Transmission mechanism for rotary joint, robot joint and robot

Abstract

The present application relates to a transmission mechanism (10) for a rotary joint, a robot joint (1), and a robot. The transmission mechanism (10) for a rotary joint includes a drive member (100), a transmission member (200), an output shaft (300), an input shaft (400), and a housing (500). The drive member (100) has a drive end (110a). The transmission member (200) has an output end (210) and an input end (220). The output shaft (300) is drivingly connected to the output end (210). The input shaft (400) is drivingly connected to both the drive end (110a) and the input end (220), and is fitted to the output shaft (300). The housing (500) is fitted to the input shaft (400). The housing (500), the input shaft (400), and the output shaft (300) form a three-layer mating structure.

Description

[Technical field]

[0001] The present application relates to the technical field of automated machines, and in particular to a transmission mechanism for a rotary joint, a robot joint and a robot. CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to a Chinese patent application filed with the State Intellectual Property Office of China on December 23, 2021, bearing application number 2021115881384 and entitled "Transmission structure for rotary joint", the entire contents of which are incorporated herein by reference. [Background technology]

[0003] A rotary joint is a common component in automated machines such as robots, robot arms, and multi-stage rotor rotation systems. The main components of the transmission mechanism of a rotary joint are generally arranged in sequence along the axial direction of the joint. For example, an input end encoder, an input rotating shaft, a motor / reduction gear system, an output rotating shaft, and an output end encoder may be arranged in sequence along the axial direction of the joint. However, such an installation structure has obvious disadvantages, such as occupying a lot of axial space and low utilization of radial space. Summary of the Invention [Problem to be solved by the invention]

[0004] Based on this, there is a need to provide a transmission mechanism for a rotary joint, a robot joint, and a robot that can save axial space and fully utilize radial space. [Means for solving the problem]

[0005] According to various embodiments of the present application, a drive member having a drive end; a transmission member having an output end and an input end; an output shaft drivingly connected to the output end; an input shaft drivingly connected to both the drive end and the input end and fitted onto the output shaft; and a housing fitted onto the input shaft.

[0006] In one embodiment, the transmission mechanism has opposing first and second sides, the drive member and the transmission member are both provided on the first side, and the output shaft and the input shaft extend from the first side to the second side.

[0007] In one embodiment, the output shaft, the input shaft and the second end of the housing are arranged in a stepped manner, and the end of the output shaft protrudes beyond the end of the input shaft and the end of the housing.

[0008] In one embodiment, the output shaft includes a first transmission shaft and a first mounting shaft, a portion of the first transmission shaft adjacent to the first side is drivingly connected to the output end of the transmission member and a portion of the first transmission shaft adjacent to the second side is fixedly connected to the first mounting shaft, the input shaft includes a second transmission shaft and a second mounting shaft, a portion of the second transmission shaft adjacent to the first side is drivingly connected to the input end of the transmission member and a portion of the second transmission shaft away from the first side is fixedly connected to the second mounting shaft, and the second transmission shaft is drivingly connected to the drive end of the drive member.

[0009] In one embodiment, at least a portion of the first mounting shaft is inserted into a portion of the first transmission shaft adjacent to the second side, and at least a portion of the second mounting shaft is inserted into a portion of the second transmission shaft adjacent to the second side.

[0010] In one embodiment, an outer diameter of the first transmission shaft is larger than an outer diameter of the first mounting shaft, and an inner diameter of the second transmission shaft is smaller than an inner diameter of the second mounting shaft.

[0011] In one embodiment, a first bearing is fitted between the first mounting shaft and the second mounting shaft, and a first shoulder portion is provided on an outer wall of the first mounting shaft, the first shoulder portion being configured to limit movement of the first bearing in a direction toward the first side.

[0012] In one embodiment, a second bearing is fitted between the second mounting shaft and the housing, and a second shoulder portion is provided on the inner wall of the housing, the second shoulder portion being configured to limit movement of the second bearing in a direction toward the first side.

[0013] Another aspect of the present application provides a robot joint including the transmission mechanism for a rotary joint according to any one of the above embodiments.

[0014] Another aspect of the present application provides a robot including the robot joint according to any of the above embodiments.

