CN119238602A - Robotic joints and robots - Google Patents

Abstract

The present application relates to the field of robot technology, and in particular to a robot joint and a robot. The robot joint includes a shell, a mounting and adjusting seat, and a reduction mechanism. The mounting and adjusting seat is connected to the shell, and the mounting and adjusting seat is provided with a positioning portion, and the shell can rotate around a specified center of a circle relative to the positioning portion. The reduction mechanism includes a first transmission module, a second transmission module, and a transmission shaft, the first transmission module is arranged on the mounting and adjusting seat; the second transmission module is arranged on the shell, and the second transmission module includes a transmission-matching input rotating member and an output rotating member; the transmission shaft is rotatably passed through the mounting and adjusting seat, one end of the transmission shaft is connected to the first transmission module, and the other end is connected to the input rotating member, and there is a gap between the rotation axis of the transmission shaft relative to the mounting and adjusting seat and the specified center of a circle. The above-mentioned robot joint adopts a gear transmission structure instead of a reducer structure to reduce costs.

Description

Robot joint and robot

Technical Field

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

Background

At present, a driving mode of combining a motor with a speed reducer is adopted by a wrist transmission mechanism of the robot, the driving mode is too dependent on the performance of the speed reducer, the cost is greatly influenced by the speed reducer, and the overall cost is high. In order to reduce the dependence of the wrist structure of the robot on a speed reducer and reduce the structural cost of the wrist of the whole robot, partial manufacturers adopt the transmission of a gear structure when the wrist structure is designed, but all levels of transmission gears are often coupled with each other, the adjustment difficulty of the gear transmission is high, and the processing precision of the gears and castings is often required to be high in order to ensure the transmission precision.

Disclosure of Invention

The application provides a robot joint and a robot with the robot joint.

In a first aspect, the present application provides a robotic joint comprising a housing, a mounting adjustment seat, and a reduction mechanism. The installation adjusting seat is connected to the shell, the installation adjusting seat is provided with a positioning part, and the shell can rotate around a designated circle center relative to the positioning part. The speed reducing mechanism comprises a first transmission module, a second transmission module and a transmission shaft, wherein the first transmission module is arranged on the installation adjusting seat, the second transmission module is arranged on the shell, the second transmission module comprises an input rotating piece and an output rotating piece which are matched in a transmission mode, the transmission shaft is rotatably arranged on the installation adjusting seat in a penetrating mode, one end of the transmission shaft is connected to the first transmission module, the other end of the transmission shaft is connected to the input rotating piece, and an interval exists between a rotating axis of the transmission shaft, which rotates relative to the installation adjusting seat, and a designated circle center.

In a second aspect, the application also provides a robot comprising a body and a robot joint according to any one of the above, the robot joint being connected to the body.

Compared with the prior art, when the robot joint provided by the application is used, the first transmission module drives the transmission shaft to rotate relative to the installation adjusting seat, and the transmission shaft drives the second transmission module to rotate. The robot joint adopts the gear transmission structure to replace the speed reducer structure, and the first transmission module and the second transmission module realize two-stage transmission, so that a larger reduction ratio can be achieved, and the cost is greatly reduced. External impact and overload can be well resisted by adopting gear transmission, and the failure rate of the robot in use is reduced. An operator can adjust the center distance between the input rotating piece and the output rotating piece by adjusting the relative position between the shell and the installation adjusting seat, so that the transmission precision is ensured.

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 schematic plan view of a robot joint according to an embodiment of the present application.

Fig. 3 is a schematic view of a cross-sectional A-A configuration of the robot joint shown in fig. 2.

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

Fig. 5 is a schematic cross-sectional view of an end cap and a driven gear of the robot joint shown in fig. 3.

Fig. 6 is a schematic view of a cross-sectional B-B view of the robot joint shown in fig. 2.

Fig. 7 is an enlarged schematic view of the portion D in fig. 6.

Fig. 8 is a schematic perspective view of the robot joint shown in fig. 2.

Fig. 9 is a schematic plan view of a mounting adjustment seat of the robot joint shown in fig. 2.

Fig. 10 is a schematic plan view of the robot joint of fig. 2 from another perspective.

Fig. 11 is an enlarged schematic view of the portion E in fig. 8.

Reference numerals illustrate 100, robotic joints; 10, a shell; 12, a main body; 121, first mounting portion, 123, second mounting portion, 125, adjustment fitting portion, 126, mounting hole, 20, mounting adjustment seat, 21, seat body, 212, first receiving portion, 2121, first cavity, 2123, first mounting port, 214, second receiving portion, 2141, second cavity, 2143, second mounting port, 216, end cap, 23, positioning portion, 231, circular arc structure, 232, positioning boss, 236, positioning hole, 25, connecting portion, 252, adjustment hole, 30, reduction mechanism, 32, first transmission module, 321, driving gear, 3212, first shaft portion, 3214, first engagement portion, 323, driven gear, 325, first bearing, 327, pretension nut, 34, second transmission module, 341, input rotation member, 3412, first transmission tooth, 343, output rotation member, 3432, second shaft portion, 3434, second transmission tooth, 3436, mounting hole, 36, transmission shaft, 38, second bearing, 40, output member, 50, spacer, 52, 60, 3212, 3214, first engagement portion, 323, driven gear, 325, first bearing, 327, first transmission tooth, 3432, first transmission tooth, 3436, second transmission tooth, 40, output shaft, 50, 52, spacer, 52, spacer, 52, retainer, 52, 50, spacer, 50, a spacer, a the driving, a the driving a, a the a, a the driving, a the a, a the a, the a, a the a, a, and a, and.

Detailed Description

In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present application with reference to the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

As a particular component is referred to by some of the terms used in the description and claims, it should be understood by those skilled in the art that a hardware manufacturer may refer to the same component by different terms. The description and claims do not take the difference in name as a way of distinguishing between components, but rather take the difference in functionality of the components as a criterion for distinguishing. As used throughout the specification and claims, the word "comprising" is intended to be construed as "including but not limited to", and "substantially" means that a person skilled in the art can solve the technical problem within a certain margin of error, substantially achieving the technical effect.

