Robotic joint and robot

Abstract

The utility model provides a kind of robot joint and robot, robot joint includes joint shell, driving part, gear assembly, speed reducer and torque output part, the driving part, the gear assembly, the speed reducer and the torque output part are sequentially transmission connection, the driving part, the gear assembly and the speed reducer are all installed to the joint shell, and at least the driving part and the gear assembly are arranged in the joint shell, the joint shell includes base, and the driving part, the gear assembly and speed reducer are all installed to the base.The utility model provides robot joint and robot, utilize joint shell as the shell and support frame of steering engine, without designing the shell and support frame of steering engine, improve the utilization of structure, remove redundant material, reduce the weight of robot joint, reduce its rotational inertia, and the driving force required by robot is also reduced accordingly.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical transmission technology, and more specifically, it relates to a robot joint and a robot. Background Technology

[0002] With the continuous development of the robotics field, the types of robots are gradually diversifying, such as industrial robots, outdoor robots, service robots, and humanoid robots. Currently, robot joint servo motors are generally modular in structure. Therefore, when applying joint servo motors to robots, external structural components need to be designed to mount the servo motors onto the robot. Robots have multiple shell structures and are quite heavy. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a robot joint and a robot to solve the technical problems of existing robots having a large number of shell structures and heavy weight.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a robot joint is provided, including a joint shell, a drive component, a gear assembly, a reducer, and a torque output component. The drive component, the gear assembly, the reducer, and the torque output component are sequentially connected in a transmission manner. The drive component, the gear assembly, and the reducer are all installed in the joint shell, and at least the drive component and the gear assembly are disposed within the joint shell. The joint shell includes a base, and the drive component, the gear assembly, and the reducer are all installed in the base.

[0005] In the above solution, the robot joint includes a joint shell, a drive component, a gear assembly, a reducer, and a torque output component. The drive component, gear assembly, reducer, and torque output component are sequentially connected for transmission, and the drive component, gear assembly, and reducer are all mounted on the joint shell, with at least the drive component and gear assembly located inside the joint shell. Therefore, the robot joint of this invention utilizes the joint shell as the housing and support frame of the servo motor, eliminating the need to design a separate housing and support frame for the servo motor. This improves the utilization rate of the structure, eliminates redundant materials, reduces the weight of the robot joint, decreases its moment of inertia, and correspondingly reduces the driving force required by the robot.

[0006] Optionally, the joint housing further includes a circumferential shell fixed to one side of the base, the base and the circumferential shell forming a receiving space, and the drive member and the gear assembly are both disposed within the receiving space.

[0007] In the above scheme, by setting the joint shell as a base and a circumferential shell, firstly, the structure of the joint shell is adapted to the outer contour structure of the corresponding joint; secondly, the setting of the circumferential shell can provide a connection position for the previous joint, and can also provide a certain degree of shielding and protection for the drive components, gear assemblies, etc.

[0008] Optionally, the reducer is mounted on the side of the base facing away from the receiving space, and both the reducer and the torque output component are disposed outside the joint housing.

[0009] In the above solution, by placing the motor and gear assembly on the first side of the base and the reducer and torque output component on the second side of the base, the drive component, gear assembly, and torque output component can be reasonably arranged. Since the drive component and gear assembly occupy a large space, both are placed in the receiving space of the joint housing for protection.

[0010] Optionally, the robot joint further includes a drive plate for controlling the drive components, the drive plate being fixed to the circumferential shell and disposed in the receiving space.

[0011] In the above scheme, the drive board is electrically connected to the drive component, and the drive board is used to control the rotation speed, switching, etc. of the drive component. The drive board can be fixed near the base of the circumferential shell, so that the distance between the drive board and the drive component is relatively close, which facilitates the electrical connection between the two.

[0012] Optionally, the robot joint further includes a motor mount, which includes a first mounting plate, a second mounting plate spaced apart from the first mounting plate, and a connecting portion connecting the first mounting plate and the second mounting portion. The first mounting plate is fixed to one end of the drive member near the gear assembly, and the second mounting plate is fixed to the base.

[0013] In the above scheme, the motor mount is used to connect the motor and the base, so that the drive component can be indirectly fixed to the base through the motor mount. Since the driving gear of the gear assembly is concentrically arranged with the drive component and is located between the drive component and the base, there is a certain distance between the motion output end of the drive component and the base. The motor mount allows the drive component to be positioned above the driving gear.

