Joint module housing structure, joint module, and robot

Abstract

The application relates to a joint module shell structure, a joint module and a robot. A joint module shell structure is applied to a joint module, the joint module comprising a motor and a planetary reducer, the motor comprising a stator, the planetary reducer comprising at least one gear ring, the joint module shell structure comprising a first shell, the first shell comprising: a main body in a ring shape, an inner wall of the main body being configured to form a stator positioning surface for positioning the stator; and a cantilever arm integrally connected to the inner wall of the main body and extending inward from the inner wall of the main body, the cantilever arm having a gear ring positioning surface for positioning the gear ring. The joint module shell structure, the joint module and the robot can improve the assembly coaxiality between the motor and the reducer, improve the transmission reliability, and improve the structural compactness of the joint module.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to joint module housing structures, joint modules, and robots. Background Technology

[0002] In existing robot joint module designs, cumulative errors are prone to occur during the assembly of motors and reduction gears, making it difficult to guarantee the coaxiality between the motors and reduction gears. This affects the transmission accuracy and operational stability of the joint module, and this loss of accuracy is particularly noticeable under high load or high-speed operating conditions. At the same time, due to the limitations of the existing structural layout, there are a large number of parts and low space utilization, which not only increases the complexity of the assembly process but also hinders the miniaturization and weight reduction of the joint module. Summary of the Invention

[0003] Therefore, it is necessary to provide a joint module housing structure, a joint module, and a robot to improve the coaxiality of the assembly between the motor and the reducer, improve the transmission reliability, and enhance the structural compactness of the joint module.

[0004] A joint module housing structure is applied to a joint module, the joint module including a motor and a planetary reducer, the motor including a stator, the planetary reducer including at least one gear ring, and the joint module housing structure including a first housing, the first housing including:

[0005] The main body is annular, and its inner wall is configured with a stator positioning surface for positioning the stator; and

[0006] A cantilever is integrally connected to the inner wall of the main body and extends inward from the inner wall of the main body. The cantilever has a gear positioning surface for positioning the gear ring.

[0007] In some embodiments, the gear ring positioning surface includes a first positioning surface and a second positioning surface, the first positioning surface and the second positioning surface being located at different positions in a first direction and a second direction, wherein the first direction is the axial direction of the motor and the second direction is the radial direction of the motor; the first positioning surface is used to position the first-stage gear ring and the second positioning surface is used to position the second-stage gear ring.

[0008] In some embodiments, the cantilever includes a first segment, a second segment, and a third segment connected between the first segment and the second segment. The second segment extends inward from the inner wall of the body. The first segment forms a first positioning surface along its end face in the first direction, and the second segment forms a second positioning surface along its end face in the first direction. The extension direction of the third segment is inclined relative to the first direction and the second direction.

[0009] In some embodiments, the first segment includes a radial portion extending along the second direction and an axial portion extending along the first direction. The outer end of the radial portion is connected to the third segment, and the inner end is connected to the axial portion. The end face of the radial portion along the first direction is configured to form a first positioning surface for contacting the stepped end face of the primary gear ring. The inner wall of the axial portion is configured to form an additional positioning surface for contacting the outer peripheral surface of the primary gear ring.

[0010] In some embodiments, the cantilever is ring-shaped.

[0011] In some embodiments, the joint module housing structure includes a first cover connected to one end of the main body and a second cover connected to the other end of the main body, a motor cavity is formed between the cantilever, the main body and the first cover, and a reducer cavity is formed between the cantilever, the main body and the second cover.

[0012] In some embodiments, the joint module housing structure includes a third cover, the end of the first cover opposite to the first housing forming an electrical control cavity, and the third cover being connected to the first cover and sealing the electrical control cavity.

[0013] In some embodiments, at least one of the second cover, the first shell, and the first cover is provided with a wiring hole;

[0014] And / or, the outer wall of the main body is provided with heat dissipation fins.

[0015] A joint module, the joint module including the joint module housing structure described above, and further including the motor and the reducer.

[0016] In some embodiments, the joint module further includes a locking component, wherein the joint module housing structure and the output end of the joint module upstream of the drive chain, as well as the joint module housing structure of the joint module downstream of the drive chain, are detachably connected via the locking component.

[0017] In some embodiments, the locking component includes a first latching structure, a second latching structure, and a locking ring, wherein one of the first latching structure and the second latching structure is connected to the joint module housing structure, and the other is connected to the output end of the reducer;

[0018] The first locking structure includes at least two first locking teeth, and the second locking structure includes a second locking tooth. Both are connected to the locking assembly between adjacent joint modules. The second locking tooth engages between the two first locking teeth to restrict their relative rotation. The locking ring is sleeved on the outside of the first locking structure and the second locking structure to restrict their axial relative movement.