Referring to fig. 1, an embodiment of the present application provides a robot joint 100, and the robot joint 100 may be applied to a robot 200.

The specific type of the robot 200 is not limited in this specification, and for example, the robot 200 may be an industrial robot arm robot or a travelling robot, or may be a cooperative robot, and in this embodiment, the robot 200 is a cooperative robot. The cooperative robot is a robot type capable of realizing the co-location and cooperative work of personnel and the robot, and gradually permeates into various fields such as automobile parts, metal processing, electronics, medical equipment, consumption catering and the like by virtue of the man-machine safety of the cooperative robot, so that the labor operation efficiency is greatly improved.

The robot 200 may include a body 201, an execution end 203, and a robot joint 100. The robot joint 100 is connected between the actuator 203 and the body 201, and is configured to drive the actuator 203 to move relative to the body 201. The body 201 may be a base of the robot 200, for example, when the robot 200 is a cooperative robot, the body 201 may be a base (for example, a fixed base) for supporting a robot joint to make the robot joint more stable, for example, when the robot 200 is a bionic robot, the body 201 may be a bionic trunk portion, and when the robot 200 is a mechanical arm, the body 201 may be an installation base or a mechanical arm portion at a front end.

In the present application, the terms "mounted," "connected," "secured," and the like are to be construed broadly, unless otherwise specifically indicated or defined. For example, the connection may be fixed connection, detachable connection, or integral connection, mechanical connection, electrical connection, direct connection, indirect connection via an intermediate medium, communication between two elements, or surface contact. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In some embodiments, the robot 200 may include a plurality of execution ends 203, and accordingly, the robot 200 also includes robot joints 100 in one-to-one correspondence with the plurality of execution ends 203, each execution end 203 being connected to the body 201 through a corresponding robot joint 100. Or a plurality of execution ends 203 may be sequentially connected, for example, two adjacent execution ends 203 may be connected through a joint module, the execution end 203 at the front end may be connected to the body 201 through the joint module, and the execution end 203 at the rear end (e.g., the end) may be connected to the execution end 203 at the front thereof through the joint module. The specific type of the robot joint 100 is not limited in this specification, and for example, the robot joint 100 may be a wrist joint of the robot 200 or an elbow joint of the robot 200, and in this embodiment, the robot joint 100 is a wrist joint of the robot 200.

Referring to fig. 2 and 3, the robot joint 100 includes a housing 10, a mounting adjustment base 20, and a speed reducing mechanism 30, wherein the mounting adjustment base 20 is rotatably connected to the housing 10. The reduction mechanism 30 includes a first transmission module 32, a second transmission module 34, and a transmission shaft 36. The first transmission module 32 is disposed on the mounting adjustment base 20, and the second transmission module 34 is disposed on the housing 10. One end of the transmission shaft 36 is connected to the first transmission module 32, and the other end is connected to the second transmission module 34.

In the present disclosure, the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.

When in installation, the first transmission module 32 is assembled to the installation adjusting seat 20, the second transmission module 34 is assembled to the shell 10, and the transmission shaft 36 is penetrated through the installation adjusting seat 20 and is connected between the first transmission module 32 and the second transmission module 34. In use, the first transmission module 32 drives the transmission shaft 36 to rotate relative to the mounting adjustment seat 20, and the transmission shaft 36 drives the second transmission module 34 to rotate. The robot joint 100 of the application adopts a gear transmission structure (the first transmission module 32, the second transmission module 34 and the transmission shaft 36) to replace a speed reducer structure, and the first transmission module 32 and the second transmission module 34 realize two-stage transmission, so that a larger reduction ratio can be achieved, and the cost is greatly reduced. External impact and overload can be well resisted by adopting gear transmission, and the failure rate of the robot 200 in use is reduced.

In this embodiment, the installation adjusting seat 20 may include a seat body 21 and a positioning portion 23, where the seat body 21 is used for installing the first transmission module 32, the positioning portion 23 is disposed on the seat body 21, and the positioning portion 23 is used for being cooperatively connected with the housing 10. The base 21 may include a first receiving portion 212 and a second receiving portion 214 connected to each other, and the positioning portion 23 is disposed at the second receiving portion 214.

The base 21 may be molded by casting to ensure high structural strength and transmission stability, so that the first receiving portion 212 and the second receiving portion 214 refer to different portions of the base 21, but these designations should not be considered as limitations on the structure of the base 21, and these designations are made only for convenience of description, for example, the connection between the first receiving portion 212 and the second receiving portion 214 may be an integrally formed connection structure, and no distinct dividing line may be provided between the first receiving portion 212 and the second receiving portion 214. In other embodiments, the base 21 may be formed by assembling and connecting, so as to reduce the difficulty of manufacturing, for example, the first accommodating portion 212 and the second accommodating portion 214 may be assembled together by fasteners after being manufactured independently, so as to form an integral structure of the base 21, wherein the first accommodating portion 212 and the second accommodating portion 214 may be formed by casting, and the first accommodating portion 212 and the second accommodating portion 214 may be connected together by fasteners (such as screw fasteners, screw bolts, etc.) or/and adhesives such as structural adhesives.

The first accommodating portion 212 is substantially cylindrical, the first accommodating portion 212 has a first cavity 2121, and the first cavity 2121 penetrates the first accommodating portion 212 in the first direction X to form a first mounting opening 2123 at an end remote from the second accommodating portion 214. The second accommodating portion 214 is integrally formed in the first accommodating portion 212, the second accommodating portion 214 has a second cavity 2141, and the second cavity 2141 penetrates through one end of the second accommodating portion 214 along the second direction Y to form a second mounting hole 2143. The second chamber 2141 communicates with the first chamber 2121, and the first direction X and the second direction Y intersect (e.g., are perpendicular).

The first transmission module 32 may include a driving gear 321 and a driven gear 323, where the driven gear 323 is coaxially disposed with the transmission shaft 36 and is in rotation-stopping connection, and the driving gear 321 is meshed with the driven gear 323 to drive the driven gear 323 and the transmission shaft 36 to rotate. The rotation axis of the driving gear 321 and the rotation axis of the driven gear 323 intersect. It should be understood that the "rotation-stopping connection" between the driven gear 323 and the drive shaft 36 is understood to mean that the driven gear 323 is relatively fixed to the drive shaft 36, and that the drive shaft 36 is rotatable with rotation of the driven gear 323.

