CN117656122A - Robot joint output assembly, robot joint module and robot - Google Patents

Abstract

The application relates to the technical field of robots, in particular to a robot joint output assembly, a robot joint module and a robot. The robot joint output assembly comprises a rotating shaft and an output assembly, and the rotating shaft penetrates through the output assembly. The output assembly comprises a mounting seat, an output seat, a crossed roller bearing and a harmonic reducer, and the mounting seat is rotatably sleeved on the rotating shaft. The output seat is sleeved on the rotating shaft and is connected with the rotating shaft in a rotation stopping way, and the mounting seat and the output seat are arranged at opposite intervals along the axial direction of the rotating shaft. The crossed roller bearing is connected between the mounting seat and the output seat, the inner ring of the crossed roller bearing is connected with the mounting seat, and the outer ring of the crossed roller bearing is connected with the output seat; the harmonic reducer sets up between crossing roller bearing and pivot, and is located between mount pad and the output seat. In the robot joint output assembly, the arrangement of the positions and the connection relation between the crossed roller bearings and the output seat and the mounting seat can be suitable for mounting of different types of harmonic reducers.

Description

Robot joint output assembly, robot joint module and robot

Technical Field

The application relates to the technical field of robots, in particular to a robot joint output assembly, a robot joint module and a robot.

Background

At present, along with the gradual progress and perfection of the robot technology, the cooperative robot is a robot type completely different from the traditional industrial robot in design and application concept, is widely applied to various fields of automobile parts, metal processing, medical equipment, consumption catering, scientific research education and the like by virtue of the man-machine safety of the robot type, improves the labor operation efficiency and improves the consumption life mode.

In the whole structure design of the joint module, firstly, the reliability of the arrangement of the joint shafting parts, the bearing capacity and the supporting rigidity of an output end are strictly ensured. The joint module is generally provided with a crossed roller bearing at the output side, the output side has relatively poor bending moment bearing capacity and poor supporting rigidity, the inner ring and the outer ring of the crossed roller bearing are respectively and completely restrained through different pressing plates and fixing seats, a certain number of parts is increased, the cost of the joint module is increased, and the structure can only integrate one type of harmonic reducer.

Disclosure of Invention

The application provides a robot joint output assembly, a robot joint module and a robot.

In a first aspect, the present application provides a robot joint output assembly, including pivot and output subassembly, the pivot is worn to locate output subassembly. The output assembly comprises a mounting seat, an output seat, a crossed roller bearing and a harmonic reducer, and the mounting seat is rotatably sleeved on the rotating shaft. The output seat is sleeved on the rotating shaft and is connected with the rotating shaft in a rotation stopping way, and the mounting seat and the output seat are arranged at opposite intervals along the axial direction of the rotating shaft. The crossed roller bearing is connected between the mounting seat and the output seat, the inner ring of the crossed roller bearing is connected with the mounting seat, and the outer ring of the crossed roller bearing is connected with the output seat; the harmonic reducer sets up between crossing roller bearing and pivot, and is located between mount pad and the output seat.

In a second aspect, the application further provides a robot joint module, including a joint main body and the robot joint output assembly, wherein the robot joint output assembly is connected to the joint main body.

In a third aspect, the present application further provides a robot, including a body and a robot joint module, the robot joint module being connected to the body.

For prior art, in the robot joint output assembly that this application provided, cross roller bearing set up between output seat and mount pad, and cross roller bearing inner circle is connected in the mount pad, and cross roller bearing outer lane is connected in the output seat. The harmonic reducer is located between mount pad and output seat, and sets up between crossed roller bearing inner race and pivot. The arrangement of the positions and the connection relation between the crossed roller bearings and the output seat and the mounting seat can be suitable for mounting of different types of harmonic reducers, so that different types of harmonic reducers can be selected according to requirements, and the structural applicability of the robot joint output assembly is improved. The robot joint output assembly is simple in structural form, high in applicability and convenient to achieve the effects of low cost and convenient installation.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed 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 that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a block diagram of a robot according to an embodiment of the present application.