[0019] In some embodiments, the first snap-fit ​​structure includes a plurality of first snap-fit ​​teeth arranged at intervals along the circumference of the motor, and the second snap-fit ​​structure includes a plurality of second snap-fit ​​teeth arranged at intervals along the circumference of the motor, wherein each first snap-fit ​​tooth snaps into two corresponding second snap-fit ​​teeth, and each second snap-fit ​​tooth snaps into two corresponding first snap-fit ​​teeth.

[0020] In some embodiments, the locking ring includes two detachably connected semi-ring portions, and the inner wall of the locking ring is provided with a groove, into which the outer sides of the first snap-fit ​​structure and the second snap-fit ​​structure are snapped.

[0021] In some embodiments, the groove is a wedge-shaped groove, and the outer sides of the first snap-fit ​​structure and the second snap-fit ​​structure are provided with inclined surfaces that cooperate with the groove wall of the wedge-shaped groove.

[0022] In some embodiments, the groove wall of the groove is provided with an anti-rotation part, which engages with the outer side of the first snap-fit ​​structure / second snap-fit ​​structure to restrict the locking ring from rotating relative to the first snap-fit ​​structure and the second snap-fit ​​structure.

[0023] In some embodiments, the motor includes a rotor, and the reducer portion extends into the rotor.

[0024] A robot comprising the aforementioned joint module.

[0025] The aforementioned joint module housing structure, joint module, and robot achieve a unified mounting reference for the reducer gear ring and motor stator by integrating the cantilever integrally with the inner wall of the main body. This allows the gear ring positioning surface on the cantilever and the stator positioning surface on the inner wall of the main body to be directly formed on the same part (i.e., the first housing). Since the positioning surfaces of the stator and gear ring are integrated on the same part, their coaxiality is guaranteed solely by the machining accuracy of the first housing, eliminating the need for multiple parts to be assembled and stacked. This eliminates the cumulative assembly errors caused by dispersed positioning references in traditional designs, improving the assembly coaxiality and transmission reliability between the motor and reducer. Simultaneously, this integrated structure eliminates the need for independent brackets and other intermediate components used for mounting the gear ring in traditional designs, reducing the number of parts, simplifying the assembly process, and resulting in higher axial space utilization and a more compact structure for the joint module. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a first joint module, a second joint module, and a third joint module in one embodiment of this application.

[0027] Figure 2 This is a schematic diagram of the joint module housing structure in one embodiment of this application.

[0028] Figure 3This is an exploded view of the joint module housing structure in one embodiment of this application.

[0029] Figure 4 This is a perspective sectional view of the joint module housing structure in one embodiment of this application.

[0030] Figure 5 This is a perspective sectional view of the second joint module in one embodiment of this application (some components are omitted).

[0031] Figure 6 This is a schematic diagram of the second joint module in one embodiment of this application.

[0032] Figure 7 This is a schematic diagram of the third joint module in one embodiment of this application.

[0033] Figure 8 This is a schematic diagram of a locking ring in one embodiment of this application.

[0034] Figure 9 This is a partial perspective sectional view of the connection between the second joint module and the third joint module in one embodiment of this application.

[0035] Figure 10 This is an exploded view of the first shell, the first cover, and the second cover in one embodiment of this application.

[0036] Figure label:

[0037] 10. First joint module; 20. Second joint module; 30. Third joint module; 40. Joint module housing structure; 401. Motor cavity; 402. Reducer cavity; 403. Electrical control cavity; 404. Wiring hole; 100. First shell; 110. Main body; 111. Stator positioning surface; 112. Heat dissipation fins; 113. Extended plate; 120. Cantilever; 121. First section; 1211. Radial part; 12111. First positioning surface; 121 2. Axial section; 12121. Additional positioning surface; 122. Second section; 1221. Second positioning surface; 123. Third section; 200. First cover; 300. Second cover; 400. Third cover; 510. First gear ring; 520. Second gear ring; 530. Second planetary carrier; 540. Output adapter plate; 550. Rotor support; 610. First locking tooth; 620. Second locking tooth; 630. Locking ring; 631. Semi-ring section; 632. Groove. Detailed Implementation

[0038] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0039] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0040] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0044] See Figures 1 to 2 The joint module housing structure 40 provided in one embodiment of this application is applied to a joint module. For example, Figure 1 The first joint module 10 shown is a shoulder joint module, the second joint module 20 is a leg joint module, and the third joint module 30 is a knee joint module. The housing structure of all three joint modules can adopt the joint module housing structure 40 provided in this embodiment. Each joint module includes a motor and a planetary reducer. The motor includes a stator and a rotor. The stator is fixedly installed in the joint module housing structure 40, and the rotor extends into the stator and rotatably engages with the joint module housing structure 40. The planetary reducer can be single-stage or multi-stage, and includes at least one gear ring. The power input end of the planetary reducer is fixedly connected to the rotor, and the power output end is directly or indirectly connected to the joint module housing structure 40 of the downstream joint module in the transmission chain, thereby realizing power transmission between adjacent joint modules.