In the present embodiment, the drive gear 321 may include a first shaft portion 3212 and a first engagement portion 3214. The first shaft portion 3212 is rotatably disposed within the first cavity 2121 and extends in a first direction X, and an axis of the first shaft portion 3212 is substantially parallel to the first direction X. The first engaging portion 3214 is substantially coaxially connected to an end of the first shaft portion 3212 adjacent to the second receiving portion 214 and extends into the second cavity 2141, and the first engaging portion 3214 may be integrally formed with the first shaft portion 3212. The driven gear 323 is rotatably provided in the second chamber 2141, and an axis of the driven gear 323 is substantially parallel to the second direction Y, and the driven gear 323 is engaged with the first engagement portion 3214. The driving gear 321 rotates relative to the first accommodating portion 212, and drives the driven gear 323 to rotate relative to the second accommodating portion 214, so that the second transmission module 34 is driven by the transmission shaft 36. In the present embodiment, the driving gear 321 and the driven gear 323 are hypoid gears, and the outer diameter of the first meshing portion 3214 of the driving gear 321 is smaller than the outer diameter of the driven gear 323. The hypoid gear pair small wheels have larger helix angles, so that larger contact ratio is obtained when the hypoid gear pair small wheels are meshed, and the transmission is smoother.

In this embodiment, the first transmission module 32 may further include a first bearing 325, where the first bearing 325 is disposed between the first shaft portion 3212 and the inner wall of the first accommodating portion 212, and the first bearing 325 is used to support the first shaft portion 3212, so as to improve stability of the driving gear 321. The first shaft portion 3212 may be provided with a protrusion for limiting the first bearing 325, and the protrusion abuts against an end portion of the inner ring of the first bearing 325 to limit axial displacement of the first bearing 325, thereby improving stability of installation of the first bearing 325. The specific type of the first bearing 325 is not limited in this specification, and for example, the first bearing 325 may be a double row angular contact ball bearing, or the first bearing 325 may be a tapered roller bearing, a crossed roller bearing, or the like. In the present embodiment, the first bearing 325 is a tapered roller bearing.

In order to prevent the driving gear 321 from axially shifting to affect the center distance between the first engagement portion 3214 and the driven gear 323, the inner wall of the first receiving portion 212 may be provided with a stopper for restricting displacement of the first shaft portion 3212 near the second chamber 2141. The first transmission module 32 may further include a pre-tightening nut 327, where the pre-tightening nut 327 is sleeved outside the first shaft portion 3212 and is connected to an inner wall of the first accommodating portion 212. The pretension nut 327 is mounted in the first cavity 2121 through the first mounting opening 2123, one end of the pretension nut 327, which is close to the second accommodating portion 214, abuts against one end of the outer ring of the first bearing 325, pretension limiting of the driving gear 321 is completed through the first bearing 325, transmission stability between the first meshing portion 3214 and the driven gear 323 is improved, and mounting accuracy of the first transmission module 32 is also improved. In some embodiments, an oil seal may also be provided between the first transmission module 32 and the first shaft portion 3212 in order to improve the tightness of the first transmission module 32.

Referring to fig. 3 and 5, in this embodiment, the base 21 may further include an end cap 216, where the end cap 216 is detachably connected to the second accommodating portion 214 and covers the second mounting hole 2143. The specific connection between the end cap 216 and the second receiving portion 214 is not limited in this specification, for example, the end cap 216 may be screwed to the second receiving portion 214, and the end cap 216 may be screwed to the second receiving portion 214. When the end cap 216 is connected to the second accommodating portion 214, an end of the end cap 216 facing the second cavity 2143 abuts against an end of the driven gear 323 remote from the driving gear 321, thereby restricting axial displacement of the driven gear 323 remote from the driving gear 321. The end cover 216 can complete the operation of adjusting the center distance between the driven gear 323 and the driving gear 321 in the process of being mounted on the second accommodating portion 214, and when the end cover 216 is mounted, the center distance between the driven gear 323 and the driving gear 321 is also adjusted. The end cap 216 further improves the driving stability between the first engagement portion 3214 and the driven gear 323 and the mounting accuracy of the first driving module 32. The end cover 216 is simple to assemble, can realize the fixed constraint of the driven gear 323 and the driving gear 321, and can also meet the clearance adjustment requirement between the driven gear 323 and the driving gear 321.

It should be understood that "an element abuts against another element" in this specification, it should be understood that the two may abut directly or indirectly (e.g., when there is an intervening element therebetween), e.g., the other element is mounted on the intervening element, and the element may abut against the intervening element, thereby "abutting against the other element". Regarding the above-mentioned "the end cover 216 abuts against the driven gear 323", the end cover 216 may directly abut against the driven gear 323, or may indirectly abut against the driven gear 323 through a centering element, for example, a bearing for supporting the driven gear 323 may be provided between the end cover 216 and a shaft portion of the driven gear 323, and the end cover 216 may indirectly abut against the driven gear 323 through the bearing, thereby realizing axial limitation of the driven gear 323. The bearings between the end cap 216 and the shaft portion of the driven gear 323 may be double row angular contact ball bearings.

In the present embodiment, the transmission shaft 36 is connected to the driven gear 323 in a rotation-stopping manner, and is connected to the driven gear 323 in a rotation-stopping manner. Specifically, the transmission shaft 36 extends along the second direction Y, one end of the transmission shaft 36 is inserted into the shaft portion of the driven gear 323, and the other end protrudes from the second accommodating portion 214 and is located in the housing 10, so as to be in transmission connection with the second transmission module 34. The rotation-stopping connection between the transmission shaft 36 and the driven gear 323 is not limited in this specification, and for example, the transmission shaft 36 and the driven gear 323 may be connected by a spline, and the transmission shaft 36 and the driven gear 323 may be rigidly connected by a fixing member such as a bolt. In this embodiment, an inner hole of the driven gear 323 for inserting the transmission shaft 36 has an internal spline structure, one end of the transmission shaft 36 inserted into the driven gear 323 has an external spline structure, and the transmission shaft 36 and the driven gear 323 are in rotation-stopping connection through spline fit.

