Joint modules and robots

Abstract

The present application relates to a joint module and a robot. The joint module includes: an assembly component; and a dual encoder; the dual encoder is concentrically arranged with the assembly component and assembled with the assembly component; wherein, at least part of the assembly component is sleeved on the outside of the dual encoder, and a labyrinth-type first sealing structure is provided between the assembly component and the dual encoder. In this way, the path for external dust and oil to enter the space where the dual encoder is located from between the assembly component and the dual encoder can be increased, thereby making it difficult for external dust and oil to enter the space where the dual encoder is located from between the assembly component and the dual encoder, thereby avoiding the influence of dust and oil on the dual encoder as much as possible, ensuring the normal operation of the dual encoder, and reducing the failure rate of the joint module and the robot.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a joint module and a robot. Background Art

[0002] As robotics are increasingly used in a variety of fields, collaborative robots, as automated labor that collaborates with humans, are entering more light industrial production. Each degree of freedom of a collaborative robot's movement is generated by a joint module at each joint. The joint module is an integrated structure that integrates core components such as motors, encoders, reducers, and brakes. The joint module typically integrates two encoders: an input encoder and an output encoder. However, encoders in traditional technology are assembled in open spaces, and dust and oil generated by components such as brakes and reducers can easily contaminate the encoder, affecting its operation and causing joint failure. Summary of the Invention

[0003] Based on this, it is necessary to provide a joint module and a robot to address the technical problem that the encoder of the joint module in traditional technology is easily contaminated.

[0004] A first aspect of an embodiment of the present application provides a joint module, comprising:

[0005] Assembling components; and

[0006] Dual encoders; the dual encoders are concentrically arranged with the assembly component and assembled with the assembly component;

[0007] Wherein, at least part of the assembly component is sleeved on the outside of the dual encoder, and a labyrinth-type first sealing structure is provided between the assembly component and the dual encoder.

[0008] In one embodiment, the dual encoder includes a support, a code disc, and a read head plate; the code disc is located between the support and the read head plate and is disposed on the support; the read head plate is assembled on the assembly component;

[0009] The first sealing structure is provided between the support member and the assembly component.

[0010] In one embodiment, the support member includes a first support member and a second support member that are concentrically arranged, the second support member is located on a side of the first support member close to the read head plate, and a portion of the first support member is located on an outer peripheral side of the second support member;

[0011] The code disc includes a first code disc and a second code disc; wherein the first code disc is arranged on a side of the first support member close to the read head plate, and the second code disc is arranged on a side of the second support member close to the read head plate;

[0012] The assembly component includes an assembly seat and a cover plate arranged on the assembly seat. The assembly seat is sleeved on the outer side of the dual encoder, and the cover plate is located on the side of the read head plate away from the support member.

[0013] In one embodiment, the first sealing structure includes a labyrinth-type first sub-sealing structure.

[0014] An avoidance groove is provided on the side of the assembly seat close to the first support member, and the end of the first support member close to the side of the assembly seat is located in the avoidance groove; wherein, a first protrusion is provided on the end of the first support member close to the side of the assembly seat, and the inner wall surface of the avoidance groove is provided with a first groove adapted to the first protrusion, and the first protrusion and the first groove are clearance-matched to form the first sub-sealing structure.

[0015] In one embodiment, the first sealing structure includes a labyrinth-type second sub-sealing structure.

[0016] The second sub-sealing structure is provided between the cover plate and the second support member. A second protrusion is provided on the side of the cover plate close to the second support member, and a second groove is provided on the side of the second support member close to the cover plate to match the second protrusion. The second protrusion and the second groove are loosely matched to form the second sub-sealing structure.

[0017] In one embodiment, a sealing member is further provided on a side of the first support member away from the second support member, and a labyrinth-type second sealing structure is provided between the sealing member and the first support member.

[0018] A third groove is provided on one side of the first support member close to the sealing member, and a third protrusion adapted to the third groove is provided on one side of the sealing member close to the first support member. The third protrusion and the third groove are loosely matched to form the second sealing structure.

[0019] In one embodiment, a labyrinth-type third sealing structure is provided between the first support member and the second support member.

