Joint module, joint robot, and joint module assembly

Abstract

The application discloses a joint module, which comprises a module main body, the module main body comprising a first joint body and a first input sleeve connected with the first joint body; the first input sleeve is used for being connected with a first output structure of an external device; an outer side wall of the first input sleeve is provided with a guide section, an outer diameter size of the guide section gradually decreases from a free end of the first input sleeve to the first joint body; a first fastening hole is formed in the guide section, the first fastening hole penetrates through the side wall of the guide section along a radial direction of the first input sleeve; a fastening sleeve is annular, the fastening sleeve is provided with a fastening section, an inner diameter size of the fastening section gradually increases from one end to the other end, and a second fastening hole is formed in the fastening section; the fastening sleeve is sleeved on the guide section, and the second fastening hole is arranged correspondingly to the first fastening hole; and a fastener is used for being connected with the first output structure by penetrating through the first fastening hole and the second fastening hole. The joint module can improve transmission precision of the joint module.

Description

Technical Field

[0001] This invention relates to the field of drive equipment technology, and in particular to a joint module, a joint robot, and a joint module assembly. Background Technology

[0002] With the rapid development of industrial automation technology, robots, as an important type of industrial automation equipment, are receiving increasing attention and are being used more and more widely. Among the technologies related to robots, the control of moving parts such as robot joints is the most important and critical.

[0003] In robot joint modules of related technologies, gaps can easily appear at the connection point when two adjacent joint modules are connected. This will result in insufficient connection accuracy, which will affect the repeatability and absolute positioning accuracy of the robot as a whole during the power transmission process. Summary of the Invention

[0004] The main objective of this invention is to propose a joint module to provide a connection method for the joint module, aiming to solve the problem of how to improve the repeatability and absolute positioning accuracy of the robot as a whole.

[0005] To achieve the above objectives, the present invention proposes a joint module comprising:

[0006] The module body includes a first joint body and a first input sleeve connected to the first joint body. The first input sleeve is used to connect to a first output structure of an external device to transmit the drive of the external device to the first joint body. The outer side wall of the first input sleeve has a guide section, the outer diameter of which gradually decreases from the free end of the first input sleeve toward the first joint body. A first fastening hole is provided on the guide section, the first fastening hole penetrating the side wall of the guide section radially along the first input sleeve.

[0007] A fastening sleeve, the fastening sleeve being annular, the fastening sleeve having a fastening section, the inner radial dimension of the fastening section gradually increasing from one end to the other end, the fastening section having a second fastening hole; the fastening sleeve being fitted onto the guide section, the second fastening hole being provided corresponding to the first fastening hole;

[0008] A fastener, the fastener being used to connect to the first output structure through the first fastening hole and the second fastening hole, so that the fastening sleeve moves along the guide section toward the first joint body, and transmits the movement of the fastening sleeve to the first output structure so that the first output structure moves toward the first joint body, such that the end face of the first output structure abuts against the end face of the first input sleeve adjacent to the first joint body.

[0009] Optionally, the outer wall of the guide segment abuts against the inner wall of the fastening end; and / or,

[0010] The fastener includes a locking part, a fastening end, and a connecting section connecting the locking part and the connecting section. The fastening end is used to connect with the first output structure. The radial dimension of the locking part is larger than the diameter of the second fastening hole. The locking part is used to lock the first input sleeve, the fastening sleeve, and the first output structure when the fastening end is connected to the output device.

[0011] Optionally, the angle between the outer wall of the guide section and the axis of the first input sleeve is 5° to 45°; and / or,

[0012] The angle between the inner wall of the fastening section and the axis of the fastening sleeve is 45° to 85°.

[0013] Optionally, the first input sleeve includes a limiting segment connected to the end of the guide segment away from the first joint body, the outer diameter of the limiting segment being greater than or equal to the maximum outer diameter of the guide segment; and / or,

[0014] The number of first fasteners is multiple, and the multiple first fastening holes are arranged at intervals along the circumference of the guide section; the number of second fasteners is multiple, and the multiple second fastening holes are arranged at intervals along the circumference of the fastening section; the number of fasteners is multiple, and the multiple conveying fasteners are distributed corresponding to the first fasteners and the second fastening holes.

[0015] Optionally, the fastening sleeve includes a first sleeve body and a second sleeve body, the first sleeve body and the second sleeve body being joined together to form a ring; and / or,

[0016] The joint module includes a pressure sensor electrically connected to the main control circuit within the first joint body. The pressure sensor is disposed on the end face of the first input sleeve adjacent to the first joint body. The pressure sensor is used to detect the pressure between the end face of the first output structure and the end face of the first input sleeve; and / or,

[0017] The first joint body includes: a motor assembly, comprising a housing, a motor stator, and a motor rotor, wherein the housing has a mounting cavity with one open end, and the motor stator and motor rotor are mounted in the mounting cavity; a reducer, mounted at the open end of the motor assembly, the reducer having an input shaft and an output wheel, the input shaft extending into the mounting cavity and connected to the motor rotor, the output wheel differentially engaging with the input shaft and exposed outside the mounting cavity; and a support bearing, comprising an inner ring and an outer ring that rotate and engage, the inner ring being fixedly connected to the output wheel, the outer peripheral wall of the outer ring having an external thread, the inner peripheral wall of the open end of the housing having an internal thread, and the outer ring being fixedly engaged with the open end of the housing by the thread.