Referring to fig. 5, 6 and 7, in some embodiments, there may be both a spline fit and a rigid connection between the drive shaft 36 and the driven gear 323. Specifically, the robot joint 100 may further include a spacer 50 and a locking member 52, wherein the spacer 50 is stacked on an end of the driven gear 323 remote from the second transmission module 34. The driving shaft 36 is inserted through the driven gear 323, and a surface of an end of the driving shaft 36 near the end cap 216 is exposed to the outside of the driven gear 323 and is substantially flush with a surface of an end of the driven gear 323 remote from the input rotator 341, and the spacer 50 is superposed on the flush surface of the driven gear 323. The locking member 52 is disposed through the spacer 50 and the drive shaft 36 in sequence and is fixedly connectable to the drive shaft 36. The specific structure of the locking member 52 is not limited in this specification, and for example, the locking member 52 may be a screw, a bolt, or the like, or the locking member 52 may be a pin.

The number of the locking members 52 may be plural, one of which is sequentially provided through the spacer 50 and the driving shaft 36 as described above, the other locking members 52 may be provided through the end surfaces of the spacer 50 and the driven gear 323, and the plurality of locking members 52 (except for the one provided through the driving shaft 36) may be arranged on the spacer 50 in the circumferential direction of the driven gear 323. The plurality of locking members 52 improves the stability of the connection between the drive shaft 36 and the driven gear 323. To facilitate the installation of retaining member 52, end cap 216 may be provided with a relief opening through which an operator may install retaining member 52.

The end of the driving shaft 36 remote from the driven gear 323 protrudes from the second accommodating portion 214 and is rotatably engaged with the second accommodating portion 214. In the present embodiment, the reduction mechanism 30 may further include a second bearing 38, the second bearing 38 being disposed between the second receiving portion 214 and the drive shaft 36, for assisting in supporting the drive shaft 36. In the present embodiment, the second bearing 38 is a needle bearing.

Referring to fig. 6, 7 and 8, in the present embodiment, the housing 10 is substantially hollow, and the housing 10 is used for mounting the second transmission module 34. The housing 10 includes a main body portion 12, and the main body portion 12 includes a first mounting portion 121 and a second mounting portion 123 connected to each other. The first mounting portion 121 is connected to the second accommodating portion 214, and is used for mounting a part of the structure of the second transmission module 34. The first and second mounting portions 121 and 123 are disposed side by side along a third direction Z, which intersects (e.g., is perpendicular to) both the first and second directions X and Y. The second mounting portion 123 is used for mounting a part of the structure of the second transmission module 34. The first mounting portion 121 and the second mounting portion 123 are both hollow and the inner cavities of both are communicated with each other.

The main body 12 may be molded by casting to secure high structural strength and driving stability, so although the first mounting portion 121 and the second mounting portion 123 refer to different portions of the main body 12 by different designations, these designations should not be considered as limitations on the structure of the main body 12, these designations are made only for convenience of description, for example, the connection between the first mounting portion 121 and the second mounting portion 123 may be an integrally molded connection structure, and no distinct dividing line may be provided between the first mounting portion 121 and the second mounting portion 123. In other embodiments, the main body 12 may be formed by assembling and connecting, so as to reduce the difficulty of manufacturing, for example, the first mounting portion 121 and the second mounting portion 123 may be assembled together by fasteners after being manufactured separately, so as to form an integral structure of the main body 12, where the first mounting portion 121 and the second mounting portion 123 may be formed by casting, and the first mounting portion 121 and the second mounting portion 123 may be connected together by fasteners (such as screws, threaded fasteners such as bolts and studs) or/and adhesives such as structural adhesives.

One end of the drive shaft 36 is located in the first mounting portion 121 and does not contact the inner wall of the first mounting portion 121, thereby achieving a connection result with the first mounting portion 121 in a rotatable fit. In this embodiment, the second transmission module 34 may include an input rotator 341 and an output rotator 343 in driving engagement. The input rotating member 341 is rotatably disposed on the first mounting portion 121, and the input rotating member 341 is coaxially disposed on the transmission shaft 36 and is in anti-rotation connection with the transmission shaft 36. The input rotary member 341 is rotatably engaged with the first mounting portion 121 through the transmission shaft 36. The input rotary member 341 may be integrally formed with the transmission shaft 36, or may be connected to the transmission shaft 36 by a fixing member. The specific types of the input rotating member 341 and the output rotating member 343 are not limited in this specification, for example, the input rotating member 341 and the output rotating member 343 may be worm gears, or the input rotating member 341 and the output rotating member 343 may be two cylindrical gears, which are engaged with each other. In the present embodiment, the input rotating member 341 and the output rotating member 343 are cylindrical gears.

The input rotary member 341 may be integrally formed with the transmission shaft 36, or may be fixed to the transmission shaft 36 by a fixing member such as a bolt, and the whole of the input rotary member 341 and the transmission shaft 36 may be regarded as a spur gear. The outer circumferential wall of the input rotary member 341 is provided with first driving teeth 3412. The output rotary member 343 is rotatably disposed on the second mounting portion 123, and an axis of the output rotary member 343 is substantially coaxial with the second direction Y. The output rotating member 343 may include a second shaft portion 3432 and a second gear 3434, where the second shaft portion 3432 extends along the second direction Y, the second gear 3434 is integrally formed on the outer peripheral wall of the second shaft portion 3432, and the second gear 3434 is engaged with the first gear 3412. In this embodiment, the output rotating member 343 is a cylindrical gear, and the whole of the input rotating member 341 and the transmission shaft 36 can also be regarded as a cylindrical gear, so that the cylindrical gear has a simple and efficient backlash eliminating manner, and is suitable for mass use.

The second shaft portion 3432 of the output rotating member 343 has an outer diameter larger than that of the input rotating member 341, and in this embodiment, the second shaft portion 3432 of the output rotating member 343 is penetratingly provided with a mounting through hole 3436 for passing a wire harness of the robot 200 therethrough, and a hole axis direction of the mounting through hole 3436 is the same as an axial direction of the transmission shaft 36. The robot joint 100 is reserved with a large hollow hole (a mounting through hole 3436), the diameter of the mounting through hole 3436 is far larger than the diameter of the same type of speed reducer, and the large hollow hole can provide a pipeline, a welding gun cable and the like for the robot 200, so that the applicability is improved.