Fig. 2 is a simplified schematic diagram of a robot joint module according to an embodiment of the present application.

Fig. 3 is a robot joint output assembly provided in an embodiment of the present application.

Fig. 4 is an enlarged schematic view of the portion a in fig. 3.

Fig. 5 is a schematic structural view of another embodiment of an output assembly of the robotic joint output assembly of fig. 3.

Description of the reference numerals: 100. robot joint output assembly; 10. a rotating shaft; 12. an input shaft; 14. an output shaft; 146. a shaft body; 147. a flange; 145. a mounting part; 30. an output assembly; 31. a mounting base; 312. a first fastener; 32. an output seat; 321. a second fastener; 323. a third fastener; 33. a crossed roller bearing; 331. an inner ring; 332. an outer ring; 334. a roller; 34. a harmonic reducer; 341. a steel wheel; 343. a flexible wheel; 3432. a first cylinder portion; 3434. an outer edge portion; 3436. a second cylinder portion; 3438. an inversion portion; 344. an installation space; 345. a wave generator; 3452. sealing grooves; 346. a first seal; 3461. a fixing part; 3462. a connection part; 3463. a protruding portion; 35. a labyrinth seal structure; 36. an oil seal; 37. bearing oil seal; 38. a second seal; 39. a third seal; 200. a robot joint module; 20. a joint body; 21. a brake assembly; 212. a fixed case; 214. a main body; 22. a motor; 224. a motor housing; 221. a rotor; 223. a stator; 23. an encoder assembly; 25. a drive control assembly; 300. a robot; 301. a body; 303. and the execution end.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In the description of the present invention, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1, an embodiment of a robot joint module 200 and a robot 300 configured with the robot joint module 200 are provided.

The specific type of the robot 300 is not limited in this specification, and for example, the robot 300 may be an industrial robot or a cooperative robot, and in this embodiment, the robot 300 is a cooperative robot. The robot 300 includes a body 301, an execution end 303, and a robot joint module 200. The robot joint module 200 is connected between the actuator 303 and the body 301, and is configured to drive the actuator 303 to move relative to the body 301. In some embodiments, the robot 300 may include a plurality of execution ends 303, and accordingly, the robot 300 also includes robot joint modules 200 corresponding to the plurality of execution ends 303 one by one, and each execution end 303 is connected to the body 301 through a corresponding robot joint module 200.

Referring to fig. 2, the robot joint module 200 includes a joint body 20 and a robot joint output assembly 100. The robot joint output assembly 100 includes a rotation shaft 10, and the joint body 20 and the robot joint output assembly 100 are juxtaposed along an axial direction O of the rotation shaft 10.

The joint body 20 is connected to one side of the robot joint output assembly 100, and the specific structure of the joint body 20 is not limited in this specification, for example, the joint body 20 may include at least one of a brake assembly 21, a motor 22, an encoder assembly 23, and a driving assembly 25. The brake assembly 21, the encoder assembly 23, and the drive control assembly 25 are disposed in parallel in this order along the axial direction O of the rotary shaft 10.

In the present embodiment, the motor 22 includes a motor housing 224, a rotor 221 and a stator 223, the stator 223 is disposed in the motor housing 224, and the rotor 221 is rotatably accommodated in the stator 223. The rotating shaft 10 is disposed in the rotor 221 in a penetrating manner and is in anti-rotation connection with the rotor 221, that is, when the rotor 221 rotates, at least part of the structure of the rotating shaft 10 can be driven to rotate synchronously.

In some embodiments, the brake assembly 21 may include a stationary housing 212 and a main body 214 coupled to the stationary housing 212. The main body 214 is sleeved on the rotating shaft 10, and the fixing shell 212 is connected to the main body 214. The specific structure of brake assembly 21 is not limited in this disclosure, for example, brake assembly 21 may be an electromagnetic band-type brake mechanism, and body 214 may include a brake electromagnet and a brake shoe brake. When the motor 22 is running, the brake electromagnet is energized, the brake shoe brake is released, and when the motor 22 is de-energized, the brake shoe brake holds the rotating shaft 10 tightly, forcing the motor 22 to stop or slow down as soon as possible.