[0014] Optionally, the robot joint further includes a cable constraint having a cable hole that passes through it, the cable hole passing through the gear assembly, the reducer and the torque output component, one end of the cable constraint being connected to the base of the joint housing, and the other end of the cable constraint passing through the center of the reducer and the center of the torque output component.

[0015] In the above scheme, the cable can pass through the cable hole, allowing the cable's direction and position to be constrained and controlled by the cable hole, resulting in a neater cable distribution. By using cable restraint components, the cable can pass through the inside of the restraint components, preventing contact with structures such as the reducer, torque output components, and driven gears, thus reducing cable wear and the possibility of the cable getting stuck inside the mechanism.

[0016] Optionally, the robot joint further includes a constraint connector for connecting the base and the cable constraint.

[0017] In the above scheme, the cable restraint is fixed to the first side of the base, that is, the side of the base facing the receiving space. Accordingly, the cable restraint extends to completely penetrate the driven gear to prevent the cable from getting stuck in the gap between the driven gear and the reducer.

[0018] Optionally, the cable constraint member has a skirt structure extending radially outward at one end near the driven gear, and the constraint connector includes a first constraint part and a second constraint part. The first constraint part is fixedly connected to the skirt structure, one end of the second constraint part is connected to the first constraint part, and the other end of the second constraint part extends to be connected to the base.

[0019] In the above scheme, the first constraint part and the skirt structure can be connected to each other by screws or other connectors. The first constraint part and the skirt structure can be matched with each other by concave and convex structures to achieve circumferential positioning of the first constraint part and the skirt structure.

[0020] Optionally, the reduction ratio of the gear assembly is greater than 1; and / or, the torque output element is a torque sensor.

[0021] In the above scheme, the reduction ratio of the gear assembly is greater than 1, and the reduction ratio of the reducer is obviously also greater than 1. Through the combined reduction of the gear assembly and the reducer, a large reduction ratio of the robot joint is achieved. The torque output component can not only output the torque of the robot joint, but also detect the magnitude of the torque of the robot joint. This allows the measured torque value to be fed back to the control center, realizing closed-loop control of the torque, thereby making the control of the robot joint more precise.

[0022] This utility model also provides a robot, including the robot joints described above.

[0023] In the above solution, the robot joint includes a joint shell, a drive component, a gear assembly, a reducer, and a torque output component. The drive component, gear assembly, reducer, and torque output component are sequentially connected for transmission, and the drive component, gear assembly, and reducer are all mounted on the joint shell, with at least the drive component and gear assembly located inside the joint shell. Therefore, the robot joint of this invention utilizes the joint shell as the housing and support frame of the servo motor, eliminating the need to design a separate housing and support frame for the servo motor. This improves the utilization rate of the structure, eliminates redundant materials, reduces the weight of the robot joint, decreases its moment of inertia, and correspondingly reduces the driving force required by the robot. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model, 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 these drawings without creative effort.

[0025] Figure 1 Three-dimensional structure of robot joint provided in the embodiments of this utility model Figure 1 ;

[0026] Figure 2 Three-dimensional structure of robot joint provided in the embodiments of this utility model Figure 2 (Some joint shells are not shown);

[0027] Figure 3 A perspective structural view of the gear assembly, reducer, and torque output component provided for embodiments of this utility model;

[0028] Figure 4 A three-dimensional structural diagram of the motor mount provided in an embodiment of this utility model;

[0029] Figure 5 A three-dimensional structural diagram of the cable constraint member and constraint connector provided in the embodiments of this utility model.

[0030] The following are the labeling elements in the figure:

[0031] 10-Joint housing; 11-Base; 12-Circumferential housing; 121-First circumferential unit; 1211-Semi-ring portion; 1212-Extension portion; 122-Second circumferential unit; 123-Power input portion; 13-Constraint connector; 131-First constraint portion; 132-Second constraint portion; 14-Cable constraint component; 140-Cable hole; 141-Skirt structure; 20-Drive component; 21-Drive plate; 22-Motor mount; 221-First mounting plate; 2210-First clearance hole; 222-Second mounting plate; 2221-Second clearance hole; 2222-Third clearance hole; 223-Connecting portion; 30-Gear assembly; 31-Driving gear; 32-Driven gear; 40-Reducer; 50-Torque output component. Detailed Implementation