In order to improve the stability of the installation of the output rotator 343, a cross roller bearing may be provided between the output rotator 343 and the second mounting section 123. The output rotation member 343 may be fixedly coupled to an inner race of the crossed roller bearing, and an outer race of the crossed roller bearing may be fixed to the second mounting portion 123 by a flange, screw, or the like.

Referring to fig. 7, 8 and 9, the housing 10 and the mounting adjustment base 20 are detachably connected, and the housing 10 can rotate around the designated center O1 with respect to the positioning portion 23. The drive shaft 36 is misaligned with respect to the rotational axis O and the designated center O1 of the mounting adjustment seat 20. When the housing 10 rotates around the designated center O1 with respect to the mount adjustment base 20, the center distance between the input rotating member 341 and the output rotating member 343 changes.

When the installation is performed, an operator can control the shell 10 to rotate relative to the installation adjusting seat 20, and the shell 10 rotates around the designated circle center O1. The transmission shaft 36 is rotatably penetrating the installation adjusting seat 20, and the transmission shaft 36 is not coincident with the designated circle center O1 relative to the rotation axis O of the installation adjusting seat 20, i.e. there is an eccentric amount between the two. When the housing 10 rotates, the output rotating member 343 in the housing 10 is driven to rotate synchronously, and the input rotating member 341 is connected to the transmission shaft 36 and is rotatably engaged with the housing 10. When the output rotating member 343 is rotated, the distance between the output rotating member 343 and the input rotating member 341 is changed due to the presence of the eccentric amount, thereby achieving the function of adjusting the center distance between the input rotating member 341 and the output rotating member 343. After the adjustment is finished, an operator fixes the shell 10 and the installation adjusting seat 20, so that the stability of transmission is ensured. The operator can adjust the center distance between the input rotating member 341 and the output rotating member 343 by adjusting the relative position between the housing 10 and the installation adjusting seat 20, ensuring the transmission accuracy.

In this embodiment, the housing 10 may further include an adjustment fitting portion 125, and the positioning portion 23 is rotatably fitted with the first mounting portion 121 through the adjustment fitting portion 125. The positioning portion 23 is provided with a positioning hole 236, and the center of the positioning hole 236 (i.e., the rotation axis O of the transmission shaft 36 relative to the mounting adjustment seat 20) is not coincident with the designated center O1. The transmission shaft 36 is coaxially arranged through the positioning hole 236.

Specifically, in the present embodiment, the positioning portion 23 has at least a part of the circular arc structure 231 that is in running fit with the housing 10, and the circle center O1 is designated as the circle center of the circular arc structure 231. The specific rotation fit structure between the adjustment fitting portion 125 and the positioning portion 23 is not limited in this specification, and for example, the adjustment fitting portion 125 and the positioning portion 23 may be a hole, a groove structure, or a protruding rotation fit, and the circular arc structure 231 may be an inner peripheral wall of the hole, the groove structure, or a part or all of an outer peripheral wall of the protruding structure. The adjusting engaging portion 125 and the positioning portion 23 may be rotatably engaged with each other via a rotation shaft, and the circular arc structure 231 may be a part or all of the outer peripheral wall of the rotation shaft.

In this embodiment, the positioning portion 23 is a positioning round table 232, the adjusting matching portion 125 is an installation hole 126 formed in the first installation portion 121, the positioning round table 232 is rotatably embedded in the installation hole 126, and the housing 10 can rotate around the positioning round table 232 relative to the installation adjusting seat 20. Specifically, the positioning boss 232 is disposed on a side of the second accommodating portion 214 away from the end cover 216, and the positioning boss 232 may be integrally formed with the first accommodating portion 212 and protrudes with respect to a surface of the first accommodating portion 212 facing a side of the first mounting portion 121.

The specific shape of the positioning round table 232 is not limited in this specification, for example, the positioning round table 232 may be a substantially cylindrical boss, and the circular arc structure 231 is the peripheral wall of the positioning round table 232, and the center of the circular arc structure 231 (the designated center O1) is the center of the positioning round table 232. The positioning round table 232 may also be an arc-shaped sheet-shaped structure with multiple overlapped circle centers, and then the arc-shaped structure 231 is the peripheral wall of any sheet-shaped structure, and the circle center of the arc-shaped structure 231 is the circle center of the arc-shaped sheet-shaped structure. In this embodiment, the positioning boss 232 is a substantially cylindrical boss. The positioning hole 236 is eccentrically formed in the positioning round table 232, and the center of the positioning hole 236 (i.e. the rotation axis O of the transmission shaft 36 relative to the installation adjusting seat 20) is not coincident with the center of the positioning round table 232 (i.e. the designated center O1). The positioning hole 236 extends through the positioning boss 232 in the second direction Y and communicates with the first chamber 2121. One end of the transmission shaft 36 rotatably penetrates through the positioning hole 236, and the transmission shaft 36 is coaxial with the positioning hole 236, that is, the transmission shaft 36 is not coaxial with the positioning round table 232.

The mounting hole 126 is formed on one side of the first mounting portion 121 close to the second accommodating portion 214, and the mounting hole 126 is communicated with the inner cavity of the first mounting portion 121. When the positioning round table 232 is embedded in the mounting hole 126, the inner cavity of the first mounting portion 121 is communicated with the first cavity 2121 through the mounting hole 126 and the positioning hole 236, so that the transmission shaft 36 passes through.

During installation, an operator can control the shell 10 to rotate relative to the installation adjusting seat 20, the positioning round table 232 and the installation hole 126 rotate relatively, the transmission shaft 36 is not moved, and an eccentric amount exists between the axis of the transmission shaft 36 and the circle center of the positioning round table 232 (namely a designated circle center O1). When the housing 10 rotates, the output rotating member 343 rotates synchronously, and the input rotating member 341 is coaxially connected to the transmission shaft 36 and remains stationary. When the output rotation member 343 rotates around the center of the positioning circular table 232, the distance between the output rotation member 343 and the input rotation member 341 is changed due to the presence of the eccentric amount, thereby achieving the effect of adjusting the center distance between the input rotation member 341 and the output rotation member 343.