In this embodiment, the brake assembly 21 may be a non-excited brake, the fixed housing 212 is a brake fixed housing, and the main body 214 includes a brake stator, a brake rotor, and friction plates (all not shown in the drawings), and the brake stator is fixedly mounted to the fixed housing 212. In the event of a loss of power, the friction plate is compressed by the spring mechanism of the brake stator itself, remaining relatively stationary with the brake stator. The brake rotor is fixedly arranged on the rotating shaft 10 and is in anti-rotation connection with the friction plate; when the brake assembly 21 is energized, the friction plates will be released, and the shaft 10 rotates the friction plates synchronously via the brake rotor.

The driving and controlling component 25 is connected to one side of the braking component 21 away from the robot joint output assembly 100, and the driving and controlling component 25 is connected to the fixed housing 212 and is disposed at a distance from the fixed housing 212. The drive and control assembly 25 may include a mounting plate and a drive plate (not shown) disposed in spaced parallel relation to the mounting plate along the axis O of the shaft 10, the mounting plate being disposed between the drive plate and the stationary housing 212. The driving board may be a control circuit board. The mounting plate is disposed generally coaxially with the stationary housing 212, with the side of the mounting plate facing the stationary housing 212 being provided with a read head for mating with the encoder assembly 23.

The encoder assembly 23 is arranged between the driving and controlling assembly 25 and the braking assembly 21, and the encoder assembly 23 is used for acquiring the motion parameters of the rotating shaft 10 in cooperation with the reading head of the driving and controlling assembly 25. In this embodiment, the encoder assembly 23 may include a mounting member connected to the rotary shaft 10 and a magnetic ring (not shown) adhesively secured to the mounting member by shaft hole fitting, the magnetic ring being disposed in spaced opposition to the readhead of the drive assembly 25 along the axis O of the rotary shaft 10.

In this embodiment, the shaft 10 includes an input shaft 12 and an output shaft 14. The input shaft 12 is disposed through the rotor 221 and is in anti-rotation connection with the rotor 221. The term "rotation-preventing connection" between the input shaft 12 and the rotor 221 is understood to mean that the input shaft 12 and the rotor 221 are fixed relative to each other, and the input shaft 12 can rotate with the rotation of the rotor 221. The connection between the input shaft 12 and the rotor 221 is not limited in this specification, and for example, the input shaft 12 and the rotor 221 may be connected by a spline.

The output shaft 14 is used to drive the actuator end 303 in relation to the body 301 (shown in fig. 1). The output shaft 14 may be coupled to the input shaft 13 via a reduction or other transmission mechanism to indirectly couple to the motor 22 for rotation by the motor 22 to effect movement of a portion of the articulation of the robot 300. In the present embodiment, the output shaft 14 is coaxially disposed through the input shaft 12, and the input shaft 12 and the output shaft 14 are rotatably connected. One end of the output shaft 14, which is far away from the drive control assembly 25, protrudes out of the input shaft 12 to form a mounting portion 145, and the mounting portion 145 is used for mounting part of the structure of the robot joint output assembly 100.

Referring to fig. 2 and 3, the robotic joint output assembly 100 further includes an output assembly 30, where the output assembly 30 is disposed on a side of the motor 22 facing away from the joint body 20, and is configured to cooperate with the rotating shaft 10 to drive the actuator 303 to move relative to the body 301.