[0018] Optionally, the joint body further includes an end cap, which is sleeved on the side of the output wheel away from the support bearing. The end cap is provided with a first stop, and the output wheel is provided with a first rib, which is provided in correspondence with the first stop.

[0019] Optionally, the end cap has a first mounting hole on the side opposite to the output wheel, the first mounting hole for connecting a first mounting component of an external device, so that the joint body can drive the external device to move; and / or,

[0020] The peripheral wall of the end cap has a second mounting hole for connecting a second mounting component of an external device, so that the joint body can drive the external device to move.

[0021] Optionally, the first joint body further includes a first auxiliary bearing, which is disposed in the mounting cavity and adjacent to the motor rotor. The first auxiliary bearing includes a first auxiliary inner ring and a first auxiliary outer ring. The first auxiliary inner ring is fixedly connected to the input shaft, and the first auxiliary outer ring is fixedly connected to the cavity wall of the mounting cavity; and / or,

[0022] The first joint body also includes a second auxiliary bearing and a bearing adapter ring. The input shaft is a hollow shaft. The joint body also includes a central shaft. One end of the central shaft is connected to the end cover. The central shaft passes through the input shaft to connect with an encoder installed at the other end of the housing. The input shaft and the central shaft are rotatably engaged by the second auxiliary bearing. The second auxiliary bearing is located at the end of the input shaft away from the motor rotor. The bearing adapter ring is disposed between the output shaft and the second auxiliary bearing.

[0023] The present invention further proposes a joint module assembly, including a first joint module and a second joint module;

[0024] The second joint module includes a second joint body and a first output structure. The end of the first output structure away from the second joint body is installed in the first input sleeve of the first joint module. A connection hole is provided on the outer side wall of the first output structure, and the fastener of the first joint module is connected to the connection hole.

[0025] The first joint module includes:

[0026] The module body includes a first joint body and a first input sleeve connected to the first joint body. The first input sleeve is used to connect to a first output structure of an external device to transmit the drive of the external device to the first joint body. The outer side wall of the first input sleeve has a guide section, the outer diameter of which gradually decreases from the free end of the first input sleeve toward the first joint body. A first fastening hole is provided on the guide section, the first fastening hole penetrating the side wall of the guide section radially along the first input sleeve.

[0027] A fastening sleeve, the fastening sleeve being annular, the fastening sleeve having a fastening section, the inner radial dimension of the fastening section gradually increasing from one end to the other end, the fastening section having a second fastening hole; the fastening sleeve being fitted onto the guide section, the second fastening hole being provided corresponding to the first fastening hole;

[0028] A fastener, the fastener being used to connect to the first output structure through the first fastening hole and the second fastening hole, so that the fastening sleeve moves along the guide section toward the first joint body, and transmits the movement of the fastening sleeve to the first output structure so that the first output structure moves toward the first joint body, such that the end face of the first output structure abuts against the end face of the first input sleeve adjacent to the first joint body.

[0029] Optionally, the first joint module further includes a second output structure, the second output structure being connected to the first joint body of the first joint module, the axial direction of the second output structure being perpendicular to the axial direction of the input sleeve; and / or,

[0030] The second joint module also includes a second input sleeve, which is connected to the second joint body.

[0031] The present invention further proposes a robot, the robot including a joint module; or, a joint module assembly;

[0032] The joint module includes:

[0033] The module body includes a first joint body and a first input sleeve connected to the first joint body. The first input sleeve is used to connect to a first output structure of an external device to transmit the drive of the external device to the first joint body. The outer side wall of the first input sleeve has a guide section, the outer diameter of which gradually decreases from the free end of the first input sleeve toward the first joint body. A first fastening hole is provided on the guide section, the first fastening hole penetrating the side wall of the guide section radially along the first input sleeve.

[0034] A fastening sleeve, the fastening sleeve being annular, the fastening sleeve having a fastening section, the inner radial dimension of the fastening section gradually increasing from one end to the other end, the fastening section having a second fastening hole; the fastening sleeve being fitted onto the guide section, the second fastening hole being provided corresponding to the first fastening hole;

[0035] Fastener, the fastener being used to connect to the first output structure through the first fastening hole and the second fastening hole, so that the fastening sleeve moves along the guide section toward the first joint body, and transmits the movement of the fastening sleeve to the first output structure so that the first output structure moves toward the first joint body, such that the end face of the first output structure abuts against the end face of the first input sleeve adjacent to the first joint body.

