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CN114311015B - Sealing structure of joint module, joint module, robotic arm and robot - Google Patents

Sealing structure of joint module, joint module, robotic arm and robot Download PDF

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Publication number
CN114311015B
CN114311015B CN202210143288.2A CN202210143288A CN114311015B CN 114311015 B CN114311015 B CN 114311015B CN 202210143288 A CN202210143288 A CN 202210143288A CN 114311015 B CN114311015 B CN 114311015B
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China
Prior art keywords
sealing
joint module
equal
shell
sealing surface
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CN114311015A (en
Inventor
雷应波
王重彬
叶伟智
姜宇
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Shenzhen Yuejiang Technology Co Ltd
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Shenzhen Yuejiang Technology Co Ltd
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Abstract

The invention discloses a sealing structure of a joint module, a mechanical arm and a robot, wherein the sealing structure of the joint module comprises the following components: the shell, output piece and seal assembly, the output piece is located the tip outside of shell, the terminal surface edge of output piece towards the shell is first sealed face, seal assembly's one end sets up in the shell and produces the drive power that promotes seal assembly and be close to the output piece with the shell, seal assembly's the other end sets up in the tip outside of shell and is provided with the second sealed face, second sealed face and first sealed face butt each other and be provided with the oil film between, wherein, the surface roughness of first sealed face is less than or equal to Ra0.8 and is greater than or equal to Ra0.1, and/or the surface roughness of second sealed face is less than or equal to Ra0.8 and is greater than or equal to Ra0.1. Therefore, the surface roughness of the second sealing surface can be in a reasonable range, and the reliability of the sealing structure of the joint module can be ensured.

Description

Sealing structure of joint module, mechanical arm and robot
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a sealing structure of a joint module, the joint module, a mechanical arm and a robot.
Background
The robot is a machine device capable of semi-autonomous or fully autonomous working, has basic characteristics of perception, decision making, execution and the like, and can assist or even replace human beings to complete dangerous, heavy and complex work.
In the related art, a mechanical arm of a robot is provided with a plurality of joints, the joints can rotate relatively, and certain gaps are generally required to be arranged among the joints in order to ensure the smoothness of the relative rotation among the joints, but on one hand, the tightness among the joints cannot be ensured, external impurities are easy to enter into the gaps, the rotation of the joints is influenced, and the rotating joints are worn; on the other hand, joint abrasion can further enlarge the gap between joints, further reduce the tightness between joints and influence the overall corrosion resistance of the mechanical arm.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a sealing structure of the joint module, which is more stable and reliable.
The invention further provides a joint module.
The invention further provides a mechanical arm.
The invention further provides a robot.
The sealing structure of the joint module according to the present invention includes: a housing; the output piece is positioned outside the end part of the shell, and the edge of the end face of the output piece, facing the shell, is a first sealing surface; the sealing assembly is characterized in that one end of the sealing assembly is arranged in the shell and used for generating driving force for pushing the sealing assembly to be close to the output piece with the shell, the other end of the sealing assembly is arranged outside the end part of the shell and is provided with a second sealing surface, the second sealing surface is in mutual abutting connection with the first sealing surface and an oil film is arranged between the second sealing surface and the first sealing surface, wherein the surface roughness of the first sealing surface is smaller than or equal to Ra0.8 and larger than or equal to Ra0.1, and/or the surface roughness of the second sealing surface is smaller than or equal to Ra0.8 and larger than or equal to Ra0.1.
Therefore, the second sealing surface of the sealing assembly and the first sealing surface of the output piece are mutually abutted, an oil film is arranged on the second sealing surface, and the surface roughness of the first sealing surface and the second sealing surface is smaller than or equal to Ra0.8 and larger than or equal to Ra0.1, so that the surface roughness of the first sealing surface and the second sealing surface is in a reasonable range, the roughness of the second sealing surface can be prevented from being too large, the smoothness of rotation of the output piece is influenced, the abrasion of the output piece and the sealing assembly is caused, and the reliability of the sealing structure of the joint module can be ensured.
