CN221391125U - Seal assembly of joint module, joint module and mechanical arm - Google Patents
Seal assembly of joint module, joint module and mechanical arm Download PDFInfo
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- CN221391125U CN221391125U CN202323365280.XU CN202323365280U CN221391125U CN 221391125 U CN221391125 U CN 221391125U CN 202323365280 U CN202323365280 U CN 202323365280U CN 221391125 U CN221391125 U CN 221391125U
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- joint module
- bearing
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- 238000007789 sealing Methods 0.000 claims abstract description 67
- 210000001503 joint Anatomy 0.000 claims abstract description 6
- 239000003638 chemical reducing agent Substances 0.000 abstract description 16
- 230000000149 penetrating effect Effects 0.000 abstract description 11
- 230000002265 prevention Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 8
- 239000012466 permeate Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000008595 infiltration Effects 0.000 description 2
- 238000001764 infiltration Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000003405 preventing effect Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
Landscapes
- Sealing Using Fluids, Sealing Without Contact, And Removal Of Oil (AREA)
Abstract
The utility model discloses a sealing component of a joint module, which comprises a shell and a motor arranged in the shell, wherein the sealing component comprises: the first annular sealing piece is sleeved on a motor shaft of the motor and is arranged adjacent to the output end of the motor shaft; and the second annular sealing piece is connected with the shell and is in butt joint fit with the first annular sealing piece to form a labyrinth sealing structure. The sealing component of the joint module can realize oil leakage prevention and sealing of the joint module motor, and can prevent oil on the speed reducer from penetrating into the motor from a rotating gap of a motor shaft of the motor and even penetrating to the other end of the motor, thereby protecting the motor and electronic devices (such as an encoder, a band-type brake, a drive control board and the like) at the other end of the motor to prevent damage and prolong the service life.
Description
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a sealing assembly of a joint module, the joint module and the mechanical arm.
Background
The mechanical arm of the robot is a machine device capable of semi-autonomous or fully autonomous working, has the basic characteristics of sensing, decision making, execution and the like, and can assist or even replace human beings to complete dangerous, heavy and complex work.
The mechanical arm generally comprises a joint module, wherein the joint module is composed of a drive control board, a motor, a speed reducer, an encoder, a mechanical band-type brake, an output shaft and the like, and is integrated in a modularized assembly, so that the joint suitable for the multi-axis mechanical arm is packaged. In the joint module of the related art, the decelerator is usually connected to the output end of the motor, and the electronic devices such as the encoder, the band-type brake, and the drive board are disposed at the other end of the motor.
In practice, the retarder portion typically requires the addition of a lubricant to reduce the coefficient of friction between the components and reduce wear within the components. However, the oil on the speed reducer easily permeates into the motor from the rotating gap of the motor shaft and even permeates to the other end of the motor, so that the motor and electronic devices (such as an encoder, a band-type brake, a drive control plate and the like) at the other end of the motor are damaged, and the service life is influenced.
Disclosure of utility model
The utility model mainly aims to provide a sealing assembly of a joint module, and aims to solve the technical problem that oil on a speed reducer of the joint module is easy to enter a motor to damage the motor and an electronic device at the other end of the motor.
In order to achieve the above object, the present utility model provides a seal assembly of a joint module, the joint module including a housing and a motor provided in the housing, wherein the seal assembly includes:
The first annular sealing piece is sleeved on a motor shaft of the motor and is arranged adjacent to the output end of the motor shaft;
And the second annular sealing piece is connected with the shell and is in butt joint fit with the first annular sealing piece to form a labyrinth sealing structure.
In some embodiments, one of the first and second annular seals is provided with a plurality of annular grooves, and the other is provided with a plurality of annular protrusions, each of which is inserted in one of the annular grooves.
In some embodiments, a gap is formed between each of the annular grooves and the annular protrusion inserted therein, wherein the gap between the top of the annular protrusion and the bottom of the annular groove is greater than the sidewall gap of the annular protrusion and the annular groove.