[0036] The joint module assembly includes a first joint module and a second joint module;

[0037] The second joint module includes a second joint body and a first output structure. The end of the first output structure away from the second joint body is installed in the first input sleeve of the first joint module. A connection hole is provided on the outer side wall of the first output structure, and the fastener of the first joint module is connected to the connection hole.

[0038] The first joint module includes:

[0039] The module body includes a first joint body and a first input sleeve connected to the first joint body. The first input sleeve is used to connect to a first output structure of an external device to transmit the drive of the external device to the first joint body. The outer side wall of the first input sleeve has a guide section, the outer diameter of which gradually decreases from the free end of the first input sleeve toward the first joint body. A first fastening hole is provided on the guide section, the first fastening hole penetrating the side wall of the guide section radially along the first input sleeve.

[0040] A fastening sleeve, the fastening sleeve being annular, the fastening sleeve having a fastening section, the inner radial dimension of the fastening section gradually increasing from one end to the other end, the fastening section having a second fastening hole; the fastening sleeve being fitted onto the guide section, the second fastening hole being provided corresponding to the first fastening hole;

[0041] A fastener, the fastener being used to connect to the first output structure through the first fastening hole and the second fastening hole, so that the fastening sleeve moves along the guide section toward the first joint body, and transmits the movement of the fastening sleeve to the first output structure so that the first output structure moves toward the first joint body, such that the end face of the first output structure abuts against the end face of the first input sleeve adjacent to the first joint body.

[0042] The present invention further proposes a robot control method, wherein the robot includes a joint module; a connection hole is provided on the outer side wall of the first input structure, the connection hole being a threaded hole, and a fastener is threadedly connected to the first input structure;

[0043] The robot control method includes:

[0044] Obtain the current pressure between the end face of the first output structure and the end face of the first input sleeve;

[0045] If the current pressure is determined to be less than the preset pressure, the depth of the fastener inserted into the mounting hole is increased so that the end face of the first output structure moves to the end face of the first input sleeve, thereby increasing the current extrusion pressure to be greater than or equal to the preset pressure.

[0046] Optionally, the method may include the following steps prior to increasing the depth of the fastener insertion into the mounting hole:

[0047] Obtain the current duration during which the current pressure is less than the preset pressure;

[0048] If the current duration is greater than or equal to the preset duration, increase the depth of the fastener inserted into the mounting hole;

[0049] If the current holding time is less than the preset time, maintain the current depth of the fastener inserted into the mounting hole.

[0050] This invention configures the module body to include a first joint body and a first input sleeve connected to the first joint body. The first input sleeve is used to connect to a first output structure of an external device to transmit the drive of the external device to the first joint body. Simultaneously, the outer diameter of the first input sleeve gradually decreases from its free end toward the first joint body; and the inner radial dimension of the fastening sleeve fitted outside the first input sleeve gradually increases from one end to the other. When the fastener passes through the first and second fastening holes and connects to the first output structure, the fastening sleeve moves along the guide section toward the first joint body, and the fastener transmits the movement of the fastening sleeve to the first output structure, causing the first output structure to move toward the first joint body, so that the end face of the first output structure abuts against the end face of the first input sleeve (thus eliminating the gap between the end face of the first output structure and the end face of the first input sleeve). This improves the connection compactness between the first output mechanism and the first input sleeve, enhances the fitting accuracy between the first output mechanism and the first input sleeve, and improves the transmission accuracy of the joint module. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0052] Figure 1 This is a schematic diagram of the connection structure between two adjacent joint modules in an embodiment of the present invention.

[0053] Figure 2 for Figure 1 A magnified view of a section at point C;

[0054] Figure 3 This is a cross-sectional schematic diagram of the connection between two joint modules in one embodiment of the joint module of the present invention;

[0055] Figure 4 This is a schematic diagram of the structure of an embodiment of the joint module of the present invention;

[0056] Figure 5 This is a structural disassembly diagram of an embodiment of the joint module of the present invention;

[0057] Figure 6 This is a schematic diagram of the disassembled surface of an embodiment of the joint module of the present invention;

[0058] Figure 7 This is a schematic diagram of the disassembled surface of another embodiment of the joint module of the present invention;

[0059] Figure 8 This is a cross-sectional schematic diagram of an embodiment of the joint module of the present invention;

[0060] Figure 9 for Figure 8 A magnified view of a section at point A in the middle;

[0061] Figure 10 This is a cross-sectional schematic diagram of another embodiment of the joint module of the present invention;

[0062] Figure 11 for Figure 10 A magnified view of a section at point B in the middle;

[0063] Figure 12 This is a structural disassembly diagram of an embodiment of the joint module component of the present invention;

[0064] Figure 13 This is a flowchart illustrating an embodiment of the robot control method of the present invention;

[0065] Figure 14 This is a flowchart illustrating another embodiment of the robot control method of the present invention.