In some examples of the invention, the second sealing surface has a surface roughness less than or equal to ra0.4 and greater than or equal to ra0.1.
In some examples of the invention, the seal assembly includes: the driving piece is arranged in the shell and between one end of the supporting piece and the shell so as to provide driving force for the supporting piece, and the end face of the other end of the supporting piece is the second sealing face.
In some examples of the invention, the support comprises: the sealing part is connected to the other end of the supporting part and is positioned outside the end part of the shell, and the end face of the sealing part, facing the output piece, is the second sealing surface.
In some examples of the invention, the seal assembly further comprises: the first sealing piece is sleeved on the supporting part and is positioned between the first step surface and the end surface of the shell.
In some examples of the present invention, the driving member is an elastic member, and the inner peripheral wall of the housing is formed with a second stepped surface, and one end of the elastic member abuts on the second stepped surface and the other end abuts on an end surface of the support member.
In some examples of the invention, the driver includes: the first magnetic piece and the second magnetic piece, the first magnetic piece set up in the shell, the second magnetic piece set up in the one end of support piece, the second magnetic piece with the magnetism of first magnetic piece is repulsed.
In some examples of the invention, the seal assembly further comprises: the second sealing piece, the support piece set up in the part in the shell is provided with and takes the holding tank that is annular, the second sealing piece set up in the holding tank and with the internal perisporium of shell corresponds.
In some examples of the invention, the oil film has a thickness d that satisfies the relationship: d is less than or equal to 3 mu m less than or equal to 5 mu m.
The joint module according to the present invention comprises: a driving device; and the driving device is arranged in the shell and is in transmission connection with the output piece.
The mechanical arm according to the present invention comprises: the joint module is described above.
The robot according to the present invention includes: the mechanical arm is described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic illustration of a robotic arm according to an embodiment of the invention;
FIG. 2 is a schematic illustration of a joint module according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a joint module according to an embodiment of the invention;
FIG. 4 is a schematic view of region B of FIG. 3;
Fig. 5 is a schematic view of region C in fig. 4.
Reference numerals:
1000. A mechanical arm; 100. a joint module;
10. A housing; 11. a second step surface; 20. a driving device;
30. An output member; 31. a main tray body; 32. an outer seal portion; 33. a first sealing surface;
40. a seal assembly; 41. a driving member; 42. a support; 421. a support part; 4211. a receiving groove; 422. a sealing part; 43. a second sealing surface; 433. an oil film; 44. a first seal; 45. a first step surface; 46. and a second seal.
Detailed Description
Embodiments of the present invention will be described in detail below, with reference to the accompanying drawings, which are exemplary.
Referring to fig. 1 to 5, a sealing structure of a joint module 100 according to an embodiment of the present invention is described, the sealing structure of the joint module 100 may be applied to the joint module 100, the joint module 100 may be mounted on a robot arm 1000, and the robot arm 1000 may be applied to a robot.
As shown in connection with fig. 2 to 4, the sealing structure of the joint module 100 according to the embodiment of the present invention may mainly include: the housing 10, the output member 30 and the seal assembly 40, one end of the seal assembly 40 is disposed within the housing 10, and one end of the seal assembly 40 and the housing 10 generate a driving force that urges the seal assembly 40 toward the output member 30. Specifically, the output member 30 may rotate relative to the housing 10, in order to ensure smoothness of rotation of the output member 30 relative to the housing 10, and in order to ensure that the output member 30 is not worn by the housing 10, a certain gap may be provided between the output member 30 and the housing 10, and in order to prevent foreign objects from entering into the gap between the output member 30 and the housing 10, by providing the seal assembly 40, one end of the seal assembly 40 may be disposed in the housing 10, and the seal assembly 40 and the housing 10 may generate a driving force for pushing the seal assembly 40 to approach the output member 30, so that tightness between the seal assembly 40 and the output member 30 may be better, and external foreign objects may be effectively prevented from entering into the gap through a space between the seal assembly 40 and the output member 30, so that structural reliability of the seal assembly 40 may be further improved.
