US 11,938,627 B2
Robot joint and robot
Yong Yang, Beijing (CN); Sheng Zhang, Hebei (CN); and Chao Jiang, Beijing (CN)
Assigned to Siemens Aktiengesellschaft, Munich (DE)
Appl. No. 17/630,812
Filed by RETHINK ROBOTICS GMBH, Bochum (DE)
PCT Filed Aug. 1, 2019, PCT No. PCT/CN2019/098921
§ 371(c)(1), (2) Date Jan. 27, 2022,
PCT Pub. No. WO2021/017002, PCT Pub. Date Feb. 4, 2021.
Prior Publication US 2022/0274249 A1, Sep. 1, 2022
Int. Cl. B25J 9/10 (2006.01); B25J 9/12 (2006.01); B25J 17/00 (2006.01); F16H 49/00 (2006.01)
CPC B25J 9/108 (2013.01) [B25J 9/1025 (2013.01); B25J 9/12 (2013.01); B25J 9/126 (2013.01); B25J 17/00 (2013.01); F16H 49/001 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A robot joint, comprising:
a housing;
an output shaft at least partially housed inside the housing and provided with a shaft portion having a first end and an opposing second end and a flange portion at the first end of the shaft portion;
a first bearing portion housed in the housing and supporting the flange portion of the output shaft at the first end of the shaft portion;
a second bearing portion housed in the housing at the second end of the shaft portion and supporting the output shaft, the second bearing portion being spaced apart from the first bearing portion along an axial direction of the output shaft; and
a motor housed in the housing, wherein the second bearing portion is arranged between the motor and the first bearing portion along the axial direction of the output shaft and wherein the second bearing portion comprises:
an inboard bearing and an outboard bearing located radially outside of the inboard bearing, wherein the inboard bearing supports the output shaft, and the inboard bearing is supported on a support of the motor through the outboard bearing.