[0020] A fourth groove is provided on the side of the first support member close to the second support member, and a fourth protrusion adapted to the fourth groove is provided on the side of the second support member close to the first support member, and the fourth protrusion and the fourth groove are clearance-matched to form the third sealing structure.

[0021] In one embodiment, the joint module further includes a motor shaft and an output shaft arranged concentrically, wherein the motor shaft sleeve is outside the output shaft; the first support member is connected to the motor shaft, and the second support member is connected to the output shaft;

[0022] An annular extension portion is provided at one end of the first support member close to the motor shaft, and the annular extension portion wraps part of the side wall surface of the motor shaft. An isolation ring is provided on the outer peripheral side of the annular extension portion, and a labyrinth-type fourth sealing structure is provided between the isolation ring and the annular extension portion.

[0023] In one embodiment, a boss group arranged at intervals is provided on the outer circumference of the annular extension portion, and a groove group adapted to the boss group is provided on the inner circumference of the isolation ring. The boss group and the groove group are loosely matched to form the fourth sealing structure.

[0024] A first gap is provided between adjacent groove groups, and the length of the first gap is greater than the arc length of the boss group; and / or a second gap is provided between adjacent boss groups, and the length of the second gap is greater than the arc length of the groove group.

[0025] The above-mentioned joint module can increase the path for external dust and oil to enter the space where the dual encoders are located from between the assembly component and the dual encoders by setting a labyrinth seal between the assembly component and the dual encoders, thereby making it difficult for external dust and oil to enter the space where the dual encoders are located from between the assembly component and the dual encoders, thereby avoiding the influence of dust and oil on the dual encoders as much as possible, ensuring the normal operation of the dual encoders, and reducing the failure rate of the joint module.

[0026] A second aspect of an embodiment of the present application provides a robot, which includes the joint module of the first aspect.

[0027] The above-mentioned robot, by setting a labyrinth seal between the assembly components of the joint module and the dual encoders, can increase the path for external dust and oil to enter from between the assembly components and the dual encoders to the space where the dual encoders are located, thereby making it difficult for external dust and oil to enter from between the assembly components and the dual encoders to the space where the dual encoders are located, thereby avoiding the influence of dust and oil on the dual encoders as much as possible, ensuring the normal operation of the dual encoders, and reducing the failure rate of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic structural diagram of a joint module provided in one embodiment of the present application;

[0029] Figure 2 for Figure 1 A schematic structural diagram of the first support member in FIG.

[0030] Figure 3 for Figure 1 A schematic diagram of the structure of the assembly seat;

[0031] Figure 4 for Figure 1 A schematic structural diagram of the second support member in FIG.

[0032] Figure 5 for Figure 1 Schematic diagram of the structure of the cover plate;

[0033] Figure 6 A schematic structural diagram of another joint module provided in one embodiment of the present application;

[0034] Figure 7 for Figure 6 A schematic structural diagram of the first support member in FIG.

[0035] Figure 8 for Figure 6 Schematic diagram of the structure of the seal;

[0036] Figure 9 for Figure 6 A schematic diagram of the structure of the assembly seat;

[0037] Figure 10 A schematic structural diagram of another joint module provided in one embodiment of the present application;

[0038] Figure 11 for Figure 10 A schematic structural diagram of the first support member in FIG.

[0039] Figure 12 for Figure 10 A schematic structural diagram of the second support member in FIG.

[0040] Figure 13 A schematic structural diagram of another joint module provided in one embodiment of the present application;

[0041] Figure 14 for Figure 13 An exploded schematic diagram of the first support member and the isolation ring;

[0042] Figure 15 for Figure 13 a side view of the first support member;

[0043] Figure 16 for Figure 13 A side view of the isolation ring in FIG.

[0044] Figure 17 for Figure 13 A top view of the isolation ring in FIG.

[0045] Figure 18 for Figure 13 A top view of the first support member in FIG.