[0015] The details of one or more embodiments of the application are set forth in the drawings and description below. Other features, objects, and advantages of the application will become apparent from the description, drawings, and claims. [Brief description of the drawings]

[0016] To better describe and explain the embodiments and / or examples disclosed herein, reference may be made to one or more drawings, in which additional details or examples used to illustrate the drawings should not be construed as limiting the scope of the disclosed application, the presently described embodiments and / or examples, or any of the currently understood best modes.

[0017] [Figure 1] 1 is a structural schematic diagram of a transmission mechanism according to an embodiment of the present application; [Diagram 2] 2 is a cross-sectional view of the transmission mechanism of FIG. 1 taken along line AA. [Diagram 3] 3 is a partial enlarged view of a region B of the power transmission mechanism in FIG. 2. [Figure 4] 3 is a partial perspective view of the right side portion of the transmission mechanism of FIG. 2. [Diagram 5] 3 is a schematic diagram of an internal connection structure of a motor / reduction gear system in the transmission mechanism shown in FIG. 2. [Figure 6] 1 is a schematic structural diagram of a robot according to an embodiment of the present application. [Figure 7] FIG. 1 is a schematic cross-sectional view of a transmission mechanism according to the prior art; [Explanation of symbols]

[0018] 1 robot joint, 10 transmission mechanism, 101 power system, 100 driving member, 110 rotor, 120 stator, 110a driving end, 200 transmission member, 210 output end, 220 input end, 300 output shaft, 310 first transmission shaft, 320 first mounting shaft, 321 first end, 322 second end, 330 first shoulder, 340 first annular boss, 400 input shaft, 410 second transmission shaft, 420 second mounting shaft, 421 third end, 422 fourth end, 430 second annular boss, 440 third annular boss, 500 housing, 510 annular groove, 520 fifth end, 530 sixth end, 540 receiving groove, 550 second shoulder, 600 first bearing, 700 second bearing, 101a power system, 300a Output shaft, 400a input shaft, 800a input encoder, 900a output encoder. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] In order to make the objectives, technical means and advantages of the present application clearer, the present application will be described in more detail below with reference to the drawings and specific embodiments, which are merely for the purpose of interpreting the present application and do not limit the scope of protection of the present application.

[0020] It should be noted that when an element is referred to as "fixed" to another element, the element may be directly located on the other element, but there may also be intervening elements therebetween. When an element is referred to as "connected" to another element, the element may be directly connected to the other element, but there may also be intervening elements therebetween. The terms "vertical," "horizontal," "left," "right," and similar terms used herein are for illustrative purposes only and do not represent the only embodiments.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein in describing this application are for the purpose of describing specific embodiments only and are not intended to be limiting of this application. As used herein, the term "and / or" includes any and all combinations of one or more associated items.

[0022] As shown in Fig. 1, Fig. 2 and Fig. 5, an embodiment of the present application provides a transmission mechanism 10 for a rotary joint, which can be applied to related fields and situations such as robots, robot arms, and multi-stage rotary body rotation systems. The transmission mechanism 10 for a rotary joint includes a driving member 100, a transmission member 200, an output shaft 300, an input shaft 400, a housing 500, a first bearing 600 and a second bearing 700. The transmission mechanism 10 for a rotary joint satisfies good assembly coaxiality, fully utilizes radial space, and saves axial space. The transmission mechanism 10 has a first side (e.g., the left side in Fig. 2) and a second side (e.g., the right side in Fig. 2) facing each other, and the driving member 100 and the transmission member 200 are both provided on the first side, and the output shaft 300 and the input shaft 400 extend from the first side to the second side. The driving member 100 and the transmission member 200 are both provided on the first side, and the input shaft 400 and the output shaft 300 extend from the first side to the second side, thereby ensuring sufficient space on the second side for providing other members of the joint (e.g., an encoder, etc.), while the input shaft 400 and the output shaft 300 do not interfere with the driving member 100 (e.g., a motor, etc.) and the transmission member 200 (e.g., a reducer, etc.), which are large and have a complex structure.

[0023] 5, the driving member 100 has a driving end 110a. In this embodiment, the driving member 100 is a motor, which has a stator 120 and a rotor 110, and the rotor 110 is the driving end 110a. Of course, in other embodiments, the driving member 100 may be other driving mechanisms such as an air cylinder, a hydraulic cylinder, etc.