In some embodiments, the seal assembly further comprises:
the sealing ring is arranged on the contact surface of the first annular sealing piece and the motor shaft.
In some embodiments, the seal assembly further comprises:
and the bearing is arranged between the shell and the motor shaft.
In some embodiments, the direction of the abutting of the first annular seal and the second annular seal is parallel to the axial direction of the motor shaft, and the bearing is located on the side of the labyrinth seal structure away from the output end of the motor shaft.
In some embodiments, the seal assembly further comprises:
The annular baffle piece is sleeved on the motor shaft, is positioned between the bearing and the labyrinth sealing structure and is abutted with the inner ring of the bearing.
The utility model also provides a joint module, which comprises:
A housing;
The motor is arranged in the shell; and
The seal assembly of the joint module according to the above.
In some embodiments, the housing is configured with an inwardly extending end cap on the output side of the motor shaft, the end cap and the motor shaft being connected by bearings.
In some embodiments, the labyrinth seal structure and the bearing are arranged in parallel along the axial direction of the motor shaft, and are positioned on one side of the bearing close to the output end of the motor shaft.
In some embodiments, the outer wall of the motor shaft is provided with a plurality of annular grooves, the annular grooves are arranged at intervals along the axial direction of the motor shaft, and the annular pits are positioned in a projection area of the second annular sealing piece along the radial direction of the motor shaft.
The utility model also provides a mechanical arm which comprises the joint module.
In the sealing component of the joint module, the first annular sealing piece is sleeved on the motor shaft of the motor and is arranged adjacent to the output end of the motor shaft, the second annular sealing piece is connected with the shell and is in butt joint fit with the first annular sealing piece to form a labyrinth sealing structure, and under the sealing action of the sealing component, oil on the speed reducer can be prevented from penetrating into the motor from a rotating gap of the motor shaft of the motor and even penetrating to the other end of the motor, so that the motor and electronic devices (such as an encoder, a band-type brake, a drive control board and the like) at the other end of the motor are protected to avoid damage, and the service life is prolonged.
Drawings
FIG. 1 is a schematic view of a joint module according to an embodiment of the utility model;
FIG. 2 is an exploded view of the joint module of the embodiment of FIG. 1;
FIG. 3 is a cross-sectional view of a joint module according to another embodiment of the present utility model;
FIG. 4 is an enlarged view of FIG. 3 at A;
FIG. 5 is a schematic diagram illustrating an assembly of a motor shaft and a seal assembly of a motor according to an embodiment of the present utility model;
fig. 6 is a schematic diagram illustrating a motor shaft and a seal assembly of a motor according to an embodiment of the utility model.
Detailed Description
The following description of the embodiments of the present utility model will be made more clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.
Referring to fig. 1 to 5, the present utility model proposes a seal assembly 130 of a joint module 100, the joint module 100 including a housing 110 and a motor provided in the housing 110, the seal assembly 130 comprising:
The first annular sealing piece 131 is sleeved on the motor shaft 120 of the motor and is arranged adjacent to the output end of the motor shaft 120;
a second annular seal 132 is connected to the housing 110, the second annular seal 132 and the first annular seal 131 being in butt-fit to form a labyrinth seal arrangement.
In the joint module 100, a motor shaft 120 of the motor is used for connecting a speed reducer and outputting power to the speed reducer, and the speed reducer is correspondingly installed at an output end of the motor shaft 120 when being connected with the motor shaft 120. In order to prevent oil of the speed reducer from penetrating into the motor, a sealing assembly 130 is correspondingly arranged at the output end side of the motor shaft 120 to perform oil-proof sealing.