[0046] Reference numerals:

[0047] 10-joint module; 110-assembly component; 111-assembly seat; 1111-avoidance groove; 1112-first groove; 112-cover plate; 1121-second protrusion; 120-dual encoder; 121-support member; 1211-first support member; 1211a-first protrusion; 1211b-third groove; 1211c-fourth groove; 1211d-annular extension; 1211e-boss group; 1211f-second gap; 1212-second support member; 1212a-second groove; 1212b-fourth protrusion; 122 -code disc; 1221-first code disc; 1222-second code disc; 123-reader plate; 131-first sealing structure; 1311-first sub-sealing structure; 1312-second sub-sealing structure; 132-second sealing structure; 133-third sealing structure; 134-fourth sealing structure; 140-connecting piece; 150-sealing piece; 151-third protrusion; 160-motor shaft; 170-output shaft; 180-isolating ring; 181-groove group; 182-first gap; 190-motor; 200-reducer; 210-brake. DETAILED DESCRIPTION

[0048] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0049] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0051] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0052] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0053] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0054] Reference Figure 1 As shown, a first aspect of an embodiment of the present application provides a joint module, the joint module 10 comprising:

[0055] assembly component 110, and

[0056] The dual encoder 120 is concentrically disposed with the assembly component 110 and assembled with the assembly component 110 .

[0057] At least a portion of the assembly component 110 is sleeved on the outside of the dual encoder 120 , and a labyrinth-type first sealing structure 131 is provided between the assembly component 110 and the dual encoder 120 .

[0058] The joint module 10 provided in the embodiment of the present application is provided with a labyrinth seal between the assembly component 110 and the dual encoder 120. Figure 1 Taking the orientation in as an example, the path for dust and oil on the left side of the dual encoder 120 to enter the space where the dual encoder 120 is located from between the assembly component 110 and the dual encoder 120 can be increased, so that the dust and oil on the left side of the dual encoder 120 are not easily entered from between the assembly component 110 and the dual encoder 120 into the space where the dual encoder 120 is located, thereby avoiding the influence of dust and oil on the dual encoder 120 as much as possible, ensuring the normal operation of the dual encoder 120, and reducing the failure rate of the joint module 10.

[0059] It should be noted that the inner peripheral side refers to the side close to the center, and the outer peripheral side refers to the side far from the center.

[0060] like Figure 1 As shown, in an embodiment of the present application, the joint module 10 further includes a motor 190, a reducer 200, a brake 210, a motor shaft 160 and an output shaft 170, wherein the motor shaft 160 is sleeved on the outside of the output shaft 170, and the motor shaft 160 and the output shaft 170 are concentrically arranged. Specifically, the output end of the motor 190 is connected to the motor shaft 160, the input end of the reducer 200 is connected to the motor shaft 160, the output end of the reducer 200 is connected to the output shaft 170, and the brake 210 is used to brake the joint module 10. The two encoders of the dual encoder 120 are connected to the output shaft 170 and the motor shaft 160 respectively.

[0061] In one embodiment, Figure 1 As shown, the dual encoder 120 includes a support member 121, a code disk 122, and a read head plate 123. The code disk 122 is located between the support member 121 and the read head plate 123 and is disposed on the support member 121. The read head plate 123 is assembled on the assembly 110. A first sealing structure 131 is provided between the support member 121 and the assembly 110.

[0062] By setting a first sealing structure 131 between the support member 121 and the assembly component 110, on the one hand, dust and oil on the side of the dual encoder 120 close to the brake 210 and the motor 190 are not easily introduced into the space where the dual encoder 120 is located from between the assembly component 110 and the dual encoder 120, thereby avoiding the influence of dust and oil on the dual encoder 120 as much as possible; on the other hand, by using a part of the structure of the support member 121 as a component of the first sealing structure 131, the support member 121 can be utilized to the greatest extent, avoiding the additional provision of other sealing members.

[0063] In one embodiment, Figure 1 As shown, support member 121 includes a first support member 1211 and a second support member 1212, which are arranged concentrically. Second support member 1212 is located on the side of first support member 1211 close to read head plate 123, and a portion of first support member 1211 is located on the outer periphery of second support member 1212. Code disk 122 includes a first code disk 1221 and a second code disk 1222. First code disk 1221 is located on the side of first support member 1211 close to read head plate 123, and second code disk 1222 is located on the side of second support member 1212 close to read head plate 123. A first sealing structure 131 is provided between first support member 1211 and assembly component 110.

[0064] In an embodiment of the present application, the first support member 1211 and the first code disk 1221 can constitute a first encoder, and the first support member 1211 is connected to the motor shaft 160; the second support member 1212 and the second code disk 1222 can constitute a second encoder, and the second support member 1212 is connected to the output shaft 170; the first encoder and the second encoder share the same read head board 123, and two sensing chips are provided on the read head board 123, which are respectively used to sense the first code disk 1221 and the second code disk 1222.