[0024] 2 and 5, the transmission member 200 has an output end 210 and an input end 220. In this embodiment, the transmission member 200 is a reducer. Of course, in other embodiments, the transmission member 200 may be other types of transmission mechanisms 10. In this embodiment, the driving member 100 and the transmission member 200 may be assembled into a power system 101.

[0025] 2 and 4, the output shaft 300 and the input shaft 400 may both be elongated hollow shafts, and may be configured so that the radial gap between the input shaft 400 and the output shaft 300 is small. In this embodiment, the input shaft 400 is fitted onto the output shaft 300. As shown in FIG. 5, the output shaft 300 is drivingly connected to the output end 210. The input shaft 400 is drivingly connected to both the driving end 110a and the input end 220. In this embodiment, the outer circumferential surface of the input shaft 400 meshes with the driving end 110a by gear meshing, and of course, in other embodiments, the input shaft 400 and the driving end 110a may be connected to each other by end face connection (e.g., flange connection).

[0026] Specifically, as shown in FIG. 2 and FIG. 5, the output shaft 300 includes a first transmission shaft 310 and a first mounting shaft 320. One end of the first transmission shaft 310 is drivingly connected to the output end 210. The first mounting shaft 320 has a first end 321 and a second end 322, the first end 321 being provided relatively close to the first side, and the second end 322 being provided relatively close to the second side. The first end 321 is connected to one end of the first transmission shaft 310 away from the output end 210, and thus, a low rotation speed, high torque power reduced by the reducer, which is the transmission member 200, can be output through the output shaft 300. As shown in FIG. 3, a first shoulder portion 330 is provided on the outer wall of the first mounting shaft 320. In this embodiment, the first shoulder portion 330 is specifically an annular protrusion provided on the outer wall of the first mounting shaft 320. 2 and 3, a first annular boss 340 is provided on the outer wall of the first mounting shaft 320, a portion of the first mounting shaft 320 having a first end 321 is inserted into the first transmission shaft 310, and one end of the first transmission shaft 310 remote from the output end 210 abuts against the first annular boss 340. The first annular boss 340 is closer to the power system 101 (or the transmission member 200) than the first shoulder portion 330; that is, in FIG. 2, the first annular boss 340 is located on the left side of the first shoulder portion 330.

[0027] Specifically, as shown in Figures 2 and 5, the input shaft 400 includes a second transmission shaft 410 and a second mounting shaft 420. One end of the second transmission shaft 410 is drivingly connected to the input end 220, and one side of the second transmission shaft 410 is connected to the rotor 110 of the motor. Specifically, as shown in Figures 2 and 5, the second mounting shaft 420 has a third end 421 and a fourth end 422, the third end 421 being provided relatively close to the first side, and the fourth end 422 being provided relatively close to the second side. The third end 421 is connected to one end of the second transmission shaft 410 that is away from the input end 220, and thus the input shaft 400 can input the high rotation speed and low torque power of the motor to the reducer. As shown in FIG. 2 and FIG. 3, the second mounting shaft 420 has a second annular boss 430 on its inner wall, which is closer to the power system 101 than the first shoulder 330. That is, in FIG. 2, the second annular boss 430 is located on the left side of the first shoulder 330. The part of the second transmission shaft 410 that is far from the power system 101 is inserted into the second mounting shaft 420, and the end of the second transmission shaft 410 that is far from the input end 220 abuts against the second annular boss 430. In this way, the tightening between the second transmission shaft 410 and the second mounting shaft 420 can be increased, while the length of the part of the second transmission shaft 410 that is inserted into the second mounting shaft 420 can be limited. Of course, the assembly method of the second mounting shaft 420 and the second transmission shaft 410 is not limited thereto, and the second mounting shaft 420 and the second transmission shaft 410 may be assembled in other ways.

[0028] Furthermore, the outer diameter of the first transmission shaft 310 is larger than the outer diameter of the first mounting shaft 320, and the inner diameter of the second transmission shaft 410 is smaller than the inner diameter of the second mounting shaft 420. In this way, a sufficient bearing mounting space can be provided on the second side of the transmission mechanism, while the gap between the first mounting shaft 320 and the second mounting shaft 420 can be made as small as possible, making the overall structure of the transmission mechanism more compact.