[0032] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0033] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0034] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this utility model.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] With the continuous development of the robotics field, the types of robots have gradually diversified, such as industrial robots, outdoor robots, service robots, and humanoid robots. Currently, robot servo motors are generally modular in structure. Specifically, commonly used servo motors typically include a servo joint housing, a motor and reducer housed inside the servo joint housing; or, a servo motor includes a servo frame, a motor mounted on the servo frame, and a reducer. The servo motor outputs power from the reducer to the linkage, lead screw, and other transmission mechanisms. Therefore, when servo motors are applied to robots, external structural components need to be designed. These external structural components not only connect the servo motor's joint housing and frame to the robot but also protect the linkage, lead screw, and other transmission mechanisms. Thus, a robot includes not only its external shell but also the aforementioned external structural components, as well as the servo motor's shell and frame. Consequently, robots have numerous shell structures, a large self-weight, and a large moment of inertia, requiring correspondingly greater driving force.

[0037] To alleviate the above-mentioned technical problems, this utility model proposes a novel robot joint and robot. The robot joint includes a joint housing, a drive component, a gear assembly, a reducer, and a torque output component. The drive component, gear assembly, reducer, and torque output component are sequentially connected for transmission. The torque output component outputs torque to a transmission mechanism such as a connecting rod or lead screw, or directly to an actuator. By mounting the drive component, gear assembly, and reducer within the joint housing, the drive component, gear assembly, and reducer are installed and defined using the joint housing, eliminating the need for a servo motor housing or servo motor frame. This reduces the shell structure of the robot joint, decreases the amount of raw materials used, thereby reducing the weight of the robot joint, decreasing its moment of inertia, and consequently reducing the driving force required by the servo motor.

[0038] The robot joint provided in the embodiments of this utility model will now be described.

[0039] Please refer to the following: Figures 1 to 3 The robot joint includes a joint housing 10, a drive component 20, a gear assembly 30, a reducer 40, and a torque output component 50. The drive component 20, the gear assembly 30, the reducer 40, and the torque output component 50 are sequentially connected for transmission. The drive component 20, the gear assembly 30, and the reducer 40 are all installed in the joint housing 10, and at least the drive component 20 and the gear assembly 30 are disposed inside the joint housing 10.

[0040] The joint housing 10 serves as a support and mounting structure for the robot joint, and its outer surface generally constitutes part of the robot's exterior appearance. When multiple robot joints are interconnected, the outer surfaces of the multiple joint housings 10 together form the robot's exterior appearance.

[0041] The joint housing 10 includes a base 11, on which the drive component 20 and gear assembly 30 are mounted. The base 11 may be a plate-like structure or a block-like structure, etc., and its specific shape is not limited here. The drive component 20, gear assembly 30, and reducer 40 are all mounted on the base 11.

[0042] The drive component 20 is the power mechanism of the robot joint, and it generally outputs rotational motion. The drive component 20 has a fixed end and a power output end. The power output end of the drive component 20 is connected to the gear assembly 30 to drive its movement. The fixed end of the drive component 20 is used to mount it on the joint housing 10, without affecting the connection between the power output end of the drive component 20 and the gear assembly 30. Furthermore, the drive component 20 is located inside the joint housing 10, which not only provides a mounting position for the drive component 20 but also protects it, offering some shielding.

[0043] The gear assembly 30 generally includes gears and serves as the internal transmission mechanism of the joint. The gear assembly 30 has a power input end and a power output end. The power output end of the drive member 20 is connected to the power input end of the gear assembly 30, thereby transmitting power from the drive member 20 to the gear assembly 30. The gear assembly 30 is mounted on the joint housing 10 without affecting its normal operation. Furthermore, the gear assembly 30 is disposed inside the joint housing 10, which not only provides a mounting position for the gear assembly 30 but also protects it by offering some shielding.

[0044] The reducer 40 has a speed reduction function. The angular velocity of the power output end of the gear assembly 30 is reduced after passing through the reducer 40, thereby making the angular velocity of the torque output component 50 less than the angular velocity of the power output end of the gear assembly 30. The reducer 40 has a power input end and a power output end. The power output end of the gear assembly 30 is connected to the power input end of the reducer 40, and the power output end of the reducer 40 is connected to the torque output component 50, so that the power of the gear assembly 30 is transmitted to the torque output component 50 through the reducer 40. The reducer 40 is mounted on the joint housing 10 without affecting the normal operation of the reducer 40. At the same time, the reducer 40 is disposed inside the joint housing 10. The joint housing 10 not only provides a mounting position for the reducer 40, but also protects the reducer 40 and provides a certain degree of shielding for the reducer 40.

