A type of rotational joint

Abstract

One embodiment of this utility model provides a rotary joint, comprising: a base having a first through hole extending along the thickness direction, the first through hole defining an axial direction consistent with the thickness direction; a rotary seat mounted on the first through hole via a bearing to have a degree of rotational freedom about the axial direction relative to the base, the rotary seat having a second through hole coaxial with the first through hole; a first pipe and a second pipe, the first pipe and the second pipe being connected by insertion via the second through hole, the first pipe having a degree of rotational freedom coaxial with the second pipe; wherein the first pipe and the second pipe are located on opposite sides of the base in the thickness direction, the first pipe is on the same side as the rotary seat and is connected as a whole, the second pipe is connected as a whole to the base, so that the first pipe, driven by the rotary seat, has a degree of rotational freedom relative to the base and the second pipe.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a rotary joint. Background Technology

[0002] In existing robotic vacuum cleaners, a rotary joint is needed between two components with relative rotational freedom to prevent the cable from twisting or tangling as the components move. With the increasing complexity of functions, in addition to the rotary joint for the cable, a rotary joint for the air duct is also required.

[0003] In an existing rotary joint for ventilation tubing, a suction cup core is installed inside the suction cup body, and a suction cup cover is installed outside the suction cup body. A disc is located below the hollow shaft. The upper end of the suction cup core is threaded to the lower end of a rotary air connector, the other end of which is a compressed air quick-connect fitting. The hollow shaft is threaded to a hollow shaft motor. The motor drives the suction cup to rotate, simultaneously rotating the rotary air connector, thus achieving 360° continuous rotation of the suction cup. However, this structure relies on the rotary air connector for its rotation function, which occupies a significant amount of space, making it unsuitable for installations with limited space. Summary of the Invention

[0004] To solve the above technical problems, this utility model provides a rotary joint that achieves rotatable ventilation through a rotating base and a two-piece gas pipeline connected by a plug, without additional rotary air pipe connectors, thus not increasing the size of the rotary joint.

[0005] One embodiment of this utility model provides a rotary joint, comprising:

[0006] A base having a first through hole extending along the thickness direction, the first through hole defining an axial direction consistent with the thickness direction;

[0007] A rotating seat is mounted in the first through hole via a bearing to have rotational freedom about the axial direction relative to the base; the rotating seat has a second through hole coaxial with the first through hole.

[0008] A first pipe and a second pipe are connected by insertion via a second through hole, and the first pipe has a degree of freedom to rotate coaxially with respect to the second pipe.

[0009] The first pipe and the second pipe are located on opposite sides of the base in the thickness direction. The first pipe is on the same side as the rotating seat and is connected as a whole. The second pipe is connected as a whole to the base, so that the first pipe has the freedom to rotate relative to the base and the second pipe by being driven by the rotating seat.

[0010] In one embodiment, the second conduit has a key that mates with the first through-hole.

[0011] In one embodiment, the rotating base includes:

[0012] A rotating base, which is mounted on a base via the bearing, and the rotating base has the second through hole;

[0013] A connecting flange protrudes from the rotating base and has a first limiting portion that limits the first pipe.

[0014] In one embodiment, the first limiting portion is a third through hole penetrating the connecting flange.

[0015] The first pipe passes through the third through hole via a sleeve.

[0016] In one embodiment, the base includes:

[0017] A wire-passing hole, which penetrates the base along the thickness direction and is adjacent to the first through hole;

[0018] The first and second pipes form an airtight through pipe.

[0019] In one embodiment, it includes:

[0020] A drive motor is mounted on the base, and the drive motor drives the rotating seat to rotate around the axial direction via a transmission mechanism, the transmission ratio of which is 1:1.

[0021] In one embodiment, the transmission mechanism includes:

[0022] The drive wheel is fixedly connected to the output shaft of the drive motor to rotate synchronously with the output shaft of the drive motor. The drive wheel and the second pipe are located on the same side of the base.