[0045] The following description uses the second joint module 20 shown in the attached figure as an example to illustrate the joint module housing structure 40.

[0046] See Figures 2 to 5An embodiment of this application provides a joint module housing structure 40 including a first housing 100, which includes a main body 110 and a cantilever 120. The main body 110 is annular, and its inner wall is formed with a stator positioning surface 111 for positioning the stator. The cantilever 120 is integrally connected to the inner wall of the main body 110 and extends inward from the inner wall of the main body 110. The cantilever 120 has a gear ring positioning surface for positioning the gear ring (e.g., the first positioning surface 12111 and the second positioning surface 1221 shown in the figures).

[0047] In the above embodiments, by integrally connecting the cantilever 120 to the inner wall of the main body 110, the gear ring positioning surface on the cantilever 120 and the stator positioning surface 111 on the inner wall of the main body 110 are both directly formed on the same part (i.e., the first shell 100), thus achieving a unified mounting reference for the reducer gear ring and the motor stator. Since the positioning surfaces of the stator and gear ring are integrated on the same part, the coaxiality between them is guaranteed solely by the machining accuracy of the first shell 100, eliminating the need for assembly and stacking of multiple parts. This eliminates the cumulative assembly errors caused by dispersed positioning references in traditional designs, improving the assembly coaxiality and transmission reliability between the motor and the reducer. Simultaneously, this integrated structure eliminates the need for independent brackets and other intermediate components used for mounting the gear ring in traditional designs, reducing the number of parts, simplifying the assembly process, and resulting in higher axial space utilization and a more compact structure for the joint module.

[0048] See Figures 2 to 5 In some embodiments, the gear ring positioning surface includes a first positioning surface 12111 and a second positioning surface 1221. The first positioning surface 12111 and the second positioning surface 1221 are located at different positions in a first direction and a second direction, wherein the first direction is the axial direction of the motor and the second direction is the radial direction of the motor. The first positioning surface 12111 is used to position the first-stage gear ring 510, and the second positioning surface 1221 is used to position the second-stage gear ring 520.

[0049] In the above embodiments, the first positioning surface 12111 and the second positioning surface 1221 are staggered in the axial and radial directions of the motor to adapt to the different axial positions and diameter requirements of the first-stage gear ring 510 and the second-stage gear ring 520. Both positioning surfaces are integrated into the same cantilever 120, so that the positioning reference of the two-stage gear rings is unified with the first housing 100. This eliminates the need for additional components such as positioning brackets set separately for different gear rings, reduces the number of parts and assembly steps, makes the reducer structure more compact, and the unified positioning reference of the two-stage gear rings avoids coaxiality errors caused by the dispersion of positioning references in the multi-stage reduction structure, thus ensuring the coaxiality and stability of the transmission.

[0050] In the embodiment shown in the attached drawings, the planetary reducer is a two-stage planetary reducer, specifically comprising a first-stage sun gear, first-stage planetary gears, a first-stage planetary carrier, a first-stage ring gear, a second-stage sun gear, second-stage planetary gears, a second-stage planetary carrier 530, and a second-stage ring gear. The first-stage sun gear is fixedly connected to or integrally formed with the rotor shaft of the motor, serving as the power input end for the first-stage reduction. Multiple first-stage planetary gears are fixedly installed circumferentially within the first-stage planetary carrier, located inside the first-stage ring gear, and mesh with it. Multiple first-stage planetary gears surround the outside of the first-stage sun gear and mesh with it. When the rotor rotates, it drives the first-stage sun gear to rotate synchronously, thereby driving the multiple first-stage planetary gears and the first-stage planetary carrier to rotate along the inner ring of the first-stage ring gear, achieving the first-stage reduction. The first-stage planetary carrier serves as the power output end for the first-stage reduction, and a second-stage sun gear is also fixedly connected to or integrally formed on it; that is, the first-stage planetary carrier also simultaneously serves as the power input end for the second-stage reduction. Multiple second-stage planetary gears are fixedly installed circumferentially within the second-stage planetary carrier 530, located inside the second-stage ring gear, and mesh with it. Multiple second-stage planetary gears surround the outside of the second-stage sun gear and mesh with it. When multiple primary planetary gears drive the primary planetary carrier to rotate, the secondary sun gear rotates synchronously, thereby driving multiple secondary planetary gears and the secondary planetary carrier 530 to rotate along the inner ring of the secondary gear ring, achieving secondary reduction. The secondary planetary carrier 530 serves as the power output end of the secondary reduction, and an output adapter plate 540 is fixedly connected to it. The output adapter plate 540 serves as the power output component of this joint module and is fixedly connected to the joint module housing structure 40 of the downstream joint module in the transmission chain to achieve power transmission.

