Joint module and robot

Abstract

The invention relates to the technical field of robots, in particular to a joint module and a robot, and solves the problem that the axial size of the joint module is large and cannot meet user requirements. The joint module comprises a fixing assembly, a motor assembly, a first-stage sun gear, a plurality of first-stage planet gears, a first-stage planet carrier, a second-stage sun gear, a plurality of second-stage planet gears and a second-stage planet carrier. The fixing assembly comprises an inner gear ring. The inner gear ring, the first-stage sun gear, the multiple first-stage planet gears and the first-stage planet carrier form a first-stage speed reduction structure, and the inner gear ring, the second-stage sun gear, the multiple second-stage planet gears and the second-stage planet carrier form a second-stage speed reduction structure. The motor assembly is arranged on the outer ring of the inner gear ring in a sleeving mode, that is, the first-stage speed reduction structure and the second-stage speed reduction structure are both embedded in the inner ring of the motor assembly, and the axial size of the joint module is reduced.

Description

Technical Field

[0001] This disclosure relates to the field of robotics technology, specifically to a joint module and a robot. Background Technology

[0002] Planetary joint modules are widely used in humanoid robots due to their advantages such as high load-bearing capacity, large speed ratio, and compact structure. Because humanoid robots have limited space, the axial dimensions of the joint modules are subject to stringent requirements; the smaller the axial dimension, the better. Currently, there are two arrangement methods for planetary joint modules: one involves a motor, a first-stage planetary reduction gear structure, and a second-stage planetary reduction gear structure connected in series; the other involves nesting the first-stage planetary reduction gear structure within the motor. Both of these arrangements result in a relatively large axial dimension of the planetary joint module, which may not meet user requirements. Summary of the Invention

[0003] In view of this, the present disclosure provides a joint module and a robot, which solves the problem that the axial dimension of the joint module is too large and cannot meet the user's needs.

[0004] In a first aspect, embodiments of this disclosure provide a joint module, comprising: a fixing component including an internal gear ring; a motor assembly sleeved on the outer ring of the internal gear ring; a primary sun gear sleeved on the inner ring of the internal gear ring and connected to the motor assembly; a plurality of primary planetary gears spaced circumferentially along the primary sun gear, each primary planetary gear meshing with the primary sun gear and the internal gear ring respectively; a primary planetary carrier, the plurality of primary planetary gears rotatably connected to the primary planetary carrier; a secondary sun gear sleeved on the inner ring of the internal gear ring and connected to the primary planetary carrier; a plurality of secondary planetary gears spaced circumferentially along the secondary sun gear, each secondary planetary gear meshing with the secondary sun gear and the internal gear ring respectively; and a secondary planetary carrier, the plurality of secondary planetary gears rotatably connected to the secondary planetary carrier.

[0005] In some embodiments, the number of teeth on the first-stage sun gear is equal to the number of teeth on the second-stage sun gear, and the number of teeth on the first-stage planetary gear is equal to the number of teeth on the second-stage planetary gear.

[0006] In some embodiments, the thickness of the first-stage planetary gear is less than the thickness of the second-stage planetary gear.

[0007] In some embodiments, the fixing component further includes: an annular housing fitted onto the outer ring of the motor assembly; the joint module further includes: a first bearing, the outer ring of the first bearing being connected to the inner ring of the annular housing and the inner ring of the internal gear ring respectively, and the inner ring of the first bearing being connected to the secondary planetary carrier.

[0008] In some embodiments, the fixing assembly further includes: an end cap connected to the end face of the internal gear ring near the first-stage planetary gear; a motor cover connected to the annular housing and located on the side of the end cap away from the first-stage planetary gear; the motor assembly includes: a stator connected to the inner ring of the annular housing; a rotor fitted onto the inner ring of the stator; a rotor bushing connected to the rotor and to the first-stage sun gear; the joint module further includes: a second bearing, the inner ring of the second bearing connected to the rotor bushing, and the outer ring of the second bearing connected to the end cap; a third bearing, the inner ring of the third bearing connected to the rotor bushing, and the outer ring of the third bearing connected to the motor cover.

[0009] In some embodiments, the joint module further includes a fourth bearing, the inner ring of which is connected to the secondary sun gear, and the outer ring of which is connected to the secondary planetary carrier.