Referring to fig. 9 and 10, in the present embodiment, the installation adjusting seat 20 may further include a connecting portion 25, the connecting portion 25 is disposed on the seat body 21 and is used for connecting with the housing 10, and the connecting portion 25 is provided with an adjusting hole 252. The robot joint 100 may further include a fixing member 60, and the fixing member 60 is inserted through the adjustment hole 252 and detachably coupled to the coupling portion 25 and the housing 10. The relative position of the mount 60 and the adjustment aperture 252 can be changed to enable the housing 10 to rotate relative to the mounting adjustment seat 20.

The specific structure of the fixing member 60 is not limited in this specification, and for example, the fixing member 60 may be a screw, a bolt, or a pin. In the present embodiment, the fixing member 60 is a bolt. The threaded section of the fixing member 60 is threaded through the adjustment hole 252 and is screwed with the housing 10. When the fixing member 60 is screwed, one end of the fixing member 60 away from the housing 10 (i.e. the enlarged end of the bolt) abuts against one side of the connecting portion 25 away from the housing 10, so as to achieve the purpose of fixing the housing 10 and installing the adjusting seat 20.

The connection portion 25 is connected to the outer circumferential wall of the second accommodating portion 214 and protrudes with respect to the outer circumferential wall of the second accommodating portion 214, and the connection portion 25 may be integrally formed with the second accommodating portion 214. The connecting portion 25 may have a ring-shaped structure surrounding the outer periphery of the second accommodating portion 214, or may have a plurality of protruding structures distributed along the circumferential direction of the second accommodating portion 214. In view of compactness and cost of the structure, in the present embodiment, the connection portion 25 is a plurality of protruding structures distributed along the circumferential direction of the second accommodation portion 214, and the connection portion 25 is located at a side of the second accommodation portion 214 near the second mounting portion 123.

The specific shape of the adjustment hole 252 is not limited in this specification, and for example, the adjustment hole 252 may be a waist-shaped hole extending along the circumferential direction of the circular arc structure 231 (i.e., the circumferential direction of the positioning boss 232). The number of the adjustment holes 252 may be plural, and the plurality of adjustment holes 252 may be arranged at the connection portion 25 at intervals along the circumferential direction of the second accommodation portion 214. The connection portions 25 may be provided in one-to-one correspondence with the adjustment holes 252. In the installation, the fixing member 60 is first inserted into the adjusting hole 252 and connected to the housing 10, but the fixing member 60 is not screwed. The operator controls the rotation of the housing 10 relative to the mounting adjustment base 20, and the fixing member 60 moves within the adjustment hole 252 in the extending direction of the adjustment hole 252. After the center distance between the input rotating member 341 and the output rotating member 343 is adjusted, the fixing member 60 is tightened to fix the mount adjustment base 20 to the housing 10.

In other embodiments, the adjusting holes 252 may be circular holes, and a plurality of adjusting holes 252 are disposed in the number of adjusting holes 252, where the plurality of adjusting holes 252 encircle the second accommodating portion 214, and the circle centers of the plurality of adjusting holes 252 encircle the circle center of the positioning circular table 232 (i.e. the designated circle center O1). When in installation, the position of the shell 10 relative to the installation adjusting seat 20 is adjusted, and after the adjustment is finished, the fixing piece 60 is penetrated in the adjusting hole 252 and is connected with the shell 10 in a threaded manner.

Referring to fig. 8 and 11, in order to facilitate adjustment of the positional relationship between the housing 10 and the mounting adjustment base 20, in the present embodiment, the robot joint 100 may further include an adjustment mechanism 70. The adjustment mechanism 70 is disposed between the mounting adjustment seat 20 and the housing 10 for controlling rotation of the housing 10 relative to the mounting adjustment seat 20. Controlling the rotation of the housing 10 relative to the mounting adjustment base 20 by the adjustment mechanism 70 improves the ease of clearance adjustment.

In this embodiment, the adjustment mechanism 70 may include a stop 72, an adjustment follower 74, and an adjustment drive 76. The limiting member 72 is fixedly disposed on the mounting adjustment seat 20, one end of the adjustment follower 74 is connected to the housing 10, and the other end is movably limited to the limiting member 72. The adjustment drive member 76 is rotatably coupled to the adjustment follower 74 and is retained by the stop member 72. When the adjusting driving member 76 rotates relative to the adjusting driven member 74, the adjusting driven member 74 can be driven to move relative to the limiting member 72, so that the adjusting driven member 74 drives the housing 10 to rotate around the designated center O1.

Specifically, the limiting member 72 is fixedly connected to a side wall of the first accommodating portion 212, and the limiting member 72 may be integrally formed with the first accommodating portion 212. The stopper 72 is provided with a stopper hole 721 for restricting the adjustment follower 74, and the hole axis direction of the stopper hole 721 is substantially the same as the movement direction of the adjustment follower 74. The adjusting follower 74 is fixedly connected to the second mounting portion 123, and an end of the adjusting follower 74 away from the second mounting portion 123 is movably limited to the limiting hole 721. Specifically, one end of the adjustment follower 74 is disposed through the limiting hole 721, and the adjustment driving member 76 is rotatably connected to one end of the adjustment follower 74 passing through the limiting hole 721, so as to limit the adjustment follower 74 in the limiting hole 721. The specific structure of the adjustment follower 74 is not limited in this specification, and for example, the adjustment follower 74 may be a structure of an adjustment column, an adjustment screw, an adjustment block, or the like. In this embodiment, the adjustment follower 74 is an adjustment stud. The specific structure of the adjustment driving member 76 is not limited in this specification, and the adjustment driving member 76 may be a screw, a bolt, or a snap-fit structure. Corresponding to the adjustment follower 74 being an adjustment stud, in this embodiment the adjustment driver 76 is an adjustment nut. The adjusting driving member 76 is limited to the limiting member 72, and is screwed to an end of the adjusting driven member 74 extending out of the limiting member 72.