Further, since one end of the sealing assembly 40 may generate a driving force close to the output member 30, when the distance between the output member 30 and the sealing assembly 40 is too large, for example, the sealing assembly 40 is worn to some extent when used for a long time, the sealing assembly 40 will approach the output member 30, so that the distance between the sealing assembly 40 and the output member 30 can be maintained within a certain range all the time, and thus the tightness between the sealing assembly 40 and the output member 30 can be ensured more reliably.
As shown in fig. 4, the output member 30 is located outside the end of the housing 10, the end face edge of the output member 30 facing the housing 10 is the first sealing face 33, the other end of the seal assembly 40 is provided outside the end of the housing 10, and the other end of the seal assembly 40 is provided with the second sealing face 43, the second sealing face 43 is provided in abutment with the first sealing face 33, and the second sealing face 43 is provided with the oil film 433.
Specifically, since the output member 30 rotates relative to the housing 10 while also rotating relative to the other end of the seal assembly 40, the distance between the seal assembly 40 and the output member 30 needs to be set small in order to ensure the lubrication effect between the seal assembly 40 and the output member 30, which causes great wear to occur between the seal assembly 40 and the output member 30.
Therefore, by arranging the first sealing surface 33 on the surface of the output member 30 facing the end surface edge of the housing 10, and arranging the second sealing surface 43 on the other end of the sealing assembly 40 by the output member 30, the first sealing surface 33 and the second sealing surface 43 are arranged in abutting connection with each other, and arranging the oil film 433 on the second sealing surface 43, the oil film 433 can have a lubrication effect on the rotation of the output member 30 relative to the sealing assembly 40, so that on one hand, the smoothness and stability of the rotation of the output member 30 can be improved, and thus the reliability of the normal operation of the mechanical arm 1000 can be improved, and further the performance of the mechanical arm 1000 can be improved, on the other hand, the abrasion of the sealing assembly 40 and the output member 30 can be reduced when the oil film 433 rotates relative to the sealing assembly 40, so that not only the structural stability of the sealing assembly 40 and the output member 30 can be improved, but also the distance between the sealing assembly 40 and the output member 30 can be prevented from being further enlarged due to abrasion, and thus the reliability of the sealing structure of the joint module 100 can be further improved.
In addition, the output member 30 may be an output flange, where the output flange may mainly include a main disc body 31 and an outer sealing portion 32, where the main disc body 31 is used to connect with another joint module 100 of the mechanical arm 1000, the outer sealing portion 32 is disposed on the outer periphery of the main disc body 31, and an end portion of the outer sealing portion 32 forms an end edge of the output member 30, and an oil film 433 is disposed between the outer sealing portion 32 and one end of the sealing assembly 40, so that not only the rationality of the structural setting of the output member 30 can be improved, but also the stability of the fit between the sealing assembly 40 and the output member 30 can be further improved.
Further, the oil film 433 can seal the space between the output member 30 and the seal assembly 40 on the premise of ensuring that the output member 30 rotates more smoothly relative to the seal assembly 40, so that the whole seal structure of the joint module 100 is not changed, and the tightness of the seal assembly 40 is further improved on the premise of simplifying the seal structure of the joint module 100, so that the structural design of the seal structure of the joint module 100 can be optimized.
In addition, the surface roughness of the first sealing surface 33 is less than or equal to ra0.8, and the surface roughness of the first sealing surface 33 is greater than or equal to ra0.1, the surface roughness of the second sealing surface 43 is less than or equal to ra0.8, and the surface roughness of the second sealing surface 43 is greater than or equal to ra0.1. That is, the sealing structure of the joint module 100 of the present invention further limits the surface roughness of the first sealing surface 33 and the second sealing surface 43 to a reasonable range on the basis of the provision of the oil film 433, so that the gasket can be omitted, difficulty in manufacturing and assembling the sealing structure of the joint module 100 can be reduced, and excessive surface roughness of the first sealing surface 33 and the second sealing surface 43 can be prevented, and the first sealing surface 33 and the second sealing surface 43 are prevented from being excessively rough, resulting in a reduced lubrication effect of the oil film 433 on the first sealing surface 33 and the second sealing surface 43, resulting in wear between the second sealing surface 43 and the first sealing surface 33 when the output member 30 rotates.