[0010] In some embodiments, the annular housing has a first limiting surface, the internal gear ring has a second limiting surface, the end face of the outer ring of the first bearing away from the first-stage planetary gear abuts against the first limiting surface, and the end face of the outer ring of the first bearing near the first-stage planetary gear abuts against the second limiting surface; the rotor bushing has a third limiting surface and a fourth limiting surface, the end cover has a fifth limiting surface, the motor cover has a sixth limiting surface, the end face of the outer ring of the second bearing near the first-stage planetary gear abuts against the fifth limiting surface, and the end face of the inner ring of the second bearing away from the first-stage planetary gear abuts against the third limiting surface. The inner ring of the third bearing, near the first-stage planetary gear, abuts against the fourth limiting surface, and the outer ring of the third bearing, away from the first-stage planetary gear, abuts against the sixth limiting surface; the second-stage planetary carrier has a seventh limiting surface, the second-stage sun gear has an eighth limiting surface, the outer ring of the fourth bearing, away from the first-stage planetary gear, abuts against the seventh limiting surface, and the inner ring of the fourth bearing, near the first-stage planetary gear, abuts against the eighth limiting surface; the second-stage planetary carrier also has a ninth limiting surface, and the inner ring of the first bearing, near the first-stage planetary gear, abuts against the ninth limiting surface.

[0011] In some embodiments, the primary planetary carrier includes a first single-arm planetary carrier, which is integrally formed; and / or, the secondary planetary carrier includes a second single-arm planetary carrier.

[0012] In some embodiments, the end face of the first-stage planetary carrier near the first-stage planetary gear has at least one first lubrication groove with an opening facing the first-stage planetary gear, the first lubrication groove being configured to store grease; and / or, the end face of the first-stage planetary carrier near the second-stage planetary gear has at least one second lubrication groove with an opening facing the second-stage planetary gear, the second lubrication groove being configured to store grease.

[0013] Secondly, embodiments of this disclosure provide a robot, including the joint module mentioned in the first aspect.

[0014] The joint module provided in this embodiment includes a fixed component, a motor component, a primary sun gear, multiple primary planetary gears, a primary planetary carrier, a secondary sun gear, multiple secondary planetary gears, and a secondary planetary carrier. The fixed component includes an internal gear ring. The motor component is fitted onto the outer ring of the internal gear ring, and the primary sun gear is fitted onto the inner ring of the internal gear ring and connected to the motor component, rotating around its central axis under the drive of the motor component. Multiple primary planetary gears are spaced apart circumferentially along the primary sun gear, and each primary planetary gear meshes with both the primary sun gear and the internal gear ring, enabling the primary sun gear to drive the multiple primary planetary gears to rotate and revolve. The multiple primary planetary gears are rotatably connected to the primary planetary carrier, which rotates around its central axis under the drive of the multiple primary planetary gears. The secondary sun gear is fitted onto the inner ring of the internal gear ring and connected to the primary planetary carrier, rotating around its central axis under the drive of the primary planetary carrier. Multiple secondary planetary gears are spaced circumferentially along the secondary sun gear. Each secondary planetary gear meshes with both the secondary sun gear and the internal gear ring, enabling the secondary sun gear to drive the multiple secondary planetary gears to rotate and revolve. The multiple secondary planetary gears are rotatably connected to the secondary planetary carrier, which rotates around its central axis under the drive of the multiple secondary planetary gears.

[0015] In summary, the internal gear ring, the first-stage sun gear, multiple first-stage planetary gears, and the first-stage planetary carrier form a first-stage reduction structure, while the internal gear ring, the second-stage sun gear, multiple second-stage planetary gears, and the second-stage planetary carrier form a second-stage reduction structure. The motor assembly is fitted onto the outer ring of the internal gear ring; that is, both the first-stage and second-stage reduction structures are nested within the inner ring of the motor assembly, reducing the axial dimension of the joint module. Attached Figure Description

[0016] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to offer a further understanding of the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts.

[0017] Figure 1 The diagram shown is a structural schematic of a joint module provided in an embodiment of this disclosure.

[0018] Figure 2 The image shown is a front view of a joint module provided in an embodiment of this disclosure.

[0019] Figure 3 The image shown is an embodiment of this disclosure. Figure 2 The joint module shown is a cross-sectional view along the AA direction.