[0065] from Figure 1 It can be seen that part of the first support member 1211 is located on the outside of the second support member 1212. By setting the first sealing structure 131 between the first support member 1211 and the assembly component 110, not only can dust and oil be prevented from flowing from between the assembly component 110 and the first support member 1211 to the first encoder, but also dust and oil can be prevented from flowing to the second encoder.

[0066] Reference Figure 1 、 Figure 2 and Figure 3 As shown, the assembly component 110 includes an assembly seat 111 and a cover plate 112 arranged on the assembly seat 111. The assembly seat 111 is sleeved on the outer side of the dual encoder 120. The cover plate 112 is located on the side of the read head plate 123 away from the support member 121.

[0067] Specifically, the first sealing structure 131 includes a labyrinth-like first sub-sealing structure 1311. A relief groove 1111 is provided on the side of the assembly seat 111 near the first support member 1211. The end of the first support member 1211 near the assembly seat 111 is located within the relief groove 1111. The first sub-sealing structure 1311 is located between the end of the first support member 1211 and the relief groove 1111.

[0068] In one embodiment of the present application, please refer again to Figure 1 、 Figure 2and Figure 3 As shown, a first protrusion 1211a is provided at the end of the first support member 1211, and a first groove 1112 adapted to the first protrusion 1211a is provided inside the avoidance groove 1111. The first protrusion 1211a is located within the first groove 1112, and a gap is provided between the outer wall of the first protrusion 1211a and the inner wall of the first groove 1112, i.e., the first protrusion 1211a and the first groove 1112 are in a clearance fit. In this way, a first sub-sealing structure 1311 is formed between the portion of the first support member 1211 extending into the avoidance groove 1111 and the avoidance groove 1111.

[0069] It should be noted that there can be multiple first protrusions 1211a, and multiple first protrusions 1211a are arranged at intervals. Similarly, there can be multiple first grooves 1112, and multiple first grooves 1112 are arranged at intervals. Multiple first protrusions 1211a are located in the multiple first grooves 1112 one by one.

[0070] It is understood that the first protrusion 1211a can be an annular protrusion, and the first groove 1112 can be an annular groove. In this way, the first sub-sealing structure 1311 is provided around the circumference of the dual encoder 120, thereby providing better protection and sealing for the dual encoder 120. The specific structure of the first sub-sealing structure 1311 is not limited in this embodiment of the present application.

[0071] In one embodiment, Figure 1 As shown, the first sealing structure 131 includes a labyrinth-type second sub-sealing structure 1312 . The second sub-sealing structure 1312 is provided between the cover plate 112 and the second support member 1212 .

[0072] Specifically, such as Figure 4 and Figure 5 As shown, a second protrusion 1121 is provided on one side of the cover plate 112 near the second support member 1212, and a second groove 1212a is provided on the other side of the second support member 1212 near the cover plate 112. The second protrusion 1121 is located in the second groove 1212a with a gap therebetween. Thus, the second protrusion 1121 and the second groove 1212a form a second sub-sealing structure 1312.

[0073] Specifically, the second groove 1212a is located on the inner circumference of the second code wheel 1222 to prevent interference between the second protrusion 1121 and the read head plate 123. Furthermore, the second groove 1212a may be an annular groove, and the second protrusion 1121 may be an annular protrusion. There may be multiple second grooves 1212a and multiple second protrusions 1121. The specific structure of the second sub-seal structure 1312 is not limited in this embodiment of the present application.

[0074] It should be noted that a connector 140 is further disposed between the second support member 1212 and the cover plate 112. The inner ring of the connector 140 is sleeved onto the second support member 1212, while the outer ring abuts the cover plate 112. On the one hand, the connector 140 provides support and connection between the second support member 1212 and the cover plate 112; on the other hand, the mechanical seal formed by the connector 140 also forms part of the second sub-seal structure 1312, enhancing the sealing performance of the second sub-seal structure.