[0066] Explanation of icon numbers:

[0067] label name label name label name 100 Joint Module 110 Module main body 120 Second output structure 130 First input sleeve 200 Fastening sleeve 210 Second structural hole 133 First fastening hole 300 fastener 310 Locking part 320 Connecting segment 330 Fastening end 121 End cap 122 Output wheel 123 Central axis 500 Second joint module 510 First output structure 520 Second input sleeve 700 shell 710 Mounting cavity 800 Support bearing 810 Inner circle 820 Outer ring 511 Connection hole 150 First joint body 550 Second joint body 131 Introduction 132 Limiting segment 135 Stop step 900 First auxiliary bearing 910 Second auxiliary bearing

[0068] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0069] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0070] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0071] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the word "and / or" throughout the text means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0072] This invention proposes a joint module 100 for use in articulated robots. To improve the degrees of freedom, articulated robots typically include at least one joint module, such as... Figure 1 As shown, this embodiment uses two joint modules as examples for illustration, namely a first joint module and a second joint module 500. The first joint module includes a first joint body 150 and a first input sleeve 130 connected to the first joint body 150. The first input sleeve 130 has a first fastening hole 133, which penetrates the side wall of the first input sleeve 130 radially.

[0073] The second joint module 500 includes a second joint body 550 and a first output structure 510 connected to the second joint body 550 at one end. The peripheral wall of the end of the first output structure 510 away from the second joint body 550 is provided with a connection hole 511. When the end of the first output structure 510 away from the second joint body 550 is set on the first input sleeve 130, the connection hole 511 is opposite to the first fastening hole 133. Then, a bolt is passed through the first fastening hole 133 and fixedly connected to the connection hole 511 to achieve the purpose of fixing the first joint module and the second joint module 500. However, when the bolts fix the first output structure 510 and the first input sleeve 130, the accuracy of the bolts with the first fastening hole 133 and the connecting hole 511 is difficult to meet the requirements. At the same time, the bolts cannot provide axial force in the axial direction of the first output structure 510 and the first input sleeve 130, resulting in a gap L between the end wall of the first input sleeve 130 and the end wall of the first output structure 510. This causes the two connected joint modules to move relative to each other during the high-speed power transmission process of the robot joint modules, resulting in poor repeatability and absolute positioning accuracy of the robot.

[0074] In embodiments of the present invention, such as Figures 1 to 14 As shown, the joint module 100 includes:

[0075] The module body 110 includes a first joint body 150 and a first input sleeve 130 connected to the first joint body 150. The first input sleeve 130 is used to connect to a first output structure 510 of an external device to transmit the drive of the external device to the first joint body 150. The outer side wall of the first input sleeve 130 has a guide section 131, the outer diameter of which gradually decreases from the free end of the first input sleeve 130 toward the first joint body 150. A first fastening hole 133 is provided on the guide section 131, and the first fastening hole 133 penetrates the side wall of the guide section 131 radially along the first input sleeve 130.

[0076] The fastening sleeve 200 is annular and has a fastening section. The inner radial dimension of the fastening section gradually increases from one end to the other. A second fastening hole 210 is provided on the fastening section. The fastening sleeve 200 is sleeved on the guide section 131, and the second fastening hole 210 is provided corresponding to the first fastening hole 133.

[0077] Fastener 300, the fastener 300 is used to pass through the first fastening hole 133 and the second fastening hole 210 and connect to the first output structure 510, so that the fastening sleeve 200 moves along the guide section 131 toward the first joint body 150, and transmits the movement of the fastening sleeve 200 to the first output structure 510 so that the first output structure 510 moves toward the first joint body 150, such that the end face of the first output structure 510 abuts against the end face of the first input sleeve 130 adjacent to the first joint body 150.

[0078] Specifically, in this embodiment, the joint module 100 serves as a robot joint, used to transmit and emit drives within the robot, thereby enabling the movement of the robot's actuators. The external device including the first output structure 510 can take many forms, such as another joint module 100 with a drive motor, or other drive devices with drive motors. The joint modules 100 can operate independently to adjust the robot's actuators, or multiple joint modules 100 can cooperate to adjust the robot's actuators.