[0023] Driven wheel, the driven wheel is fixedly connected to the rotating seat so as to rotate synchronously with the rotating seat, the driven wheel and the rotating seat are located on the same side of the base;

[0024] An intermediate wheel is connected between the driving wheel and the driven wheel, so as to drive the driven wheel and the rotating base to rotate via the drive motor.

[0025] In one embodiment, the intermediate wheel includes:

[0026] A fixed shaft, which passes through the first through hole;

[0027] The first intermediate wheel and the second intermediate wheel are fixedly connected to both ends of the fixed shaft. The first intermediate wheel and the driving wheel are located on the same side of the base and mesh with the driving wheel. The second intermediate wheel and the driven wheel are located on the same side of the base and mesh with the driven wheel.

[0028] In one embodiment, the end of the first pipe is inserted into the end of the second pipe, and the outer wall of the first pipe and the inner wall of the second pipe include a sealing ring and / or a wear-resistant ring fitted on the outer wall of the first pipe.

[0029] In one embodiment, the base has a first receiving cavity located on a first side of the first through hole and a second receiving cavity located on a second side of the first through hole;

[0030] The device further includes a gear cover that encapsulates the first intermediate wheel and the driving wheel within the first accommodating cavity, and a rotating seat that encapsulates the second intermediate wheel and the driven wheel within the second accommodating cavity. Attached Figure Description

[0031] The following figures are for illustrative purposes only and do not limit the scope of the present invention.

[0032] Figure 1 This is a schematic diagram of the structure of the rotary joint of this utility model.

[0033] Figure 2 and Figure 3 This is a partial schematic diagram of the rotary joint of this utility model.

[0034] Figure 4 This is a cross-sectional view of the rotary joint of this utility model.

[0035] Figure 5 This is a schematic diagram of the intermediate wheel in this utility model. Detailed Implementation

[0036] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, specific embodiments of the present utility model are now described with reference to the accompanying drawings, in which the same reference numerals denote the same parts.

[0037] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0038] To keep the drawings concise, only the parts related to this utility model are shown schematically in each drawing, and do not represent their actual structure as a product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components with the same structure or function is shown schematically, or only one of them is labeled.

[0039] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0040] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0041] In this document, terms such as "equal" and "same" are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use. Unless otherwise stated, numerical ranges in this document include not only the entire range within its two endpoints, but also several subranges contained therein.

[0042] The exemplary embodiments will now be described more fully with reference to the accompanying drawings.

[0043] like Figures 1 to 3 As shown, one embodiment of the present invention provides a rotary joint, comprising:

[0044] Base 10, base 10 has a first through hole 11 extending along the thickness direction, the first through hole 11 defining an axial direction consistent with the thickness direction;

[0045] The rotating seat 20 is mounted in the first through hole 11 via the bearing 21, so as to have rotational freedom about the axial direction relative to the base 10. The rotating seat 20 has a second through hole 22 coaxial with the first through hole 11.

[0046] The first pipe 31 and the second pipe 32 are connected by insertion through the second through hole 22. The first pipe 31 has the degree of freedom to rotate coaxially with respect to the second pipe 32.

[0047] The first pipe 31 and the second pipe 32 are located on opposite sides of the base 10 in the thickness direction. The first pipe 31 is on the same side as the rotating seat 20 and is connected as a whole. The second pipe 32 is connected as a whole to the base 10, so that the first pipe 31 has the freedom to rotate relative to the base 10 and the second pipe 32 by being driven by the rotating seat 20.

[0048] In this example, the first pipe 31 and the second pipe 32 are directly plugged together. Sealing is ensured by controlling the dimensions, and dimensional tolerances allow the first pipe 31 and the second pipe 32 to have a degree of freedom for relative rotation. The first pipe 31 and the second pipe 32 are joined to form a complete gas passage for rotatable gas transport.