The seal assembly 130 in this embodiment mainly includes a first annular seal member 131 and a second annular seal member 132, where the first annular seal member 131 is sleeved on the motor shaft 120 of the motor and is disposed adjacent to the output end of the motor shaft 120, and the second annular seal member 132 is connected with the housing 110 and is in butt-joint fit with the first annular seal member 131. The first annular sealing member 131 and the second annular sealing member 132 may be made of metal materials. The first annular seal member 131 is a moving ring, is mounted on the motor shaft 120 and is rotatable with the motor shaft 120, and the second annular seal member 132 is a stationary ring, and is fixedly connected to the housing 110.
Alternatively, the first annular sealing member 131 is detachably connected to the motor shaft 120, and various detachable connection manners can be adopted, for example, as shown in fig. 4, a plurality of first fastening members 10 are penetrating through the first annular sealing member 131 and are propped against the side wall of the motor shaft 120 along the radial direction of the motor shaft 120 by the plurality of first fastening members 10 so as to be mounted on the motor shaft 120. Of course, this is merely exemplary and is not limiting.
Alternatively, the second annular sealing member 132 is detachably connected to the housing 110, and various detachable connection manners of the second annular sealing member 132 and the housing 110 may be adopted, for example, as shown in fig. 4, an annular step is convexly provided on an inner wall of the housing 110, and a plurality of fixing holes are provided on the annular step, and the second annular sealing member 132 is assembled with the plurality of fixing holes through a plurality of second fasteners 20 in a plugging manner so as to be mounted on the annular step and then connected to the housing 110.
Further, the abutting engagement between the first annular seal 131 and the second annular seal 132 correspondingly forms a labyrinth seal structure. If oil leakage occurs in the structures such as the speed reducer, when the oil flows in the labyrinth seal structure formed by the first annular seal member 131 and the second annular seal member 132 in a matched manner, the flow speed is reduced and the flow is reduced due to friction generated by the viscosity of the oil, so that the oil is prevented from penetrating into the motor.
Therefore, the joint module can prevent the oil on the reducer from penetrating into the motor from the rotating gap of the motor shaft 120 and even penetrating to the other end of the motor through the seal assembly 130 provided in the embodiment, so as to protect the motor and the electronic devices (such as an encoder, a band-type brake, a drive control board, etc.) at the other end of the motor from damage, and prolong the service life.
In some embodiments, referring to fig. 6, one of the first annular seal 131 and the second annular seal 132 is provided with a plurality of annular grooves 1, wherein the other is provided with a plurality of annular protrusions 2, each annular protrusion 2 being inserted in a corresponding one of the annular grooves 1.
In this embodiment, the first annular sealing member 131 may be provided with a plurality of annular grooves 1, and the second annular sealing member 132 may be provided with a plurality of annular protrusions 2; it is also possible that a plurality of annular protrusions 2 are provided on the first annular seal member 131 and a plurality of annular grooves 1 are provided on the second annular seal member 132. The plurality of annular grooves 1 are arranged around the same central line, the diameters of the plurality of annular grooves 1 are increased one by one from inside to outside, the corresponding plurality of annular protrusions 2 are arranged around the same central line, and the diameters of the plurality of annular protrusions 2 are increased one by one from inside to outside. When the first annular sealing piece 131 and the second annular sealing piece 132 are in butt joint, the annular protrusions 2 are inserted into the annular grooves 1 in a one-to-one correspondence mode to form a labyrinth, and when oil flows in the labyrinth, the flow speed is reduced, the flow rate is reduced due to friction generated by the viscosity of the oil, and the oil is prevented from penetrating into the motor.
