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CN-122008310-A - Joint of robot and robot

CN122008310ACN 122008310 ACN122008310 ACN 122008310ACN-122008310-A

Abstract

The embodiment of the application belongs to the technical field of robots, and relates to a joint of a robot and the robot, wherein the robot comprises a joint body, an input connecting piece, an output connecting piece and a rolling piece; the joint comprises an input second end, an output second end, a rolling element, a rotor, a rolling element and a runner, wherein a groove is formed between one of the input second end and the output second end and the outer periphery of the opposite end of the joint body, the rolling element is in clearance fit with the groove and can be arranged in the groove in a relative motion mode, the other of the input second end and the output second end is fixedly connected with the rolling element, the rolling element is used for supporting the input second end or the output second end, and the runner is used for driving the output connecting element to move so as to drive the rolling element to move relatively along the groove. The technical scheme provided by the application can improve the joint stability through a simple structure.

Inventors

  • Request for anonymity
  • Request for anonymity

Assignees

  • 帕西尼感知科技(深圳)有限公司

Dates

Publication Date
20260512
Application Date
20241112

Claims (10)

  1. 1. The joint of the robot is characterized by comprising a joint body, an input connecting piece, an output connecting piece and a rolling piece, wherein the joint body comprises a stator and a rotor, the joint body comprises a first output end and an opposite end opposite to the first output end, the input connecting piece corresponds to a first side of the joint body and comprises an input first end and an input second end, and the output connecting piece corresponds to a first side of the joint body and comprises an output first end and an output second end; The output connecting piece is fixedly connected with the first output end of the rotor; the input connecting piece is fixedly connected with the stator, wherein the input first end and the output first end are positioned at the first output end of the joint body, and the input second end and the output second end are positioned at the opposite ends of the joint body; A groove is formed between one of the input second end and the output second end and an outer periphery of the opposite end of the joint body; the rolling piece is in clearance fit with the groove and is arranged in the groove in a relatively movable manner; The other of the input second end and the output second end is fixedly connected with the rolling element, so that the rolling element is used for supporting the input second end or the output second end, and the rotor drives the output connecting element to move, so that the rolling element is driven to move relatively along the groove.
  2. 2. The joint of the robot according to claim 1, wherein the rolling member is relatively movably provided in the groove by: The outer ring of the rolling element is axially arranged in the groove, and the clearance fit is realized between the outer ring of the rolling element and the inner surface of the groove, and/or, The other of the input second end and the output second end is fixedly connected with the rolling element through the following structure: The input second end or the output second end extends towards the axial direction of the rolling element to form a connecting part matched with the inner ring of the rolling element, and the inner ring of the rolling element is fixedly connected with the connecting part.
  3. 3. The joint of a robot according to claim 1 or 2, characterized in that the output connection is fixedly connected with the first output end of the mover through the output first end and/or the input connection is fixedly connected with the stator through the input first end.
  4. 4. The joint of a robot according to claim 1 or 2, further comprising a harness protection cover, wherein the harness protection cover is provided with at least one through hole for a harness to pass through; The harness protection cover is fixed to the input second end of the input connector.
  5. 5. The joint of the robot of claim 4, wherein when the stator is located outside the mover, the harness protection cover is fixed to the input second end of the input connector by: the radial direction of the wire harness protective cover corresponds to the non-moving area of the joint body and extends to the input second end to form an extending part, the extending part is fixedly connected with the input second end, and the non-moving area of the joint body is an area outside the moving range of the rotor of the joint body.
  6. 6. The robotic joint of claim 4, wherein an outer edge of the strand protection cover is located within the outer edge of the opposite end of the joint body.
  7. 7. The joint of a robot according to claim 1 or 2, wherein the output connection and/or the input connection comprises a first part and a second part in a radial direction of the joint body, the first part comprising the first end; the first portion and the second portion are detachably fixedly connected.
  8. 8. A joint of a robot according to claim 3, wherein the fixed connection of the output first end and the first output end of the mover is achieved by: The output first end is detachably and fixedly connected with the first output end of the rotor through a first centering piece, and/or, The first input end is fixedly connected with the stator through the following structure: The input first end is detachably and fixedly connected with the corresponding end of the stator through a second centering piece.
  9. 9. The joint of a robot according to claim 1 or 2, wherein the rolling elements are bearings, bushings, metal sleeves or steel balls.
  10. 10. A robot, characterized in that it comprises a joint of the robot according to any one of claims 1 to 9.