[0051] In other embodiments, the planetary reducer can also be designed as a single-stage reducer according to torque requirements. In this case, only a single gear ring positioning surface needs to be set on the cantilever 120. Alternatively, the planetary reducer can also be designed as a multi-stage structure with three or four stages. The shape of the cantilever 120 can be adjusted accordingly, and positioning surfaces adapted to each gear ring can be added on it. In this way, a unified reference positioning of multiple gear rings can also be achieved through the same first housing 100.

[0052] See Figures 2 to 5 In some embodiments, the cantilever 120 includes a first segment 121, a second segment 122, and a third segment 123 connected between the first segment 121 and the second segment 122. The second segment 122 extends inward from the inner wall of the main body 110. The first segment 121 forms a first positioning surface 12111 along the end face of the first direction, and the second segment 122 forms a second positioning surface 1221 along the end face of the first direction. The extension direction of the third segment 123 is inclined relative to the first direction and the second direction.

[0053] Specifically, the second segment 122 serves as the root of the cantilever 120, extending radially inward from the inner wall of the main body 110, while the first segment 121 is the tip of the cantilever 120. The third segment 123, through an inclined transition, brings the first segment 121 closer to the motor axially and reduces its radial dimension. The inclination angle of the third segment 123 can be flexibly adjusted according to the axial spacing and diameter difference of the gear ring.

[0054] In the above embodiment, the third segment 123 of the cantilever 120 is inclined relative to the motor axis and radial direction, so that the connecting first segment 121 and second segment 122 naturally form different axial positions and radial dimensions. This creates a first positioning surface 12111 and a second positioning surface 1221 that are compatible with the first-stage gear ring 510 and the second-stage gear ring 520, thus meeting the installation requirements of different gear rings without the need for additional positioning structures. This one-piece molded three-segment structure eliminates independent positioning components, reduces the number of parts and assembly errors, ensures the uniformity of the positioning reference of the two-stage gear rings, and thus improves the transmission coaxiality and structural compactness.

[0055] See Figures 2 to 5 In some embodiments, the first segment 121 includes a radial portion 1211 extending in a second direction and an axial portion 1212 extending in a first direction. The outer end of the radial portion 1211 is connected to the third segment 123, and the inner end is connected to the axial portion 1212. The end face of the radial portion 1211 in the first direction is configured to form a first positioning surface 12111 for contacting the stepped end face of the first gear ring 510. The inner wall of the axial portion 1212 is configured to form an additional positioning surface 12121 for contacting the outer peripheral surface of the first gear ring 510.

[0056] Specifically, one end of the third segment 123 is connected to the second segment 122, and the other end is connected to the outer end of the radial portion 1211. The inner end of the radial portion 1211 is connected to the axial portion 1212, which extends from the inner end of the radial portion 1211 along the motor axis toward the side closer to the motor. The radial portion 1211 and the axial portion 1212 are generally L-shaped. The end of the first-stage gear ring 510 facing away from the motor has a radially convex ring to form a stepped end face. This stepped end face fits and is positioned against the first positioning surface 12111. The convex ring and the radial portion 1211 are fixed by bolts. The inner wall of the axial portion 1212 (i.e., the additional positioning surface 12121) is a cylindrical surface that fits and is positioned against the outer circumferential surface of the first-stage gear ring 510.

[0057] In the above embodiment, the first positioning surface 12111 on the radial portion 1211 is attached to the stepped end face of the first-stage gear ring 510, and the additional positioning surface 12121 on the axial portion 1212 is attached to the outer peripheral surface of the first-stage gear ring 510, forming a dual positioning of axial and radial directions, which further improves the installation accuracy and stability of the first-stage gear ring 510.

[0058] See Figures 2 to 5 In some embodiments, the cantilever 120 is annular.

[0059] In the above embodiment, the annular cantilever 120 is continuously distributed circumferentially along the inner wall of the main body 110, so that the first positioning surface 12111, the second positioning surface 1221, and the additional positioning surface 12121 all form annular positioning structures, which fully fit the circumferential contours of the first-stage gear ring 510 and the second-stage gear ring 520. This annular design ensures that the gear ring is subjected to uniform force, avoids uneven loading and deformation caused by local positioning, and at the same time improves the structural integrity and rigidity of the cantilever 120, ensures the coaxiality of each positioning surface, and further optimizes the transmission stability of the motor and the reducer.

