CN218802260U - Rotating seat assembly and robot - Google Patents

Abstract

The application relates to a rotating seat assembly and a robot. The rotating seat assembly is applied to the robot and comprises a first main body, a speed reducer and a second main body, wherein the first main body is provided with a first oil cavity, the speed reducer is at least partially arranged in the first oil cavity and is in sealing connection with the first main body, the first oil cavity is communicated with the inside of the speed reducer, the second main body is in sealing connection with the speed reducer and is located on one side, away from the first main body, of the speed reducer, the second main body is provided with a second oil cavity, and the second oil cavity is communicated with the inside of the speed reducer. The robot comprises a robot body and the rotating seat assembly, wherein one of the first main body and the second main body is arranged on the robot body. The oil cavity communicated with the inside of the speed reducer is formed in the rotating seat assembly, and lubricating oil stored in the oil cavity lubricates internal components of the speed reducer, so that the lubricating effect of the speed reducer is improved, the abrasion of the speed reducer under various working conditions is reduced, and the lubricating convenience and the using reliability of the rotating seat assembly are improved.

Description

Rotating seat assembly and robot

Technical Field

The application relates to the technical field of robots, in particular to a rotating seat assembly and a robot.

Background

The reducer is used as an important part of the robot, and the quality of the reducer directly influences the reliability of the whole robot. In order to make the decelerator operate better, it is necessary to lubricate internal components of the decelerator to reduce abrasion of the decelerator or to ensure smooth operation of the decelerator. In the related art, it is common to apply lubricating oil to a portion having relative motion in an internal member of a speed reducer, and to apply lubricating oil to a rotating shaft, thereby achieving lubrication of the speed reducer. However, in such a lubrication scheme for the speed reducer, the lubricating oil may be displaced or even thrown away along with the movement of the member or the rotating shaft to deviate from the portion to be lubricated, resulting in improper lubrication of the speed reducer and poor lubrication effect.

SUMMERY OF THE UTILITY MODEL

The application provides a rotate seat assembly and robot.

According to a first aspect of the present application, a rotary seat assembly is provided. The rotating seat assembly is applied to the robot and comprises a first main body, a speed reducer and a second main body, wherein the first main body is provided with a first oil cavity, the speed reducer is at least partially arranged in the first oil cavity and is in sealing connection with the first main body, the first oil cavity is communicated with the inside of the speed reducer, the second main body is in sealing connection with the speed reducer and is located on one side, away from the first main body, of the speed reducer, the second main body is provided with a second oil cavity, and the second oil cavity is communicated with the inside of the speed reducer.

Optionally, the speed reducer comprises a first shell and a second shell rotatably connected to the first shell, and the first shell is at least partially embedded in the first oil chamber and is fixedly connected with the first main body; the second shell is relatively and fixedly connected with the second main body; the rotating seat assembly further comprises a first sealing ring, and the first sealing ring is sleeved on the periphery of the first shell and arranged between the first main body and the first shell so as to enable the first main body to be connected with the first shell in a sealing mode.

Optionally, the first oil chamber penetrates through one side of the first main body to form a shaft hole, and the rotating seat assembly further comprises a motor which is relatively and fixedly arranged on one side of the first main body, which is far away from the first oil chamber; the speed reducer also comprises an input shaft and a transmission mechanism, the input shaft is connected with the motor and penetrates through the shaft hole, and the transmission mechanism is connected between the input shaft and the second shell; the rotating seat assembly further comprises a first oil seal, the first oil seal surrounds the input shaft and is arranged between the hole wall of the shaft hole and the input shaft, so that the first main body is in sealing connection with the input shaft.

Optionally, the first main body is provided with a first oil hole, the first oil hole is communicated with the first oil chamber, and the rotating seat assembly further comprises a first plug, the first plug is at least partially embedded in the first oil hole to seal the first oil hole; the first main body is further provided with an exhaust hole which is communicated with the first oil cavity, the hole axis direction of the exhaust hole is intersected with the hole axis direction of the first oil hole, the rotating seat assembly further comprises a second plug, and the second plug is at least partially embedded into the exhaust hole so as to seal the exhaust hole.