By means of the arrangement, on the premise that the arrangement of the oil film 433 between the first sealing surface 33 and the second sealing surface 43 is stable and firm, the smoothness of rotation of the output piece relative to the sealing assembly 40 can be further improved, abrasion of the first sealing surface 33 and the second sealing surface 43 can be reduced, sealing between the first sealing surface 33 and the second sealing surface 43 can be effectively achieved, foreign matters or liquid can be prevented from entering the sealing structure of the joint module 100, and accordingly the reliability and the sealing performance of the sealing structure of the joint module 100 can be further improved.
Further, the surface roughness of the first sealing surface 33 and the second sealing surface 43 is set smaller, so that the contact between the first sealing surface 33 and the second sealing surface 43 is tighter, the contact area between the oil film 433 and the outside between the first sealing surface 33 and the second sealing surface 43 is smaller, the tightness of the oil film 433 can be improved, the service life of the oil film 433 can be prolonged, the sealing reliability of the oil film 433 for a longer time can be ensured, and the maintenance cost of the sealing structure of the joint module 100 can be reduced.
The surface roughness of the first sealing surface 33 may be ra0.1, ra0.2, ra0.3, ra0.4, ra0.5, ra0.6, ra0.7, and ra0.8, and the surface roughness of the second sealing surface 43 may be ra0.1, ra0.2, ra0.3, ra0.4, ra0.5, ra0.6, ra0.7, and ra0.8.
Surface roughness refers to the small pitch and the unevenness of the minute peaks and valleys of the processed surface. The distance (wave distance) between two wave crests or wave troughs is very small (below 1 mm), and the method belongs to microscopic geometric errors. The smaller the surface roughness, the smoother the surface.
There are various methods for detecting the surface roughness of the first sealing surface 33 and the second sealing surface 43, and specifically, the surface roughness is detected by: direct measurement, comparative measurement and comprehensive measurement. The direct measuring method is to measure the relevant parameters directly on the surface of the part by using an optical and electric instrument to determine the roughness grade, and the direct measurement is divided into contact measurement and non-contact measurement. The comparative measurement method is to compare the measured surface with a standard roughness template, and to evaluate the roughness grade, wherein the roughness template is a group of metal blocks manufactured by different processing methods (turning, planing, flat milling, vertical milling, grinding and the like). Comprehensive measurement is to indirectly evaluate the level of surface roughness by using a certain characteristic of the measured surface, but cannot measure a specific value of peak-valley asperity height.
Thus, by disposing the second sealing surface 43 of the seal assembly 40 and the first sealing surface 33 of the output member 30 in abutment with each other, disposing the oil film 433 on the second sealing surface 43, and disposing the surface roughness of the first sealing surface 33 and the second sealing surface 43 to be less than or equal to ra0.8 and greater than or equal to ra0.1, it is possible to bring the surface roughness of the first sealing surface 33 and the second sealing surface 43 into a reasonable range, it is possible to prevent the roughness of the first sealing surface 33 and the second sealing surface 43 from being excessively large, to affect the smoothness of rotation of the output member 30, and to cause wear of the output member 30 and the seal assembly 40, so that the reliability and the sealing property of the seal structure of the joint module 100 can be ensured.
