 is pressed and fixed between the first pressure plate 6 and the second step 12 by a first screw 13.

[0054] It should be noted that the brake 15 can be an existing conventional brake 15.

[0055] In this embodiment, a brake 15 is installed inside the housing 1 to brake the main shaft 3. When power is lost, the rotation joint continues to rotate due to the gravity of the external load device 21. The first screw 13 passes through the first pressure plate 6 and the periphery of the brake 15 in sequence and is threaded onto the second step 12, which facilitates the installation, fixing and disassembly of the brake 15. At the same time, the first pressure plate 6 provides support for the brake 15 and improves the stability during braking.

[0056] In one embodiment, as shown in Figures 2 and 3, the support component includes a plurality of pins, which are sequentially inserted into the second pressure plate 7, the first pressure plate 6, the brake 15, and the second step 12.

[0057] In this embodiment, by setting pins, during installation, the pins are sequentially inserted into the second pressure plate 7, the first pressure plate 6, the brake 15, and the second step 12, which facilitates positioning and installation, and at the same time improves the overall rigidity, drop resistance, and impact resistance.

[0058] In one embodiment, as shown in Figures 6 to 10, a second flange 17 is provided on the outer periphery of the housing 1.

[0059] In this embodiment, by providing a second flange 17 on the outer periphery of the housing 1 and using the second flange 17 for fixed connection, the connection strength is improved, making the housing 1 more resilient to force and the transmission more stable when the connection is fixed.

[0060] In one embodiment, as shown in Figures 2 and 3, a first sealing component is provided between the harmonic reducer 2 and the drive component 5; the first sealing component includes a first oil seal 18 and a first sealing element 19, the first oil seal 18 is sealed and fitted on the main shaft 3 and sealed and fixed with the first pressure plate 6; the first sealing element 19 is disposed between the second pressure plate 7 and the harmonic reducer 2.

[0061] In this embodiment, a first sealing component is provided between the harmonic reducer 2 and the drive component 5 to improve the overall sealing performance. The first oil seal 18 is set between the main shaft 3 and the first pressure plate 6 to prevent the lubricating oil of the harmonic reducer 2 from entering the housing 1 and flowing into the drive component 5, which would affect the service life of the drive component 5 and thus affect the overall performance. The first seal 19 is set between the second pressure plate 7 and the harmonic reducer 2 to prevent external liquid from flowing into the housing 1 and to prevent short circuits in the internal parts after rain or water immersion.

[0062] Specifically, a second clamping cavity is provided between the first pressure plate 6 and the brake 15 for clamping and fixing the first oil seal 18, which facilitates the installation of the first oil seal 18, prevents its axial movement, and improves stability and sealing.

[0063] In one embodiment, as shown in Figures 2 and 3, the side of the harmonic reducer 2 away from the housing 1 is coaxially connected to a first flange 20 via a steel wheel 202. The first flange 20 is used to fix an external load device 21. The first flange 20 is coaxially connected to a flange shaft 22, which is coaxially arranged with the main shaft 3 via a third bearing 23. The flange shaft 22 is rotatably inserted into the main shaft 3 and is hollow.

[0064] In this embodiment, the steel wheel 202 of the harmonic reducer 2 is connected to the first flange 20 so that the external load equipment can be connected to the first flange 20 to output power. At the same time, the flange shaft 22 is coaxially connected to the first flange 20. The flange shaft 22 passes through the main shaft 3, that is, it passes through the wave generator to cooperate with each other, improving the space utilization. The flange shaft 22 is hollow, which facilitates wiring and installation and reduces the overall weight.

[0065] In one embodiment, as shown in Figures 2 and 3, the end of the housing 1 facing away from the harmonic reducer 2 is sealed to the rear cover 24 by a second sealing component; the second sealing component includes a second oil seal 25 and a second sealing element; the second oil seal 25 is sealed and sleeved on the end of the flange shaft 22 near the rear cover 24 and is sealed to the rear cover 24; the second sealing element is disposed between the rear cover 24 and the housing 1.