[0020] Figure 4 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of a portion of the joint module in region B.

[0021] Figure 5 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of a portion of the joint module in region C.

[0022] Figure 6 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of the joint module in region D.

[0023] Figure 7 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of the joint module in region E.

[0024] Figure 8 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of the joint module in region F.

[0025] Figure 9 The diagram shown is a structural schematic of a robot provided in one embodiment of this disclosure.

[0026] Figure label:

[0027] 1. Robot; 10. Joint module; 100. Fixing component; 110. Internal gear ring; 111. Second limiting surface; 120. Annular housing; 121. First limiting surface; 130. End cap; 131. Fifth limiting surface; 140. Motor cover; 141. Sixth limiting surface; 200. Motor assembly; 210. Stator; 220. Rotor; 230. Rotor bushing; 231. Third limiting surface; 232. Fourth limiting surface; 310. First-stage sun gear; 320. First-stage planetary gear; 3 30. First-stage planetary carrier; 331. First lubrication groove; 332. Second lubrication groove; 333. First-stage planetary carrier body; 334. First-stage planetary pin; 410. Second-stage sun gear; 411. Eighth limiting surface; 420. Second-stage planetary gear; 430. Second-stage planetary carrier; 431. Seventh limiting surface; 432. Ninth limiting surface; 510. First bearing; 520. Second bearing; 530. Third bearing; 540. Fourth bearing; 550. Gasket; 560. Wear-resistant sleeve; L. Central axis. Detailed Implementation

[0028] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0029] Figure 1 The diagram shown is a structural schematic of a joint module provided in an embodiment of this disclosure. Figure 2 The image shown is a front view of a joint module provided in an embodiment of this disclosure. Figure 3 The image shown is an embodiment of this disclosure. Figure 2 The joint module shown is a cross-sectional view along the AA direction. Figures 1 to 3 As shown, the joint module 10 includes a fixing component 100, a motor component 200, a primary sun gear 310, multiple primary planetary gears 320, a primary planetary carrier 330, a secondary sun gear 410, multiple secondary planetary gears 420, and a secondary planetary carrier 430.

[0030] The fixing component 100 includes an internal gear ring 110. Exemplarily, the internal gear ring 110 is an annular structure with teeth on the inner ring. In addition to the internal gear ring 110, the fixing component 100 may also include other support structures, housing structures, etc., which are not specifically limited in this disclosure.

[0031] The motor assembly 200 is fitted onto the outer ring of the internal gear ring 110. Exemplarily, the motor assembly 200 includes structures such as a stator 210 and a rotor 220 to provide power for the joint module 10 to rotate about the central axis L.

[0032] The primary sun gear 310 is fitted onto the inner ring of the internal gear ring 110 and connected to the motor assembly 200. Driven by the motor assembly 200, it rotates around the central axis L. Exemplarily, the primary sun gear 310 is an external gear. Exemplarily, the primary sun gear 310 may be an annular structure with teeth on its outer ring, allowing the joint module 10 to form a hollow structure for wiring.

[0033] Multiple first-stage planetary gears 320 are arranged circumferentially around a first-stage sun gear 310. Each first-stage planetary gear 320 meshes with both the first-stage sun gear 310 and the internal gear ring 110, enabling the first-stage sun gear 310 to drive the multiple first-stage planetary gears 320 to rotate and revolve. For example, each first-stage sun gear 310 may correspond to three first-stage planetary gears 320, meaning the three first-stage planetary gears 320 are arranged circumferentially around the first-stage sun gear 310. For example, each first-stage sun gear 310 may correspond to two first-stage planetary gears 320, meaning the two first-stage planetary gears 320 are arranged circumferentially around the first-stage sun gear 310.

[0034] Multiple primary planetary gears 320 are rotatably connected to a primary planetary carrier 330, which rotates around a central axis L under the drive of the primary planetary gears 320. Exemplarily, the primary planetary gears 320 and the primary planetary carrier 330 are rotatably connected around an axis parallel to the central axis L. Exemplarily, the primary planetary carrier 330 and the primary planetary gears 320 are arranged sequentially along the axial direction of the joint module 10. A needle roller bearing can be provided between the primary planetary carrier 330 and the primary planetary gears 320 to allow for more flexible rotation between them.