In some embodiments, referring to fig. 4, each annular groove 1 forms a gap with an annular protrusion 2 inserted therein, wherein the gap between the top of the annular protrusion 2 and the bottom of the annular groove 1 is greater than the sidewall gap of the annular protrusion 2 and the annular groove 1. In this embodiment, the annular protrusion 2 is inserted into the annular groove 1 to form a gap, where the gap between the annular protrusion 2 and the side wall of the annular groove 1 is smaller, so that oil can be prevented from seeping, and the gap between the top of the annular protrusion 2 and the bottom of the annular groove 1 is slightly larger, so that the oil can be used for storing the infiltrated oil, and when the first annular sealing member 131 rotates along with the motor shaft 120 at a high speed, a dynamic oil film is formed, so that the oil flow rate can be slowed down, the oil flow can be reduced, the oil can be prevented from further infiltration, and the oil leakage prevention effect can be improved.
In some embodiments, referring to fig. 4 and 6, the seal assembly 130 further comprises:
The seal ring 133 is disposed at the contact surface between the first annular seal member 131 and the motor shaft 120.
In this embodiment, the sealing ring 133 is used to seal between the first annular sealing member 131 and the motor shaft 120, so as to prevent oil from penetrating into the motor from the fit gap between the first annular sealing member 131 and the motor shaft 120, and improve the oil leakage preventing sealing effect. The number of the seal rings 133 may be set according to practical situations, for example, as shown in fig. 4, the seal rings 133 are set to one. Optionally, the sealing ring 133 is a rubber ring, which has better corrosion resistance, tear resistance and compression deformation resistance.
Preferably, the contact surface between the first annular sealing member 131 and the motor shaft 120 is provided with a mounting groove, and the sealing ring 133 is accommodated in the mounting groove and abuts against the outer wall of the motor shaft 120. The mounting groove on the first annular sealing member 131 is matched with the sealing ring 133, when the assembly is carried out, the sealing ring 133 can be firstly placed in the mounting groove of the first annular sealing member 131, then the first annular sealing member 131 and the sealing ring 133 are integrally sleeved and fixed on the motor shaft 120, the sealing ring 133 abuts against the outer wall of the motor shaft 120, and the mounting is limited through the mounting groove. By providing the mounting groove on the first annular seal member 131 to mount the seal ring 133, additional grooving on the motor shaft 120 is not required, reducing the process operation of machining the motor shaft 120. The number of the mounting grooves is the same as that of the sealing rings 133, and one sealing ring 133 is correspondingly accommodated in each mounting groove.
In some embodiments, referring to fig. 4-6, the seal assembly 130 further comprises:
the bearing 134 is disposed between the housing 110 and the motor shaft 120.
In this embodiment, the bearing 134 may be sleeved on the motor shaft 120, the inner ring of the bearing 134 is connected with the outer wall of the motor shaft 120, and the outer ring of the bearing 134 is connected with the inner wall of the housing 110. The motor shaft 120 is connected with the housing 110 through the bearing 134, the bearing 134 can form a support for the rotation of the motor shaft 120, and the motor shaft 120 rotates more stably under the support action of the bearing 134. The number of bearings 134 may be set according to practical situations, for example, as shown in fig. 4, the bearings 134 are set to one.
In some embodiments, referring to fig. 4, the direction of the interface of the first annular seal 131 and the second annular seal 132 is parallel to the axial direction of the motor shaft 120, and the bearing 134 is located on the side of the labyrinth seal structure remote from the output end of the motor shaft 120.
In this embodiment, the first annular sealing member 131 and the second annular sealing member 132 are abutted along the axial direction of the motor shaft 120, and the labyrinth formed correspondingly is arranged in a serpentine manner along the radial direction of the motor shaft 120, and the labyrinth inlet does not face the side direction of the speed reducer, so that the infiltration difficulty of the leaked oil liquid of the speed reducer can be increased, and the leak-proof sealing effect is improved; in addition, the first annular seal member 131 and the second annular seal member 132 are also easy to be assembled and disassembled. In addition, the bearing 134 is located at one side of the labyrinth seal structure far away from the output end of the motor shaft 120, and can form dual anti-leakage liquid seal with the labyrinth seal structure formed by the first annular seal member 131 and the second annular seal member 132, so that even if the oil leaked by the speed reducer permeates through the labyrinth seal structure, the oil can be further prevented from permeating into the motor through the bearing 134, and the anti-leakage sealing effect is improved.