[0049] The rotating joint includes a base 10, which provides support for the ventilation duct and a base for rotation. The base 10 has a first through hole 11 extending along the thickness direction, which defines an axial direction consistent with the thickness direction.

[0050] The system also includes a rotating seat 20 mounted in the first through hole 11 via a bearing 21, which can rotate relative to the base 10 about the axial direction. The base 10 is a fixed component, and the rotating seat 20 is a rotating component. In the first pipe 31 and the second pipe 32, the first pipe 31 is on the same side as the rotating seat 20 and is integrally connected, while the second pipe 32 is integrally connected to the base 10. Therefore, when the rotating seat 20 rotates relative to the base 10, it can drive the first pipe 31 to rotate relative to the second pipe 32. Here, the second pipe 32 is a fixed component, and the first pipe 31 is a rotating component.

[0051] In typical robotic arm designs, the hollow structure of the bottom rotating base is only used for cable routing. Especially in the application of robotic arms for cleaning robots, there is no precedent for using a hollow base to design an air pipe to achieve mechanical vacuuming. This example achieves rotatable ventilation by using a rotating base and a two-piece gas pipe that is plugged in, without setting up an additional rotating air pipe connector, thus not increasing the volume of the rotating joint.

[0052] Specifically, the second conduit 32 has a key 321 that mates with the first through hole 11.

[0053] Key 321 protrudes from the surface of the second pipe 32 to limit the second pipe 32 and the base 10 in the rotation direction, so that the second pipe 32 and the base 10 are fixed together in the rotation direction.

[0054] In one example, the rotary seat 20 includes:

[0055] Rotary base 23 is mounted on base 10 via bearing 21, and has a second through hole 22;

[0056] The connecting flange 24 protrudes from the rotating base 23 and has a first limiting part 241 that limits the first pipe 31.

[0057] The first limiting part 241 is a third through hole that penetrates the connecting flange 24, and the first pipe 31 passes through the third through hole via the sleeve 311.

[0058] In a specific example, the base 10 includes:

[0059] The wire through hole 12 passes through the base 10 along the thickness direction and is adjacent to the first through hole 11;

[0060] The first pipe 31 and the second pipe 32 form an airtight through pipe.

[0061] The first pipe 31 and the second pipe 32 form an airtight through pipe, and the wire hole 12 forms a channel for the cable. The wire hole 12 passes through the base 10, and the cable passing through the wire hole 12 will not be twisted with the rotating seat 20. The gas pipe composed of the first pipe 31 and the second pipe 32 can achieve rotational freedom by rotating the first pipe 31 with the rotating seat 20.

[0062] In a specific example, it includes:

[0063] The drive motor 40 is mounted on the base 10. The drive motor 40 drives the rotating seat 20 to rotate around the axial direction via a transmission mechanism with a transmission ratio of 1:1.

[0064] In this example, the rotary joint is specifically used in scenarios such as robotic vacuum cleaners that require precise position control. Therefore, when the transmission ratio of the transmission mechanism is 1:1, the angle of the first pipe 31 relative to the base 10 can be accurately controlled.

[0065] Specifically, the transmission mechanism includes:

[0066] The drive wheel 41 is fixedly connected to the output shaft of the drive motor 40 so as to rotate synchronously with the output shaft of the drive motor 40. The drive wheel 41 and the second pipe 32 are located on the same side of the base 10.

[0067] Driven wheel 42 is fixedly connected to rotating seat 20 so as to rotate synchronously with rotating seat 20. Driven wheel 42 and rotating seat 20 are located on the same side of base 10.

[0068] Intermediate wheel 43 is connected between driving wheel 41 and driven wheel 42, so as to drive driven wheel 42 and rotating seat 20 to rotate via drive motor 40.

[0069] The transmission mechanism is used to transmit the power of the drive motor 40 to the rotating base 20. The drive motor 40 is mounted on one side of the base 10, and its output end can be directly connected to the rotating base 20, or... Figure 1 The one shown is located on one side of the second pipe 32, so as to connect with the drive wheel 41 of the transmission mechanism.