Further, the surface roughness of the first sealing surface 33 is less than or equal to ra0.4, the surface roughness of the first sealing surface 33 is greater than or equal to ra0.1, the surface roughness of the second sealing surface 43 is less than or equal to ra0.4, and the surface roughness of the second sealing surface 43 is greater than or equal to ra0.1, so that the range of the surface roughness of the second sealing surface 43 can be further limited, the rotation of the output member 30 can be smoother, and the tightness between the first sealing surface 33 and the second sealing surface 43 can be more reliable, so that the structural design of the sealing structure of the joint module 100 can be further optimized. In addition, this also prevents the surface roughness of the second sealing surface 43 from being too small, increases the difficulty in processing the seal assembly 40, and results in the oil film 433 not being stably disposed between the first sealing surface 33 and the second sealing surface 43. Preferably, the surface roughness of the first sealing surface 33 may be ra0.1, ra0.2, ra0.3, and ra0.4, and the surface roughness of the second sealing surface 43 may be ra0.1, ra0.2, ra0.3, and ra0.4.
As shown in connection with fig. 3 and 4, the seal assembly 40 may mainly include: a driving member 41 and a supporting member 42, the driving member 41 being disposed in the housing 10, and the driving member 41 being disposed between one end of the supporting member 42 and the housing 10 to provide driving force to the supporting member 42, the other end face of the supporting member 42 being the second sealing face 43. Specifically, the driving member 41 is disposed in the housing 10, and the driving member 41 is disposed between one end of the supporting member 42 and the housing 10, the second sealing surface 43 at the other end of the supporting member 42 is disposed in contact with the first sealing surface 33 at the end edge of the output member 30, and an oil film 433 is disposed between the first sealing surface 33 and the second sealing surface 43, when the distance between the sealing assembly 40 and the output member 30 changes, the driving member 41 will drive the supporting member 42 to approach the output member 30, so that the second sealing surface 43 at the other end of the supporting member 42 always keeps a certain distance from the first sealing surface 33 of the output member 30, and then the oil film 433 between the first sealing surface 33 and the second sealing surface 43 always contacts the first sealing surface 33 and the second sealing surface 43 at the same time, so that the rotation lubrication of the oil film 433 to the output member 30 and the sealing between the first sealing surface 33 and the second sealing surface 43 can be further ensured, and the structural reliability of the sealing structure of the joint module 100 can be further improved.
As shown in connection with fig. 3-5, the support 42 may generally include: a supporting portion 421 and a sealing portion 422, wherein one end of the supporting portion 421 is matched with the driving member 41, the sealing portion 422 is connected to the other end of the supporting portion 421 and is located outside the end of the housing 10, and the end face of the sealing portion 422 facing the output member 30 is the second sealing face 43. Specifically, by matching one end of the supporting portion 421 with the driving member 41 and disposing the sealing portion 422 at the other end of the supporting portion 421, the driving member 41 can drive the supporting portion 421 to move in a direction approaching the output member 30, so that the sealing portion 422 at the other end of the supporting portion 421 moves in a direction approaching the output member 30, and since the end surface of the sealing portion 422 facing the output member 30 is the second sealing surface 43, the second sealing surface 43 of the sealing portion 422 moving in a direction approaching the output member 30 approaches the first sealing surface 33, the distance between the first sealing surface 33 and the second sealing surface 43 can be kept within a reasonable range all the time, so that the oil film 433 can always lubricate the first sealing surface 33 and the second sealing surface 43, and on the other hand, not only can the driving of the sealing portion 422 approaching the output member 30 by the driving member 41 be ensured to be more direct, but also the driving efficiency of the driving member 41 can be improved, and the structural design of the supporting member 42 can be simplified.
As shown in connection with fig. 4 and 5, the seal assembly 40 further includes: the first seal 44, the seal portion 422 and the support portion 421 are formed with a first step surface 45 therebetween, the first seal 44 is fitted over the support portion 421, and the first seal 44 is located between the first step surface 45 and the end surface of the housing 10. Specifically, the sealing portion 422 is connected to the supporting portion 421, and the second sealing surface 43 of the sealing portion 422 and the first sealing surface 33 of the output member 30 can be ensured to be disposed in contact with each other, since the sealing portion 422 needs to protrude outward from the supporting portion 421. Further, the surface of the sealing portion 422 protruding outward from the supporting portion 421 away from the end of the output member 30 forms a first step surface 45 together with the outer surface of the supporting portion 421, the first sealing member 44 is fitted over the supporting portion 421, and the first sealing member 44 is located between the first step surface 45 and the end surface of the housing 10.