[0029] 2 and 3, the housing 500 has a hollow cylindrical structure. In this embodiment, the housing 500 is fitted onto the input shaft 400, specifically, onto the second mounting shaft 420. Specifically, an annular groove 510 that is aligned with the third annular boss 440 is provided on the inner wall of the housing 500, and when the housing 500 is fitted onto the second mounting shaft 420, the third annular boss 440 is inserted into the annular groove 510. This can increase the tightness between the input shaft 400 and the housing 500.

[0030] The housing 500 has a fifth end 520 and a sixth end 530. The fifth end 520 is provided relatively close to the first side, and the sixth end 530 is provided relatively close to the second side. The first end 321, the third end 421, and the fifth end 520 are located on the side close to the power system 101, and the second end 322, the fourth end 422, and the sixth end 530 are located on the side away from the power system 101. The housing 500 is fixed and connected to the stator 120. As shown in FIG. 3, a second shoulder 550 is provided on the inner wall of the housing 500. In this embodiment, the second shoulder 550 is specifically an annular protrusion provided on the inner wall of the housing 500. Specifically, the third annular boss 440 is closer to the power system 101 (or the power transmission member 200) than the second shoulder portion 550, that is, the third annular boss 440 is located to the left of the second shoulder portion 550 in FIG.

[0031] In the prior art, as shown in FIG. 7, the transmission mechanism 10 for a rotary joint generally comprises an input shaft 400a, a power system 101a, and an output shaft 300a arranged in sequence along the axial direction, and an input end encoder 800a and an output end encoder 900a are connected to the ends of the input shaft 400a and the output shaft 300a, respectively. This arrangement occupies a lot of axial space and has a low utilization rate of radial space. In the present application, the housing 500, the input shaft 400, and the output shaft 300 form a three-layer fitting structure, which satisfies good assembly coaxiality compared with the conventional arrangement method in which the shafts are linearly distributed from right to left along the axial direction, shortens the overall length of the joint, saves axial space, and fully utilizes radial space.

[0032] The power transmission process of the rotary joint transmission mechanism 10 according to the present application will be specifically described below.

[0033] The motor rotates the rotor 110 and transmits high rotation speed, low torque power to the reducer via the input shaft 400, and the reducer converts the high rotation speed, low torque power generated by the motor into low rotation speed, high torque power and transmits it to another device via the output shaft 300. This completes the power transmission of the power transmission mechanism 10.

[0034] 2 and 3, the second end 322, the fourth end 422, and the sixth end 530 are provided in a stepped shape. Specifically, the distance between the second end 322 and the power system 101 (or the transmission member 200) is greater than the distance between the fourth end 422 and the power system 101 (or the transmission member 200), and the distance between the fourth end 422 and the power system 101 (or the transmission member 200) is greater than the distance between the sixth end 530 and the power system 101 (or the transmission member 200). That is, the second end 322 protrudes from the plane on which the fourth end 422 is located, and the fourth end 422 protrudes from the plane on which the sixth end 530 is located. By providing them in this way, the housing 500, the first mounting shaft 320, and the second mounting shaft 420 can be easily attached and detached. Of course, in other embodiments, conversely, the distance between the second end 322 and the power system 101 (or the transmission member 200) may be smaller than the distance between the fourth end 422 and the power system 101 (or the transmission member 200), and the distance between the fourth end 422 and the power system 101 (or the transmission member 200) may be smaller than the distance between the sixth end 530 and the power system 101 (or the transmission member 200), i.e., the fourth end 422 may protrude from the plane on which the second end 322 is located, and the sixth end 530 may protrude from the plane on which the fourth end 422 is located. In other embodiments, the first end 321, the third end 421 and the fifth end 520 may be provided in a stepped shape.