The above-mentioned "the adjustment driving member 76 is limited to the limiting member 72" is understood to mean that the adjustment driving member 76 is rotationally engaged with the limiting member 73, but cannot be displaced relative to the limiting member 72, and the adjustment driving member 76 may be rotatably connected to the limiting member 72. In some embodiments, the number of adjustment drives 76 may be two, with both adjustment drives 76 being threadably coupled to the adjustment follower 74 and located on opposite sides of the stop 72. The adjustment drive 76 proximate the housing 10 may be fixedly coupled to the stop 72 such that the adjustment drive 76 proximate the housing 10 provides a guiding and supporting function for the adjustment drive 74 as the adjustment drive 76 distal the housing 10 is rotated relative to the stop 72 to drive the adjustment drive 74 in an axial direction.

When the installation is carried out, the installation adjusting seat 20 and the shell 10 are preassembled together through the fixing piece 60, and the fixing piece 60 is not screwed, so that the shell 10 can rotate relative to the installation adjusting seat 20. The adjusting driving member 76 is rotated relative to the limiting member 72, and when the adjusting driving member 76 is limited to be basically unable to displace due to the connection relation of the screw pair, the adjusting follower 74 moves relative to the adjusting driving member 76, thereby driving the housing 10 to rotate relative to the mounting adjusting seat 20, and achieving the effect of adjusting the gap. After the adjustment is completed, the fixing member 60 is screwed up, and the fixation of the mounting adjustment seat 20 and the housing 10 is completed.

To prevent interference between the adjustment follower 74 and the stop 72 and between the adjustment driver 76 when the housing 10 is rotated relative to the mounting adjustment base 20, in this embodiment, the axis of the adjustment follower 74 is tangential to the arc of rotation of the adjustment follower 74 relative to the mounting adjustment base 20, and the stop aperture 721 and the adjustment driver 76 are substantially coaxial with the adjustment follower 74. The adjustment hole 721 may also be provided as an oval hole or a waist-shaped hole, the aperture of the adjustment hole 721 being slightly larger than the outer diameter of the adjustment follower 74 to further avoid interference. The meshing center-to-center distance between the input rotating member 341 and the output rotating member 343 is slightly adjusted, so the design of the aforementioned adjusting follower 74 and the stopper 72, and the adjusting driver 76 is sufficient for the backlash adjustment operation without interference.

Referring to fig. 6 and 7 again, in the present embodiment, the robot joint 100 may further include an output member 40, where the output member 40 is connected to an output rotating member 343, which is used for driving the actuating end 203 to move. The output member 40 may be connected to the output rotating member 343 by a screw, and the output member 40 is located at an end of the second mounting portion 123 remote from the second receiving portion 214. The specific type of output member 40 is not limited in this specification, and for example, output member 40 may be an output shaft or an output flange. In this embodiment, the output member 40 is an output flange.

Referring to fig. 3 and 4 again, in the present embodiment, the robot joint 100 further includes a driving member 80 and a spline shaft 83, the driving member 80 is connected to the mounting adjustment base 20, and an output shaft of the driving member 80 is connected to the driving gear 321 through the spline shaft 83. The driving member 80 drives the driving gear 321 to rotate through the spline shaft 83, thereby realizing the transmission of the first transmission module 32 and the second transmission module 34.

The driving member 80 may be fixedly coupled to the first receiving portion 212 and close the first mounting port 2123. The driving member 80 is provided with an output shaft 81, the driving member 80 is arranged along the first direction X, and the axial direction of the output shaft 81 is substantially parallel to the first direction X. The output shaft 81 extends into the first cavity 2121 through the first mounting port 2123. The specific type of the driving member 80 is not limited in this specification, and the driving member 80 may be a driving source such as a rotary motor, a rotary cylinder, or the like, and in this embodiment, the driving member 80 is a rotary motor.

The spline shaft 83 is disposed in the first cavity 2121 and is sleeved outside the output shaft 81. The inner wall of the spline shaft 83 is provided with an internal spline structure, the outer peripheral wall of the output shaft 81 is provided with an external spline structure, and the output shaft 81 is connected with the spline shaft 83 through spline rotation stopping. One end of the first shaft portion 3212, which is far away from the first engagement portion 3214, is inserted into the spline shaft 83, and an outer wall of one end of the first shaft portion 3212, which is located in the spline shaft 83, is also provided with an external spline structure, and the first shaft portion 3212 is connected with the spline shaft 83 through a spline. The spline shaft 83 realizes a transmission connection of the drive gear 321 and the driver 80. The outer wall of the spline shaft 83 may be provided with a catching protrusion 832, the catching protrusion 832 protruding with respect to the outer circumferential wall of the spline shaft 83, the catching protrusion 832 abutting against the pretension nut 327 to restrict the spline shaft 83 from moving toward the inside of the first chamber 2121.

In this embodiment, the robot joint 100 may further include an elastic member 90, the elastic member 90 is sleeved on the output shaft 81, and two ends of the elastic member 90 respectively elastically abut against the spline shaft 83 and the output shaft 81 along the axial direction of the output shaft 81. The elastic member 90 can effectively limit the axial movement of the spline shaft 83, thereby improving the stability of transmission. The specific structure of the elastic member 90 is not limited in this specification, and for example, the elastic member 90 may be a structure having elastic potential energy such as a compression spring, an elastic pad, or the like.

In this embodiment, the elastic member 90 is a compression spring. The elastic member 90 is sleeved outside the output shaft 81 and is located inside the spline shaft 83. The inner wall of the spline shaft 83 may be provided with a limit step, and the outer wall of the output shaft 81 may also be provided with a limit step, the limit step on the spline shaft 83 and the limit step on the output shaft 81 being arranged along the axial direction (approximately the second direction Y) of the output shaft 81. The elastic member 90 is disposed between the two limiting steps, and two ends of the elastic member 90 elastically support the two limiting steps respectively. The elastic member 90 has elastic potential energy, and abuts the spline shaft 83 in the first cavity 2121, and limits axial movement of the spline shaft 83 together with the clamping protrusions 832.