Optionally, the second housing is at least partially embedded in the first housing, and the speed reducer further includes a second oil seal surrounding the second housing and disposed between the first housing and the second housing, so that the first housing and the second housing are hermetically connected.

Optionally, the second main body is provided with a second oil hole, the second oil hole is communicated with the second oil chamber, and the rotating seat assembly further comprises a third plug, and the third plug is at least partially embedded in the second oil hole to seal the second oil hole.

Optionally, the second main body comprises a first shell and a second shell, at least part of structures of the first shell and at least part of structures of the second shell are arranged at intervals to form a second oil chamber, the first shell is connected to the speed reducer, and the second shell is provided with a first opening communicated with the second oil chamber; the rotating seat assembly further comprises a first sealing piece, and the first sealing piece is arranged at the first opening to seal the first opening.

Optionally, the second main part still includes the sheet metal part, and sheet metal part fixed connection deviates from one side of second oil pocket in the second shell, and sheet metal part covers first opening and first sealing member.

Optionally, the second main body further includes a protruding portion, the protruding portion is connected to a side of the first housing, which is away from the second oil chamber, the protruding portion is embedded in an inner cavity of the speed reducer, and the second oil chamber penetrates through the first housing and the protruding portion to communicate with the inner cavity of the speed reducer; the rotating seat assembly further comprises a second sealing ring, and the second sealing ring is sleeved on the periphery of the protruding portion and arranged between the speed reducer and the protruding portion so that the speed reducer is connected with the protruding portion in a sealing mode.

Optionally, the first housing is provided with a second opening communicating with the second oil chamber, and the rotating seat assembly further includes a second sealing member covering the second opening to seal the second opening.

According to a second aspect of the present application, there is provided a robot including a robot body and the above-described rotating base assembly, one of the first main body and the second main body being provided to the robot body.

In the rotation seat assembly that this application provided, first main part and second main part are connected respectively in the both sides of reduction gear, and first main part and second main part all with reduction gear sealing connection. The first main body is provided with a first oil cavity, the second main body is provided with a second oil cavity, the first oil cavity and the second oil cavity are communicated with the inside of the speed reducer, and lubricating oil in the first oil cavity and lubricating oil in the second oil cavity can lubricate the speed reducer so as to reduce abrasion of the inner structure of the speed reducer. The rotating seat assembly is internally provided with an oil cavity communicated with the interior of the speed reducer, the oil cavity can be used for storing more lubricating oil, and the lubricating oil is prevented from being gradually reduced due to swinging and displacement, so that the lubricating oil in the oil cavity is used for lubricating the internal components of the speed reducer, and the lubricating effect of the speed reducer is improved. Furthermore, the rotating seat assembly is provided with oil cavities on two sides of the speed reducer respectively to lubricate the speed reducer, so that the application requirements of forward installation, inverted installation and side installation of the rotating seat assembly can be met, the abrasion of the speed reducer under various working conditions is reduced, and the lubrication convenience and use reliability of the rotating seat assembly are improved.

Drawings

In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 shows a schematic structural diagram of a rotating seat assembly provided in an embodiment of the present application.

Fig. 2 is a schematic view of the rotary seat assembly shown in fig. 1 from another perspective.

FIG. 3 illustratesbase:Sub>A cross-sectional view A-A of the rotary union of FIG. 1.

Fig. 4 shows a schematic cross-sectional view of the rotating seat assembly shown in fig. 3 with the first body and the second body omitted.

FIG. 5 illustrates a cross-sectional view B-B of the rotating mount assembly shown in FIG. 2.