[0045] The torque output component 50 is the power output component of the robot joint. The next joint can be connected to the torque output component 50, so that the robot joint provides power to the next joint.

[0046] The sequential transmission connection of the drive component 20, gear assembly 30, reducer 40, and torque output component 50 can be understood as follows: the power output end of the drive component 20 is connected to the power input end of the gear assembly 30, the power output end of the gear assembly 30 is connected to the power input end of the reducer 40, the power output end of the reducer 40 is connected to the power input end of the torque output component 50, and the power output end of the torque output component 50 is used to connect to the power input end of the next joint.

[0047] In related technologies, the drive component 20, gear assembly 30, reducer 40, and torque output component 50 are generally combined to form a servo motor. The servo motor also includes a housing, with at least the drive component 20, gear assembly 30, and reducer 40 housed inside the housing, making the servo motor a complete module. Then, the joint housing is designed according to the structure of the servo motor, along with the connecting structure between the joint housing and the servo motor, resulting in a complex housing structure. In the embodiment of this utility model, there is no need to set up a servo motor housing. The drive component 20, gear assembly 30, reducer 40, etc., are directly installed on the joint housing 10, omitting the servo motor housing and connecting structure, resulting in a simpler structure and a lighter joint weight.

[0048] The robot joint in the above embodiments includes a joint housing 10, a drive component 20, a gear assembly 30, a reducer 40, and a torque output component 50. The drive component 20, gear assembly 30, reducer 40, and torque output component 50 are sequentially connected for transmission. The drive component 20, gear assembly 30, and reducer 40 are all mounted on the joint housing 10, with at least the drive component 20 and gear assembly 30 located within the joint housing 10. Therefore, the robot joint of this invention utilizes the joint housing 10 as the housing and support frame of the servo motor, eliminating the need for a separate housing and support frame for the servo motor. This improves structural utilization, eliminates redundant materials, reduces the weight of the robot joint, decreases its moment of inertia, and correspondingly reduces the driving force required by the robot.

[0049] Please refer to some embodiments of this utility model. Figures 1 to 3 The joint housing 10 also includes a circumferential housing 12 fixed to one side of the base 11. The base 11 and the circumferential housing 12 form a receiving space. The drive unit 20 and the gear assembly 30 are both mounted on the base 11, and the drive unit 20 and the gear assembly 30 are both disposed within the receiving space.

[0050] The base 11 can be a plate-like structure or a block-like structure, and its specific shape is not limited here. The drive component 20, gear assembly 30, and reducer 40 are all mounted on the base 11. A circumferential shell 12 surrounds the base 11, and the outer surface of the cross-section of the circumferential shell 12 is circular or nearly circular, with open ends. The circumferential shell 12 is fixed to one side of the base 11, and the base 11 closes one of the open ends of the circumferential shell 12, forming an accommodating space between the circumferential shell 12 and the base 11. It can be understood that the base 11 is the bottom structure of this accommodating space, and the circumferential shell 12 is the circumferential structure of this accommodating space. The side of the base 11 facing the accommodating space is the first side of the base 11, and the side of the base 11 facing away from the accommodating space is the second side of the base 11. The drive component 20 and gear assembly 30 are both disposed within the accommodating space; it can be understood that the drive component 20 and gear assembly 30 are both mounted on the first side of the base 11.

[0051] By setting the joint housing 10 as the base 11 and the circumferential housing 12, firstly, the structure of the joint housing 10 is adapted to the outer contour structure of the corresponding joint; secondly, the setting of the circumferential housing 12 can provide a connection position for the previous joint, and can also provide a certain degree of shielding and protection for the drive component 20, gear assembly 30, etc.

[0052] In some embodiments, the base 11 and the circumferential shell 12 are formed separately and then fixedly connected by means of fasteners or the like.

[0053] In some embodiments, please refer to Figure 1 The circumferential shell 12 includes a first circumferential unit 121 and a second circumferential unit 122. Both the first circumferential unit 121 and the second circumferential unit 122 are fixed to the base 11 and to the first side of the base 11. The first circumferential unit 121 and the second circumferential unit 122 are spaced apart from each other and can support the rotation output end of the servo motor of the upper or lower joint. By setting the circumferential shell 12 as the first circumferential unit 121 and the second circumferential unit 122, the processing difficulty of the circumferential shell 12 is reduced. The first circumferential unit 121 and the second circumferential unit 122 can be processed separately and then assembled together to form the circumferential shell 12.