So set up, can form the sunken groove inwards between the terminal surface of first step face 45 and shell 10, first sealing member 44 not only can be with the sunken groove filling up inwards between the terminal surface of first step face 45 and shell 10, can make the seal structure of joint module 100 more reliable, and first sealing member 44 can also play sealed shielding protection's effect to the surface that support 421's surface and sealing part 422 kept away from the surface of output 30 one end, can further promote the stability and the reliability of the seal structure of joint module 100 like this. In addition, the first sealing member 44 may be mounted on the supporting member 42 by a fastener, or may be in interference fit with the supporting member 42, so as to be sleeved on the supporting member 42.
In some embodiments of the present invention, as shown in connection with fig. 5, the driving member 41 is an elastic member, the inner peripheral wall of the housing 10 is formed with the second step surface 11, one end of the elastic member abuts on the second step surface 11, and the other end of the elastic member abuts on an end surface of the supporting member 42. Specifically, by providing the driving member 41 as an elastic member and providing the second step surface 11 on the inner peripheral wall of the housing 10, one end of the elastic member is abutted against the second step surface 11 and the other end is abutted against the one end surface of the supporting member 42, so that the installation setting of the elastic member in the housing 10 can be made stable and reliable without affecting the installation setting of other components in the housing 10 and without increasing the volume of the housing 10 on the premise that the elastic member elastically drives the supporting member 42.
Further, the other end of the elastic member is abutted against the end face of one end of the supporting member 42, and the elastic member is provided with a corresponding pretightening force, so that the distance between the supporting member 42 and the output member 30 can be always kept within a reasonable range, and when the distance between the supporting member 42 and the output member 30 is too large, the elastic member can drive the supporting member 42 to approach the output member 30, so that the oil film 433 can be continuously and stably in lubrication contact with the first sealing surface 33 and the second sealing surface 43, and the reliability of the oil film 433 can be improved. The elastic member may be a coil spring.
In other embodiments of the present invention, the driving member 41 may mainly include: the first magnetic member is disposed in the housing 10, and the second magnetic member is disposed at one end of the support member 42, and the second magnetic member and the first magnetic member are magnetically repulsive. Specifically, the inner peripheral wall of the housing 10 may form a second step surface 11, the first magnetic element may be adhered to the second step surface 11, or may be grooved on the second step surface 11 to accommodate the first magnetic element, and the second magnetic element is disposed at one end of the supporting element 42, so that the first magnetic element drives the second magnetic element and the supporting element 42 to move in a direction approaching to the output element 30 through repulsive interaction of the first magnetic element and the second magnetic element, thereby not only facilitating the setting of the driving element 41, but also reducing the space inside the housing 10 occupied by the driving element 41, and improving the driving stability of the driving element 41 to the supporting element 42.
As shown in connection with fig. 5, the seal assembly 40 may also include, in principle: the portion of the support member 42 disposed in the housing 10 is provided with a receiving groove 4211 in the shape of a ring, and the second seal member 46 is disposed in the receiving groove 4211 and corresponds to the inner peripheral wall of the housing 10. Specifically, by providing the annular receiving groove 4211 in the portion of the support member 42 located in the housing 10, the receiving groove 4211 is opened toward the inner peripheral wall of the housing 10, and after the second seal member 46 is provided in the receiving groove 4211, the second seal member 46 will abut against the inner peripheral wall of the housing 10, and the second seal member 46 can secondarily block the external foreign matter entering from the gap between the first seal member 44 and the first step surface 45 between the support member 42 and the inner peripheral wall of the housing 10, so that the sealing performance and reliability of the sealing structure of the joint module 100 can be further improved.