Fig. 6 shows a schematic block diagram of a robot provided in an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be apparent that the described embodiments are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

As used in this specification and the appended claims, certain terms are used to refer to particular components, and it will be appreciated by those skilled in the art that a manufacturer of hardware may refer to a component by different names. The specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to,"; "substantially" means that a person skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

The test device and the vehicle proposed by the present application will be further explained with reference to the following detailed description and the accompanying drawings.

Referring to fig. 1 and fig. 2, an embodiment of the present invention provides a rotary seat assembly 100, where the rotary seat assembly 100 can be applied to a robot 200 (as shown in fig. 5), and the rotary seat assembly 100 can drive a structure of the robot 200 to rotate through rotation of the structure thereof.

Referring to fig. 3 to 5, in the present embodiment, the rotating seat assembly 100 includes a first body 10, a speed reducer 30, and a second body 50, the first body 10 is provided with a first oil chamber 12, and the speed reducer 30 is at least partially disposed in the first oil chamber 12 and is hermetically connected to the first body 10. The second body 50 is located at a side of the decelerator 30 away from the first body 10, and is hermetically connected to the decelerator 30. The second main body 50 is provided with a second oil chamber 52, the first oil chamber 12 and the second oil chamber 52 are both communicated with the inside of the speed reducer 30, and the lubricating oil in the first oil chamber 12 and the lubricating oil in the second oil chamber 52 can lubricate the speed reducer 30, so that the abrasion of the internal structure of the speed reducer 30 is reduced.

An oil chamber communicated with the inside of the speed reducer 30 is formed in the rotating base assembly 100, and the internal components of the speed reducer 30 are lubricated by lubricating oil stored in the oil chamber, so that the lubricating effect of the speed reducer 30 is improved. Further, the rotating seat assembly 100 is provided with oil cavities on two sides of the speed reducer 30 respectively to lubricate the speed reducer 30, so that the application requirements of forward installation, inverted installation and side installation of the rotating seat assembly 100 can be met, the abrasion of the speed reducer 30 under various working conditions is reduced, and the lubrication convenience and the use reliability of the rotating seat assembly 100 are improved.

In this application, the terms "mounted," "connected," "secured," and the like are to be construed broadly unless otherwise specifically stated or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, or they may be connected through both elements, or they may be in surface contact with each other only. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this embodiment, the first body 10 is substantially in the shape of a robot arm, and the first body 10 can be used to connect to the execution end 203 of the robot 200 (as shown in fig. 5). Specifically, in the present embodiment, the first oil chamber 12 is disposed at one side of the first main body 10 and is a substantially open cavity on the first main body 10, for example, the first oil chamber 12 forms a mounting opening (not labeled) on the first main body 10, and the mounting opening is used for mounting the speed reducer 30 or for mounting the second main body 50. The first oil chamber 12 is formed through one side of the first body 10 with a shaft hole 121, and the shaft hole 121 is used to receive a partial structure of the decelerator 30. Specifically, the shaft hole 121 may be located on a side of the first body 10 away from the mounting opening, and the shaft hole 121 penetrates the first body 10 along the predetermined axial direction O. The first body 10 may be further provided with a first oil hole 14, the first oil hole 14 communicating with the first oil chamber 12, and the first oil hole 14 may serve as an oil injection hole of the first oil chamber 12, and oil can be injected into the first oil chamber 12 from the outside through the first oil hole 14. Further, the first oil holes 14 may be arranged in parallel with the shaft hole 121 at an interval, and the hole axis direction of the first oil holes 14 may be substantially parallel to the predetermined axial direction O.

The rotary seat assembly 100 further includes a first plug 101, and the first plug 101 is at least partially inserted into the first oil hole 14 to seal the first oil hole 14 to prevent the oil in the first oil chamber 14 from leaking into other components of the rotary seat assembly 100. Further, since the first plug 101 is used as a wearing member, the first plug 101 is detachably disposed in the first oil hole 14, so that the first plug 101 can be replaced after wearing, and the rotating base assembly 100 can be maintained conveniently. The shape of the first plug 101 is not limited in the present specification, and the shape of the first plug 101 is adapted to the shape of the first oil hole 14, for example, the first plug 101 may be a hemispherical plug, an elliptical plug, a disc plug, a spherical cap plug, or the like.

