CN113942035B - Joint assembly and robot - Google Patents
Joint assembly and robot Download PDFInfo
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- CN113942035B CN113942035B CN202111257153.0A CN202111257153A CN113942035B CN 113942035 B CN113942035 B CN 113942035B CN 202111257153 A CN202111257153 A CN 202111257153A CN 113942035 B CN113942035 B CN 113942035B
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 66
- 230000002093 peripheral effect Effects 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 9
- 239000000945 filler Substances 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 4
- 230000004308 accommodation Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
The invention provides a joint assembly and a robot, wherein the joint assembly comprises: the joint shell comprises a containing cavity and a positioning part arranged in the containing cavity, and the positioning part is provided with a radial positioning surface and/or an axial positioning surface; the speed reducer is arranged in the accommodating cavity and is provided with a radial limiting surface and/or an axial limiting surface; the radial positioning surface is parallel to the axial direction of the input shaft of the speed reducer and is used for being abutted with the radial limiting surface, and/or the axial positioning surface is perpendicular to the axial direction of the input shaft and is used for being abutted with the axial limiting surface, so that when the speed reducer is installed in the accommodating cavity, the speed reducer is positioned through the cooperation of the radial positioning surface and the radial limiting surface and/or the cooperation of the axial positioning surface and the axial limiting surface, the installation accuracy of the speed reducer is improved, and the problem that the installation accuracy of the speed reducer with joints in the prior art is lower is solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a joint assembly and a robot.
Background
In order to reduce the weight, the industrial robot is required to be compact and lightweight, and therefore, the structure of a speed reducer, which is a joint core component thereof, is particularly pointed out.
In order to achieve high stability of the movement of the robot joint, it is necessary to make the installation accuracy of the speed reducer of the joint high.
Disclosure of Invention
The invention mainly aims to provide a joint assembly and a robot, which are used for solving the problem of lower installation precision of a speed reducer of a robot joint in the prior art.
To achieve the above object, according to one aspect of the present invention, there is provided a joint assembly comprising: the joint shell comprises a containing cavity and a positioning part arranged in the containing cavity, and the positioning part is provided with a radial positioning surface and/or an axial positioning surface; the speed reducer is arranged in the accommodating cavity and is provided with a radial limiting surface and/or an axial limiting surface; the radial positioning surface is parallel to the axial direction of the input shaft of the speed reducer and is used for being abutted with the radial limiting surface, and/or the axial positioning surface is perpendicular to the axial direction of the input shaft and is used for being abutted with the axial limiting surface so as to position the speed reducer; the radial positioning surface and the radial limiting surface are at least one, and the at least one radial positioning surface and the at least one radial limiting surface are arranged in a one-to-one correspondence manner; the axial locating surface and the axial limiting surface are at least one, and the at least one axial locating surface and the at least one axial limiting surface are arranged in one-to-one correspondence.
Further, the positioning part comprises a protruding part protruding on the inner wall of the accommodating cavity, and the speed reducer comprises an outer casing sleeved on the outer side of the input shaft; the outer shell is provided with a first end face and a second end face, and the speed reducer is positioned on the second side of the protruding part; the second side surface is used for being abutted with the first end surface, so that the second side surface and the first end surface respectively form an axial positioning surface and an axial limiting surface.
Further, the outer casing is columnar, and comprises a first casing part and a second casing part which are connected with each other along the axial direction of the input shaft, and the first casing part is positioned at one side of the second casing part, which is close to the protruding part; the outer peripheral surface of the first shell part is positioned on one side of the outer peripheral surface of the second shell part, which is close to the central axis of the input shaft, along the direction perpendicular to the axial direction of the input shaft; the second side surface of the protruding part is convexly provided with a protruding part, and the protruding direction of the protruding part is parallel to the axial direction of the input shaft; the outer peripheral surface of the protruding portion is used for being abutted with the outer peripheral surface of the first shell portion, so that the outer peripheral surface of the protruding portion and the outer peripheral surface of the first shell portion form a radial positioning surface and a radial limiting surface respectively.