[0054] Optionally, both the first circumferential unit 121 and the second circumferential unit 122 include a semi-ring portion 1211. The two semi-ring portions 1211 are connected to each other to form a cylindrical structure. The drive member 20 and the gear assembly 30 are both disposed within the cylindrical structure. Therefore, the arrangement of the two semi-ring portions 1211 can form at least a partial accommodating space. This space is relatively enclosed and can protect the drive member 20 and the gear assembly 30.

[0055] The two semi-ring portions 1211 can be connected to each other by screws. The two semi-ring portions 1211 can also be fixed to the base 11 by screws.

[0056] Optionally, the first circumferential unit 121 and the second circumferential unit 122 further include an extension 1212, which extends from the side of the semi-circular portion 1211 away from the base 11 in a direction away from the base 11. The two extensions 1212 are spaced apart from each other, and the two extensions 1212 can be used to connect the previous joint or the next joint.

[0057] Please refer to some embodiments of this utility model. Figure 1 and Figure 2 A power input section 123 is provided on the circumferential shell 12, which is used to connect with the previous joint. The power input section 123 is located on the circumferential shell 12 and is far away from the mechanism on the base 11, so it will not interfere with the mechanism on the base 11.

[0058] In some embodiments, the power input part 123 is a connection structure such as a connection hole. For example, the power output end of the previous joint outputs a rotational motion, and its rotation shaft is connected to the periphery of the connection hole, so that the rotation of the rotation shaft drives the joint housing 10 to rotate.

[0059] In some embodiments, the power output end of the upper joint is an output shaft. In order to make the rotation of the robot joint more stable, connection holes can be provided on both extensions 1212 of the circumferential shell 12. One connection hole is fixedly connected to the output shaft, and the other connection hole is used to install a bearing and is rotatably connected to the shell of the upper joint. This makes both extensions 1212 connected to the upper joint, making the rotation of the robot joint more stable.

[0060] Please refer to some embodiments of this utility model. Figure 2 and Figure 3 The reducer 40 is mounted on the side of the base 11 facing away from the receiving space, and both the reducer 40 and the torque output component 50 are disposed on the outside of the joint housing 10. Understandably, the reducer 40 is mounted on the second side of the base 11, and both the reducer 40 and the torque output component 50 are exposed outside the joint housing 10.

[0061] The drive component 20 is mounted on the first side of the base 11, meaning the fixed end of the drive component 20 is mounted on the first side of the base 11. The fixed end of the drive component 20 can be its housing, and it can be fixedly mounted on the base 11 via a fastener or motor mount 22, etc. The gear assembly 30 is also mounted on the first side of the base 11. The power output end of the gear assembly 30 extends from the first side of the base 11 through the base 11 to the second side of the base 11. The reducer 40 is mounted on the second side of the base 11. Specifically, the axle of the gear assembly 30 is rotatably supported on the base 11. The torque output component 50 is also located on the second side of the base 11. In other words, the drive component 20 and the gear assembly 30 are both located on the first side of the base 11, while the reducer 40 and the torque output component 50 are located on the second side of the base 11.

[0062] By placing the drive unit 20 and gear assembly 30 on the first side of the base 11, and the reducer 40 and torque output unit 50 on the second side of the base 11, the drive unit 20, gear assembly 30, and torque output unit 50 can be rationally arranged. Since the drive unit 20 and gear assembly 30 occupy a relatively large space, they are both housed within the receiving space of the joint housing 10 for protection. The reducer 40 and torque output unit 50 are both located on the second side of the base 11, outside the joint housing 10, and can be directly connected to the next joint. To further illustrate, the center of the drive unit 20 is designated as the first center, and the center of the torque output unit 50 is designated as the second center. The drive unit 20 is located at the first center of the base 11 on the first side, the gear assembly 30 spans both the first and second centers of the base 11 on the first side, and the torque output unit 50 and reducer 40 are both located at the second center of the base 11 on the second side, thus making the layout of the robot joints more rational.

[0063] In some embodiments, the drive element 20 is a mechanism such as a motor or electric motor that can output rotational motion.