In this embodiment, the first body 10 may further include a vent hole 16, and the vent hole 16 is communicated with the first oil chamber 14, so that heat and gas generated in the speed reducer 30 can be exhausted, thereby reducing the temperature and pressure in the speed reducer 30, and protecting the service life of parts, bearings, and seals. Specifically, in the present embodiment, the hole axis direction of the exhaust hole 16 intersects with the hole axis direction of the first oil hole 14, and the included angle therebetween may be greater than or equal to 45 degrees, and in the present embodiment, the hole axis direction of the exhaust hole 16 and the hole axis direction of the first oil hole 14 may be perpendicular to each other. The rotating base assembly 100 further includes a second plug 103, and the second plug 103 is at least partially inserted into the exhaust hole 16 to seal the exhaust hole 16. Further, since the second plug 103 is used as a wear member, the second plug 103 is detachably disposed in the exhaust hole 16, so that the second plug 103 can be replaced after being worn, and the rotating base assembly 100 can be maintained conveniently. The shape of the second plug 103 is not limited in this specification, and the shape of the second plug 103 is adapted to the shape of the exhaust hole 16, for example, the second plug 103 may be a hemispherical plug, an elliptical plug, a disc plug, a spherical plug, and the like.

In this embodiment, the rotating seat assembly 100 may further include a motor 70, the motor 70 may be relatively fixedly disposed on a side of the first main body 10 away from the first oil chamber 12, and the motor 70 is used for connecting an input end of the speed reducer 30 and can drive the speed reducer 30 to move, so as to drive the first main body 10 to move relative to the second main body 50. In other embodiments, the motor 70 may be disposed inside the first body 10, and power supply lines and communication links (not shown) of the motor 70 may be arranged inside the first body 10 to save the space occupied by the rotary seat assembly 100.

In the present embodiment, the decelerator 30 includes a first casing 32 and a second casing 34, and the second casing 34 is rotatably connected to the first casing 32. The first housing 32 is at least partially embedded in the first oil chamber 12 and is fixedly connected to the first body 10. The rotating seat assembly 100 further includes a first sealing ring 105, the first sealing ring 105 is sleeved on the periphery of the first casing 32, and the first sealing ring 105 is disposed between the first main body 10 and the first casing 32, so that the first main body 10 is hermetically connected to the first casing 32, and the lubricant inside the speed reducer 30 is prevented from leaking to the first main body 10. The description does not limit the type of the first sealing ring 105, for example, in this embodiment, the first sealing ring 105 may be an O-ring, and in other embodiments, the first sealing ring 105 may be a V-ring, a U-ring, or the like.

In the embodiment, the second housing 34 is at least partially embedded in the first housing 32, and the second housing 34 can move relative to the first housing 32 to move the second body 50 relative to the first body 10. In this embodiment, the second housing 34 may be a cylindrical tube, and the second housing 34 is located on a side of the first housing 32 away from the first body 10. The first casing 32 and the second casing 34 may be connected to each other by a first bearing 33, so that the degrees of freedom in the rotational directions of the first casing 32 and the second casing 34 are not restricted to each other, thereby improving the flexibility of the reduction gear 30. The reducer 30 further includes a second oil seal 35, and the second oil seal 35 surrounds the second casing 34 and is disposed between the first casing 32 and the second casing 34, so that the first casing 32 and the second casing 34 are hermetically connected to prevent leakage of oil inside the reducer 30. In some embodiments, the reducer 30 may further include a sealing track (not shown), the sealing track is sleeved on the outer periphery of the second housing 34, and the inner wall of the second oil seal 35 contacts with the outer peripheral wall of the sealing track to ensure that the sealing performance of the reducer 30 is reliable.