In some embodiments, referring to fig. 4-6, the seal assembly 130 further comprises:
The annular baffle member 135 is sleeved on the motor shaft 120, and the annular baffle member 135 is positioned between the bearing 134 and the labyrinth seal structure and is abutted with the inner ring of the bearing 134.
In this embodiment, the annular baffle 135 has an oil blocking effect, if oil passes through the labyrinth of the first annular seal 131 and the second annular seal 132, the annular baffle 135 can block the oil, prevent the oil from flowing further, and improve the oil leakage preventing effect. Alternatively, as shown in fig. 4 and 6, the annular baffle 135 employs a clip spring, and the motor shaft 120 may be correspondingly provided with a clip groove 122, where the clip spring is retained in the clip groove 122. Still further, the annular barrier 135 may also serve as a securing structure for mounting and securing the bearing 134. For example, as shown in fig. 4 and 6, the side wall of the motor shaft 120 is provided with a mounting step 123, the mounting step 123 is located at one side of the bearing 134, and the inner ring of the bearing 134 abuts against the bearing 134; the annular baffle member 135 is located at the other side of the bearing 134, presses the inner ring of the bearing 134, and cooperates with the mounting step to fix the bearing 134 on the motor shaft 120, so as to realize the mounting limit of the bearing 134 and improve the mounting stability of the bearing 134.
The present utility model also proposes a joint module 100, referring to fig. 1 and 2, the joint module 100 includes:
A housing 110;
A motor shaft 120 provided in the housing 110; and
The seal assembly 130 of the joint module 100 as described in the previous embodiments.
The specific structure of the seal assembly 130 refers to the above embodiment, and because the present joint module 100 adopts all the technical solutions of all the embodiments of the floating, at least has all the technical effects brought by the technical solutions of the above embodiment, and will not be described in detail herein.
In some embodiments, referring to fig. 3 and 4, the housing 110 is configured with an inwardly extending end cap 111 on the output side of the motor shaft 120, with the end cap 111 and the motor shaft 120 being connected by a bearing 134.
Specifically, the bearing 134 is sleeved on the motor shaft 120, the inner ring of the bearing 134 is in interference fit with the outer wall of the motor shaft 120, and the outer ring of the bearing 134 is in interference fit with the side wall of the end cover 111 facing the motor shaft 120, so that the end cover 111 and the motor shaft 120 are connected through the bearing 134. The bearing 134 forms a support for the rotation of the motor shaft 120, and the motor shaft 120 rotates more stably under the supporting action of the bearing 134.
In some embodiments, referring to FIG. 4, the labyrinth seal is juxtaposed with the bearing 134 in the axial direction of the motor shaft 120 and is located on the side of the bearing 134 near the output end of the motor shaft 120.
In this embodiment, the bearing 134 and the labyrinth seal structure form a dual leakage-proof seal, and even if the oil leaked from the speed reducer permeates through the labyrinth seal structure, the oil can be further prevented from permeating into the motor by the bearing 134, so that the leakage-proof seal effect is improved.
In some embodiments, referring to fig. 4 and 6, the outer wall of the motor shaft 120 is provided with a plurality of annular grooves 121, the plurality of annular grooves 121 being spaced apart along the axial direction of the motor shaft 120, the annular grooves 121 being located in a projection area of the second annular seal 132 along the radial direction of the motor shaft 120.
In this embodiment, the plurality of annular grooves 121 formed on the motor shaft 120 form a radial labyrinth seal, and the number and the spacing distance of the annular grooves 121 may be set according to practical situations, which is not limited in this embodiment. In practical application, if the oil leaked from the speed reducer permeates through the labyrinth seal structure formed by the butt joint and matching of the first annular seal member 131 and the second annular seal member 132, the oil flows along the annular grooves 121 of the motor shaft 120, the annular grooves 121 can store the oil, a dynamic oil film is formed when the motor shaft 120 rotates at a high speed, the flow rate of the oil can be correspondingly reduced, the flow rate of the oil can be reduced, further penetration of the oil can be further prevented, and the oil leakage prevention effect can be improved.