[0035] 2 and 3, the first bearing 600 is provided between the first mounting shaft 320 and the second mounting shaft 420, i.e., the first bearing 600 is fitted onto the first mounting shaft 320, and the second mounting shaft 420 is fitted onto the first bearing 600. In this embodiment, the first bearing 600 is located at one end between the first mounting shaft 320 and the second mounting shaft 420, close to the fourth end 422, and the first shoulder portion 330 is configured to restrict the first bearing 600 from moving in a direction away from the fourth end 422. In this embodiment, when the first bearing 600 is mounted between the first mounting shaft 320 and the second mounting shaft 420, one end of the first bearing 600 abuts against the first shoulder 330, the other end of the first bearing 600 is flush with the plane on which the fourth end 422 is located, the outer ring of the first bearing 600 abuts against the inner wall of the second mounting shaft 420, and the inner ring of the first bearing 600 abuts against the outer wall of the first mounting shaft 320. In this way, the first bearing 600 plays a role in supporting the sides of the first mounting shaft 320 and the second mounting shaft 420 that are away from the transmission member 200, and can ensure that the first mounting shaft 320 and the second mounting shaft 420 rotate independently of each other. In this embodiment, the first bearing 600 is a deep groove ball bearing, which is a radial ball bearing in which the rolling elements are balls and each raceway has a continuous groove raceway whose cross section is about one-third the circumference of the ball, and which has the characteristics of low friction resistance and high rotation speed, and may be used in mechanical parts that receive radial loads or combined loads acting simultaneously in the radial and axial directions, or may be used in mechanical parts that receive axial loads. Of course, in other embodiments, the first bearing 600 may be other types of bearings.

[0036] Preferably, as shown in FIG. 2 and FIG. 3, the first bearing 600 is attached between the first mounting shaft 320 and the second mounting shaft 420 by fixing the first bearing 600 and the outer wall of the first mounting shaft 320 and the first bearing 600 and the inner wall of the second mounting shaft 420 with an adhesive. Specifically, the adhesive 609 is used as the adhesive, and the adhesive 609 has high adhesive strength and can improve the engagement strength between the first bearing 600 and the first mounting shaft 320 and the second mounting shaft 420. Of course, other types of adhesives may be selected according to need. The first bearing 600 and the outer wall of the first mounting shaft 320 and the inner wall of the second mounting shaft 420 may be interference-fitted between the first bearing 600 and the outer wall of the first mounting shaft 320 and the inner wall of the second mounting shaft 420 so that the first bearing 600 is attached between the first mounting shaft 320 and the second mounting shaft 420. In this embodiment, the first bearing 600 is tightly fitted between the outer wall of the first mounting shaft 320 and between the inner wall of the second mounting shaft 420, and is fixed by adhesive at the same time. In this way, the engagement strength between the first bearing 600 and the first mounting shaft 320 and between the first bearing 600 and the second mounting shaft 420 can be ensured.

[0037] 2 and 3, the second bearing 700 is provided between the second mounting shaft 420 and the housing 500, i.e., the second bearing 700 is fitted onto the second mounting shaft 420, and the housing 500 is fitted onto the second bearing 700. In this embodiment, the second bearing 700 is located at one end between the second mounting shaft 420 and the housing 500, close to the sixth end 530, and the second shoulder 550 is configured to restrict the second bearing 700 from moving in a direction away from the sixth end 530. Specifically, an annular receiving groove 540 is provided on the inner wall of the housing 500, and the second shoulder 550 is provided on the bottom wall of the receiving groove 540. When the second bearing 700 is mounted between the second mounting shaft 420 and the housing 500, the second bearing 700 is inserted into the receiving groove 540, one end of the second bearing 700 abuts against the second shoulder 550, the other end of the second bearing 700 is flush with one side wall of the receiving groove 540, the outer ring of the second bearing 700 abuts against the bottom wall of the receiving groove 540, and the inner ring of the second bearing 700 abuts against the outer wall of the second mounting shaft 420. In this way, the second bearing 700 plays a role in supporting the second mounting shaft 420 and the side of the housing 500 that is away from the transmission member 200, and ensures that the second mounting shaft 420 can rotate relative to the housing 500. Of course, the assembly method of the second bearing 700 is not limited to this, and the assembly of the second bearing 700 may be realized in other ways.

[0038] In this embodiment, the second bearing 700 is also a deep groove ball bearing. Of course, in other embodiments, the second bearing 700 may be another type of bearing. In this embodiment, the second bearing 700 is a deep groove ball bearing having a larger dimension than the first bearing 600 so as to accommodate a case in which the radial distance between the housing 500 and the second mounting shaft 420 is larger than the radial distance between the second mounting shaft 420 and the first mounting shaft 320. Of course, in other embodiments, the first bearing 600 and the second bearing 700 may be deep groove ball bearings of the same dimension and model number as necessary.