In this embodiment, the speed reducer 30 further includes an input shaft 36, and the input shaft 36 is connected to the motor 70 and passes through the shaft hole 121. Specifically, in the present embodiment, a limiting mechanism 90 (fig. 5) may be disposed between the input shaft 36 and the hole wall of the hole 121, the fixing mechanism 90 includes a first limiting member 92, a second limiting member 94 and a second bearing 96, the first fixing member 92 is connected to the hole wall of the hole 121 and protrudes relative to the hole wall of the hole 121, wherein the first fixing member 92 is fixedly connected to the hole wall of the hole 121 and is used for limiting an installation position of the second bearing 96. A second mount 94 is attached to the outer periphery of the input shaft 36 and is fixedly attached relative thereto, spaced from the first mount 92, and is used to define the mounting location for a second bearing 96. The second bearing 96 is located between the first fixing member 92 and the second fixing member 94, wherein an outer ring of the second bearing 96 abuts against the first fixing member 92, and an inner ring abuts against the second fixing member 94. The stopper mechanism 90 can connect the input shaft 36 and the shaft hole 121, and can improve the flexibility of the speed reducer 30 by preventing the degrees of freedom in the rotational directions of the input shaft 36 and the shaft hole 121 from being restricted. In other embodiments, the input shaft 36 may be fixedly coupled to the motor 70 via a screw or keyed connection, or the like.

In this embodiment, the rotary base assembly 100 further includes a first oil seal 107, and the first oil seal 107 surrounds the input shaft 36 and is disposed between the hole wall of the shaft hole 121 and the input shaft 36, so as to connect the first body and the input shaft 36 in a sealing manner. It should be understood that in other embodiments, the motor 70 may be provided with a sealing structure to meet the requirement of the sealing performance between the first body 10 and the input shaft 36, and the first oil seal 107 may be disposed between the first body 10 and the motor 70 to seal the first body 10 and the motor 70.

In this embodiment, the speed reducer 30 may further include a transmission mechanism (not shown), which is connected between the input shaft 36 and the second housing 34 and is configured to drive the second housing 34 to move relative to the first housing 32 under the driving of the motor 70, so as to drive the second body 50 to move relative to the first body 10. In this embodiment, the transmission mechanism may include a first gear 37, a second gear 38 and a transmission member 39, wherein the gear 37 is disposed on the input shaft 36 and is accommodated in the first oil chamber 12. In some embodiments, the gear 37 and the input shaft 36 may be integrally connected, for example, the gear 37 and the input shaft 36 may be coaxially disposed, and may be an integral gear shaft, the input shaft 36 is a shaft portion of the gear shaft, and the gear 37 is a gear portion of the gear shaft. In other embodiments, the gear 37 is disposed coaxially with the input shaft 36, and the input shaft 36 may be assembled and connected therebetween, for example, the input shaft 36 may be a separate rotating shaft, and the gear 37 is sleeved on the rotating shaft and is connected with the rotating shaft in a rotation-stopping manner (for example, may be connected by a key). The second gear 38 is engaged with the first gear 37 and is in transmission connection with the transmission member 39, so that the transmission member 39 is driven by the first gear 37 to rotate.

Further, the second housing 34 may be provided with a receiving cavity 341, and the transmission mechanism is at least partially received in the receiving cavity 341 to save the occupied space of the speed reducer 30.

In this embodiment, the second main body 50 may serve as a base of the rotary seat assembly 100, the second main body 50 may be connected to a robot body 201 (as shown in fig. 5) of the robot 200, and the second main body 50 and the second housing 34 are relatively fixedly connected. Specifically, in the present embodiment, the second body 50 includes a first housing 56 and a second housing 58, the first housing 56 is connected to the reducer 30, and at least a part of the second housing 58 is spaced from the first housing 56 to form the second oil chamber 52, that is, the second oil chamber 52 is located between the first housing 56 and the second housing 58. In other embodiments, the second oil chamber 52 may be disposed outside the second body 50, the second oil chamber 52 may be an oil tank, and the second oil chamber 52 is in communication with the reducer 30 through an oil pipe.