The output assembly 30 includes a mount 31, an output mount 32, a cross roller bearing 33, and a harmonic reducer 34. The mounting seat 31 is connected to the motor casing 224 by a bolt, and is rotatably sleeved on the input shaft 12. The output seat 32 is sleeved on the mounting portion 145 of the output shaft 14 and is in anti-rotation connection with the output shaft 14. By "a rotation-stopping connection between the output housing 32 and the output shaft 14" is understood that the output housing 32 is fixed relative to the output shaft 14, and the output housing 32 is rotatable with rotation of the output shaft 14. The specific connection manner between the output socket 32 and the mounting portion 145 is not limited in this specification, for example, the output socket 32 may be integrally formed with the mounting portion 145, or may be separately connected therebetween, for example, the output socket 32 is connected to the mounting portion 145 by a fastener.

Referring to fig. 3, the output seat 32 and the mounting seat 31 are disposed at opposite intervals along the axial direction O of the rotary shaft 10 to reserve space for mounting the crossed roller bearing 33 and the harmonic reducer 34. The crossed roller bearing 33 is a special type bearing in which an inner ring is divided and an outer ring is rotated. In the present embodiment, the crossed roller bearing 33 includes an inner ring 331, an outer ring 332, and rollers 334. The inner ring 331 is disposed through the outer ring 332 and rotatably connected to the outer ring 332, and the roller 334 is disposed between the inner ring 331 and the outer ring 332. The crossed roller bearing 33 is connected between the mount 31 and the output housing 32, wherein the inner ring 331 is connected to the mount 31 and the outer ring 332 is connected to the output housing 32.

In the present embodiment, the output assembly 30 further includes a bearing oil seal 37, and the bearing oil seal 37 is disposed between the inner ring 331 and the outer ring 332 and is located on a side of the crossed roller bearing 33 facing the mount 31. The bearing oil seal 37 improves the sealability of the crossed roller bearing 33, reduces the possibility of grease leakage in the crossed roller bearing 33, and thus improves the sealability of the robot joint output assembly 100.

A harmonic reducer 34 is located between the mount 31 and the output mount 32 and is disposed generally between the crossed roller bearing 33 and the input shaft 12. The above-mentioned crossed roller bearing 33 is disposed between the output seat 32 and the mount seat 31, and the inner ring 331 is connected to the mount seat 31, and the outer ring 332 is connected to the output seat 32, so that the arrangement of the position and connection relationship between the crossed roller bearing 33 and the output seat 32 and the mount seat 31 can be adapted to the installation of different types of harmonic reducers 34, for example, a "hat-shaped" harmonic reducer 34 and a "cup-shaped" harmonic reducer 34, which will be described later, can be installed between the output seat 32 and the mount seat 31.

Based on this, the specific type of the harmonic reducer 34 is not limited in this specification, and for example, the harmonic reducer 34 may be a "hat-shaped" harmonic reducer 34, or a "cup-shaped" harmonic reducer 34 may be selected.

In the embodiment shown in fig. 3, the harmonic reducer 34 is a "hat-shaped" harmonic reducer 34. In particular, in the present embodiment, the harmonic reducer 34 includes a steel wheel 341 and a flexspline 343. The steel wheel 341 is substantially annular and is sleeved outside the input shaft 12. The steel wheel 341 is disposed between the mounting seat 31 and the inner ring 331, and is connected to the mounting seat 31 and the inner ring 331 by a first fastener 312. The specific structure of the first fastener 312 is not limited in this specification, and in this embodiment, the first fastener 312 is a screw. The first fastening member 312 is sequentially inserted into the mounting seat 31, the steel wheel 341, and the inner ring 331 along the axial direction O of the rotary shaft 10, so as to fasten the mounting seat 31, the steel wheel 341, and the inner ring 331.