[0035] The secondary sun gear 410 is fitted onto the inner ring of the internal gear ring 110 and connected to the primary planetary carrier 330. Driven by the primary planetary carrier 330, it rotates around the central axis L. Exemplarily, the secondary sun gear 410 is an external gear. Exemplarily, the secondary sun gear 410 can be an annular structure with teeth on its outer ring, allowing the joint module 10 to form a hollow structure for wiring. Exemplarily, the secondary sun gear 410 and the primary planetary carrier 330 are connected by splines. For example, the inner ring of the primary planetary carrier 330 has an internal spline, and the outer surface of the secondary sun gear 410 has an external spline, with the internal and external splines meshing. Exemplarily, the secondary sun gear 410 and the primary planetary carrier 330 can also be connected by bolts.

[0036] Multiple secondary planetary gears 420 are arranged circumferentially around the secondary sun gear 410. Each secondary planetary gear 420 meshes with both the secondary sun gear 410 and the internal gear ring 110, enabling the secondary sun gear 410 to drive the multiple secondary planetary gears 420 to rotate and revolve. For example, each secondary sun gear 410 may correspond to three secondary planetary gears 420, meaning the three secondary planetary gears 420 are arranged circumferentially around the secondary sun gear 410. For example, each secondary sun gear 410 may correspond to two secondary planetary gears 420, meaning the two secondary planetary gears 420 are arranged circumferentially around the secondary sun gear 410.

[0037] Multiple secondary planetary gears 420 are rotatably connected to a secondary planetary carrier 430, which rotates about a central axis L under the drive of the secondary planetary gears 420. Exemplarily, the secondary planetary gears 420 and the secondary planetary carrier 430 are rotatably connected about an axis parallel to the central axis L. Exemplarily, the secondary planetary carrier 430 and the secondary planetary gears 420 are arranged sequentially along the axial direction of the joint module 10. A needle roller bearing can be provided between the secondary planetary carrier 430 and the secondary planetary gears 420 to allow for more flexible rotation between them.

[0038] The internal gear ring 110, the first-stage sun gear 310, multiple first-stage planetary gears 320, and the first-stage planetary carrier 330 form a first-stage reduction structure, while the internal gear ring 110, the second-stage sun gear 410, multiple second-stage planetary gears 420, and the second-stage planetary carrier 430 form a second-stage reduction structure. The motor assembly 200 is fitted onto the outer ring of the internal gear ring 110, meaning that both the first-stage and second-stage reduction structures are nested within the inner ring of the motor assembly 200, thus reducing the axial dimension of the joint module 10.

[0039] In some embodiments, the number of teeth of the first-stage sun gear 310 is equal to the number of teeth of the second-stage sun gear 410, and the number of teeth of the first-stage planetary gear 320 is equal to the number of teeth of the second-stage planetary gear 420. Furthermore, since the first-stage planetary gear 320 and the second-stage planetary gear 420 share an internal gear ring 110, the module of the first-stage planetary gear 320 is equal to the module of the second-stage planetary gear 420. Further, the center distance between the first-stage sun gear 310 and the first-stage planetary gear 320 is equal to the center distance between the second-stage sun gear 410 and the second-stage planetary gear 420, thereby maximizing the reduction ratio of the two-stage reduction structure (i.e., the first-stage reduction structure and the second-stage reduction structure) within the limited space of the joint module 10, improving the power density of the joint module 10 while meeting the axial dimension requirements.

[0040] In some embodiments, the thickness of the primary planetary gear 320 is less than the thickness of the secondary planetary gear 420. Since the torque that the primary planetary gear 320 needs to withstand is less than the torque that the secondary planetary gear 420 needs to withstand, by making the thickness of the primary planetary gear 320 less than the thickness of the secondary planetary gear 420, the space occupied by the primary planetary gear 320 and the secondary planetary gear 420 in the axial direction of the joint module 10 can be reasonably allocated, thereby further reducing the axial dimension of the joint module 10.

[0041] In some embodiments, such as Figure 3 As shown, the fixing assembly 100 also includes an annular housing 120. The annular housing 120 is fitted onto the outer ring of the motor assembly 200.