[0070] exist Figure 1In the shown configuration, the transmission mechanism includes a drive wheel 41 on the same side as the second pipe 32 and a driven wheel 42 on the same side as the rotating base 20. Since the drive wheel 41 and the driven wheel 42 are located on opposite sides of the base 10, the transmission mechanism also includes an intermediate wheel 43 connected between the drive wheel 41 and the driven wheel 42 to transmit the power of the drive wheel 41 to the rotating base 20.

[0071] Specifically, such as Figure 5 As shown, the intermediate wheel 43 includes:

[0072] A fixed shaft 431 is inserted through the first through hole 11;

[0073] The first intermediate wheel 432 and the second intermediate wheel 433 are fixed to both ends of the fixed shaft 431. The first intermediate wheel 432 is located on the same side of the base 10 as the driving wheel 41 and meshes with the driving wheel 41. The second intermediate wheel 433 is located on the same side of the base 10 as the driven wheel 42 and meshes with the driven wheel 42.

[0074] The driving wheel 41 and the driven wheel 42 are independent of each other, while the intermediate wheel 43 is an integral structure. The first intermediate wheel 432 and the second intermediate wheel 433 are both fixedly connected to the fixed shaft 431, so that the first intermediate wheel 432 and the second intermediate wheel 433 rotate synchronously. The fixed shaft 431 passes through the first through hole 11 of the base 10 to transmit power from the first side of the base 10 to the second side.

[0075] Optionally, the end of the first pipe 31 is inserted into the end of the second pipe 32, and a sealing ring 323 and / or a wear-resistant ring 322 are fitted onto the outer wall of the first pipe 31 and the inner wall of the second pipe 32. The number of sealing rings 323 and wear-resistant rings 322 can be one or more. The sealing ring 323 is used to ensure the airtightness of the venting pipe, and the wear-resistant ring 322 is used to prevent frictional wear between the first pipe 31 and the second pipe 32. Both the sealing ring 323 and the wear-resistant ring 322 are replaceable.

[0076] Among them, reference Figure 2 and Figure 3 As shown, the base 10 has a first receiving cavity located on the first side of the first through hole 11 and a second receiving cavity located on the second side of the first through hole 11;

[0077] It further includes a gear cover 13, which encapsulates the first intermediate wheel 432 and the driving wheel 41 in a first accommodating cavity, and a rotating seat 20 encapsulates the second intermediate wheel 433 and the driven wheel 42 in a second accommodating cavity.

[0078] This embodiment fulfills the requirement for internal tubing within the robotic arm and is easily integrated into mobile cleaning equipment. This structure can be applied not only to applications involving gas flow in vacuuming systems but also to applications involving liquids and other fluids.

[0079] In this example, the first pipe 31 and the second pipe 32 are directly plugged together. Sealing is ensured by controlling the dimensions, and dimensional tolerances allow the first pipe 31 and the second pipe 32 to have a degree of freedom for relative rotation. The first pipe 31 and the second pipe 32 are joined to form a complete gas passage for rotatable gas transport.

[0080] In typical robotic arm designs, the hollow structure of the bottom rotating base is only used for cable routing. Especially in the application of robotic arms for cleaning robots, there is no precedent for using a hollow base to design an air pipe to achieve mechanical vacuuming. This example achieves rotatable ventilation by using a rotating base and a two-piece gas pipe that is plugged in, without setting up an additional rotating air pipe connector, thus not increasing the volume of the rotating joint.

[0081] The detailed descriptions listed above are merely specific descriptions of feasible implementation methods of this utility model, and are not intended to limit the scope of protection of this utility model. All equivalent implementation methods or modifications made without departing from the spirit of the present utility model, such as combinations, divisions or repetitions of features, should be included within the scope of protection of this utility model.