In summary, when the robot joint 100 provided in the embodiment of the application is installed, the first transmission module 32 is assembled to the installation adjusting seat 20, the second transmission module 34 is assembled to the housing 10, and the transmission shaft 36 is inserted into the installation adjusting seat 20 and connected between the first transmission module 32 and the second transmission module 34. When the housing 10 and the installation adjusting seat 20 are assembled, an operator can control the housing 10 to rotate relative to the installation adjusting seat 20, and the housing 10 rotates around a designated circle center O1. The axis O of the drive shaft 36 and the designated center O1 do not coincide, and there is an eccentricity therebetween. When the housing 10 rotates, the output rotating member 343 in the housing 10 is driven to rotate synchronously, and the distance between the output rotating member 343 and the input rotating member 341 is changed due to the eccentric amount, so as to achieve the function of adjusting the center distance between the input rotating member 341 and the output rotating member 343. The operator adjusts the center distance between the input rotating member 341 and the output rotating member 343 by adjusting the relative position between the housing 10 and the installation adjusting seat 20, ensuring the transmission accuracy.

The robot joint 100 adopts a gear transmission structure to replace a speed reducer structure, and the first transmission module 32 and the second transmission module 34 realize two-stage transmission, so that a larger reduction ratio can be achieved, and the cost is greatly reduced. External impact and overload can be well resisted by adopting gear transmission, and the failure rate of the robot 200 in use is reduced.

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.

Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solution of the present application, and are not limiting. Although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that modifications may be made to the techniques described in the foregoing embodiments, or equivalents may be substituted for elements thereof. 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 (14)

1. A robotic joint, comprising:

a housing;

The installation adjusting seat is connected with the shell and is provided with a positioning part, and the shell can rotate around a designated circle center relative to the positioning part;

The speed reducing mechanism comprises a first transmission module, a second transmission module and a transmission shaft, wherein the first transmission module is arranged on the installation adjusting seat, the second transmission module is arranged on the shell and comprises an input rotating piece and an output rotating piece which are matched in a transmission mode, the transmission shaft rotatably penetrates through the installation adjusting seat, one end of the transmission shaft is connected with the first transmission module, the other end of the transmission shaft is connected with the input rotating piece, and an interval exists between a rotating axis of the transmission shaft, which rotates relative to the installation adjusting seat, and the designated circle center.

2. The robot joint according to claim 1, wherein the housing is provided with an adjusting and matching part, the positioning part is in rotating fit with the housing through the adjusting and matching part, the positioning part is provided with a positioning hole, the axis of the positioning hole is not coincident with the designated circle center, and the transmission shaft is coaxially arranged in the positioning hole in a penetrating manner.

3. The robotic joint of claim 2, wherein the positioning portion has at least a portion of a circular arc structure in rotational engagement with the housing, the designated center of the circle being a center of the circular arc structure.

4. The robot joint of claim 3, wherein the mounting adjustment seat comprises a seat body and the positioning part, the positioning part is a positioning round table, the positioning round table protrudes relative to the surface of the seat body facing one side of the adjustment matching part, the adjustment matching part is a mounting hole formed in the housing, the positioning round table is rotatably embedded in the mounting hole, and the housing can rotate relative to the mounting adjustment seat around the positioning round table.

5. The robot joint of claim 1, wherein the input rotating member is provided with a first transmission gear, the output rotating member is provided with a second transmission gear, the second transmission gear is meshed with the first transmission gear, and when the housing rotates around the designated circle center relative to the mounting adjustment seat, the center distance between the input rotating member and the output rotating member is changed.

6. The robot joint of claim 1, wherein the first transmission module comprises a driving gear and a driven gear, the driven gear is coaxially arranged with the transmission shaft and connected in a rotation-stopping way, the driving gear is meshed with the driven gear to drive the driven gear and the transmission shaft to rotate, and the rotation axis of the driving gear is intersected with the rotation axis of the driven gear.

7. The robotic joint of claim 6, further comprising a drive member and a spline shaft, wherein the drive member is coupled to the mounting adjustment seat, and wherein an output shaft of the drive member is coupled to the drive gear via the spline shaft.

8. The robot joint according to claim 7, wherein the output shaft is inserted into the spline shaft and is in spline connection with the spline shaft, and further comprising elastic members, both ends of which are elastically abutted against the spline shaft and the output shaft, respectively, in an axial direction of the output shaft.

9. The robotic joint of claim 6, further comprising a spacer and a locking member, wherein the spacer is disposed on an end of the driven gear remote from the input rotating member, the drive shaft is disposed through the driven gear, and the locking member is disposed through the spacer and the drive shaft in sequence and is fixedly connected to the drive shaft.

10. The robot joint according to any one of claims 1 to 9, wherein the mounting adjustment seat comprises a seat body and a connecting portion connected between the seat body and the housing, the connecting portion being provided with an adjustment hole, and a fixing member penetrating the adjustment hole and detachably connected to the housing and the connecting portion, the relative position of the fixing member and the adjustment hole being changeable to enable the housing to rotate relative to the mounting adjustment seat.

11. The robot joint according to claim 10, wherein the adjusting holes are waist-shaped holes, the adjusting holes are arranged in a plurality of numbers and are arranged at intervals along the circumferential direction of the mounting adjusting seat at the connecting part, or

The adjusting holes are round holes, a plurality of adjusting holes are formed in the adjusting base, a plurality of adjusting holes encircle the mounting adjusting base, and the encircling circle centers of the adjusting holes coincide with the appointed circle center.

12. The robotic joint of any one of claims 1 to 9, further comprising a limiting member, an adjustment follower and an adjustment driving member, wherein the limiting member is fixedly disposed on the mounting adjustment seat, one end of the adjustment follower is connected to the housing, the other end of the adjustment follower is movably limited to the limiting member, the adjustment driving member is rotatably connected to the adjustment follower and is limited to the limiting member, and when the adjustment driving member rotates relative to the adjustment follower, the adjustment driving member can be driven to move relative to the limiting member, so that the adjustment follower drives the housing to rotate about the designated center.

13. The robot joint according to any one of claims 1 to 9, wherein the output rotation member is penetratingly provided with a mounting through hole for a wire harness of a robot to pass therethrough, and a hole axis direction of the mounting through hole is the same as an axial direction of the transmission shaft.

14. A robot comprising a body and a robot joint according to any one of claims 1 to 13, said robot joint being connected to said body.