Further, the thickness of the oil film 433 is d, d satisfying the relation: d is less than or equal to 3 mu m less than or equal to 5 mu m. Therefore, the thickness of the oil film 433 can be in a reasonable range, the thickness of the oil film 433 can be ensured to be enough, and on the premise of ensuring that the lubrication and sealing of the end edges of the sealing assembly 40 and the output piece 30 are sufficient, the structure of the oil film 433 is unstable due to the fact that the thickness of the oil film 433 is overlarge, the oil in the oil film 433 flows out from between the sealing assembly 40 and the output piece 30, and the sealing performance of the oil film 433 on a gap between the output piece 30 and the sealing assembly 40 is poor, so that the structural reliability of the sealing structure of the joint module 100 can be further improved.
The joint module 100 according to an embodiment of the present invention may mainly include: the driving device 20 and the sealing structure of the joint module 100 are arranged in the shell 10, and the driving device 20 is in transmission connection with the output piece 30. Specifically, the driving device 20 is disposed in the housing 10, the output member 30 is in transmission connection with the driving device 20, and the output member 30 is located at an outer side of an end portion of the housing 10, so that the housing 10 can protect the driving device 20, and prevent the driving device 20 from being damaged due to erosion of external foreign matters or impact of external force, so that reliability of driving the output member 30 by the driving device 20 can be ensured, and service life of the driving device 20 can be prolonged.
In addition, the driving device 20 may mainly include a driving motor and a speed reducer, and the driving motor needs to be decelerated by the speed reducer before transmitting power to the output member 30, so that stability and reliability of driving the output member 30 by the driving device 20 can be further improved. The output piece 30 is arranged outside the end part of the shell 10, the output piece 30 is in transmission connection with the driving device 20, and the driving device 20 can drive the output piece 30 to rotate, so that the mechanical arm 1000 can work normally.
The robot arm 1000 according to an embodiment of the present invention may mainly include: the joint module 100 of the above embodiment, when the joint module 100 is applied to the mechanical arm 1000, not only can the tightness of the mechanical arm 1000 be improved, but also external foreign matters can be prevented from entering the mechanical arm 1000 and damaging components inside the mechanical arm 1000, and the rotation of the output member 30 of the mechanical arm 1000 can be smoother, the abrasion is smaller, the service life of the mechanical arm 1000 can be prolonged, and the structural stability and reliability of the mechanical arm 1000 can be effectively improved.
The robot according to an embodiment of the present invention may mainly include: the mechanical arm 1000, the mechanical arm 1000 includes the joint module 100 of the above embodiment, and the present robot adopts the technical solutions of all the above embodiments, so at least has all the technical effects brought by the technical solutions of the above embodiments, which are not described in detail herein.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", 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 device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative 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 invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims (8)