The flexspline 343 is rotatably coupled to the steel spline 341 and is coupled to the output housing 32 by a second fastener 321. In the present embodiment, the "hat-shaped" is understood to mean that the flexible member 343 is "hat-shaped", and specifically, the flexible member 343 includes a first cylindrical portion 3432 and an outer edge portion 3434. The first cylinder 3432 is substantially cylindrical, one end of which is rotatably connected to the inside of the steel wheel 341, the first cylinder 3432 surrounds the outside of the rotating shaft 10, an installation space 344 is formed between the inner wall of the first cylinder 3432 and the rotating shaft 10, and the first cylinder 3432 is disposed between the installation seat 31 and the output seat 32. The outer rim portion 3434 is connected to an end of the first cylinder portion 3432 remote from the steel wheel 341, and the outer rim portion 3434 protrudes radially with respect to an outer periphery of the first cylinder portion 3432 to form a "cap" member with the first cylinder portion 3432. Further, an outer rim 3434 is located between the cross roller bearing 33 and the output housing 32 and is connected to the outer race 332 of the fork roller bearing 33 and the output housing 32 by a second fastener 321. The specific structure of the second fastening member 321 is not limited in this specification, and in this embodiment, the second fastening member 321 is a screw. The second fastening member 321 sequentially penetrates the outer ring 332, the outer edge portion 3434, and the output seat 32 along the axial direction O of the rotating shaft 10, so as to fasten and connect the outer ring 332, the outer edge portion 3434, and the output seat 32.

In this embodiment, the output mode of the harmonic reducer 34 is "fixed by the steel wheel 341 and output by the flexible wheel 343", in some embodiments, the output mode of the harmonic reducer 34 may also be "fixed by the flexible wheel 343 and output by the steel wheel 341", where the harmonic reducer 34 may be "flipped" with respect to the installation mode of the foregoing embodiments. Specifically, the steel wheel 341 may be disposed at an end of the flexible wheel 343 facing the output seat 32, and the outer edge 3434 of the flexible wheel 343 is located between and fixedly connected with the inner ring 331 and the mounting seat 31, and the steel wheel 341 is fixed between the outer ring 332 and the output seat 32.

In the above-mentioned embodiment of this application, first fastener 312 and second fastener 321 all adopt the screw, and inner circle 331 and outer lane 332 all are equipped with the mounting hole, and the installation of first fastener 312 and second fastener 321 of being convenient for is fixed, need not to set up other auxiliary fixtures, has optimized the part quantity greatly, practices thrift the cost. The inner ring 331 and the outer ring 332 of the crossed roller bearing 33 are directly connected with the adjacent parts, and additional limiting structures such as a pressing plate and a fixing seat are not needed to be added for restraining, so that the number of parts of the robot joint output assembly 100 is reduced, and the cost is reduced. In addition, the inner ring 331 and the outer ring 332 of the crossed roller bearing 33 are directly connected with the adjacent parts, the outer shape structure of the crossed roller bearing 33 can be designed to be wider and thicker, and the bending resistance and the bearing rigidity are more excellent.

In the present embodiment, the harmonic reducer 34 further includes a wave generator 345, and the wave generator 345 is a member that causes the flexible member 343 to generate periodic elastic deformation waves according to a certain deformation rule. The wave generator 345 is disposed in the installation space 344, and the wave generator 345 is rotatably connected to an inner wall of the first cylinder portion 3432 via a bearing and is non-rotatably connected to the input shaft 12. By "the wave generator 345 is non-rotatably connected to the input shaft 12" is understood that the wave generator 345 is fixed relative to the input shaft 12 and the wave generator 345 is rotatable with rotation of the input shaft 12.

Referring to fig. 3 and 4, in order to prevent grease inside the harmonic reducer 34 from leaking between the input shaft 12 and the output shaft 14, in this embodiment, the harmonic reducer 34 further includes a first seal 346. The first seal 346 is connected to the mounting portion 145, and the first seal 346 is nested with the wave generator 345 to form the labyrinth seal structure 35. Further, to mount the first seal 346, the output shaft 14 may include a shaft body 146 and a flange 147, the shaft body 146 being disposed through the input shaft 12, and the mounting portion 145 being a portion (e.g., an end portion) of the shaft body 146 protruding relative to the input shaft 12. The flange 14 is connected to the outer periphery of the mounting portion 145 and protrudes with respect to the mounting portion 145 in the radial direction of the shaft 146. The first seal 346 is located at a side 147 facing the input shaft 12 and the flange 147 contacts or abuts the output housing 32 such that the flange 147 provides a locating function for the mounting connection of the output housing 32 to the output shaft 14.