[0066] In this embodiment, the rear cover 24 is provided to prevent the internal components of the housing 1 from being exposed and to provide a sealing function. The second oil seal 25 is used to seal between the flange shaft 22 and the rear cover 24, ensuring the sealing performance without affecting the rotation of the flange shaft 22. A second sealing element is provided between the rear cover 24 and the housing 1 to improve the sealing performance and achieve external liquid sealing, preventing short circuits of internal components after rain or water immersion.

[0067] Specifically, as shown in Figure 2, a third sealing element 26 is provided between the first flange 20 and the harmonic reducer 2 to improve the sealing performance, achieve external liquid sealing, and prevent short circuits of internal parts after rain or water immersion.

[0068] Specifically, the first seal 19, the second seal, and the third seal 26 can all be O-rings or rubber gaskets.

[0069] Specifically, the rear cover 24 is threaded to the housing 1 or connected by a third screw, and the third seal 26 is a sealant to further improve the sealing performance.

[0070] In one embodiment, as shown in Figures 8 to 10, a third flange 27 is coaxially connected to one end of the flange shaft 22 away from the first flange 20. The third flange 27 is used to connect an external load device 21.

[0071] It should be noted that the rear cover 24 has an opening coaxially with the flange shaft 22 to facilitate wire threading and installation.

[0072] In this embodiment, a third flange 27 is provided at the end of the flange shaft 22 away from the first flange 20 to connect to an external load device 21, so that the flange shaft 22 can achieve bidirectional transmission and bidirectional output, thereby improving the overall space utilization.

[0073] Specifically, the drive component 5 includes a motor, the output end of which meshes with the main shaft 3 for transmission, thereby improving stability.

[0074] Specifically, as shown in Figures 11 and 12, the harmonic reducer 2 is fixed to the housing 1 via the fourth bearing 16. The outer ring of the fourth bearing 16 is fixed to the housing 1, and the inner ring of the fourth bearing 16 is fixedly connected to the steel wheel 202 of the harmonic reducer 2. The harmonic reducer 2 can be an existing conventional harmonic reducer 2. The harmonic reducer 2 includes the steel wheel 202, the flexible wheel 203, and the wave generator. The wave generator includes an elliptical transmission part and a flexible bearing 201. The main shaft 3 is connected to the flexible bearing 201 of the harmonic reducer 2 via the elliptical transmission part. The elliptical transmission part is coaxially inserted into the flexible bearing 201, which compresses the flexible bearing 201 into an elliptical shape, thereby compressing the flexible wheel 203 of the harmonic reducer 2 into an elliptical shape. When rotating, the outer teeth at the highest point of the flexible wheel 203 mesh with the inner teeth of the steel wheel 202 to achieve rotational transmission, driving the first flange 20 or the third flange 27 on the steel wheel 202 to rotate, and then transmitting the transmission to the external load device 21.

[0075] The specific working principle of the rotary joint provided in this embodiment is as follows: it can achieve unidirectional output by connecting an external load device 21 through the first flange 20, or it can achieve bidirectional output by setting a third flange 27 through the flange shaft 22 and connecting a second external load device 21 through the third flange 27. It can adapt to multiple application scenarios. During operation, the housing 1 is fixed on the external fixed bracket through the second flange 17. Then, the main shaft 3 is driven to rotate by the motor. The main shaft 3 compresses the flexible bearing 201 into an elliptical shape through the elliptical transmission part, and then compresses the flexible wheel 203 of the harmonic reducer 2 into an elliptical shape. When rotating, the external teeth at the highest point of the flexible wheel 203 mesh with the internal teeth of the steel wheel 202 to achieve rotational transmission, which drives the first flange 20 on the steel wheel 202 to rotate. The first flange 20 then drives the third flange 27 to rotate through the flange shaft 22, thereby realizing the transmission of the external load devices 21 at both ends. The rotary joint provided in this embodiment uses a first pressure plate 6, a second pressure plate 7, a fixing nut 9, and a first step 8 in conjunction with a first bearing 4 to position and install the main shaft 3, preventing axial movement. The rigidity, drop resistance, and impact resistance of the rotary joint are improved by the first bearing 4, the second bearing 10, the first screw 13, the second screw 14, and the pin. An overall sealing effect is achieved through the first sealing component, the second sealing component, and the third sealing element 26. Furthermore, bidirectional transmission can be achieved through the flange shaft 22 and the third flange 27, resulting in a smaller footprint. This solves the problem that existing robot rotary joints, in order to achieve a compact and agile overall structure, reduce the positioning and structural reinforcement of the internal structure, leading to weaker impact and drop resistance, which affects the robot's working performance and stability.