[0042] Figure 4 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of a portion of the joint module in region B. Figure 3 and Figure 4 As shown, the joint module 10 also includes a first bearing 510. The outer ring of the first bearing 510 is connected to the inner ring of the annular housing 120 and the inner ring of the internal gear ring 110, respectively. The inner ring of the first bearing 510 is connected to the secondary planetary carrier 430. By connecting the outer ring of the first bearing 510 to the inner ring of the annular housing 120 and the inner ring of the internal gear ring 110, both the annular housing 120 and the internal gear ring 110 can be supported on the first bearing 510, making the mounting references of the annular housing 120 and the internal gear ring 110 the same, ensuring the coaxiality of the annular housing 120 and the internal gear ring 110, and improving the installation accuracy of the joint module 10.

[0043] For example, such as Figure 4 As shown, the annular housing 120 is connected to a portion of the outer ring of the first bearing 510, and the internal gear ring 110 is connected to another portion of the outer ring of the first bearing 510. Exemplarily, the outer ring of the first bearing 510 is connected to both the inner ring of the annular housing 120 and the inner ring of the internal gear ring 110, which can be achieved through an interference fit or by adhesive bonding; this disclosure does not impose specific limitations.

[0044] For example, the first bearing 510 may be a crossed roller bearing, a combined bearing, etc.

[0045] In some embodiments, such as Figure 3 As shown, the fixing assembly 100 also includes an end cap 130 and a motor cover 140. The end cap 130 is connected to the end face of the internal gear ring 110 near the first-stage planetary gear 320 to protect the first-stage planetary reduction structure. The motor cover 140 is connected to the annular housing 120 and is located on the side of the end cap 130 away from the first-stage planetary gear 320 to protect the entire joint module 10.

[0046] like Figure 3As shown, the motor assembly 200 includes a stator 210, a rotor 220, and a rotor sleeve 230. The stator 210 is connected to the inner ring of the annular housing 120. The rotor 220 is fitted onto the inner ring of the stator 210. The rotor sleeve 230 is connected to the rotor 220 and to a first-stage sun gear 310. Exemplarily, by supplying power to the stator 210, the stator 210 drives the rotor 220 to rotate about the central axis L, the rotor 220 drives the rotor sleeve 230 to rotate about the central axis L, and the rotor sleeve 230 drives the first-stage sun gear 310 to rotate about the central axis L.

[0047] Figure 5 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of a portion of the joint module in region C. Figure 5 As shown, the joint module 10 also includes a second bearing 520 and a third bearing 530. The inner ring of the second bearing 520 is connected to the rotor sleeve 230, and the outer ring of the second bearing 520 is connected to the end cover 130. The inner ring of the third bearing 530 is connected to the rotor sleeve 230, and the outer ring of the third bearing 530 is connected to the motor cover 140. The second bearing 520 and the third bearing 530 are respectively supported on both sides of the rotor sleeve 230 in the axial direction of the joint module 10, realizing double support for the rotor sleeve 230, ensuring the stability of the rotation of the rotor sleeve 230, thereby ensuring the stability of the rotation of the rotor 220.

[0048] For example, such as Figure 3 As shown, the rotor bushing 230 is axially positioned between the end cover 130 and the motor cover 140 of the joint module 10. The rotor bushing 230 can be an annular structure, and the inner ring of the rotor bushing 230 can be connected to the first-stage sun gear 310 via a spline connection, bolt connection, saddle pin connection, adhesive bonding, etc., without specific limitations in this disclosure. For example, both the second bearing 520 and the third bearing 530 can be deep groove ball bearings, roller bearings, etc.

[0049] Figure 6 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of a portion of the joint module in region D. In some embodiments, such as... Figure 6 As shown, the joint module 10 also includes a fourth bearing 540. The inner ring of the fourth bearing 540 is connected to the secondary sun gear 410, and the outer ring of the fourth bearing 540 is connected to the secondary planetary carrier 430.

[0050] The first bearing 510 supports the outer ring of the second-stage planetary carrier 430, and the fourth bearing 540 supports the inner ring of the second-stage planetary carrier 430, thus ensuring the output accuracy of the second-stage planetary carrier 430.

[0051] For example, the fourth bearing 540 may be a deep groove ball bearing, a roller bearing, etc.

[0052] Furthermore, the entire joint module 10 can support the motor assembly 200 and the two-stage reduction structure (first-stage reduction structure and second-stage reduction structure) using only four bearings (first bearing 510, second bearing 520, third bearing 530 and fourth bearing 540). Compared with joint modules in related technologies, the number of bearings in the joint module 10 of this disclosure is significantly less, further saving the axial space of the joint module 10.