Further, the second side surface comprises a first surface body and a second surface body which are distributed along the direction perpendicular to the axial direction of the input shaft, the second surface body is positioned at one side of the first surface body, which is close to the first side surface, along the axial direction of the input shaft, and the first surface body is used for being abutted with the first end surface; the speed reducer comprises a first bearing sleeved on the input shaft, and the outer ring of the first bearing is connected with the protruding part; along the axial direction of the input shaft, the first bearing is provided with a bearing end face close to the second surface body, the second surface body is used for being abutted with the bearing end face, and the bearing end face forms an axial limiting surface.
Further, the speed reducer includes: the outer shell comprises a sleeved hole and a boss part protruding from the inner wall of the sleeved hole towards the central axis of the input shaft, and is sleeved outside the input shaft through the sleeved hole; the second bearing is arranged between the boss part and the input shaft, and the outer peripheral surface of the second bearing is abutted with the protruding end surface of the boss part.
Further, the speed reducer includes: the external shell is sleeved on the input shaft, and a second bearing is arranged between the external shell and the input shaft; the cover body is fixedly arranged, and is positioned at one side of the input shaft along the axial direction of the input shaft; and the filling piece is arranged in the axial direction of the input shaft in a telescopic way and is clamped in a gap between the outer ring of the second bearing and the cover body.
Further, the input shaft is a hollow shaft, and the joint assembly further comprises a wire passing pipe penetrating through the hollow cavity of the input shaft, wherein the extending direction of the wire passing pipe is parallel to the axial direction of the input shaft; the wire passing pipe comprises a pipe inner layer and a pipe outer layer rotatably sleeved on the outer side of the pipe inner layer, and the pipe outer layer and the input shaft are arranged in a relatively rotatable mode.
Further, the joint assembly also comprises a motor arranged in the accommodating cavity, a transmission gear is sleeved on an output shaft of the motor, and meshing teeth matched with the transmission gear are arranged on an input shaft; and/or along the axial direction of the input shaft, the accommodating cavity is divided into a first cavity part and a second cavity part, and the motor and the speed reducer are respectively positioned in the first cavity part and the second cavity part.
Further, the filling member is of an annular structure.
According to another aspect of the present invention, there is provided a robot including the above-described joint assembly.
By applying the technical scheme of the invention, the joint assembly comprises a joint shell and a speed reducer arranged in the accommodating cavity, the joint shell comprises an accommodating cavity and a positioning part arranged in the accommodating cavity, the positioning part is provided with a radial positioning surface and/or an axial positioning surface, and the speed reducer is provided with a radial limiting surface and/or an axial limiting surface; the radial positioning surface is parallel to the axial direction of the input shaft of the speed reducer and is used for being abutted with the radial limiting surface, and/or the axial positioning surface is perpendicular to the axial direction of the input shaft and is used for being abutted with the axial limiting surface so as to position the speed reducer; the radial positioning surface and the radial limiting surface are at least one, and the at least one radial positioning surface and the at least one radial limiting surface are arranged in a one-to-one correspondence manner; the axial locating surface and the axial limiting surface are at least one, and the at least one axial locating surface and the at least one axial limiting surface are arranged in one-to-one correspondence.
In the concrete implementation process, when the speed reducer is installed into the accommodating cavity, the speed reducer is positioned in the axial direction of the input shaft and the radial direction perpendicular to the axial direction of the input shaft through the matching of the radial positioning surface and the radial limiting surface and/or the matching of the axial positioning surface and the axial limiting surface, so that the installation accuracy of the speed reducer is improved, and the problem that the installation accuracy of the speed reducer of the robot joint in the prior art is lower is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 illustrates a schematic view of the mating structure of a joint housing and a speed reducer of a joint assembly according to the present invention;
FIG. 2 shows a schematic structural view of the joint housing of the joint assembly of FIG. 1;
FIG. 3 is a schematic view showing an external structure of a decelerator of the joint assembly according to the present invention;
figure 4 shows a cross-sectional view at A-A of the reducer of the joint assembly of figure 3.