[0076] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A rotary joint, characterized in that, include: A housing (1) is provided with a harmonic reducer (2) at one end; a main shaft (3) is rotatably mounted inside the housing (1) via a first bearing (4) and is driven by the harmonic reducer (2); a drive component (5) is provided inside the housing (1) and is driven by the main shaft (3) for driving the main shaft (3) to rotate; a support component includes a first pressure plate (6) and a second pressure plate (7) fixed inside the housing (1); the outer ring of the first bearing (4) is clamped and fixed between the first pressure plate (6) and the second pressure plate (7); the first bearing (4) is sleeved on the main shaft (3), and the main shaft (3) is provided with a first step (8); at least one fixing nut (9) is threaded onto the main shaft (3), and the fixing nut (9) cooperates with the first step (8) to clamp the inner ring of the first bearing (4).

2. The rotary joint according to claim 1, characterized in that, Also includes: The second bearing (10) is coaxially embedded in the housing (1) with the main shaft (3), and the inner ring of the second bearing (10) is connected to the main shaft (3) through a retainer (11).

3. The rotary joint according to claim 1, characterized in that, The inner wall of the housing (1) is provided with a second step (12), and the first pressure plate (6) is located between the second step (12) and the second pressure plate (7); the first pressure plate (6) is connected to the second step (12) by a first screw (13), and the second pressure plate (7) is connected to the first pressure plate (6) by a second screw (14).

4. The rotary joint according to claim 3, characterized in that, It also includes a brake (15), which is disposed in the housing (1) for braking the main shaft (3); the periphery of the brake (15) is pressed and fixed between the first pressure plate (6) and the second step (12) by the first screw (13).

5. The rotary joint according to claim 4, characterized in that, The support component includes a plurality of pins, which are sequentially inserted into the second pressure plate (7), the first pressure plate (6), the brake (15), and the second step (12).

6. The rotary joint according to claim 1, characterized in that, The outer periphery of the housing (1) is provided with a second flange (17).

7. The rotary joint according to claim 1, characterized in that, A first sealing component is provided between the harmonic reducer (2) and the drive component (5); the first sealing component includes a first oil seal (18) and a first sealing element (19), the first oil seal (18) is sealed and fitted on the main shaft (3) and sealed and fixed with the first pressure plate (6); the first sealing element (19) is provided between the second pressure plate (7) and the harmonic reducer (2).

8. The rotary joint according to any one of claims 1 to 7, characterized in that, The harmonic reducer (2) is coaxially connected to a first flange (20) on the side away from the housing (1) via a steel wheel (202). The first flange (20) is used to fix an external load device (21). The first flange (20) is coaxially connected to a flange shaft (22). The flange shaft (22) is coaxially arranged with the main shaft (3) via a third bearing (23). The flange shaft (22) is rotatably inserted into the main shaft (3) and is hollow.

9. The rotary joint according to claim 8, characterized in that, The housing (1) is sealed to a rear cover (24) at one end away from the harmonic reducer (2) via a second sealing component; the second sealing component includes a second oil seal (25) and a second sealing element; the second oil seal (25) is sealed and fitted on one end of the flange shaft (22) near the rear cover (24) and is sealed and connected to the rear cover (24); the second sealing element is disposed between the rear cover (24) and the housing (1).

10. The rotary joint according to claim 8, characterized in that, The flange shaft (22) is coaxially connected to a third flange (27) at one end away from the first flange (20), and the third flange (27) is used to connect an external load device (21).

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