[0053] In some embodiments, such as Figure 4 As shown, the annular housing 120 has a first limiting surface 121, the internal gear ring 110 has a second limiting surface 111, the end face of the outer ring of the first bearing 510 away from the first-stage planetary gear 320 abuts against the first limiting surface 121, and the end face of the outer ring of the first bearing 510 near the first-stage planetary gear 320 abuts against the second limiting surface 111, thereby achieving axial limiting of the first bearing 510.

[0054] like Figure 5 As shown, the rotor bushing 230 has a third limiting surface 231 and a fourth limiting surface 232, the end cover 130 has a fifth limiting surface 131, and the motor cover 140 has a sixth limiting surface 141. The end face of the outer ring of the second bearing 520 near the first-stage planetary gear 320 abuts against the fifth limiting surface 131, the end face of the inner ring of the second bearing 520 away from the first-stage planetary gear 320 abuts against the third limiting surface 231, the end face of the outer ring of the third bearing 530 near the first-stage planetary gear 320 abuts against the fourth limiting surface 232, and the end face of the third bearing 530 away from the first-stage planetary gear 320 abuts against the sixth limiting surface 141, thereby achieving axial limiting of the second bearing 520 and the third bearing 530.

[0055] like Figure 6 As shown, the secondary planetary carrier 430 has a seventh limiting surface 431, the secondary sun gear 410 has an eighth limiting surface 411, the end face of the outer ring of the fourth bearing 540 away from the primary planetary gear 320 abuts against the seventh limiting surface 431, and the end face of the inner ring of the fourth bearing 540 near the primary planetary gear 320 abuts against the eighth limiting surface 411, thereby achieving axial limiting of the fourth bearing 540.

[0056] Figure 7 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of a portion of the joint module in region E. (See attached image.) Figure 7 As shown, the secondary planetary carrier 430 has a ninth limiting surface 432, and the end face of the inner ring of the first bearing 510 near the primary planetary gear 320 abuts against the ninth limiting surface 432.

[0057] Specifically, such as Figures 3 to 7As shown, the end face of the third bearing 530 away from the first-stage planetary gear 320 abuts against the sixth limiting surface 141 of the motor cover 140. The motor cover 140 is fixedly connected to the annular housing 120, which restricts the displacement of the third bearing 530 along the axial direction of the joint module 10 toward the motor cover 140. The end face of the third bearing 530 near the first-stage planetary gear 320 abuts against the fourth limiting surface 232 of the rotor bushing 230. The third limiting surface 231 of the rotor bushing 230 abuts against the second bearing 520. The second bearing 520 abuts against the fifth limiting surface 131 of the end cover 130. The end cover 130 is fixedly connected to the annular housing 120 through the internal gear ring 110. That is, the motor cover 140, the third bearing 530, the rotor bushing 230, the second bearing 520 and the end cover 130 abut against each other in the axial direction of the joint module 10 in sequence, thereby achieving the limiting of the third bearing 530, the rotor bushing 230 and the second bearing 520 in the axial direction of the joint module 10.

[0058] Specifically, the end cap 130, the first-stage planetary gear 320, the first-stage planetary carrier 330, the second-stage planetary gear 420, and the second-stage planetary carrier 430 are sequentially arranged axially in the joint module 10. Therefore, the end cap 130 allows the first-stage planetary gear 320, the first-stage planetary carrier 330, the second-stage planetary gear 420, and the second-stage planetary carrier 430 to move axially towards the end cap 130 in the joint module 10. The ninth limiting surface 432 of the second-stage planetary carrier 430 abuts against the end face of the inner ring of the first bearing 510 near the first-stage planetary gear 320, restricting the movement of the second-stage planetary carrier 430 axially away from the end cap 130 in the joint module 10. In other words, the movement of the first-stage planetary gear 320, the first-stage planetary carrier 330, the second-stage planetary gear 420, and the second-stage planetary carrier 430 axially in the joint module 10 is all limited.