[0060] See Figures 2 to 5 In some embodiments, the joint module housing structure 40 includes a first cover 200 connected to one end of the main body 110 and a second cover 300 connected to the other end of the main body 110. A motor cavity 401 is formed between the cantilever 120, the main body 110 and the first cover 200, and a reducer cavity 402 is formed between the cantilever 120, the main body 110 and the second cover 300.

[0061] exist Figure 4 and Figure 5 From this perspective, the first cover 200 is bolted to the top of the main body 110, forming a motor cavity 401 with the main body 110 and the cantilever 120, which is used to accommodate the stator and rotor. The rotor includes a rotor support 550 rotatably connected to the first cover 200, and other components of the rotor, such as the rotor yoke, magnets, and rotor shaft, are fixedly installed on the rotor support 550. The rotor shaft passes through the central hole of the rotor support 550, the rotor yoke is fixed to the outside of the rotor support 550, and the magnets are fixed to the outside of the rotor yoke. The stator surrounds the outside of the entire rotor structure, is accommodated in the space between the inner wall of the main body 110, the lower end face of the first cover 200, and the upper end face of the cantilever 120, and is fixedly installed on the stator positioning surface 111. The end face (upper end face) of the second segment 122, which is axially opposite to the second positioning surface 1221, can also provide auxiliary support and positioning for the end of the stator. The second cover 300 is bolted to the bottom of the main body 110, forming a reducer cavity 402 with the main body 110 and the cantilever 120, accommodating the reducer structure such as the first-stage gear ring 510 and the second-stage gear ring 520. One end of the second-stage gear ring 520 abuts against the second positioning surface 1221, and the other end abuts against the upper surface of the second cover 300. The second-stage gear ring 520 can be bolted to the second section 122 of the cantilever 120.

[0062] In the above embodiment, the first cover 200 and the second cover 300 are respectively connected to both ends of the main body 110, and together with the main body 110 and the cantilever 120, they form the motor cavity 401 and the reducer cavity 402, realizing the partitioned installation of the motor and reducer components. This partitioned layout allows the functional components to be arranged in an orderly manner along the axis, avoiding the messy stacking of components from different systems, optimizing the utilization of internal space, and facilitating precise alignment during assembly and component retrieval during later maintenance.

[0063] Preferably, a sealing ring is provided between the end face of the first cover 200 and the body 110 to enhance the sealing at the connection. Similarly, a sealing ring is provided between the end face of the second cover 300 and the body 110.

[0064] See Figures 2 to 5 In some embodiments, the joint module housing structure 40 includes a third cover 400, and the end of the first cover 200 opposite to the first housing 100 forms an electrical control cavity 403. The third cover 400 is connected to the first cover 200 and closes the electrical control cavity 403.

[0065] Specifically, the first cover 200 is recessed inward on the side opposite to the main body 110 to form an electrical control cavity 403, which is used to install electrical control components such as controllers. The third cover 400 is fastened to the first cover 200 by bolts, and a sealing ring can be added to the mating surface to enhance the seal. The depth and inner diameter of the electrical control cavity 403 can be adjusted according to the size of the electrical control components.

[0066] In the above embodiment, the end of the first cover 200 opposite to the first shell 100 forms an electrical control cavity 403, and the third cover 400 connects to and seals this cavity, realizing the partitioned arrangement of the electrical control components, motor, and reducer. This design allows functional components to be integrated according to system categories, which not only avoids mutual interference between electrical control components and moving and transmission components, but also eliminates the need for an independent electrical control shell bracket based on the integrated structure of the first cover 200, reducing the number of parts. At the same time, the sealed cavity can protect the electrical control components from dust and oil, improving the operational stability and protection performance of the joint module.

[0067] In some embodiments, the third cover 400 may also be integrally formed with the first cover 200. In this case, the installation of the electronic control components needs to be carried out from the motor cavity 401 side, that is, inserted into the electronic control cavity 403 through the motor cavity 401. For example, in the third joint module 30, the third cover 400 and the first cover 200 are integrated as one piece.

[0068] See Figure 3 , Figure 4 and Figure 10 In some embodiments, at least one of the second cover 300, the first shell 100, and the first cover 200 is provided with a wiring hole 404.

[0069] In the embodiment shown in the attached drawings, the second cover 300, the first shell 100, and the first cover 200 are all provided with wiring holes 404, and the opening positions of each wiring hole 404 are corresponding along the axial direction to form a continuous wiring channel. This arrangement allows the connecting cables of the motor and reducer to be orderly threaded into the electrical control cavity 403 and connected to the controller along the wiring holes. This design avoids wear and tangling problems caused by exposed cables, and at the same time, it relies on the structure of the shell itself to form a wiring path, eliminating the need for additional wiring brackets. This simplifies the structure, makes the cable arrangement more organized, and facilitates later cable inspection and maintenance.