[0079] The joint body includes: a motor assembly comprising a housing 700, a motor stator, and a motor rotor, wherein the housing 700 has a mounting cavity 710 with one open end, and the motor stator and motor rotor are mounted in the mounting cavity 710; a reducer mounted at the open end of the motor assembly, the reducer having an input shaft and an output wheel 122, the input shaft extending into the mounting cavity 710 and connected to the motor rotor, and the output wheel 122 differentially engaging with the input shaft and exposed outside the mounting cavity 710; and a support bearing 800 comprising an inner ring 810 and an outer ring 820 that are rotatably engaged, the inner ring 810 being fixedly connected to the output wheel 122, the outer peripheral wall of the outer ring 820 having an external thread, and the inner peripheral wall of the open end of the housing 700 having an internal thread, the outer ring 820 being fixedly engaged with the open end of the housing 700 by the thread. The outer casing 700 is cylindrical with an open end. The motor stator is fixedly installed in the mounting cavity 710. The motor rotor can rotate relative to the motor stator through a bearing, allowing it to rotate relative to the stator via electromagnetic induction. The reducer adjusts the motor rotor to a preset speed before outputting power. Specifically, the input shaft is fixedly engaged with the motor rotor to rotate synchronously with it. A differential engagement with the output wheel 122 controls the output shaft speed to a preset value, thus meeting output requirements. The support bearing 800 enables the rotational engagement between the output wheel 122 and the outer casing 700, distributing the load across the motor assembly when the output shaft is under load. This prevents concentrated stress on the output wheel 122 or the reducer, improving the overall structural stability of the joint body. Specifically, the support bearing 800 is configured as a crossed roller bearing; the support bearing 800 also includes a plurality of cylindrical rollers disposed between the inner ring 810 and the outer ring 820, with adjacent cylindrical rollers arranged in a cross shape along their axial directions; this improves the axial support strength of the support bearing 800, thereby enhancing the overall axial load-bearing capacity of the joint body. In the joint body of this application, the outer ring 820 of the support bearing 800 and the outer shell 700 are fixedly fitted by threads, which extend circumferentially along the outer ring 820 and the outer shell 700, thereby effectively increasing the mating positions and mating area between the support bearing 800 and the outer shell 700. This allows the force on the support bearing 800 to be distributed circumferentially to various parts that mate with the outer shell 700, improving the assembly structural stability of the joint body and thus enhancing the overall load-bearing capacity of the joint body. By setting the outer ring and the outer shell as a threaded connection, the compressive pressure between the support step on the outer shell and the outer flange of the flexible transmission wheel can be adjusted. During the assembly of the joint module, the joint module is first pre-assembled, and then the current pressure between the support step and the outer flange is obtained; then the current pressure is compared with the preset pressure range; if the current pressure exceeds the preset pressure range, the axial relative position of the outer ring and the outer shell is adjusted so that the current pressure between the support step and the outer flange is within the preset pressure range.In other words, if the current pressure is less than the minimum value of the preset pressure range, the outer ring and housing continue to rotate forward to increase the current pressure to a value greater than or equal to the minimum value, so that the current pressure falls within the preset pressure range. This avoids the phenomenon that the flexible transmission wheel is unreliably installed due to the current pressure being too low (which would compromise the coaxiality accuracy between the flexible transmission wheel and the output wheel, directly affecting the transmission ratio between them). This helps improve the installation reliability of the flexible transmission wheel and the transmission accuracy of the reducer. Similarly, if the current pressure is greater than the maximum value of the preset pressure range, the outer ring and housing need to be rotated in the reverse direction to reduce the current pressure to a value less than or equal to the maximum value, so that the current pressure falls within the preset pressure range. This avoids the phenomenon that the flexible transmission wheel is deformed or easily damaged due to the current pressure being too high (a deformed or damaged flexible transmission wheel cannot guarantee the coaxiality accuracy between the output wheel and the output wheel, directly affecting the transmission ratio between them). This helps improve the installation accuracy and service life of the flexible transmission wheel, improve the working reliability of the reducer, and ensure the transmission accuracy of the joint module. In addition, since the outer ring 820 of the support bearing 800 is fixed to the open end of the housing 700 by threads, the overall structure of the first joint body can be more compact and smaller in size. Compared with the existing support bearing 800 which is fixed by bolts, this solution uses internal and external threads to make the connection between the outer ring 820 and the housing 700 simpler.

[0080] In some embodiments, the joint body further includes an end cap 121, which is sleeved on the side of the output wheel 122 away from the support bearing 800. The end cap 121 has a first stop, and the output wheel 122 has a first rib, which corresponds to the first stop. Specifically, in this embodiment, the end cap 121 has a first stop on the side facing the output wheel 122. The output wheel 122 has a first rib corresponding to the first stop. In some embodiments, the first rib can be inserted into the first stop to improve the connection tightness and coaxiality between the output wheel 122 and the end cap 121. In some embodiments, a sealing ring is also provided in the first stop and / or the second stop to significantly improve the sealing performance between the end cover 121 and the output wheel 122. Simultaneously, the end cover 121 and the output wheel 122 are connected by fasteners 300. The sealing ring can simultaneously exert a counterforce on both the end cover 121 and the output wheel 122, providing a certain locking effect and making the connection between the end cover 121 and the output wheel 122 more reliable. It is worth noting that in some embodiments, the end cover 121 is fixedly connected to the central shaft 123 of the joint body (in some embodiments, the end cover 121 and the central shaft 123 are integrally formed). The central shaft 123 passes through the axis of the joint body and connects to the other end of the joint body. In this way, the external load force can be quickly transmitted to the entire joint body through the central shaft 123, significantly reducing the torque between the components within the joint body and greatly improving the overall coaxiality of the joint body and the load-bearing strength of the end cover 121. In some embodiments, the end cap 121 has a first mounting hole on the side opposite to the output wheel 122, the first mounting hole being for connection to a first mounting component of an external device, so that the joint body can drive the external device to move; and / or, the peripheral wall of the end cap 121 has a second mounting hole, the second mounting hole being for connection to a second mounting component of the external device, so that the joint body can drive the external device to move. By providing a first mounting hole on the side of the end cap 121 opposite to the output wheel 122, it is convenient for the external device to be connected to the end cap 121 through the first mounting hole. In addition, by providing a second mounting hole on the peripheral wall of the end cap 121, the versatility of connecting the external device to the end cap 121 is improved, and the convenience of connecting the external device to the end cap 121 is enhanced.