[0075] It can be understood that when the dual encoder 120 is working, some dust and oil can easily enter from the inner side of the dual encoder 120. By setting a second sub-sealing structure 1312 on the inner side of the second code disk 1222, dust and oil can be prevented from entering from the inner side of the dual encoder 120, thereby preventing dust and oil from contaminating the code disk 122.

[0076] like Figure 1 As shown, a joint module 10 provided by an embodiment of the present application, by setting a first sub-sealing structure 1311 on the outer peripheral side of the dual encoder 120 and setting a second sub-sealing structure 1312 on the inner peripheral side of the dual encoder 120, can prevent dust and oil from entering the space where the code disk 122 is located from the outer peripheral side and the inner peripheral side of the dual encoder 120, prevent dust and oil from contaminating the code disk 122, ensure the normal operation of the dual encoder 120, and reduce the failure rate of the joint module 10.

[0077] In one embodiment, Figure 6 As shown, a sealing member 150 is further provided on a side of the first support member 1211 away from the second support member 1212. Specifically, the sealing member 150 can be located on a surface of the brake 210 on a side close to the assembly seat 111, wherein a portion of the sealing member 150 is located between the brake 210 and the assembly seat 111, and another portion of the sealing member 150 is located between the brake 210 and the first support member 1211. A labyrinth-like second sealing structure 132 is provided between the sealing member 150 and the first support member 1211.

[0078] Reference Figure 7 and Figure 8As shown, a third groove 1211b is provided on the side of the first support member 1211 near the sealing member 150, and a third protrusion 151 is provided on the side of the sealing member 150 near the first support member 1211. The third protrusion 151 is located in the third groove 1211b with a gap between the third groove 1211b and the third protrusion 151. The third groove 1211b can be an annular groove, and the third protrusion 151 can be an annular protrusion. In this way, the third protrusion 151 and the third groove 1211b form the second sealing structure 132. In the embodiment of the present application, there are two third grooves 1211b and two third protrusions 151. In other possible embodiments, the number of third grooves 1211b and third protrusions 151 can also be one or more.

[0079] Reference Figure 6 and Figure 9 As shown, the embodiment of the present application also provides another form of first sealing structure 131. A relief groove 1111 is provided on one side of the assembly seat 111 near the first support member 1211. The end of the first support member 1211 near the assembly seat 111 extends into the relief groove 1111. A gap exists between the first support member 1211 extending into the relief groove 1111 and the relief groove 1111. This form of first sealing structure 131 is relatively simple to manufacture and is relatively convenient to assemble.

[0080] like Figure 6 As shown, another joint module 10 provided by an embodiment of the present application can prevent dust and oil from entering the space where the code disk 122 is located from the outer and inner sides of the dual encoder 120 by providing a first sub-sealing structure 1311 on the outer peripheral side of the dual encoder 120 and a second sub-sealing structure 1312 on the inner peripheral side of the dual encoder 120. In addition, by providing a second sealing structure 132 between the first support member 1211 and the seal 150, dust and oil on the motor 190 side can be prevented from entering between the first support member 1211 and the brake 210 and between the assembly seat 111 and the first support member 1211, thereby further preventing dust and oil from entering from the outer peripheral side of the dual encoder 120 into the space where the code disk 122 is located, preventing dust and oil from contaminating the code disk 122, ensuring the normal operation of the dual encoder 120, and reducing the failure rate of the joint module 10.

[0081] In one embodiment, Figure 10 As shown, a labyrinth-type third sealing structure 133 is provided between the first support member 1211 and the second support member 1212. Specifically, as Figure 11 and Figure 12As shown, a fourth groove 1211c is provided on the side of the first support member 1211 near the second support member 1212, and a fourth protrusion 1212b is provided on the side of the second support member 1212 near the first support member 1211. The fourth protrusion 1212b is located in the fourth groove 1211c, with a gap therebetween. The fourth groove 1211c can be an annular groove, and the fourth protrusion 1212b can be an annular protrusion. In this way, the fourth protrusion 1212b and the fourth groove 1211c form a third sealing structure 133. In the embodiment of the present application, there is only one fourth groove 1211c and one fourth protrusion 1212b. In other possible embodiments, there can be more than one fourth groove 1211c and one fourth protrusion 1212b.