Wherein the above figures include the following reference numerals:
10. a joint housing; 11. a housing portion; 111. a receiving chamber; 112. a first cavity portion; 113. a second cavity portion;
123. a protruding portion; 1231. a first side; 1232. a second side; 1233. a first face; 1234. a second dihedral body; 124. a boss;
20. a speed reducer; 23. an outer housing; 231. a first end face; 232. a second end face; 233. a first shell portion; 234. a second shell portion; 235. a boss portion; 24. an input shaft; 241. meshing teeth; 25. a first bearing; 251. a bearing end face; 26. a second bearing; 27. a cover body; 28. a filler; 29. a wave generator;
30. a wire passing tube; 31. an inner layer of the tube; 32. an outer layer of the tube; 40. a motor; 50. a transmission gear.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The invention provides a joint assembly, please refer to fig. 1-4, the joint assembly includes a joint housing 10 and a speed reducer 20 arranged in a containing cavity 111, the joint housing 10 includes a containing cavity 111 and a positioning part arranged in the containing cavity 111, the positioning part has a radial positioning surface and/or an axial positioning surface, the speed reducer 20 has a radial limiting surface and/or an axial limiting surface; wherein, the radial positioning surface is parallel to the axial direction of the input shaft 24 of the speed reducer 20 and is used for abutting with the radial limiting surface, and/or the axial positioning surface is perpendicular to the axial direction of the input shaft 24 and is used for abutting with the axial limiting surface so as to position the speed reducer 20; the radial positioning surface and the radial limiting surface are at least one, and the at least one radial positioning surface and the at least one radial limiting surface are arranged in a one-to-one correspondence manner; the axial locating surface and the axial limiting surface are at least one, and the at least one axial locating surface and the at least one axial limiting surface are arranged in one-to-one correspondence; namely, when the radial positioning surface and the radial limiting surface are both one, the radial positioning surface is used for being abutted with the radial limiting surface; when the radial positioning surfaces and the radial limiting surfaces are multiple, the radial positioning surfaces and the radial limiting surfaces are arranged in a one-to-one correspondence manner, and each radial positioning surface is used for being abutted with the corresponding radial limiting surface; when the axial positioning surface and the axial limiting surface are both one, the axial positioning surface is used for being abutted with the axial limiting surface; when the axial locating surfaces and the axial limiting surfaces are multiple, the axial locating surfaces and the axial limiting surfaces are arranged in a one-to-one correspondence mode, and each axial locating surface is used for being abutted with the corresponding axial limiting surface.
In the specific implementation process, when the speed reducer 20 is installed in the accommodating cavity 111, the speed reducer 20 is positioned in the axial direction of the input shaft 24 and the radial direction perpendicular to the axial direction of the input shaft 24 through the matching of the radial positioning surface and the radial limiting surface and/or the matching of the axial positioning surface and the axial limiting surface, so that the installation accuracy of the speed reducer 20 is improved, and the problem that the installation accuracy of the speed reducer of the robot joint in the prior art is low is solved.
Optionally, the speed reducer 20 is a harmonic speed reducer.
Specifically, the joint housing 10 includes a housing portion 11 enclosing a receiving cavity 111.
Specifically, the positioning portion includes a protruding portion 123 protruding on the inner wall of the accommodation chamber 111, and the speed reducer 20 includes an outer casing 23 fitted over the outside of the input shaft 24; along the axial direction of the input shaft 24, the protruding portion 123 has a first side face 1231 and a second side face 1232, the outer case 23 has a first end face 231 and a second end face 232, and the speed reducer 20 is located on the second side of the protruding portion 123; the second side surface 1232 is configured to abut against the first end surface 231, so that the second side surface 1232 and the first end surface 231 respectively form an axial positioning surface and an axial limiting surface.
Specifically, the outer casing 23 is columnar, and the outer casing 23 includes a first casing portion 233 and a second casing portion 234 connected to each other in the axial direction of the input shaft 24, and the first casing portion 233 is located on a side of the second casing portion 234 close to the projection 123; the outer peripheral surface of the first casing portion 233 is located on a side of the outer peripheral surface of the second casing portion 234, which is close to the central axis of the input shaft 24, in a direction perpendicular to the axial direction of the input shaft 24; the second side 1232 of the protruding portion 123 is provided with a protruding portion 124 in a protruding direction parallel to the axial direction of the input shaft 24; the outer peripheral surface of the boss 124 is configured to abut against the outer peripheral surface of the first casing 233, so that the outer peripheral surface of the boss 124 and the outer peripheral surface of the first casing 233 form a radial positioning surface and a radial limiting surface, respectively.
Specifically, the convex portion 124 divides the second side surface 1232 into two side surface portions, of which the side surface portion of the second side surface 1232 of the convex portion 123, which is close to the center axis of the input shaft 24 is for abutment with the first end surface 231; the end surface of the first shell portion 233 remote from the second shell portion 234 is a first end surface 231, and the end surface of the second shell portion 234 remote from the first shell portion 233 is a second end surface 232.