[0081] In some embodiments, the first joint body further includes a first auxiliary bearing 900 disposed in the mounting cavity 710 and adjacent to the motor rotor. The first auxiliary bearing 900 includes a first auxiliary inner ring and a first auxiliary outer ring 820. The first auxiliary inner ring is fixedly connected to the input shaft, and the first auxiliary outer ring 820 is fixedly connected to the cavity wall of the mounting cavity 710. Alternatively, the first joint body further includes a second auxiliary bearing 910 and a bearing adapter ring. The input shaft is a hollow shaft, and the joint body also includes a central shaft. One end of the central shaft is connected to the end cover 121. The central shaft passes through the input shaft to connect with an encoder mounted on the other end of the housing 700. The input shaft and the central shaft are rotatably coupled via the second auxiliary bearing 910. The second auxiliary bearing 910 is located at the end of the input shaft away from the motor rotor, and the bearing adapter ring is disposed between the output shaft and the second auxiliary bearing 910. The input shaft is housed within the mounting cavity 710 via a first auxiliary bearing 900 and a second auxiliary bearing 910. The first and second auxiliary bearings 900 and 910 are located adjacent to both ends of the input shaft, respectively, providing greater stability during rotation. To allow for a larger inner diameter of the second auxiliary bearing 910, its second auxiliary inner ring is connected to the input shaft via a bearing adapter ring. Thus, the radial dimension of the second auxiliary inner ring is larger than that of the first inner ring of the first auxiliary bearing 900. The outer ring 820 of the second auxiliary bearing 910 is fixedly connected to the end cover 121.

[0082] The first output structure 510 can take many forms, such as a rotating shaft, the output wheel 122 mentioned in the above embodiment, or the end cap 121 mentioned in the above embodiment. In this embodiment, the first output structure 510 is exemplified by the end cap 121. The first output structure 510 is cylindrical, and the first input sleeve 130 is cylindrical. The first output structure 510 is inserted into the first input sleeve 130. The overall shape of the fastening sleeve 200 is annular. The fastening sleeve 200 can be a one-piece structure or it can include multiple parts. For example, the fastening sleeve 200 includes a first sleeve body and a second sleeve body, which are joined together to form an annular shape. Of course, in some embodiments, the fastening sleeve 200 includes multiple sleeve bodies, which are joined together to form an annular shape. This improves the ease of installing the fastening sleeve 200 onto the first connecting sleeve. When the fastening sleeve 200 is fitted onto the first output sleeve, the outer wall of the guide section 131 fits against the inner wall of the fastening end 330. One end of the first output sleeve is connected to the joint body, and the other end is a free end. The outer diameter of the guide section 131 gradually decreases from the free end toward the first joint body 150. At the same time, the inner side of the fastening sleeve 200 has an inclined surface, which causes the inner diameter of the fastening sleeve 200 to gradually increase. When the fastening sleeve 200 is fitted onto the first output sleeve, and the fastening sleeve 200 is connected to the first output sleeve, the fastening sleeve 200 moves along the axial direction of the first output sleeve toward the joint body.

[0083] The fastener 300 can take many forms, as illustrated below. The fastener 300 includes a locking part 310, a fastening end 330, and a connecting section 320 connecting the locking part 310 and the connecting section 320. The fastening end 330 is used to connect with the first output structure 510. The radial dimension of the locking part 310 is larger than the diameter of the second fastening hole 210. The locking part 310 is used to lock the first input sleeve 130, the fastening sleeve 200, and the first output structure 510 when the fastening end 330 is connected to the output device. The fastening end 330 can take various forms, such as a snap, a latch, or a thread; in this embodiment, a thread is used as an example. When fastener 300 fastens the fastening sleeve 200, the first input sleeve 130, and the first input structure, the fastening end 330 is fastened to the first input structure, and the locking part 310 presses radially from the outside of the fastening sleeve 200, causing the fastening sleeve 200 to press against the first input sleeve 130. During the fastening process between the fastening sleeve 200 and the first input sleeve 130, the fastening sleeve 200 moves toward the joint body, and fastener 300 transmits the displacement of the fastening sleeve 200 to the first output structure 510, causing the first output structure 510 to move toward the joint body, thereby abutting against the end face of the first input sleeve 130.