The first seal 346 includes a fixing portion 3461, a connecting portion 3462, and a protruding portion 3463. The fixing portion 3461 is substantially disk-shaped, and the fixing portion 3461 is fitted over the mounting portion outer 145 of the shaft body 146 and is connected to the flange 147 by the third fastener 323. The specific structure of the third fastener 323 is not limited in this specification, and in this embodiment, the third fastener 323 employs a screw. The third fastening member 323 is sequentially inserted into the fixing portion 3461, the flange 147, and the output seat 32 in the axial direction of the shaft 146, thereby fastening the fixing portion 3461, the flange 147, and the output seat 32. The connecting portion 3462 has a substantially tubular shape with both ends penetrating, the connecting portion 3462 surrounds the mounting portion 3461, one end of the connecting portion 3462 is fixed to the outer periphery of the fixing portion 3461 facing the one end of the wave generator, and the fixing portion 3461 covers the opening of the one end of the connecting portion 3462.

The protruding portion 3463 is connected to an end of the connecting portion 3462 facing the wave generator 345, and the protruding portion 3463 protrudes in the axial direction of the shaft body 146 with respect to an end surface of the connecting portion 3462. In the present embodiment, the protruding portion 3463 is an annular boss, two protruding portions 3463 are provided, and the two protruding portions 3463 are substantially concentrically provided. The sealing groove 3452 is formed at one end of the wave generator 345 facing the first sealing member 346, the inner protruding portion 3463 is embedded into the sealing groove 3452, the outer protruding portion 3463 surrounds the outer peripheral wall of the wave generator 345, and the protruding portion 3463 and the sealing groove 3452 together form the labyrinth seal structure 35. The labyrinth seal 35 effectively reduces the likelihood of grease within the harmonic reducer 34 leaking between the input shaft 12 and the output shaft 14, and the labyrinth seal 35 is a non-contact seal that does not affect the transmission efficiency.

In some embodiments, output assembly 30 also includes an oil seal 36. The oil seal 36 is provided between the wave generator 345 and the mounting portion 145, and in particular, the oil seal 36 is provided between the labyrinth seal structure 35 and the output shaft 14, which serves to further enhance the sealing effect. After a certain period of time, the grease in the harmonic reducer 34 may be liquefied or thinned slightly, and the oil seal 36 protects the input shaft 12 and the output shaft 14 secondarily, so that the possibility that the oil leaks to the outside through the gap of the labyrinth seal structure 35 to the gap between the input shaft 12 and the output shaft 14 is reduced.

In the present embodiment, the output assembly 30 further includes a second seal 38, the second seal 38 being disposed between the output housing 32 and the mounting portion 145 of the output shaft 14, the second seal 38 being configured to improve the sealing between the output housing 32 and the output shaft 14. The specific structure of the second sealing member 38 in the present embodiment is not limited, in which the second sealing member 38 is a sealing ring, the sealing ring is sleeved on the mounting portion 145, and a recessed ring groove may be provided on the outer periphery of the mounting portion 145 for mounting the sealing ring. The sealing ring can be made of elastic deformation material such as rubber, and is elastically deformed under the compression of the output seat 32 and the mounting portion 145, so as to improve the tightness between the output seat and the mounting portion.

Referring to fig. 3 and 5, to further improve the tightness of the robot joint output assembly 100, the output assembly 30 further includes a third sealing member 39, where the third sealing member 39 is disposed between the outer edge portion 3434 and the output seat 32, so as to improve tightness between the outer edge portion 3434 and the output seat 32. In this embodiment, the third sealing member 39 is a sealing ring, which is embedded in one side of the output seat 32 facing the outer edge 3434, and one side of the output seat 32 facing the outer edge 3434 may be provided with a recessed ring groove for installing the sealing ring. The sealing ring can be made of elastic deformation materials such as rubber, and the sealing ring is elastically deformed under the compression of the output seat 32 and the outer edge part 3434 so as to improve the tightness between the output seat and the outer edge part.