[0082] like Figure 10 As shown, another joint module 10 provided by an embodiment of the present application can prevent dust and oil from entering the space where the code disk 122 is located from the outer and inner sides of the dual encoder 120 by providing a first sub-sealing structure 1311 on the outer peripheral side of the dual encoder 120 and a second sub-sealing structure 1312 on the inner peripheral side of the dual encoder 120. In addition, by providing a third sealing structure 133 between the first support member 1211 and the second support member 1212, dust and oil on the motor 190 side can be prevented from entering the space where the code disk 122 is located from between the first support member 1211 and the second support member 1212, thereby preventing dust and oil from contaminating the code disk 122, ensuring the normal operation of the dual encoder 120, and reducing the failure rate of the joint module 10.

[0083] In one embodiment, Figure 14 and Figure 15 As shown, an annular extension 1211d is provided at one end of the first support member 1211, proximal to the motor shaft 160. This annular extension 1211d wraps around a portion of the sidewall of the motor shaft 160. An isolation ring 180 is provided on the outer periphery of the annular extension 1211d. A labyrinth-like fourth sealing structure 134 is provided between the isolation ring 180 and the annular extension 1211d. Specifically, the isolation ring 180 is positioned between the annular extension 1211d and the brake 210 and can be fixed to the brake 210.

[0084] In one embodiment, Figure 15 and Figure 16As shown, the outer circumference of the annular extension 1211d is provided with a set of spaced bosses 1211e, and the inner circumference of the isolation ring 180 is provided with a set of spaced grooves 181. The bosses 1211e and grooves 181 are spaced apart to form the fourth sealing structure 134. Specifically, the bosses 1211e can include a plurality of spaced bosses, and the grooves 181 can include a plurality of spaced grooves. When the bosses 1211e and grooves 181 are engaged, the bosses are located within the grooves, with a gap between them. It is understood that a groove can be formed by two spaced protrusions, with the groove located between the two protrusions.

[0085] like Figure 17 and Figure 18 As shown, a first gap 182 is defined between adjacent groove groups 181, with a length W1 of the first gap 182 being greater than the arc length W3 of the boss group 1211e. A second gap 1211f is defined between adjacent boss groups 1211e, with a length W2 of the second gap 1211f being greater than the arc length W4 of the groove group 181. Thus, when assembling the isolation ring 180 and the first support member 1211, the first gap 182 is aligned with the boss group 1211e, and the second gap 1211f is aligned with the groove group 181. The isolation ring 180 is then placed over the annular extension 1211d of the first support member 1211. The isolation ring 180 is then rotated to engage the boss group 1211e in the isolation ring 180 with the groove group 181 on the annular extension 1211d.

[0086] like Figure 13 As shown, another joint module 10 provided by an embodiment of the present application can prevent dust and oil from entering the space where the code disk 122 is located from the outer and inner sides of the dual encoder 120 by providing a first sub-sealing structure 1311 on the outer peripheral side of the dual encoder 120 and a second sub-sealing structure 1312 on the inner peripheral side of the dual encoder 120. In addition, by providing a fourth sealing structure 134 between the first support member 1211 and the isolation ring 180, a barrier can be formed on the path where dust and oil on the motor 190 side diffuse toward the dual encoder 120, preventing dust and oil from contaminating the code disk 122, thereby ensuring the normal operation of the dual encoder 120 and reducing the failure rate of the joint module 10.

[0087] It should be noted that the first sealing structure 131, the second sealing structure 132, the third sealing structure 133 and the fourth sealing structure 134 provided in the embodiment of the present application are all labyrinth seals, any one or more of which can be used in the joint module 10, and the combination method is not limited to the ones provided in the embodiment of the present application.

[0088] A second aspect of an embodiment of the present application provides a robot, which includes the above-mentioned joint module 10.

[0089] The robot provided in the embodiment of the present application can increase the path for external dust and oil to enter the space where the dual encoder 120 is located from between the assembly component 110 and the dual encoder 120 by setting a labyrinth seal between the joint module 10, thereby making it difficult for external dust and oil to enter the space where the dual encoder 120 is located from between the assembly component 110 and the dual encoder 120, thereby avoiding the influence of dust and oil on the dual encoder 120 as much as possible, ensuring the normal operation of the dual encoder 120, and reducing the failure rate of the robot.