[0084] In this embodiment, the module body 110 is configured to include a first joint body 150 and a first input sleeve 130 connected to the first joint body 150; the first input sleeve 130 is used to connect to the first output structure 510 of an external device to transmit the drive of the external device to the first joint body 150; at the same time, the outer diameter of the first input sleeve 130 gradually decreases from the free end of the first input sleeve 130 toward the first joint body 150; and the inner radial dimension of the fastening sleeve 200 fitted outside the first input sleeve 130 gradually increases from one end to the other; when the fastener 300 passes through the first fastening hole 133 and the second fastening hole 210 and connects with the first output structure... When 510 is connected, the fastening sleeve 200 will move along the guide section 131 toward the first joint body 150, and the fastener 300 will transmit the movement of the fastening sleeve 200 to the first output structure 510, so that the first output structure 510 moves toward the first joint body 150, so that the end face of the first output structure 510 abuts against the end face of the first input sleeve 130 (that is, the gap between the end face of the first output structure and the end face of the first input sleeve disappears). This is beneficial to improving the connection compactness between the first output mechanism and the first input sleeve 130, improving the fitting accuracy between the first output mechanism and the first input sleeve 130, and improving the transmission accuracy of the joint module 100.

[0085] In some embodiments, to improve the ease of moving the first output structure 510, the angle between the outer wall of the guide section 131 and the axis of the first input sleeve 130 is 5° to 45°; and / or, the angle between the inner wall of the fastening section and the axis of the fastening sleeve 200 is 45° to 85°. Specifically, in this embodiment, the outer wall of the guide section 131 is a conical surface, and the angle β between the conical surface and the axis of the first input sleeve 130 can be 8°, 12°, 15°, 16°, 18°, 19°, 22°, 25°, 27°, 30°, 33°, 35°, 37°, 40°, 43°, etc.

[0086] In some embodiments, to improve the connection stability between the fastening sleeve 200 and the first input sleeve 130, the first input sleeve 130 includes a limiting section 132, which is connected to the end of the guide section 131 away from the first joint body 150. The outer diameter of the limiting section 132 is greater than or equal to the maximum outer diameter of the guide section 131. In some embodiments, the first input sleeve further includes a stop step 135, which is connected to the end of the guide section 131 adjacent to the joint body to limit the maximum travel of the fastening sleeve toward the joint body. This ensures that the fastening sleeve can only move within the range between the stop step 135 and the limiting section 132, which helps improve the stability of the fastening sleeve's operation. The number of first fasteners is multiple, and multiple first fastening holes 133 are arranged at intervals along the circumference of the guide section 131; the number of second fasteners is multiple, and multiple second fastening holes 210 are arranged at intervals along the circumference of the fastening section; the number of fasteners 300 is multiple, and multiple conveying fasteners 300 are distributed corresponding to the first fasteners and the second fastening holes 210.

[0087] In some embodiments, in order to improve the assembly accuracy of the first output structure 510 and the first input sleeve 130, the joint module 100 includes a pressure sensor. The pressure sensor is electrically connected to the main control circuit in the first joint body 150. The pressure sensor is disposed on the end face of the first input sleeve 130 adjacent to the end face of the first joint body 150. The pressure sensor is used to detect the pressure between the end face of the first output structure 510 and the end face of the first input sleeve 130.

[0088] Please see Figure 12 This invention provides a joint module 100 assembly, including a first joint module and a second joint module 500. The first joint module is the joint module 100 shown in the vector diagram of the above embodiment. The second joint module 500 includes a second joint body 550 and a first output structure 510. The end of the first output structure 510 away from the second joint body 550 is installed in a first input sleeve 130 of the first joint module. A connection hole 511 is provided on the outer wall of the first output structure 510, and a fastener 300 of the first joint module is connected to the connection hole 511. The first joint module also includes a second output structure 120, which is connected to the first joint body 150 of the first joint module. The axial direction of the second output structure 120 is perpendicular to the axial direction of the input sleeve. The second joint module 500 also includes a second input sleeve 520, which is connected to the second joint body 550. The axial direction of the second input sleeve 520 is perpendicular to the axial direction of the first output structure 510.