Description

Joint of robot and robot Technical Field The application relates to the technical field of robots, in particular to a joint of a robot and the robot. Background Along with the development of science and technology, humanoid robots are gradually popularized and used in various industries, so that higher requirements on flexibility of robot body movement are provided. Because of the internal design reasons of the current joint body, most of the mounting screw holes of the stationary part and the driving part of the joint body face the same side. Most humanoid robots adopt a unilateral installation mode, such as shoulder and elbow joint positions, and only one side of the installation mode is fixed, so that the humanoid robot is easy to deform, and the positioning accuracy of the tail end is reduced. In another mode, the joint body is customized and added with relevant bearing fixing positions, so that the effect of double-side support is achieved. The design ensures that the arm structure has higher rigidity, is firmer and has small deformation. But the structure is complex, the volume is large, the customizing cost is high, and the development is not facilitated. Disclosure of Invention Based on the above, the embodiment of the application provides a joint of a robot and the robot, so as to improve the joint stability through a simple structure. In a first aspect, an embodiment of the present application provides a robot joint, which adopts the following technical scheme: The joint of the robot comprises a joint body, an input connecting piece, an output connecting piece and a rolling piece, wherein the joint body comprises a stator and a rotor, the joint body comprises a first output end and an opposite end opposite to the first output end, the input connecting piece corresponds to a first side of the joint body and comprises an input first end and an input second end, and the output connecting piece corresponds to a first side of the joint body and comprises an output first end and an output second end; The output connecting piece is fixedly connected with the first output end of the rotor; the input connecting piece is fixedly connected with the stator, wherein the input first end and the output first end are positioned at the first output end of the joint body, and the input second end and the output second end are positioned at the opposite ends of the joint body; A groove is formed between one of the input second end and the output second end and an outer periphery of the opposite end of the joint body; the rolling piece is in clearance fit with the groove and is arranged in the groove in a relatively movable manner; The other of the input second end and the output second end is fixedly connected with the rolling element, so that the rolling element is used for supporting the input second end or the output second end, and the rotor drives the output connecting element to move, so that the rolling element is driven to move relatively along the groove. Further, the rolling elements are arranged in the grooves in a relatively movable manner, and the rolling elements are realized through the following structure: The outer ring of the rolling element is axially arranged in the groove, and the clearance fit is realized between the outer ring of the rolling element and the inner surface of the groove, and/or, The other of the input second end and the output second end is fixedly connected with the rolling element through the following structure: The input second end or the output second end extends towards the axial direction of the rolling element to form a connecting part matched with the inner ring of the rolling element, and the inner ring of the rolling element is fixedly connected with the connecting part. Further, the output connecting piece is fixedly connected with the first output end of the rotor through the output first end, and/or the input connecting piece is fixedly connected with the stator through the input first end. The joint further comprises a wire harness protective cover, wherein the wire harness protective cover is provided with at least one through hole for passing through by a wire harness; The harness protection cover is fixed to the input second end of the input connector. Further, when the stator is located at the outer side of the mover, the harness protection cover is fixed to the input second end of the input connector by the following structure: the radial direction of the wire harness protective cover corresponds to the non-moving area of the joint body and extends to the input second end to form an extending part, the extending part is fixedly connected with the input second end, and the non-moving area of the joint body is an area outside the moving range of the rotor of the joint body. Further, the outer edge of the strand protection cover is located within the outer edge of the opposite end of the joint body. Further, the output connector and/or the input connector compri