CN-121989285-A - Robot joint assembly and robot

CN121989285ACN 121989285 ACN121989285 ACN 121989285ACN-121989285-A

Abstract

The invention provides a robot joint assembly and a robot, wherein the robot joint assembly comprises a base, a driving assembly arranged on the base, a speed reducer arranged on the base, a rotating arm connected with the output end, a mounting channel penetrating the speed reducer along the direction from the input end to the output end, and a wire passing cylinder arranged in the mounting channel, wherein the input end of the speed reducer is in transmission connection with the driving assembly, the rotating arm is connected with the output end, the output end can drive the rotating arm to rotate, and one end of the wire passing cylinder is connected with the base. According to the robot joint assembly, the wire passing barrel is arranged to carry out the traveling wire, so that the wire harness can be prevented from being worn, the service life of the wire harness is prolonged, the wire passing barrel is simple to arrange, too many parts are not needed, and the robot joint assembly is easy to assemble.

Inventors

WANG HUI
ZHAO SHAOKUN
JIANG YUANGUANG
YE LEI

Assignees

库卡机器人(广东)有限公司

Dates

Publication Date: 20260508
Application Date: 20241108

Claims (10)

1. A robotic joint assembly, comprising: A base; The driving assembly is arranged on the base; The speed reducer is arranged on the base and comprises an input end and an output end, and the input end of the speed reducer is in transmission connection with the driving assembly; The rotating arm is connected with the output end, and the output end can drive the rotating arm to rotate; the installation channel penetrates through the speed reducer along the direction from the input end to the output end; the wire passing cylinder is arranged in the mounting channel, and one end of the wire passing cylinder is connected with the base.
2. The robotic joint assembly of claim 1, wherein the input comprises: the input shaft is in transmission connection with the driving assembly, and the installation channel is arranged on the input shaft along the axial direction of the input shaft and penetrates through the speed reducer.
3. The robotic joint assembly of claim 1, wherein a gap is provided between the wire passing cartridge and an inner wall of the mounting channel, and the wire passing cartridge is rotatable relative to the mounting channel, the robotic joint assembly further comprising: grease disposed in the gap, and/or A lubrication bearing disposed in the gap, and/or And lubricating beads arranged in the gaps.
4. The robotic joint assembly of claim 3, wherein the two ends of the wire passing cartridge extend out of the mounting channel arrangement, the robotic joint assembly further comprising: and the sealing component is arranged at the part of the wire passing cylinder extending out of the mounting channel and is close to the end part of the mounting channel and used for sealing the gap.
5. The robotic joint assembly of claim 4, wherein the rotating arm comprises a first mount, and the sealing assembly comprises: The first bearing is arranged on the part of the wire passing cylinder extending out of the mounting channel and is positioned in the first mounting part; The sealing ring is arranged on the part, extending out of the mounting channel, of the wire passing cylinder, and the first bearing is positioned between the sealing ring and the mounting channel.
6. The robotic joint assembly of claim 1, further comprising: The outer cover is arranged on the base, the driving assembly is arranged in the outer cover, one end of the wire passing cylinder is communicated with the inner part of the outer cover, and the other end of the wire passing cylinder is communicated with the inner part of the rotating arm.
7. The robotic joint assembly of claim 6, wherein the base includes a second mount, the robotic joint assembly further comprising: And the second bearing is arranged at the input end, is positioned in the second installation part and is used for carrying out positioning support on the input end.
8. The robotic joint assembly of any one of claims 1-7, further comprising: The driving assembly is in transmission connection with the speed reducer through the gear set.
9. The robotic joint assembly of claim 8, wherein the gear set comprises: the driving gear is arranged on the driving assembly; the driven gear is arranged at the input end and is used for being matched with the driving gear; the driven gear and the input end are of an integrated structure.
10. A robot comprising a robot body, a robot body and a robot body, characterized by comprising the following steps: The robotic joint assembly of any one of claims 1-9.

Description

Robot joint assembly and robot Technical Field The invention relates to the technical field of robots, in particular to a robot joint assembly and a robot. Background At present, a robot in the related art is generally provided with a plurality of swing arms which are connected in sequence, the swing arms can rotate along the joints, cables are further arranged in the industrial robot, the motion of the cables at the joints of the swing arms has randomness, and the cables are easy to scratch and scratch with other parts along with the rotation of the swing arms, so that the cables are damaged. Meanwhile, the robot with the wire passing cylinder arranged inside is complex in fixed installation, more in parts and difficult to assemble. Therefore, how to design a robot joint assembly that can improve the service life of the cable and facilitate assembly is a current problem to be solved. Disclosure of Invention The invention aims to at least solve the problems of low service life of a robot cable, complex parts, inconvenient assembly and the like. To this end, a first aspect of the invention provides a robotic joint assembly. A second aspect of the invention provides a robot. In view of the above, a first aspect of the present invention provides a robot joint assembly, which includes a base, a driving assembly disposed on the base, a speed reducer mounted on the base, the speed reducer including an input end and an output end, the input end of the speed reducer being in driving connection with the driving assembly, a rotating arm connected with the output end, the output end being capable of driving the rotating arm to rotate, a mounting channel disposed through the speed reducer along a direction from the input end to the output end, and a wire passing tube disposed in the mounting channel, wherein one end of the wire passing tube is connected with the base. The application provides a robot joint assembly which comprises a base, a driving assembly, a speed reducer, a rotating arm, a mounting channel and a wire passing barrel. The driving assembly and the speed reducer are arranged on the base, and the input end of the speed reducer is in transmission connection with the driving assembly, so that the speed reducer can be driven to work through the driving assembly, and the rotating arm is driven to rotate through the output end of the speed reducer. Meanwhile, the installation channel penetrates through the speed reducer along the direction from the input end to the output end, so that the wire passing cylinder can penetrate through the speed reducer when the wire passing cylinder is arranged in the installation channel, and the wire passing cylinder is utilized to conduct wire passing, so that the wire passing from the input end to the output end of the speed reducer can be achieved. In order to facilitate the installation of the wire passing cylinder and simplify the number of parts, one end of the wire passing cylinder can be connected with the base, namely, the wire passing cylinder can be fixedly installed on the base. It can be appreciated that the wire harness is prevented from being worn by arranging the wire passing cylinder to run, the service life of the wire harness is prolonged, and compared with the mode that the wire passing cylinder is arranged on the swing arm, the wire passing cylinder is not required to be fixed by arranging the adapter, so that the wire passing cylinder is simpler to arrange, too many parts are not required to be arranged, and the robot joint assembly is easier to assemble. The robot joint assembly provided by the invention can also have the following additional technical characteristics: In some embodiments, optionally, the robotic joint assembly further comprises a spacer and a screw, one end of the wire passing cylinder being fixedly connected to the base by the spacer and the screw. In some embodiments, the input end optionally includes an input shaft drivingly connected to the drive assembly, and the mounting channel is disposed on the input shaft in an axial direction of the input shaft and extends through the speed reducer. In these embodiments, the input end includes an input shaft in driving communication with a drive assembly capable of driving the input shaft to rotate. The installation passageway sets up on the input shaft along the axial direction of input shaft, and runs through the speed reducer, just so when setting up the line section of thick bamboo in the installation passageway, be favorable to carrying out the line for the cable can walk the line to the output from the input of speed reducer. In some embodiments, optionally, the mounting channel is disposed on an axis of the input shaft. In some embodiments, optionally, a gap is provided between the wire passing cylinder and an inner wall of the mounting channel, and the wire passing cylinder is rotatable relative to the mounting channel, the robotic joint assembly further comprising grease disposed wit