The utility model also provides a mechanical arm, which comprises the joint module 100 according to the foregoing embodiment, and the specific structure of the joint module 100 refers to the foregoing embodiment, and since the mechanical arm adopts all the technical solutions of all the foregoing embodiments, at least all the technical effects brought by the technical solutions of the foregoing embodiments are provided, and will not be described in detail herein.
The above description of the preferred embodiments of the present utility model should not be taken as limiting the scope of the utility model, but rather should be understood to cover all modifications, variations and adaptations of the present utility model using its general principles and the following detailed description and the accompanying drawings, or the direct/indirect application of the present utility model to other relevant arts and technologies.
Claims (12)
1. A seal assembly for a joint module, the joint module comprising a housing and a motor disposed in the housing, the seal assembly comprising:
The first annular sealing piece is sleeved on a motor shaft of the motor and is arranged adjacent to the output end of the motor shaft;
And the second annular sealing piece is connected with the shell and is in butt joint fit with the first annular sealing piece to form a labyrinth sealing structure.
2. The seal assembly of claim 1, wherein one of the first and second annular seals is provided with a plurality of annular grooves, and wherein the other is provided with a plurality of annular protrusions, each of the annular protrusions being inserted into one of the annular grooves.
3. The seal assembly of claim 2, wherein each of the annular grooves and the annular projection interposed therebetween form a gap, wherein the gap between the top of the annular projection and the bottom of the annular groove is greater than the sidewall gap of the annular projection and the annular groove.
4. The seal assembly of claim 1, further comprising:
The sealing ring is arranged on the contact surface of the first annular sealing piece and the motor shaft.
5. The seal assembly of claim 1, further comprising:
and the bearing is arranged between the shell and the motor shaft.
6. The seal assembly of claim 5, wherein the direction of the interface of the first and second annular seals is parallel to the axial direction of the motor shaft, and the bearing is located on a side of the labyrinth seal structure remote from the output end of the motor shaft.
7. The seal assembly of claim 6, further comprising:
The annular baffle piece is sleeved on the motor shaft, is positioned between the bearing and the labyrinth sealing structure and is abutted with the inner ring of the bearing.
8. A joint module, comprising:
A housing;
The motor is arranged in the shell; and
The seal assembly of the joint module of any one of claims 1-7.
9. The joint module of claim 8, wherein the housing is configured with an inwardly extending end cap on an output side of the motor shaft, the end cap and the motor shaft being connected by a bearing.
10. The joint module according to claim 9, wherein the labyrinth seal structure and the bearing are juxtaposed in an axial direction of the motor shaft and are located on a side of the bearing near an output end of the motor shaft.
11. The joint module of claim 8, wherein the outer wall of the motor shaft is provided with a plurality of annular grooves spaced apart along the axial direction of the motor shaft, the annular grooves being located in a projection area of the second annular seal along the radial direction of the motor shaft.
12. A robotic arm comprising a joint module according to any one of claims 8-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323365280.XU CN221391125U (en) | 2023-12-08 | 2023-12-08 | Seal assembly of joint module, joint module and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323365280.XU CN221391125U (en) | 2023-12-08 | 2023-12-08 | Seal assembly of joint module, joint module and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221391125U true CN221391125U (en) | 2024-07-23 |
Family
ID=91916340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323365280.XU Active CN221391125U (en) | 2023-12-08 | 2023-12-08 | Seal assembly of joint module, joint module and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221391125U (en) |
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2023
- 2023-12-08 CN CN202323365280.XU patent/CN221391125U/en active Active
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