[0039] Preferably, as shown in FIG. 2 and FIG. 3, the second bearing 700 is attached between the second mounting shaft 420 and the housing 500 by fixing the second bearing 700 between the outer wall of the second mounting shaft 420 and the inner wall of the housing 500 with an adhesive. Specifically, the 609 adhesive is used as the adhesive, and the 609 adhesive has high adhesive strength and can improve the engagement strength between the second bearing 700, the second mounting shaft 420, and the housing 500. Of course, other types of adhesives may be selected according to need. The second bearing 700 may be interference-fit between the outer wall of the second mounting shaft 420 and the inner wall of the housing 500, so that the second bearing 700 is attached between the second mounting shaft 420 and the housing 500. In this embodiment, the second bearing 700 is tightly fitted with the outer wall of the second mounting shaft 420 and with the inner wall of the housing 500, and is fixed with an adhesive at the same time. In this way, the engagement strength between the second bearing 700 and the second mounting shaft 420 and the housing 500 can be ensured.

[0040] The process of mounting and dismounting the rotary joint transmission mechanism 10 according to the present invention will now be described in detail.

[0041] During installation, first, the first end 321 of the first mounting shaft 320 is attached to the first transmission shaft 310, and the third end 421 of the second mounting shaft 420 is attached to the second transmission shaft 410. Then, the first bearing 600 is press-fitted between the first mounting shaft 320 and the second mounting shaft 420 from the right side in FIG. 2, that is, from the side away from the power system 101 (or the transmission member 200) having the three-layer fitting structure, so that one end of the first bearing 600 abuts against the first shoulder portion 330, and the other end of the first bearing 600 is flush with the plane where the fourth end 422 is located. The first bearing 600 and the outer wall of the first mounting shaft 320, and the first bearing 600 and the inner wall of the second mounting shaft 420 are fixed by adhesive bonding and interference fit. Thereafter, the second bearing 700 is press-fitted into the receiving groove 540 of the housing 500 so that one end of the second bearing 700 abuts against the second shoulder 550 and the other end of the second bearing 700 is flush with one side wall of the receiving groove 540. The second bearing 700 and the inner wall of the housing 500 are bonded and fixed with an adhesive. Finally, the housing 500 together with the second bearing 700 is fitted onto the second mounting shaft 420. The second bearing 700 and the outer wall of the second mounting shaft 420 are bonded and fixed with an adhesive. At the same time, the second bearing 700 and the outer wall of the second mounting shaft 420 and the second bearing 700 and the inner wall of the housing 500 are fixed by interference fit. In this way, the installation process of the transmission mechanism 10 for a rotary joint is completed. First, the second bearing 700 is pressed into the housing 500, and then the combination of the second bearing 700 and the housing 500 is attached to the second mounting shaft 420. Therefore, it is only necessary to consider the engagement between the second bearing 700 and the outer wall of the second mounting shaft 420, which reduces the error in the mounting gap and makes the installation less difficult.

[0042] When removing, first, the combination of the housing 500 and the second bearing 700 is removed from the second mounting shaft 420, then the second mounting shaft 420 is removed from the second transmission shaft 410 using a special tool, and the first bearing 600 is removed from the first mounting shaft 320, and finally, the first mounting shaft 320 is removed from the first transmission shaft 310 using a special tool.

[0043] Since the sides of the housing 500, the second mounting shaft 420, and the first mounting shaft 320 away from the power system 101 (i.e., the second end 322, the fourth end 422, and the sixth end 530) are provided in a stepped shape, it is easy to attach the housing 500, the second mounting shaft 420, and the first mounting shaft 320 one layer at a time, and it is also easy to remove the housing 500, the second mounting shaft 420, and the first mounting shaft 320 one layer at a time, and in particular, it is easy to clamp the parts that need to be removed with a dedicated jig. In addition, the overall structure is compact, the appearance is small, and it is easy to integrate it into other structures.

[0044] In addition, by providing the first bearing 600 and the second bearing 700, the second mounting shaft 420 and the first mounting shaft 320, or the output shaft 300 and the input shaft 400, can rotate independently of each other, and reliable rigid support is provided in the radial direction of the output shaft 300, the input shaft 400, and the housing 500.

[0045] At the same time, the first bearing 600 and the second bearing 700 are both fixed between the first mounting shaft 320 and the second mounting shaft 420, and between the second mounting shaft 420 and the housing 500, by a combination of adhesive bonding and interference fit, and at the same time, their positions are restricted by the first shoulder portion 330 and the second shoulder portion 550, eliminating the need for additional fixing or position restricting members, greatly simplifying the three-layer fitting structure and reducing manufacturing difficulty and costs.