1.一种关节模组,其特征在于,包括:1. A joint module, characterized by comprising: 外壳;shell; 驱动装置,所述驱动装置设置于所述外壳内,并包括驱动电机和减速器;A driving device, which is disposed in the housing and includes a driving motor and a reducer; 输出件,所述输出件位于所述外壳的端部外侧,并与所述减速器连接,所述输出件朝向外壳的端面边缘为第一密封面;An output member, the output member is located outside the end of the housing and connected to the reducer, and the edge of the end surface of the output member facing the housing is a first sealing surface; 密封组件,所述密封组件包括:弹性件、支撑件和第一密封件,所述弹性件套设在所述减速器的外围,所述弹性件的一端抵接在所述外壳的内周壁形成的第二台阶面上,所述支撑件包括:支撑部和密封部,所述支撑部设置在所述外壳与所述减速器之间,所述支撑部的一端抵接所述弹性件的另一端,所述密封部连接于所述支撑部的另一端且位于所述外壳的端部外侧,所述密封部朝向所述输出件的端面为第二密封面,所述支撑部的外径小于所述密封部的外径,使得所述密封部和所述支撑部之间形成有第一台阶面,所述第一密封件套设在所述支撑部上且位于所述第一台阶面和所述外壳的端面之间;A sealing assembly, the sealing assembly comprising: an elastic member, a support member and a first sealing member, the elastic member is sleeved on the periphery of the reducer, one end of the elastic member abuts against a second step surface formed on the inner peripheral wall of the shell, the support member comprises: a support portion and a sealing portion, the support portion is arranged between the shell and the reducer, one end of the support portion abuts against the other end of the elastic member, the sealing portion is connected to the other end of the support portion and is located outside the end of the shell, the end surface of the sealing portion facing the output member is the second sealing surface, the outer diameter of the support portion is smaller than the outer diameter of the sealing portion, so that a first step surface is formed between the sealing portion and the support portion, the first sealing member is sleeved on the support portion and is located between the first step surface and the end surface of the shell; 其中,所述第二密封面与所述第一密封面相互抵接且之间设置有油膜。Wherein, the second sealing surface and the first sealing surface abut against each other with an oil film arranged therebetween. 2.根据权利要求1所述的关节模组,其特征在于,所述第一密封面的表面粗糙度小于或等于Ra0.8且大于或等于Ra0.1,和/或所述第二密封面的表面粗糙度小于或等于Ra0.8且大于或等于Ra0.1。2. The joint module according to claim 1 is characterized in that the surface roughness of the first sealing surface is less than or equal to Ra0.8 and greater than or equal to Ra0.1, and/or the surface roughness of the second sealing surface is less than or equal to Ra0.8 and greater than or equal to Ra0.1. 3.根据权利要求2所述的关节模组,其特征在于,所述第一密封面的表面粗糙度小于或者等于Ra0.4且大于或者等于Ra0.1,和/或所述第二密封面的表面粗糙度小于或者等于Ra0.4且大于或者等于Ra0.1。3. The joint module according to claim 2 is characterized in that the surface roughness of the first sealing surface is less than or equal to Ra0.4 and greater than or equal to Ra0.1, and/or the surface roughness of the second sealing surface is less than or equal to Ra0.4 and greater than or equal to Ra0.1. 4.根据权利要求1所述的关节模组,其特征在于,所述密封组件还包括驱动件,所述驱动件包括:第一磁性件和第二磁性件,第一磁性件设置于所述外壳内,所述第二磁性件设置于所述支撑件的一端,所述第二磁性件和所述第一磁性件磁性相斥。4. The joint module according to claim 1 is characterized in that the sealing assembly also includes a driving member, and the driving member includes: a first magnetic member and a second magnetic member, the first magnetic member is arranged in the outer shell, the second magnetic member is arranged at one end of the support member, and the second magnetic member and the first magnetic member magnetically repel each other. 5.根据权利要求1所述的关节模组,其特征在于,所述密封组件还包括:第二密封件,所述支撑件设置于所述外壳内的部分设置有呈环形的容纳槽,所述第二密封件设置于所述容纳槽内且与所述外壳的内周壁相对应。5. The joint module according to claim 1 is characterized in that the sealing assembly further comprises: a second sealing member, the portion of the support member disposed in the outer shell is provided with an annular receiving groove, and the second sealing member is disposed in the receiving groove and corresponds to the inner circumferential wall of the outer shell. 6.根据权利要求1-5中任一项所述的关节模组,其特征在于,所述油膜的厚度为d,d满足关系式:3μm≤d≤5μm。6 . The joint module according to claim 1 , wherein the thickness of the oil film is d, and d satisfies the relationship: 3 μm≤d≤5 μm. 7.一种机械臂,其特征在于,包括:权利要求1-6任一项所述的关节模组。7. A robotic arm, characterized by comprising: a joint module as described in any one of claims 1-6. 8.一种机器人,其特征在于,包括:权利要求7所述的机械臂。8. A robot, characterized by comprising: the robotic arm according to claim 7.
CN202210143288.2A 2022-02-16 2022-02-16 Sealing structure of joint module, joint module, robotic arm and robot Active CN114311015B (en)

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CN212763546U (en) * 2020-08-04 2021-03-23 深圳市赫瑞科技有限公司 Robot joint module with anti-corrosion function
CN217475987U (en) * 2022-02-16 2022-09-23 深圳市越疆科技有限公司 Sealing structure of joint modules, joint modules, robotic arms and robots

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