[0059] In summary, the motor cover 140, the third bearing 530, the rotor bushing 230, the second bearing 520, the end cover 130, the first-stage planetary gear 320, the first-stage planetary carrier 330, the second-stage planetary gear 420, and the second-stage planetary carrier 430 are sequentially arranged axially in the joint module 10, and their axial movement is limited. The axial limiting of the entire joint module 10 does not add unnecessary bushings, washers, or other parts; it is achieved solely by utilizing the existing shaft shoulders of the joint module 10, further reducing the axial dimension of the joint module 10.

[0060] Figure 8 The image shown is an embodiment of this disclosure. Figure 3 The image shows a magnified view of a portion of the joint module in region F. In some embodiments, such as... Figure 8 As shown, the first-stage planetary carrier 330 includes a first single-arm planetary carrier. The first single-arm planetary carrier does not require bearing support, further reducing the axial dimension of the joint module 10.

[0061] For example, the first single-arm planetary carrier is integrally formed. Specifically, such as Figure 8 As shown, the first single-arm planetary carrier includes an integrally formed primary planetary carrier body 333 and a primary planetary pin 334, avoiding the risk of the primary planetary pin 334 becoming detached from the primary planetary carrier body 333. The primary planetary carrier body 333 and the primary planetary gear 320 are arranged adjacent to each other in the axial direction of the joint module 10, and the primary planetary pin 334 is rotatably connected to the primary planetary gear 320.

[0062] For example, a wear-resistant sleeve 560 is fitted onto the outer surface of the primary planetary pin 334. For example, a needle roller bearing is provided between the wear-resistant sleeve 560 and the primary planetary gear 320. For example, a needle roller groove may be provided on the outer surface of the wear-resistant sleeve 560, and the needle roller bearing may be partially disposed in the needle roller groove. For example, the wear-resistant sleeve 560 may be made of a wear-resistant material such as steel.

[0063] In some embodiments, the secondary planetary carrier 430 includes a second single-arm planetary carrier. The second single-arm planetary carrier does not require bearing support, further reducing the axial dimension of the joint module 10.

[0064] In some embodiments, such as Figure 8 As shown, the end face of the first-stage planetary carrier 330 near the first-stage planetary gear 320 has at least one first lubrication groove 331 with an opening facing the first-stage planetary gear 320. The first lubrication groove 331 is configured to store grease, which reduces the friction between the first-stage planetary carrier 330 and the first-stage planetary gear 320 and improves the deceleration efficiency of the first-stage reduction structure.

[0065] In some embodiments, such as Figure 8 As shown, the end face of the first-stage planetary carrier 330 near the second-stage planetary gear 420 has at least one second lubrication groove 332 with an opening facing the second-stage planetary gear 420. The second lubrication groove 332 is configured to store grease, thereby reducing the friction between the first-stage planetary carrier 330 and the second-stage planetary gear 420.

[0066] In some embodiments, such as Figure 8 As shown, a gasket 550 is also provided between the end cap 130 and the first-stage planetary gear 320 to reduce friction between the end cap 130 and the first-stage planetary gear 320. Exemplarily, the gasket 550 can be a wear-resistant gasket. Exemplarily, a groove is provided on the side of the end cap 130 near the first-stage planetary gear 320, the groove for accommodating a portion of the gasket 550, i.e., the gasket 550 extends axially out of the groove in the joint module 10.

[0067] Figure 9 The diagram shown is a structural schematic of a robot provided in one embodiment of this disclosure. Figure 9As shown, robot 1 includes the joint module 10 in the above embodiments. Exemplarily, robot 1 is a humanoid robot, collaborative robot, transport robot, etc.

[0068] Since robot 1 includes joint module 10, robot 1 has all the technical features and effects of joint module 10, which will not be described in detail here.

[0069] In the embodiments of this disclosure, unless the form of connection is explicitly defined, the connection can be a detachable connection such as a bolt and nut, screw, clip, or magnetic connection. In some connections where there is no particular requirement for a non-detachable fit, a non-detachable connection can be achieved through welding, bonding, or other methods.