[0070] See Figure 1 In some embodiments, the outer wall of the main body 110 is provided with heat dissipation fins 112. This increases the heat dissipation area of ​​the joint module housing structure 40, which can quickly dissipate the heat generated in the motor cavity 401 and the reducer cavity 402 to the outside, avoiding internal heat accumulation that could affect the service life of the components.

[0071] Specifically, the heat dissipation fins 112 are evenly distributed along the circumference of the outer wall of the main body 110 and are set as strip-shaped protrusions integrally formed with the main body 110. The number and height of the fins can be flexibly set according to the heat dissipation requirements.

[0072] See Figures 1 to 5 The joint module provided in one embodiment of this application includes the joint module housing structure 40 in any of the above embodiments, and also includes a motor and a reducer.

[0073] In the above embodiments, the joint module uses the joint module housing structure 40 in the aforementioned embodiments, and the motor stator and reducer gear ring share the same reference positioning, which effectively reduces assembly errors, improves transmission coaxiality and running stability, and at the same time has a compact structure and higher space utilization.

[0074] See Figures 5 to 9 In some embodiments, the joint module further includes a locking component, and the joint module housing structure 40 and the output end of the joint module upstream of the drive chain, as well as the joint module housing structure 40 of the joint module downstream of the drive chain, are detachably connected by the locking component.

[0075] In the above embodiments, the joint module achieves detachable connection with upstream and downstream joint modules through locking components. This not only ensures the positioning accuracy and connection stability of adjacent joint modules during assembly, ensuring that there is no loosening or offset during power transmission, but also enables quick disassembly and assembly when joint modules need to be inspected, replaced, or reassembled. This simplifies the assembly and maintenance process of multi-joint transmission chains, improves overall assembly efficiency, and allows for flexible increase or decrease in the number of joint modules according to actual usage needs, enhancing the adaptability and expandability of the robot joint system.

[0076] The first joint module 10 and the second joint module 20, as well as the second joint module 20 and the third joint module 30, are detachably connected via the aforementioned locking assembly. Specifically, the output adapter plate 540 in the joint module and the joint module housing structure 40 of the downstream joint module in the transmission chain are detachably connected via the aforementioned locking assembly. It should be noted that, in this embodiment, "downstream in the transmission chain" refers to the next-level joint module in the power transmission direction; that is, power is output from the upstream joint module, transmitted through this joint module to the downstream joint module, and the joint modules are arranged in series along the power transmission direction. The locking assembly enables detachable fixing and power connection between adjacent joint modules. The following will combine... Figures 5 to 9 The following description will focus on the locking component between the second joint module 20 and the third joint module 30, as shown in the figure.

[0077] See Figures 5 to 9 In some embodiments, the locking assembly includes a first locking structure, a second locking structure, and a locking ring 630. One of the first and second locking structures is connected to the joint module housing structure 40, and the other is connected to the output end of the reducer. The first locking structure includes at least two first locking teeth 610, and the second locking structure includes a second locking tooth 620. Both are connected in the locking assembly between adjacent joint modules. The second locking tooth 620 engages between the two first locking teeth 610 to restrict their relative rotation. The locking ring 630 is sleeved on the outside of the first and second locking structures to restrict their axial relative movement.

[0078] In the above embodiments, the second locking tooth 620 is embedded in the gap between two adjacent first locking teeth 610 to achieve circumferential anti-rotation, effectively limiting the relative rotation between adjacent joint modules and ensuring synchronization and transmission accuracy during power transmission. The locking ring 630 is sleeved on the outside of the first and second locking structures, and the two are separated by axial compression to prevent the locking structures from loosening during operation and improve connection reliability. This locking assembly has a compact structure and is easy to assemble, which can not only achieve a stable connection between joint modules, but also facilitate quick disassembly and maintenance, making multi-joint assembly more efficient and flexible.

[0079] Specifically, the first snap-fit ​​structure is disposed on the joint module housing structure 40, and the second snap-fit ​​structure is disposed on the output end of the reducer of the joint module, that is, on the output adapter plate 540. Taking the second joint module 20 as an example, in the joint module housing structure 40, a protruding plate 113 is integrated on the outer peripheral surface of the main body 110 of the first shell 100. The first snap-fit ​​structure is disposed on the protruding plate 113 and is used to snap-fit ​​with the second snap-fit ​​structure in the first joint module 10. In the third joint module 30, the first snap-fit ​​structure is disposed on the first cover 200 and is used to snap-fit ​​with the second snap-fit ​​structure in the second joint module 20.