[0046] As shown in FIG. 6, an embodiment of the present application further provides a robot joint 1 having a transmission mechanism 10 according to any of the above embodiments.

[0047] As shown in FIG. 6, an embodiment of the present application further provides a robot having at least one robot joint 1 as described above.

[0048] The above-mentioned rotary joint transmission mechanism 10 has at least the following beneficial effects.

[0049] In the transmission mechanism 10, as shown in Fig. 2 and Fig. 5, the input shaft 400 is drivingly connected to the driving end 110a and the input end 220, and transmits the kinetic energy output from the driving end 110a of the driving member 100 to the input end 220 of the transmission member 200 via the input shaft 400, and the output shaft 300 is drivingly connected to the output end 210, and outputs the kinetic energy of the transmission member 200, thereby realizing the transmission of kinetic energy from the driving member 100 to the transmission member 200. The housing 500, the input shaft 400 and the output shaft 300 form a three-layer fitting structure, which satisfies good assembly coaxiality and can shorten the total length of the joint, for example, the length of the three-layer fitting structure can be shortened to 20 mm or less, compared with the conventional arrangement method linearly distributed along the axial direction from right to left. Compared with the conventional arrangement method linearly distributed along the axial direction, it saves about 26% of the axial space and fully utilizes the radial space.

[0050] Each technical feature of the above-described embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of each technical feature in the above-described embodiments are described, but these combinations should be considered to fall within the scope described in this specification unless there is a contradiction.

[0051] The above examples are merely some embodiments of the present application, and although the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent of the present application. It should be noted that those skilled in the art may make various modifications and improvements to the present application without departing from the spirit of the present application, and all of these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the patent of the present application should be based on the scope of the attached claims.

Claims

1. a drive member having a drive end; a transmission member having an output end and an input end; an output shaft drivingly connected to the output end; an input shaft drivingly connected to both the drive end and the input end and fitted onto the output shaft; a housing fitted onto the input shaft.

2. 2. The transmission mechanism for a rotary joint according to claim 1, further comprising a first side and a second side opposed to each other, the drive member and the transmission member are both provided on the first side, and the output shaft and the input shaft extend from the first side to the second side.

3. 3. The transmission mechanism for a rotary joint according to claim 2, wherein the output shaft, the input shaft and the second end of the housing are provided in a stepped manner, and the end of the output shaft protrudes beyond the end of the input shaft and the end of the housing.

4. 3. The transmission mechanism for a rotary joint according to claim 2, wherein the output shaft includes a first transmission shaft and a first mounting shaft, a portion of the first transmission shaft adjacent to the first side is drivingly connected to the output end of the transmission member and a portion of the first transmission shaft adjacent to the second side is fixedly connected to the first mounting shaft, the input shaft includes a second transmission shaft and a second mounting shaft, a portion of the second transmission shaft adjacent to the first side is drivingly connected to the input end of the transmission member and a portion of the second transmission shaft away from the first side is fixedly connected to the second mounting shaft, and the second transmission shaft is drivingly connected to the drive end of the drive member.

5. 5. The transmission mechanism for a rotary joint according to claim 4, wherein at least a portion of the first mounting shaft is inserted into a portion of the first transmission shaft adjacent to the second side, and at least a portion of the second mounting shaft is inserted into a portion of the second transmission shaft adjacent to the second side.

6. 5. The transmission mechanism for a rotary joint according to claim 4, wherein an outer diameter of the first transmission shaft is larger than an outer diameter of the first mounting shaft, and an inner diameter of the second transmission shaft is smaller than an inner diameter of the second mounting shaft.

7. 5. The transmission mechanism for a rotary joint according to claim 4, wherein a first bearing is fitted between the first mounting shaft and the second mounting shaft, and a first shoulder portion is provided on an outer wall of the first mounting shaft, the first shoulder portion being configured to limit movement of the first bearing in a direction approaching the first side.

8. 5. The transmission mechanism for a rotary joint according to claim 4, wherein a second bearing is fitted between the second mounting shaft and the housing, and a second shoulder portion configured to limit movement of the second bearing in a direction approaching the first side is provided on an inner wall of the housing.

9. A robot joint comprising the rotary joint transmission mechanism according to any one of claims 1 to 8.

10. A robot comprising the robot joint according to claim 9.

Images