Specifically, the second side surface 1232 includes a first surface body 1233 and a second surface body 1234 that are distributed in a direction perpendicular to the axial direction of the input shaft 24, the second surface body 1234 being located on a side of the first surface body 1233 that is close to the first side surface 1231 in the axial direction of the input shaft 24, the first surface body 1233 being for abutment with the first end surface 231; the speed reducer 20 comprises a first bearing 25 sleeved on the input shaft 24, and the outer ring of the first bearing 25 is connected with the protruding part 123; along the axial direction of the input shaft 24, the first bearing 25 has a bearing end face 251 adjacent to the second face 1234, the second face 1234 being adapted to abut the bearing end face 251, the bearing end face 251 forming an axial stop face.
Specifically, the boss 124 divides the second side surface 1232 into two side surface portions, and a side surface portion of the two side surface portions of the second side surface 1232 of the boss 123, which is close to the central axis of the input shaft 24, includes a first surface body 1233 and a second surface body 1234.
Specifically, the speed reducer 20 includes an outer casing 23 fitted over an input shaft 24, and a second bearing 26 is provided between the outer casing 23 and the input shaft 24.
Specifically, the outer casing 23 includes a fitting hole and a boss portion 235 protruding from an inner wall of the fitting hole toward a central axis of the input shaft 24, the outer casing 23 being fitted outside the input shaft 24 through the fitting hole thereof; the second bearing 26 is provided between the boss portion 235 and the input shaft 24, and an outer peripheral surface of the second bearing 26 abuts against the protruding end surface of the boss portion 235.
Specifically, the speed reducer 20 further includes a cover 27 and a filler 28 that are fixedly disposed, and the cover 27 is located at one side of the input shaft 24 along the axial direction of the input shaft 24; the packing 28 is provided telescopically in the axial direction of the input shaft 24 and is sandwiched in a gap between the outer race of the second bearing 26 and the cover 27.
Optionally, the cover 27 is a speed reducer rear cover.
Alternatively, the maximum amount of expansion of the filler element 28 in the axial direction of the input shaft 24 is 1 mm to 3 mm.
In this embodiment, the input shaft 24 is a hollow shaft, and the joint assembly further includes a wire passing tube 30 penetrating through the hollow cavity of the input shaft 24, where the wire passing tube 30 is used for the wire to pass through, and the extending direction of the wire passing tube 30 is parallel to the axial direction of the input shaft 24, so that the overall volume of the speed reducer 20 can be reduced, and the occupied space of the speed reducer can be reduced.
Specifically, the wire pipe 30 is inserted from the cover 27, and the filler 28 is a ring-shaped structure fitted over the wire pipe 30. Optionally, the filler 28 is a wave washer.
Specifically, the line pipe 30 includes an inner pipe layer 31 and an outer pipe layer 32 rotatably sleeved outside the inner pipe layer 31, the outer pipe layer 32 and the input shaft 24 being rotatably disposed relative to each other so that the inner pipe layer 31 remains stationary when the outer pipe layer 32 rotates; the lumen of the inner tube layer 31 is used for the cable to pass through, and the inner tube layer 31 and the cable in the inner tube layer are relatively static, so that the cable is prevented from being worn.
Specifically, the outer tube layer 32 is fixedly connected to the cover 27, and the outer tube layer 32 is in clearance fit with the input shaft 24 so that the outer tube layer 32 and the input shaft 24 can rotate relative to each other, i.e., the outer tube layer 32 does not rotate with the input shaft 24.
Specifically, the inner tube layer 31 and the outer tube layer 32 are clearance fit so that the inner tube layer 31 and the outer tube layer 32 are rotatable relative to each other.
In this embodiment, the joint assembly further includes a motor 40 disposed in the accommodating cavity 111, a transmission gear 50 is sleeved on an output shaft of the motor 40, and a meshing gear 241 matched with the transmission gear 50 is disposed on the input shaft 24, so that the output shaft of the motor 40 drives the input shaft 24 to rotate through meshing of the transmission gear 50 and the meshing gear 241 on the input shaft 24.
Optionally, the input shaft 24 is of unitary construction with the teeth 241 thereon.