The second housing 58 is provided with a first opening 51 communicating with the second oil chamber 52, the first opening 51 being toward a side of the second oil chamber 52 away from the speed reducer 30. The rotary seat assembly 100 further includes a first sealing member 108, and the first sealing member 108 covers the first opening 51 to seal the first opening 51 and prevent the oil in the second oil chamber 52 from leaking to the second main body 50. Further, in the present embodiment, the first sealing member 108 may be a cover plate.

The first housing 56 is provided with a second opening 53 communicating with the second oil chamber 52, and the second opening 53 communicates with the accommodating chamber 341. The rotating seat assembly 100 further includes a second sealing member 109, and the second sealing member 109 is disposed at the second opening 53 to seal the second opening 53 and prevent the oil in the second oil chamber 52 from leaking to the receiving chamber 341. Further, in the present embodiment, the second seal 109 may be a cover plate. It should be understood that in other embodiments, if the second opening 53 is not communicated with the receiving cavity 341, the second sealing member 109 may be omitted to simplify the structure of the rotating base assembly 100, and further, the second opening 53 and the receiving cavity 341 may be provided with a sealing ring or glue to enhance the sealing effect between the second opening 53 and the receiving cavity 341.

In this embodiment, the second main body 50 further includes a metal plate portion 55, the metal plate portion 55 is fixedly connected to a side of the second casing 58 away from the second oil chamber 52, and the metal plate portion 55 covers the first opening 51 and the first sealing member 108 to fix a position of the first sealing member 108, so as to improve the sealing performance between the second oil chamber 52 and the second main body 50. It should be understood that in the present embodiment, the rotating seat assembly 100 employs the sheet metal portion 55 in combination with the first sealing member 108 to seal the second oil chamber 52 with the second main body 50, and in other embodiments, the rotating seat assembly 100 may employ other manners (e.g., O-ring, glue, etc.) to seal the second oil chamber 52 with the second main body 50.

In this embodiment, the second body 50 further includes a protrusion 59, the protrusion 59 is connected to a side of the first housing 56 facing away from the second oil chamber 52, and the protrusion is embedded in an inner cavity of the speed reducer 30, so as to save a space occupied by the rotating base assembly 100. The second oil chamber 52 penetrates the first housing 56 and the protruding portion 59 to communicate with the inner chamber of the speed reducer 30, and the lubricating oil in the second oil chamber 52 can lubricate the speed reducer 30 to reduce wear of the internal structure of the speed reducer 30. The rotating seat assembly 100 further includes a second sealing ring 106, the second sealing ring 106 is sleeved on the periphery of the protruding portion 59, and the second sealing ring 106 is disposed between the protruding portion 59 and the speed reducer 30, so that the protruding portion 59 is hermetically connected to the speed reducer 30, and the lubricant inside the speed reducer 30 is prevented from leaking to the second main body 50. The description does not limit the type of the second sealing ring 106, for example, in this embodiment, the second sealing ring 106 may be an O-ring, and in other embodiments, the second sealing ring 106 may be a V-ring, a U-ring, or the like.

The second body 10 may be provided with a second oil hole 54, the second oil hole 54 communicating with the second oil chamber 12, and the second oil hole 54 may serve as an oil outlet hole of the second oil chamber 12, and oil of the second oil chamber 12 may be discharged through the second oil hole 54. The rotating seat assembly 100 further includes a third plug 104, and the third plug 104 is at least partially inserted into the second oil hole 54 to seal the second oil hole 54 and prevent the oil in the second oil chamber 54 from leaking into other components of the rotating seat assembly 100. Further, since the third plug 104 is used as a wearing member, the third plug 104 is detachably disposed in the second oil hole 54, so that the third plug 104 can be replaced after wearing, and the rotating base assembly 100 can be maintained conveniently. The shape of the third plug 104 is not limited in this specification, and the shape of the third plug 104 is adapted to the shape of the second oil hole 54, for example, the third plug 104 may be a hemispherical plug, an elliptical plug, a disc plug, a spherical plug, and the like.