In the embodiment shown in fig. 5, the harmonic reducer 34 is a "cup-shaped" harmonic reducer 34, and the difference between the "cup-shaped" harmonic reducer 34 and the "cap-shaped" harmonic reducer 34 is that the flexible gear 343 is different from each other in configuration. In the present embodiment, the above-described "cup-shaped" is understood to mean that the shape of the flexible gear 343 is "cup-shaped", and specifically, the flexible gear 343 includes the second tubular portion 3436 and the varus portion 3438. The second cylinder 3436 is substantially cylindrical, and has one end rotatably connected to the steel wheel 341, and the second cylinder 3436 surrounds the rotation shaft 10 and is located between the mounting seat 31 and the output seat 32. The turned-in portion 3438 is connected to an end of the second cylinder portion 3436 remote from the steel wheel 341 and protrudes toward the center of the second cylinder portion 3436 in the radial direction of the second cylinder portion 3436 to form a cup bottom of the "cup" type harmonic reducer 34, and the turned-in portion 3438 and the second cylinder portion 3436 form a "cup" type member. Further, the in-turned portion 3438 is located between the flange 147 and the output socket 32 and is connected to the flange 147 and the output socket 32 by a third fastener 323. The third fastening member 323 is sequentially inserted through the fixing portion 3461, the flange 147, the inverted portion 3438, and the output seat 32 in the axial direction of the shaft body 146, so as to fasten the fixing portion 3461, the flange 147, the inverted portion 3438, and the output seat 32.

The output mode of the "cup-shaped" harmonic reducer 34 is that the "steel wheel 341 is fixed and the flexible wheel 343 outputs", and in some embodiments, the output mode of the "cup-shaped" harmonic reducer 34 may also be that the "flexible wheel 343 is fixed and the steel wheel 341 outputs", where the "cup-shaped" harmonic reducer 34 may be "flipped" with respect to the installation mode of the above-described embodiment. Specifically, the steel wheel 341 is disposed at an end of the flexible wheel 343 facing the output seat 32, the turned-in portion 3438 of the flexible wheel 343 is fixed to the mounting seat 31, and the steel wheel 341 is fixed to the outer ring 332.

In the installation of the two types of harmonic reducers 34, i.e., the "cup type" and the "cap type", the structure of the flexspline 343 and the connection portions thereof with the structures of the output shaft 32, the cross roller bearing 33, and the like are different, and other structures may be used in common. For example, in the above embodiment of the "cap-type" harmonic reducer 34, the structure of the first seal 346, the connection thereof with the mounting portion 145, the wave generator 345, the connection structure between the steel wheel 41 and the input shaft 12, and the like, and the cross roller bearing 33 and the like may be applied to the embodiment of the "cup-type" harmonic reducer 34 shown in fig. 5. For example, if the harmonic reducer 34 is a "cup-shaped" harmonic reducer 34, the third seal 39 is provided between the inner ring 331 and the output seat 32. Reference is made in particular to the above embodiments of the "hat-shaped" harmonic reducer 34, which are not described here again.

In the robot joint output assembly 100 provided in the embodiment of the present application, the crossed roller bearing 33 is disposed between the output seat 32 and the mounting seat 31, and the inner ring 331 is connected to the mounting seat 31, and the outer ring 332 is connected to the output seat 32. The harmonic reducer 34 is located between the mount 31 and the output housing 32, and is disposed between the inner race 331 of the crossed roller bearing 33 and the input shaft 12. The arrangement of the positions and the connection relation between the crossed roller bearings 33 and the output seat 32 and the mounting seat 31 can be suitable for mounting of different types of harmonic reducers 34, so that different types of harmonic reducers 34 can be selected according to requirements, and the structural applicability of the robot joint output assembly 100 is improved. The robot joint output assembly 100 is simple in structural form, high in applicability and convenient to achieve the effects of low cost and convenient installation.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., 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, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