Specifically, along the axial direction of the input shaft 24, the accommodation chamber 111 is divided into a first chamber portion 112 and a second chamber portion 113, and the motor 40 and the speed reducer 20 are located in the first chamber portion 112 and the second chamber portion 113, respectively.
Specifically, a wave generator 29 is arranged on the input shaft 24, the input shaft 24 drives the wave generator 29 to rotate, an elliptical cam in the wave generator 29 rotates in a flexspline to deform the flexspline, and when the flexspline teeth at the two ends of the major axis of the elliptical cam of the wave generator 29 and the rigid gear teeth enter into engagement, the flexspline teeth at the two ends of the minor axis are disengaged from the rigid gear teeth; for teeth between the major and minor axes of the wave generator 29, the semi-engaged state along different sections of the flexspline and rigid spline circumferences is in gradual engagement, referred to as meshing; in a semi-engaged state gradually out of engagement, referred to as engaged. When the wave generator 29 continuously rotates, the flexible gear continuously deforms, so that four motions of meshing in, meshing out and disengaging of the flexible gear teeth and the rigid gear teeth are continuously changed, staggered tooth motions are generated, and further motion transmission from the wave generator 29 to the flexible gear is realized. The rigid wheel is fixedly arranged, and a gap is formed between the outer wall surface of the rigid wheel and the inner wall surface of the outer casing 23.
Specifically, the first bearing 25 and the second bearing 26 are located at both ends of the input shaft 24, respectively.
From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:
in the joint assembly of the present invention, the joint assembly includes a joint housing 10 and a speed reducer 20 disposed in a receiving chamber 111, the joint housing 10 includes the receiving chamber 111 and a positioning portion disposed in the receiving chamber 111, the positioning portion has a radial positioning surface and/or an axial positioning surface, and the speed reducer 20 has a radial limiting surface and/or an axial limiting surface; wherein, the radial positioning surface is parallel to the axial direction of the input shaft 24 of the speed reducer 20 and is used for abutting with the radial limiting surface, and/or the axial positioning surface is perpendicular to the axial direction of the input shaft 24 and is used for abutting with the axial limiting surface so as to position the speed reducer 20; the radial positioning surface and the radial limiting surface are at least one, and the at least one radial positioning surface and the at least one radial limiting surface are arranged in a one-to-one correspondence manner; the axial locating surface and the axial limiting surface are at least one, and the at least one axial locating surface and the at least one axial limiting surface are arranged in one-to-one correspondence.
In the specific implementation process, when the speed reducer 20 is installed in the accommodating cavity 111, the speed reducer 20 is positioned in the axial direction of the input shaft 24 and the radial direction perpendicular to the axial direction of the input shaft 24 through the matching of the radial positioning surface and the radial limiting surface and/or the matching of the axial positioning surface and the axial limiting surface, so that the installation accuracy of the speed reducer 20 is improved, and the problem that the installation accuracy of the speed reducer of the robot joint in the prior art is low is solved.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be capable of being practiced otherwise than as specifically illustrated and described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A joint assembly, comprising:
a joint housing (10), the joint housing (10) comprising a receiving cavity (111) and a positioning portion disposed within the receiving cavity (111), the positioning portion having a radial positioning surface and an axial positioning surface;
the speed reducer (20) is arranged in the accommodating cavity (111), and the speed reducer (20) is provided with a radial limiting surface and an axial limiting surface;
the radial positioning surface is parallel to the axial direction of an input shaft (24) of the speed reducer (20) and is used for being abutted against the radial limiting surface, and the axial positioning surface is perpendicular to the axial direction of the input shaft (24) and is used for being abutted against the axial limiting surface so as to position the speed reducer (20);
the radial positioning surface and the radial limiting surface are at least one, and at least one radial positioning surface and at least one radial limiting surface are arranged in a one-to-one correspondence; the axial locating surface and the axial limiting surface are at least one, and at least one axial locating surface and at least one axial limiting surface are arranged in one-to-one correspondence;