[0090] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0091] The above-described embodiments merely represent several implementation methods of the present application. 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 a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A joint module, characterized in that: include: Motor; Motor shaft; An output shaft, wherein the motor shaft is concentrically sleeved on the outside of the output shaft; An assembly component, the assembly component comprising an assembly seat and a cover plate directly attached to the assembly seat, wherein the assembly seat is sleeved on the motor; as well as Dual encoders, Wherein, at least part of the assembly component is sleeved on the outside of the dual encoder, and the dual encoder is concentrically arranged with the assembly component and assembled with the assembly component; wherein one of the dual encoders is connected to the output shaft, and the other of the dual encoders is connected to the motor shaft, It is characterized in that a labyrinth-type first sealing structure is provided between the assembly seat and the dual encoders and between the cover plate and the dual encoders.

2. The joint module according to claim 1, characterized in that: The dual encoder includes a support, a code disc and a read head plate; wherein the code disc is located between the support and the read head plate and is arranged on the support; the read head plate is assembled on the assembly component; The first sealing structure is provided between the support member and the assembly component.

3. The joint module according to claim 2, characterized in that: The support member includes a first support member and a second support member that are concentrically arranged, wherein the second support member is located on a side of the first support member close to the read head plate, and a portion of the first support member is located on an outer peripheral side of the second support member; The code disc includes a first code disc and a second code disc; wherein the first code disc is arranged on a side of the first support member close to the read head plate, and the second code disc is arranged on a side of the second support member close to the read head plate; The assembly seat is arranged on the outer side of the dual encoder, and the cover plate is located on the side of the read head plate away from the support member.

4. The joint module according to claim 3, characterized in that: The first sealing structure includes a labyrinth-type first sub-sealing structure; An avoidance groove is provided on the side of the assembly seat close to the first support member, and the end of the first support member close to the side of the assembly seat is located in the avoidance groove; wherein, a first protrusion is provided on the end of the first support member close to the side of the assembly seat, and the inner wall surface of the avoidance groove is provided with a first groove adapted to the first protrusion, and the first protrusion and the first groove are clearance-matched to form the first sub-sealing structure.

5. The joint module according to claim 3, characterized in that: The first sealing structure includes a labyrinth-type second sub-sealing structure; A second sub-sealing structure is provided between the cover plate and the second support member; wherein, a second protrusion is provided on a side of the cover plate close to the second support member, and a second groove adapted to the second protrusion is provided on a side of the second support member close to the cover plate, and the second protrusion and the second groove are clearance-matched to form the second sub-sealing structure.

6. The joint module according to claim 3, characterized in that: A sealing member is further provided on a side of the first support member away from the second support member, and a labyrinth-type second sealing structure is provided between the sealing member and the first support member; A third groove is provided on one side of the first support member close to the sealing member, and a third protrusion adapted to the third groove is provided on one side of the sealing member close to the first support member. The third protrusion and the third groove are loosely matched to form the second sealing structure.

7. The joint module according to claim 3, characterized in that: A labyrinth-type third sealing structure is provided between the first support member and the second support member; A fourth groove is provided on the side of the first support member close to the second support member, and a fourth protrusion adapted to the fourth groove is provided on the side of the second support member close to the first support member, and the fourth protrusion and the fourth groove are clearance-matched to form the third sealing structure.

8. The joint module according to claim 3, characterized in that: The first support member is connected to the motor shaft, and the second support member is connected to the output shaft; An annular extension portion is provided at one end of the first support member close to the motor shaft, and the annular extension portion wraps part of the side wall surface of the motor shaft. An isolation ring is provided on the outer peripheral side of the annular extension portion, and a labyrinth-type fourth sealing structure is provided between the isolation ring and the annular extension portion.

9. The joint module according to claim 8, characterized in that: The outer circumference of the annular extension portion is provided with a group of bosses arranged at intervals, and the inner circumference of the isolation ring is provided with a group of grooves adapted to the group of bosses, and the group of bosses and the group of grooves are loosely matched to form the fourth sealing structure; A first gap is provided between adjacent groove groups, and the length of the first gap is greater than the arc length of the boss group; and / or a second gap is provided between adjacent boss groups, and the length of the second gap is greater than the arc length of the groove group.

10. A robot, characterized in that: Comprising the joint module as described in any one of claims 1-9.

Images