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

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting. Although the present application has been described in detail with reference to the foregoing embodiments, one of ordinary skill in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents. Such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (11)

1. The utility model provides a robot joint output assembly, its characterized in that includes pivot and output module, the pivot wears to locate output module, output module includes:

the mounting seat is rotatably sleeved on the rotating shaft;

the output seat is sleeved on the rotating shaft and is in rotation-stopping connection with the rotating shaft, and the mounting seat and the output seat are oppositely arranged at intervals along the axial direction of the rotating shaft;

the crossed roller bearing is connected between the mounting seat and the output seat, the inner ring of the crossed roller bearing is connected with the mounting seat, and the outer ring of the crossed roller bearing is connected with the output seat;

and the harmonic reducer is arranged between the crossed roller bearing and the rotating shaft and is positioned between the mounting seat and the output seat.

2. The robotic joint output assembly according to claim 1, wherein the harmonic reducer includes a steel wheel and a flexwheel, the steel wheel being located between the mount and the cross roller bearing and connected to the mount and an inner race of the cross roller bearing by a first fastener; the flexible wheel is rotatably connected with the steel wheel and is connected with the output seat through a second fastening piece.

3. The robotic joint output assembly according to claim 2, wherein the flexspline includes a first barrel portion having one end rotatably connected to the steel wheel and an outer rim portion connected to the first barrel portion at an end remote from the steel wheel, the outer rim portion being located between the outer race of the cross roller bearing and the output seat, the outer rim portion being connected to the outer race of the cross roller bearing and the output seat by the second fastener.

4. The robotic joint output assembly according to claim 2, wherein the flex gear includes a second barrel portion having one end rotatably connected to the steel wheel and an inverted portion connected to an end of the second barrel portion remote from the steel wheel and protruding radially of the flex gear toward a center of the second barrel portion, the inverted portion being connected to the output socket.

5. The robot joint output assembly according to claim 2, wherein the rotating shaft comprises an input shaft and an output shaft penetrating through the input shaft, the output shaft protrudes relative to the end of the input shaft to form a mounting part, and the output seat is in rotation-stopping connection with the mounting part; the harmonic reducer still includes wave generator and first sealing member, first sealing member connect in the installation department, wave generator pass through the bearing connect in the inner wall of flexbile gear, and connect in the input shaft, wave generator with first sealing member nest sets up in order to form labyrinth seal structure.

6. The robotic joint output assembly according to claim 5, wherein the output shaft includes a shaft body and a flange, the shaft body extending through the input shaft and protruding relative to an end of the input shaft to form the mounting portion; the flange is connected to the periphery of the mounting part and protrudes relative to the shaft body along the radial direction of the shaft body; the first sealing element comprises a fixing part and a protruding part, the fixing part is connected to the flange, the protruding part is connected to one end of the fixing part, which faces the wave generator, a sealing groove is formed in one end of the wave generator, which faces the first sealing element, and the protruding part is embedded in the sealing groove to jointly form the labyrinth sealing structure.

7. The robotic joint output assembly according to claim 6, wherein the flange is located between the fixed portion and the output seat and is connected between the fixed portion and the output seat by a third fastener that sequentially passes through the fixed portion, the flange, and the output seat.

8. The robotic joint output assembly according to claim 5, wherein the wave generator is connected to an end of the input shaft, a portion of the wave generator being structured to surround the mounting portion; the output assembly further includes an oil seal disposed between the wave generator and the mounting portion.

9. The robotic joint output assembly according to claim 1, wherein the output assembly further comprises a bearing oil seal disposed between an inner race and an outer race of the crossed roller bearing and a second seal disposed between the shaft and the output seat.

10. A robot joint module, comprising:

a joint body; and a robotic joint output assembly according to any one of claims 1 to 9, the robotic joint output assembly being connected to the joint body.

11. A robot, comprising:

a body; and the robot joint module according to claim 10, which is connected to the body.