[0064] Please refer to some embodiments of this utility model. Figure 1 and Figure 2 The robot joint also includes a drive plate 21 for controlling the drive component 20. The drive plate 21 is fixed to the circumferential shell 12 and is disposed in the receiving space. The drive plate 21 is electrically connected to the drive component 20 and is used to control the rotation speed, switching, etc. of the drive component 20. The drive plate 21 can be fixed near the base 11 of the circumferential shell 12, so that the distance between the drive plate 21 and the drive component 20 is relatively close, which facilitates the electrical connection between the two.

[0065] Please refer to some embodiments of this utility model. Figure 3 and Figure 4 The robot joint also includes a motor base 22, which includes a first mounting plate 221, a second mounting plate 222 spaced apart from the first mounting plate 221, and a connecting portion 223 connecting the first mounting plate 221 and the second mounting plate 222. The first mounting plate 221 is fixed to one end of the drive member 20 near the gear assembly 30, and the second mounting plate 222 is fixed to the base 11.

[0066] The motor mount 22 connects the drive member 20 and the base 11, allowing the drive member 20 to be indirectly fixed to the base 11 via the motor mount 22. Since the drive gear 31 of the gear assembly 30 is concentrically arranged with the drive member 20 and positioned between the drive member 20 and the base 11, there is a certain distance between the motion output end of the drive member 20 and the base 11. The motor mount 22 allows the drive member 20 to be positioned above the drive gear 31. The first mounting plate 221 of the motor mount 22 connects to the drive member 20, and the second mounting plate 222 connects to the base 11. The first mounting plate 221 and the second mounting plate 222 are connected via a connecting part 223.

[0067] In some embodiments, the first mounting plate 221 and the second mounting plate 222 are arranged in parallel to each other, making the mounting structure of the drive component 20 more stable.

[0068] In some embodiments, the number of connecting portions 223 may be multiple, and they are spaced apart between the first mounting plate 221 and the second mounting plate 222, so that the first mounting plate 221 and the second mounting plate 222 have multiple connection positions, thereby making the structure of the motor base 22 more stable.

[0069] In some embodiments, please refer to Figure 4 The first mounting plate 221 has a first clearance hole 2210, which allows the motion output end of the drive component 20 to pass through the first clearance hole 2210 and then connect to the motion input end of the gear assembly 30.

[0070] In some embodiments, please refer to Figure 4 The second mounting plate 222 is provided with a second clearance hole 2221 and a third clearance hole 2222. The second clearance hole 2221 is directly opposite to the first clearance hole 2210. The second clearance hole 2221 is used to avoid the driving gear 31 of the gear assembly 30, and the third clearance hole 2222 is used to avoid the driven gear 32 of the gear assembly 30.

[0071] Please refer to some embodiments of this utility model. Figure 2 The gear assembly 30 includes a driving gear 31 and a driven gear 32 that mesh with each other. The driving gear 31 is connected to the power output end of the drive member 20, and the driven gear 32 is connected to the reducer 40.

[0072] In the gear assembly 30, the driving gear 31 is the motion input end of the gear assembly 30, and the driven gear 32 is the motion output end of the gear assembly 30. The driving gear 31 and the driven gear 32 are driven by tooth meshing. Specifically, the center of the driving gear 31 is connected to the power output end of the driving member 20; for example, the axle of the driving gear 31 is fixedly connected to the output shaft of the driving member 20. The center of the driven gear 32 is connected to the motion input end of the reducer 40, and the gear assembly 30 realizes the transmission connection between the driving member 20 and the reducer 40.

[0073] In some embodiments, the axles of the driving gear 31 and the driven gear 32 are both mounted on the base 11. Specifically, the driving gear 31 and the driven gear 32 can be rotatably supported on the base 11 by bearings.

[0074] Please refer to some embodiments of this utility model. Figure 2 The gear assembly 30 has a reduction ratio greater than 1, and the reducer 40 also has a reduction ratio greater than 1. Through the combined deceleration of the gear assembly 30 and the reducer 40, a large reduction ratio is achieved in the robot joint. The reduction ratio refers to the ratio of the angular velocity at the input end of the mechanism's motion to the angular velocity at the output end. Thus, by setting up the gear assembly 30, the position of the reducer 40 can be changed, making the overall thickness of the robot joint thinner, while also providing a deceleration effect, resulting in a significantly increased reduction ratio and the characteristics of small torque input and large torque output.

[0075] In this configuration, the number of teeth on the driving gear 31 is less than the number of teeth on the driven gear 32, and the outer diameter of the driving gear 31 is less than the outer diameter of the driven gear 32. This results in the driving gear 31 having a greater angular velocity than the driven gear 32 when the linear velocities are the same, thus achieving the deceleration function.