In the embodiment of the present application, when the rotary seat assembly 100 is applied to the robot 200, the rotary seat assembly 100 may be mounted on the robot body 201 in a forward, reverse or side-mounted manner, and therefore the specific positions of the first oil hole 14 and the second oil hole 54 are not limited in this specification. For example, the rotating base assembly 100 in the present embodiment is being mounted on the robot body 201, the first oil hole 14 may be an oil injection hole of the first oil chamber 12, and the second oil hole 54 may be an oil outlet hole of the second oil chamber 12. It should be understood that in other embodiments, the rotary base assembly 100 is mounted upside down or on the side of the robot body 201, the first oil hole 14 can be used as an oil outlet hole of the first oil chamber 12, and the second oil hole 54 can be used as an oil inlet hole of the second oil chamber 12. To sum up, the rotating seat assembly 100 of the embodiment of the present application can realize the lubricating function of the speed reducer 30 stably, accurately and reliably through reasonable oil injection and oil discharge design, can effectively improve the service life of the speed reducer 30, and greatly improves the reliability of the robot 200.

Referring to fig. 5, the present embodiment further provides a robot 200. The specification does not limit the specific type of the robot 200, and for example, the robot 200 may be an industrial robot or a cooperative robot.

The robot 200 includes a robot body 201 and a rotating base assembly 100. One of the first and second main bodies 10 and 50 of the rotary seat assembly 100 is provided to the robot body 201. In this embodiment, the robot 200 may further include an actuating end 203, and the rotating base assembly 100 is connected between the actuating end 203 and the robot body 301, and is configured to drive the actuating end 203 to move relative to the robot body 201. In this embodiment, the second main body 50 of the rotating seat assembly 100 is disposed on the robot body 201, and the first main body 10 is connected to the actuating end 203, in other embodiments, the first main body 10 of the rotating seat assembly 100 may be disposed on the robot body 201, and the second main body 50 may be connected to the actuating end 203, which is not limited in this specification.

Further, the robot 300 may include a plurality of actuating ends 203, and correspondingly, the robot 200 also includes rotating seat assemblies 100 corresponding to the actuating ends 203 one by one, and each actuating end 203 is connected to the robot body 201 through the corresponding rotating seat assembly 100.

In the rotation seat assembly that this application provided, first main part and second main part are connected respectively in the both sides of reduction gear, and first main part and second main part all with reduction gear sealing connection. The first main body is provided with a first oil cavity, the second main body is provided with a second oil cavity, the first oil cavity and the second oil cavity are communicated with the inside of the speed reducer, and lubricating oil in the first oil cavity and lubricating oil in the second oil cavity can lubricate the speed reducer so as to reduce abrasion of the inner structure of the speed reducer. The rotating seat assembly is internally provided with an oil cavity communicated with the interior of the speed reducer, the oil cavity can be used for storing more lubricating oil, and the lubricating oil is prevented from being gradually reduced due to swinging and displacement, so that the lubricating oil in the oil cavity is used for lubricating the internal components of the speed reducer, and the lubricating effect of the speed reducer is improved. Furthermore, the rotating seat assembly is provided with oil cavities on two sides of the speed reducer respectively to lubricate the speed reducer, so that the application requirements of forward installation, inverted installation and side installation of the rotating seat assembly can be met, the abrasion of the speed reducer under various working conditions is reduced, and the lubrication convenience and use reliability of the rotating seat assembly are improved.