the positioning part comprises a protruding part (123) protruding on the inner wall of the accommodating cavity (111), and the speed reducer (20) comprises an outer casing (23) sleeved on the outer side of the input shaft (24); along the axial direction of the input shaft (24), the protruding part (123) is provided with a first side surface (1231) and a second side surface (1232), the outer casing (23) is provided with a first end surface (231) and a second end surface (232), and the speed reducer (20) is positioned on the second side of the protruding part (123); wherein the second side surface (1232) is configured to abut against the first end surface (231) such that the second side surface (1232) and the first end surface (231) form the axial positioning surface and the axial limiting surface, respectively;
the outer casing (23) is columnar, and along the axial direction of the input shaft (24), the outer casing (23) comprises a first casing part (233) and a second casing part (234) which are connected with each other, and the first casing part (233) is positioned on one side of the second casing part (234) close to the protruding part (123); an outer peripheral surface of the first casing portion (233) is located on a side of an outer peripheral surface of the second casing portion (234) close to a central axis of the input shaft (24) in a direction perpendicular to an axial direction of the input shaft (24); a second side surface (1232) of the protruding part (123) is convexly provided with a protruding part (124), and the protruding direction of the protruding part (124) is parallel to the axial direction of the input shaft (24); the outer peripheral surface of the protruding part (124) is used for abutting against the outer peripheral surface of the first shell part (233), so that the outer peripheral surface of the protruding part (124) and the outer peripheral surface of the first shell part (233) form the radial positioning surface and the radial limiting surface respectively;
the speed reducer (20) includes: an outer casing (23) sleeved on the input shaft (24), wherein a second bearing (26) is arranged between the outer casing (23) and the input shaft (24); a cover body (27) fixedly arranged, wherein the cover body (27) is positioned at one side of the input shaft (24) along the axial direction of the input shaft (24); and a filler (28), wherein the filler (28) is telescopically arranged along the axial direction of the input shaft (24) and is clamped in a gap between the outer ring of the second bearing (26) and the cover body (27).
2. The joint assembly according to claim 1, wherein the second side (1232) comprises a first face (1233) and a second face (1234) distributed in a direction perpendicular to the axial direction of the input shaft (24), the second face (1234) being located on a side of the first face (1233) close to the first side (1231) in the axial direction of the input shaft (24), the first face (1233) being adapted to abut the first end (231);
the speed reducer (20) comprises a first bearing (25) sleeved on the input shaft (24), and the outer ring of the first bearing (25) is connected with the protruding part (123); along the axial direction of the input shaft (24), the first bearing (25) is provided with a bearing end face (251) close to the second surface body (1234), the second surface body (1234) is used for being abutted with the bearing end face (251), and the bearing end face (251) forms the axial limiting surface.
3. Joint assembly according to claim 1, wherein the reducer (20) comprises:
the external casing (23) comprises a sleeved hole and a boss part (235) protruding towards the central axis of the input shaft (24) from the inner wall of the sleeved hole, and the external casing (23) is sleeved outside the input shaft (24) through the sleeved hole;
and a second bearing (26), wherein the second bearing (26) is arranged between the boss part (235) and the input shaft (24), and the outer peripheral surface of the second bearing (26) is abutted against the protruding end surface of the boss part (235).
4. Joint assembly according to claim 1, wherein the input shaft (24) is a hollow shaft, the joint assembly further comprising a conduit tube (30) penetrating into the hollow cavity of the input shaft (24), the conduit tube (30) extending in a direction parallel to the axial direction of the input shaft (24);
the wire passing pipe (30) comprises a pipe inner layer (31) and a pipe outer layer (32) rotatably sleeved on the outer side of the pipe inner layer (31), and the pipe outer layer (32) and the input shaft (24) are rotatably arranged relatively.
5. The joint assembly according to claim 1, further comprising a motor (40) disposed within the receiving cavity (111),
a transmission gear (50) is sleeved on an output shaft of the motor (40), and meshing teeth (241) matched with the transmission gear (50) are arranged on the input shaft (24); and/or
Along the axial direction of the input shaft (24), the accommodating cavity (111) is divided into a first cavity part (112) and a second cavity part (113), and the motor (40) and the speed reducer (20) are respectively positioned in the first cavity part (112) and the second cavity part (113).
6. Joint assembly according to claim 1, wherein the filler (28) is of annular construction.
7. A robot comprising the joint assembly of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111257153.0A CN113942035B (en) | 2021-10-27 | 2021-10-27 | Joint assembly and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111257153.0A CN113942035B (en) | 2021-10-27 | 2021-10-27 | Joint assembly and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113942035A CN113942035A (en) | 2022-01-18 |
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