[0076] In some embodiments, the reduction ratio of the gear assembly 30 is 3:1, 2:1, etc.

[0077] In some embodiments of this utility model, the reducer 40 is a harmonic reducer 40, which can achieve a large reduction ratio, such as 120:1, 100:1, etc.

[0078] Please refer to some embodiments of this utility model. Figure 1 The torque output component 50 is a torque sensor. The torque output component 50 can not only output the torque of the robot joint, but also detect the magnitude of the torque of the robot joint. Thus, the measured torque value can be fed back to the control center to realize closed-loop control of the torque, thereby making the control of the robot joint more precise.

[0079] A torque sensor is a detection mechanism that senses torsional torque on various rotating or non-rotating mechanical parts. A torque sensor can convert the physical change in torque into a precise electrical signal. The type of torque sensor is not limited here; it can be an electromagnetic induction torque sensor, a strain torque sensor, etc.

[0080] Please refer to some embodiments of this utility model. Figure 3 and Figure 5 The robot joint has a cable hole 140 through which cables can pass, allowing the cable's direction and position to be constrained and controlled, resulting in a neater cable distribution. Specifically, the cable hole 140 passes through the gear assembly 30, the reducer 40, and the torque output component 50, and specifically through the driven gear 32. Alternatively, the cable hole 140 can be understood as being located at the second center of the base 11, passing through all mechanisms at that second center, allowing cables to extend from the first side to the second side of the base 11. For example, the cable on the torque sensor can also extend from the second side of the base 11 to the first side through the cable hole 140.

[0081] In some embodiments, please refer to Figure 4 The robot joint has a cable constraint 14 with a cable hole 140 passing through it. One end of the cable constraint 14 is connected to the base 11 of the joint housing 10, and the other end of the cable constraint 14 passes through the center of the reducer 40 and the center of the torque output member 50. The cable hole 140 passes through the cable constraint 14, which is elongated. One end of the cable constraint 14 extends to a first side of the base 11 and connects to the base 11 of the joint housing 10, while the other end extends to a second side of the base 11, reaching the torque output member 50.

[0082] By using the cable constraint member 14, the cable can pass through its interior, preventing contact with structures such as the reducer 40, torque output member 50, and driven gear 32. This reduces cable wear and the possibility of the cable getting stuck inside the mechanism. Notably, one end of the cable constraint member 14 extends to the torque output member 50, preventing the cable from getting stuck at the connection between the torque output member 50 and the reducer 40. Since the cable constraint member 14 is fixedly connected to the base 11, it remains relatively fixed during robot joint operation, thereby reducing wear between the cable constraint member 14 and the cable.

[0083] Optionally, the cable restraint member 14 is disposed through the center of the driven gear 32 and the center of the reducer 40. A through hole is provided at the center of the torque output member 50, and the cable channel is formed by combining the through hole and the cable hole 140 of the cable restraint member 14, allowing the cable to pass through the cable channel.

[0084] Optionally, if the cable constraint member 14 is arranged to pass through the center of the driven gear 32, the center of the reducer 40, and the center of the torque output member 50, then the cable hole 140 is arranged to pass through the center of the driven gear 32, the center of the reducer 40, and the center of the torque output member 50, so that the cable can extend from the first side of the base 11 to the second side only through the cable hole 140.

[0085] Please refer to some embodiments of this utility model. Figure 3 and Figure 5 The robot joint also includes a constraint connector 13, which is used to connect the base 11 and the cable constraint 14, so that the cable constraint 14 can be fixed on the base 11.

[0086] In some embodiments, the cable restraint 14 is fixed to a first side of the base 11, i.e. the side of the base 11 facing the receiving space. Accordingly, the cable restraint 14 extends to completely penetrate the driven gear 32 to prevent the cable from getting stuck in the gap between the driven gear 32 and the reducer 40.

[0087] In some embodiments, please refer to Figure 5 The cable restraint member 14 is cylindrical in shape. The end of the cable restraint member 14 near the driven gear 32 has a radially outwardly extending skirt structure 141, which is used to connect with the restraint connector 13, thereby fixing the base 11 to the cable restraint member 14.

[0088] In some embodiments, please refer to Figure 5 The constraint connector 13 includes a first constraint part 131 and a second constraint part 132. The first constraint part 131 is fixedly connected to the skirt structure 141. One end of the second constraint part 132 is connected to the first constraint part 131, and the other end of the second constraint part 132 extends away from the driven gear 32 and is connected to the base 11, so that the second constraint part 132 can be more easily connected and fixed to the base 11.