In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (11)

1. A rotary seat assembly for use with a robot, the rotary seat assembly comprising:

a first body provided with a first oil chamber;

the speed reducer is at least partially arranged in the first oil cavity and is connected with the first main body in a sealing mode; the first oil cavity is communicated with the interior of the speed reducer;

the second main body is connected with the speed reducer in a sealing mode and is positioned on one side, far away from the first main body, of the speed reducer; the second main body is provided with a second oil chamber, and the second oil chamber is communicated with the interior of the speed reducer.

2. The rotatable mount assembly of claim 1 wherein the speed reducer includes a first housing and a second housing rotatably coupled to the first housing, the first housing at least partially received in the first oil chamber and fixedly coupled to the first body; the second shell is relatively and fixedly connected with the second main body; the rotating seat assembly further comprises a first sealing ring, and the first sealing ring is sleeved on the periphery of the first shell and arranged between the first main body and the first shell so that the first main body is connected with the first shell in a sealing mode.

3. The rotary seat assembly as set forth in claim 2, wherein said first oil chamber defines an axial bore through a side of said first body, said rotary seat assembly further comprising a motor fixedly disposed relative to a side of said first body facing away from said first oil chamber; the speed reducer further comprises an input shaft and a transmission mechanism, the input shaft is connected to the motor and penetrates through the shaft hole, and the transmission mechanism is connected between the input shaft and the second shell; the rotating seat assembly further comprises a first oil seal, the first oil seal surrounds the outside of the input shaft and is arranged between the hole wall of the shaft hole and the input shaft, so that the first main body is in sealing connection with the input shaft.

4. The rotary seat assembly as set forth in claim 2, wherein said first body defines a first oil bore communicating with said first oil chamber, said rotary seat assembly further including a first plug at least partially received in said first oil bore to seal said first oil bore; the first main body is further provided with an exhaust hole, the exhaust hole is communicated with the first oil cavity, the hole axis direction of the exhaust hole is intersected with the hole axis direction of the first oil hole, the rotating seat assembly further comprises a second plug, and the second plug is at least partially embedded into the exhaust hole so as to seal the exhaust hole.

5. The rotatable mount assembly of claim 2 wherein the second housing is at least partially embedded in the first housing, the speed reducer further comprising a second oil seal surrounding the second housing and disposed between the first housing and the second housing to sealingly couple the first housing to the second housing.

6. The rotary seat assembly as set forth in claim 1, wherein said second body is provided with a second oil hole communicating with said second oil chamber, and further comprising a third plug at least partially inserted into said second oil hole to seal said second oil hole.

7. The rotary seat assembly according to any one of claims 1 to 6, wherein the second body includes a first housing and a second housing, the first housing being disposed apart from at least a part of the second housing to form the second oil chamber, the first housing being connected to the decelerator, the second housing being provided with a first opening communicating with the second oil chamber; the rotating seat assembly further comprises a first sealing element, and the first sealing element is arranged at the first opening to seal the first opening.

8. The swivel base assembly of claim 7, wherein the second body further comprises a sheet metal portion, the sheet metal portion is fixedly connected to a side of the second housing facing away from the second oil chamber, and the sheet metal portion covers the first opening and the first sealing member.

9. The rotary seat assembly according to claim 7, wherein the second body further comprises a protrusion connected to a side of the first housing facing away from the second oil chamber, the protrusion being embedded in an inner cavity of the decelerator, the second oil chamber penetrating the first housing and the protrusion to communicate with the inner cavity of the decelerator; the rotating seat assembly further comprises a second sealing ring, and the second sealing ring is sleeved on the periphery of the protruding portion and arranged between the speed reducer and the protruding portion, so that the speed reducer is connected with the protruding portion in a sealing mode.

10. The rotary seat assembly as set forth in claim 7, wherein said first housing defines a second opening communicating with said second oil chamber, and further including a second seal member covering said second opening to seal said second opening.

11. A robot, comprising:

a robot body; and

the swivel mount assembly of any of claims 1-10, one of the first and second bodies disposed to the robot body.

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