[0080] Since the first snap-fit ​​structure is directly integrated into the joint module housing structure 40, there is no need to add additional connecting brackets or fixing components, which effectively reduces the number of parts and simplifies the assembly process. At the same time, the integrated design ensures the connection stability between the snap-fit ​​structure and the housing, avoids assembly errors caused by additional parts, and balances structural compactness and connection reliability.

[0081] See Figures 6 to 9 In some embodiments, the first snap-fit ​​structure includes a plurality of first snap-fit ​​teeth 610 arranged at intervals along the circumference of the motor, and the second snap-fit ​​structure includes a plurality of second snap-fit ​​teeth 620 arranged at intervals along the circumference of the motor. Each first snap-fit ​​tooth 610 snaps into the space between two corresponding second snap-fit ​​teeth 620, and each second snap-fit ​​tooth 620 snaps into the space between two corresponding first snap-fit ​​teeth 610.

[0082] In the above embodiments, the first locking tooth 610 and the second locking tooth 620 are arranged at intervals along the circumference and interlock with each other, so that the adjacent joint modules form multi-point meshing in the circumference, thereby greatly improving the stability and transmission stiffness of circumferential anti-rotation, effectively dispersing the force at the meshing point, avoiding local stress concentration, and ensuring smoother and more uniform power transmission, further improving the reliability and transmission accuracy of multi-joint module connection.

[0083] Specifically, multiple first locking teeth 610 are evenly spaced along the circumference on the joint module housing structure 40, and multiple second locking teeth 620 are arranged circumferentially on the output adapter plate 540.

[0084] See Figures 8 to 9 In some embodiments, the locking ring 630 includes two detachably connected semi-ring portions 631, and the inner wall of the locking ring 630 is provided with a groove 632, into which the outer sides of the first snap-fit ​​structure and the second snap-fit ​​structure snap into the groove 632.

[0085] Specifically, the two halves of the ring 631 can be connected by bolts or snaps to form a complete locking ring 630. The groove 632 is continuously set along the circumference and is adapted to the outer contour of the first snap-fit ​​structure and the second snap-fit ​​structure to achieve precise positioning.

[0086] In the above embodiments, the locking ring 630 is composed of two detachable semi-ring parts 631 spliced ​​together. During assembly, it can be directly snapped in from the outside without needing to be inserted a long distance along the axial direction, simplifying the assembly and disassembly operation. The inner wall groove 632 simultaneously engages the first and second engaging structures, which can reliably limit the axial separation of the two without affecting the circumferential meshing and positioning. The structure is simple and the locking is reliable.

[0087] See Figures 8 to 9 In some embodiments, the groove 632 is a wedge-shaped groove, and the outer sides of the first snap-fit ​​structure and the second snap-fit ​​structure are provided with inclined surfaces that cooperate with the groove wall of the wedge-shaped groove.

[0088] In the above embodiments, the groove 632 adopts a wedge-shaped groove structure, which cooperates with the inclined surface on the outside of the first snap-fit ​​structure and the second snap-fit ​​structure. When the locking ring 630 is locked, the two sets of snap-fit ​​structures fit more tightly, which can automatically correct the assembly gap and avoid loosening during operation, and improve the circumferential anti-rotation accuracy, axial locking reliability and overall connection rigidity, making the joint module transmission more stable.

[0089] See Figures 8 to 9 In some embodiments, the groove wall of the groove 632 is provided with an anti-rotation part, which engages with the outer side of the first snap-fit ​​structure / second snap-fit ​​structure to restrict the locking ring 630 from rotating relative to the first snap-fit ​​structure and the second snap-fit ​​structure.

[0090] Specifically, the anti-rotation part is a limiting groove set on the groove wall of the groove 632. The outer side of the first snap-fit ​​structure / second snap-fit ​​structure is provided with a limiting block that protrudes outward in a radial direction. The limiting block is snapped into the limiting groove to restrict the locking ring from rotating relative to the first snap-fit ​​structure and the second snap-fit ​​structure, so as to prevent the locking ring from loosening or shifting during the operation of the joint module, and further ensure the locking stability and transmission reliability.

[0091] See Figures 4 to 5 In some embodiments, the motor includes a rotor, and a reducer portion extends into the rotor.

[0092] Specifically, the input end portion of the reducer can extend into the rotor support 550. This allows for the axial dimension of the joint module to be reduced by overlapping the motor and reducer in the axially upward region, facilitating miniaturization of the joint module.

[0093] See Figures 1 to 2 The robot provided in one embodiment of this application includes the joint module in any of the above embodiments.

[0094] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A joint module housing structure, applied to a joint module, the joint module including a motor and a planetary reducer, the motor including a stator, the planetary reducer including at least one gear ring, characterized in that, The joint module housing structure includes a first housing, the first housing comprising: The main body is annular, and its inner wall is configured with a stator positioning surface for positioning the stator; and A cantilever is integrally connected to the inner wall of the main body and extends inward from the inner wall of the main body. The cantilever has a gear positioning surface for positioning the gear ring.