Claims

1. A rotary joint, characterized by include: The base (10) has a first through hole (11) extending along the thickness direction, the first through hole (11) defining an axial direction consistent with the thickness direction; A rotating seat (20) is mounted on the first through hole (11) via a bearing (21) to have rotational freedom about the axial direction relative to the base (10). The rotating seat (20) has a second through hole (22) coaxial with the first through hole (11). A first pipe (31) and a second pipe (32) are connected by insertion through a second through hole (22). The first pipe (31) has a degree of freedom to rotate coaxially with respect to the second pipe (32). The first pipe (31) and the second pipe (32) are located on opposite sides of the base (10) in the thickness direction. The first pipe (31) is on the same side as the rotating seat (20) and is connected as a whole. The second pipe (32) is connected as a whole to the base (10), so that the first pipe (31) is driven by the rotating seat (20) and has the freedom to rotate relative to the base (10) and the second pipe (32).

2. The rotational joint of claim 1, wherein The second conduit (32) has a key (321) that engages with the first through hole (11).

3. The rotational joint of claim 1, wherein The rotating base (20) includes: A rotating base (23) is mounted on a base (10) via a bearing (21), and the rotating base (23) has a second through hole (22). A connecting flange (24) protrudes from the rotating base (23) and has a first limiting portion (241) that limits the first pipe (31).

4. The rotational joint of claim 3, wherein The first limiting part (241) is a third through hole penetrating the connecting flange (24). The first pipe (31) passes through the third through hole via a sleeve (311).

5. The rotational joint of claim 1, wherein The base (10) includes: A wire through hole (12) extends through the base (10) along the thickness direction and is adjacent to the first through hole (11). The first pipe (31) and the second pipe (32) form an airtight through pipe.

6. The rotational joint of claim 1, wherein include: A drive motor (40) is mounted on the base (10). The drive motor (40) drives the rotating seat (20) to rotate around the axial direction via a transmission mechanism. The transmission ratio of the transmission mechanism is 1:

1.

7. The rotational joint of claim 6, wherein The transmission mechanism includes: The drive wheel (41) is fixedly connected to the output shaft of the drive motor (40) so as to rotate synchronously with the output shaft of the drive motor (40). The drive wheel (41) and the second pipe (32) are located on the same side of the base (10). Driven wheel (42), the driven wheel (42) is fixedly connected to the rotating seat (20) so as to rotate synchronously with the rotating seat (20), the driven wheel (42) and the rotating seat (20) are located on the same side of the base (10); Intermediate wheel (43) is connected between the driving wheel (41) and the driven wheel (42) to drive the driven wheel (42) and the rotating seat (20) to rotate via the drive motor (40).

8. The rotational joint of claim 7, wherein The intermediate wheel (43) includes: A fixed shaft (431) is provided, which passes through the first through hole (11). The first intermediate wheel (432) and the second intermediate wheel (433) are fixed to both ends of the fixed shaft (431). The first intermediate wheel (432) and the driving wheel (41) are located on the same side of the base (10) and mesh with the driving wheel (41). The second intermediate wheel (433) and the driven wheel (42) are located on the same side of the base (10) and mesh with the driven wheel (42).

9. The rotational joint of claim 8, wherein The end of the first pipe (31) is inserted into the end of the second pipe (32), and the outer wall of the first pipe (31) and the inner wall of the second pipe (32) include a sealing ring (323) and / or a wear-resistant ring (322) fitted on the outer wall of the first pipe (31).

10. The rotational joint of claim 8, wherein The base (10) has a first receiving cavity located on a first side of the first through hole (11) and a second receiving cavity located on a second side of the first through hole (11); The device further includes a gear cover (13) that encapsulates the first intermediate wheel (432) and the driving wheel (41) in the first accommodating cavity, and a rotating seat (20) that encapsulates the second intermediate wheel (433) and the driven wheel (42) in the second accommodating cavity.

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