[0089] Optionally, the constraint connector 13 is integrally formed, that is, the first constraint and the second constraint part 132 are integrally formed, and the two do not need to be installed and fixed.

[0090] Optionally, there are two second constraint parts 132, which are respectively disposed on opposite sides of the first constraint part 131, so that the two connection points between the constraint connector 13 and the base 11 are respectively located on opposite sides of the driven gear 32, thereby making the connection between the constraint connector 13 and the base 11 more stable.

[0091] Optionally, the first constraint portion 131 and the skirt structure 141 have the same shape. The first constraint portion 131 and the skirt structure 141 can be connected to each other by screws or other connectors. The first constraint portion 131 and the skirt structure 141 can be interlocked by a concave-convex structure to circumferentially position the first constraint portion 131 and the skirt structure 141. For example, the skirt structure 141 is provided with a protrusion, and the first constraint portion 131 is provided with a slot, with the protrusion located in the slot.

[0092] This invention also provides a robot, which includes the robot joints described in any of the above embodiments. These robot joints can be used in the upper arm or in the connecting joint between the upper arm and forearm.

[0093] The robot provided by this utility model adopts the aforementioned robot joint, including a joint housing 10, a drive component 20, a gear assembly 30, a reducer 40, and a torque output component 50. The drive component 20, gear assembly 30, reducer 40, and torque output component 50 are sequentially connected for transmission, and the drive component 20, gear assembly 30, and reducer 40 are all mounted on the joint housing 10, with at least the drive component 20 and gear assembly 30 disposed within the joint housing 10. Therefore, the robot joint of this utility model utilizes the joint housing 10 as the housing and support frame of the servo motor, eliminating the need to design a separate housing and support frame for the servo motor, thus improving structural utilization, eliminating redundant materials, reducing the weight of the robot joint, decreasing its moment of inertia, and correspondingly reducing the driving force required by the robot.

[0094] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robot joint, characterized in that: The device includes a joint housing, a drive component, a gear assembly, a reducer, and a torque output component. The drive component, the gear assembly, the reducer, and the torque output component are sequentially connected in a transmission manner. The drive component, the gear assembly, and the reducer are all mounted on the joint housing, and at least the drive component and the gear assembly are disposed within the joint housing. The joint housing includes a base, and the drive component, the gear assembly, and the reducer are all mounted on the base.

2. The robot joint as described in claim 1, characterized in that: The joint housing also includes a circumferential shell fixed to one side of the base. The base and the circumferential shell form a receiving space, and the drive component and the gear assembly are both disposed within the receiving space.

3. The robot joint as described in claim 2, characterized in that: The reducer is installed on the side of the base facing away from the receiving space, and both the reducer and the torque output component are located outside the joint housing.

4. The robot joint as described in claim 2, characterized in that: The robot joint also includes a drive plate for controlling the drive components, the drive plate being fixed to the circumferential shell and disposed in the receiving space.

5. The robot joint as described in claim 2, characterized in that: The robot joint also includes a motor mount, which includes a first mounting plate, a second mounting plate spaced apart from the first mounting plate, and a connecting portion connecting the first mounting plate and the second mounting plate. The first mounting plate is fixed to one end of the drive member near the gear assembly, and the second mounting plate is fixed to the base.

6. The robot joint as described in claim 1, characterized in that: The robot joint also includes a cable constraint having a cable hole that passes through it. The cable hole passes through the gear assembly, the reducer, and the torque output component. One end of the cable constraint is connected to the base of the joint housing, and the other end of the cable constraint passes through the center of the reducer and the center of the torque output component.

7. The robot joint as described in claim 6, characterized in that: The robot joint also includes a constraint connector for connecting the base and the cable constraint.

8. The robot joint as described in claim 7, characterized in that: The cable constraint member has a skirt structure extending radially outward at one end near the driven gear. The constraint connector includes a first constraint part and a second constraint part. The first constraint part is fixedly connected to the skirt structure. One end of the second constraint part is connected to the first constraint part, and the other end of the second constraint part extends to be connected to the base.

9. The robot joint according to any one of claims 1-8, characterized in that: The reduction ratio of the gear assembly is greater than 1; and / or, the torque output component is a torque sensor.

10. A robot, characterized in that: Includes the robot joint described in any one of claims 1-9.

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