2. The joint module housing structure according to claim 1, characterized in that, The gear ring positioning surface includes a first positioning surface and a second positioning surface. The first positioning surface and the second positioning surface are located at different positions in a first direction and a second direction, wherein the first direction is the axial direction of the motor and the second direction is the radial direction of the motor; the first positioning surface is used to position the first-stage gear ring and the second positioning surface is used to position the second-stage gear ring.

3. The joint module housing structure according to claim 2, characterized in that, The cantilever includes a first segment, a second segment, and a third segment connecting the first segment and the second segment. The second segment extends inward from the inner wall of the main body. The first segment forms a first positioning surface along the end face of the first segment in the first direction, and the second segment forms a second positioning surface along the end face of the second segment in the first direction. The extension direction of the third segment is inclined relative to the first direction and the second direction.

4. The joint module housing structure according to claim 3, characterized in that, The first segment includes a radial portion extending along the second direction and an axial portion extending along the first direction. The outer end of the radial portion is connected to the third segment, and the inner end is connected to the axial portion. The end face of the radial portion along the first direction is configured to form a first positioning surface for contacting the stepped end face of the first-stage gear ring. The inner wall of the axial portion is configured to form an additional positioning surface for contacting the outer peripheral surface of the first-stage gear ring.

5. The joint module housing structure according to claim 1, characterized in that, The cantilever is ring-shaped.

6. The joint module housing structure according to any one of claims 1 to 5, characterized in that, The joint module housing structure includes a first cover connected to one end of the main body and a second cover connected to the other end of the main body. A motor cavity is formed between the cantilever, the main body, and the first cover, and a reducer cavity is formed between the cantilever, the main body, and the second cover.

7. The joint module housing structure according to claim 6, characterized in that, The joint module housing structure includes a third cover, and an electrical control cavity is formed at one end of the first cover away from the first housing. The third cover is connected to the first cover and closes the electrical control cavity.

8. The joint module housing structure according to claim 7, characterized in that, At least one of the second cover, the first shell, and the first cover is provided with a wiring hole; And / or, the outer wall of the main body is provided with heat dissipation fins.

9. A joint module, characterized in that, The joint module includes the joint module housing structure according to any one of claims 1 to 8, and further includes the motor and the reducer.

10. The joint module according to claim 9, characterized in that, The joint module also includes a locking component. The joint module housing structure and the output end of the joint module upstream of the transmission chain, as well as the joint module housing structure of the joint module downstream of the transmission chain, are detachably connected through the locking component.

11. The joint module according to claim 10, characterized in that, The locking component includes a first snap-fit ​​structure, a second snap-fit ​​structure, and a locking ring. Of the first snap-fit ​​structure and the second snap-fit ​​structure, one is connected to the joint module housing structure, and the other is connected to the output end of the reducer. The first locking structure includes at least two first locking teeth, and the second locking structure includes a second locking tooth. Both are connected to the locking assembly between adjacent joint modules. The second locking tooth engages between the two first locking teeth to restrict their relative rotation. The locking ring is sleeved on the outside of the first locking structure and the second locking structure to restrict their axial relative movement.

12. The joint module according to claim 11, characterized in that, The first snap-fit ​​structure includes a plurality of first snap-fit ​​teeth arranged at intervals along the circumference of the motor, and the second snap-fit ​​structure includes a plurality of second snap-fit ​​teeth arranged at intervals along the circumference of the motor. Each first snap-fit ​​tooth snaps into two corresponding second snap-fit ​​teeth, and each second snap-fit ​​tooth snaps into two corresponding first snap-fit ​​teeth.

13. The joint module according to claim 11 or 12, characterized in that, The locking ring includes two detachably connected semi-ring portions, and the inner wall of the locking ring is provided with a groove, into which the outer sides of the first snap-fit ​​structure and the second snap-fit ​​structure are snapped.

14. The joint module according to claim 13, characterized in that, The groove is a wedge-shaped groove, and the outer sides of the first and second snap-fit ​​structures are provided with inclined surfaces that cooperate with the groove wall of the wedge-shaped groove.

15. The joint module according to claim 13, characterized in that, The groove wall is provided with an anti-rotation part, which engages with the outside of the first snap-fit ​​structure / second snap-fit ​​structure to restrict the locking ring from rotating relative to the first snap-fit ​​structure and the second snap-fit ​​structure.

16. The joint module according to claim 9, characterized in that, The motor includes a rotor, and the reducer portion extends into the rotor.

17. A robot, characterized in that, The robot includes the joint module according to any one of claims 9 to 16.

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