[0070] The terms "an embodiment" or "embodiment" used in this specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0071] It should be understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0072] Furthermore, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of a component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of components in use or operation other than those shown in the figures. Devices may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0073] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0074] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications or equivalent substitutions made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A joint module, characterized in that, include: Fixed components, including an internal gear ring; The motor assembly is fitted onto the outer ring of the internal gear ring; The first-stage sun gear is fitted onto the inner ring of the internal gear ring and connected to the motor assembly; Multiple first-stage planetary gears are arranged at circumferential intervals along the first-stage sun gear, and each first-stage planetary gear meshes with the first-stage sun gear and the internal gear ring respectively; A primary planetary carrier, wherein multiple primary planetary gears are rotatably connected to the primary planetary carrier; The second-stage sun gear is fitted onto the inner ring of the internal gear ring and connected to the first-stage planetary carrier; Multiple secondary planetary gears are arranged at circumferential intervals along the secondary sun gear, and each secondary planetary gear meshes with the secondary sun gear and the internal gear ring respectively; A secondary planetary carrier, with multiple secondary planetary gears rotatably connected to the secondary planetary carrier.

2. The joint module according to claim 1, characterized in that, The number of teeth on the first-stage sun gear is equal to the number of teeth on the second-stage sun gear, and the number of teeth on the first-stage planetary gear is equal to the number of teeth on the second-stage planetary gear.

3. The joint module according to claim 2, characterized in that, The thickness of the first-stage planetary gear is less than the thickness of the second-stage planetary gear.

4. The joint module according to any one of claims 1 to 3, characterized in that, The fixing component also includes: An annular housing is fitted over the outer ring of the motor assembly; The joint module also includes: The first bearing has its outer ring connected to both the inner ring of the annular housing and the inner ring of the internal gear ring, and its inner ring is connected to the secondary planetary carrier.

5. The joint module according to claim 4, characterized in that, The fixing component also includes: The end cap is connected to the end face of the internal gear ring near the first-stage planetary gear; The motor cover is connected to the annular housing and is located on the side of the end cover away from the first-stage planetary gear; The motor assembly includes: The stator is connected to the inner ring of the annular housing; The rotor is fitted onto the inner ring of the stator; A rotor bushing is connected to the rotor and to the first-stage sun gear; The joint module also includes: The second bearing has an inner ring connected to the rotor bushing and an outer ring connected to the end cover. The third bearing has its inner ring connected to the rotor bushing and its outer ring connected to the motor cover.

6. The joint module according to claim 5, characterized in that, Also includes: The fourth bearing has its inner ring connected to the second-stage sun gear and its outer ring connected to the second-stage planetary carrier.

7. The joint module according to claim 6, characterized in that, The annular housing has a first limiting surface, the internal gear ring has a second limiting surface, the end face of the outer ring of the first bearing away from the first-stage planetary gear abuts against the first limiting surface, and the end face of the outer ring of the first bearing close to the first-stage planetary gear abuts against the second limiting surface. The rotor bushing has a third limiting surface and a fourth limiting surface, the end cover has a fifth limiting surface, the motor cover has a sixth limiting surface, the end face of the outer ring of the second bearing near the first-stage planetary gear abuts against the fifth limiting surface, the end face of the inner ring of the second bearing away from the first-stage planetary gear abuts against the third limiting surface, the end face of the inner ring of the third bearing near the first-stage planetary gear abuts against the fourth limiting surface, and the end face of the outer ring of the third bearing away from the first-stage planetary gear abuts against the sixth limiting surface. The second-stage planetary carrier has a seventh limiting surface, the second-stage sun gear has an eighth limiting surface, the outer ring of the fourth bearing abuts against the seventh limiting surface at the end face away from the first-stage planetary gear, and the inner ring of the fourth bearing abuts against the eighth limiting surface at the end face near the first-stage planetary gear. The secondary planetary carrier also has a ninth limiting surface, and the end face of the inner ring of the first bearing near the primary planetary gear abuts against the ninth limiting surface.

8. The joint module according to any one of claims 1 to 3, characterized in that, The primary planetary carrier includes a first single-arm planetary carrier, which is integrally formed; and / or, the secondary planetary carrier includes a second single-arm planetary carrier.

9. The joint module according to any one of claims 1 to 3, characterized in that, The first-stage planetary carrier has at least one first lubrication groove with an opening facing the first-stage planetary gear on its end face near the first-stage planetary gear, the first lubrication groove being configured to store grease; and / or, the first-stage planetary carrier has at least one second lubrication groove with an opening facing the second-stage planetary gear on its end face near the second-stage planetary gear, the second lubrication groove being configured to store grease.

10. A robot, characterized in that, include: The joint module according to any one of claims 1 to 9.

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