[0089] See Figure 13 and Figure 14 The present invention further proposes a robot control method, wherein the robot includes a joint module 100; a connection hole 511 is provided on the outer side wall of the first input structure, the connection hole 511 being a threaded hole, and a fastener 300 is threadedly connected to the first input structure; the robot control method includes:

[0090] S100, obtain the current pressure between the end face of the first output structure 510 and the end face of the first input sleeve 130;

[0091] S200, if the current pressure is determined to be less than the preset pressure, increase the depth of the fastener 300 into the mounting hole so that the end face of the first output structure 510 moves to the end face of the first input sleeve 130, thereby increasing the current extrusion pressure to be greater than or equal to the preset pressure.

[0092] Specifically, in this embodiment, a pressure sensor detects the current pressure between the end face of the first output structure 510 and the end face of the first input sleeve 130. If the current pressure is less than a preset pressure, it indicates insufficient pressure between the end faces of the first output structure 510 and the first input sleeve 130, resulting in inadequate compactness. Alternatively, if the current pressure is zero, it indicates a gap between the end faces of the first output structure 510 and the first input sleeve 130, meaning they are not in contact. Therefore, when the current pressure is determined to be less than the preset pressure, the fastener is adjusted to increase the depth of the fastener 300 into the mounting hole, causing the end face of the first output structure 510 to move towards the end face of the first input sleeve 130, thereby increasing the current compressive force to be greater than or equal to the preset pressure.

[0093] In some embodiments, to avoid misjudgment and improve the accuracy of adjusting the fastener 300, the method further includes the following steps before increasing the depth of the fastener 300 into the mounting hole:

[0094] S210, confirm that the current pressure is less than the preset pressure;

[0095] S220, obtain the current duration of the pressure being less than the preset pressure;

[0096] S230: If the current holding time is greater than or equal to the preset time, increase the depth of the fastener 300 into the mounting hole; if the current holding time is less than the preset time, maintain the current depth of the fastener 300 into the mounting hole.

[0097] In this embodiment, when it is determined that the current pressure is less than the preset pressure, the fastener 300 is not directly adjusted. Instead, a timer is used to calculate the current duration for maintaining this state of pressure less than the preset pressure. The current duration is compared with the preset duration. If the current duration is greater than or equal to the preset duration, the depth of the fastener 300 into the mounting hole is increased; if the current duration is less than the preset duration, the current depth of the fastener 300 into the mounting hole is maintained. This avoids misjudgments by the joint module 100 during robot movement due to certain operating conditions. For example, under conditions of acceleration or when the robot's robotic arm collides, these conditions may temporarily reduce the current pressure between the end face of the first output structure 510 and the end face of the first input sleeve 130. The technical solution of this embodiment improves the accuracy of adjusting the fastener 300 to adjust the distance between the end faces of the first output structure 510 and the first input sleeve 130. Setting the preset duration is crucial; too long a duration will affect the robot's accuracy, while too short a duration may lead to misjudgments. In some embodiments, the preset duration can be associated with the robot's currently executed motion command. That is, based on the robot's currently executed command, the motion period affecting the current pressure between the end face of the first output structure 510 and the end face of the first input sleeve 130 is obtained, and the preset duration is obtained based on the length of the motion period. This can be obtained by querying a mapping table (the robot's storage device stores a mapping table of "motion period length - preset duration"), or by summing the motion period length with a constant value. In other words, the preset duration will be set slightly longer than the motion period length. Specifically, based on the robot's current command, the time period during which the joint module has acceleration (whether driven by the joint module's motor or other drive devices of the robot) can be obtained, and the effective direction for reducing the pressure between the end face of the first output structure 510 and the end face of the first input sleeve 130 can be obtained. The length of time the joint module maintains acceleration in each effective direction is obtained, and the preset duration is obtained based on the length of the time.

[0098] The present invention also proposes an articulated robot, which includes a joint module 100 or a joint module 100 assembly. The specific structure of the joint module 100 is as described in the above embodiments. Since the articulated robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0099] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A joint module, characterized in that, The joint module includes: The module body includes a first joint body and a first input sleeve connected to the first joint body. The first input sleeve is used to connect to a first output structure of an external device to transmit the drive of the external device to the first joint body. The outer side wall of the first input sleeve has a guide section, the outer diameter of which gradually decreases from the free end of the first input sleeve toward the first joint body. A first fastening hole is provided on the guide section, the first fastening hole penetrating the side wall of the guide section radially along the first input sleeve. A fastening sleeve, the fastening sleeve being annular, the fastening sleeve having a fastening section, the inner radial dimension of the fastening section gradually increasing from one end to the other end, the fastening section having a second fastening hole; the fastening sleeve being fitted onto the guide section, the inner surface of the fastening sleeve being slidably engaged with the outer surface of the guide section, the second fastening hole being provided corresponding to the first fastening hole; A fastener, the fastener being used to connect to the first output structure through the first fastening hole and the second fastening hole, so that the fastening sleeve moves along the guide section toward the first joint body, and transmits the movement of the fastening sleeve to the first output structure so that the first output structure moves toward the first joint body, such that the end face of the first output structure abuts against the end face of the first input sleeve adjacent to the first joint body.

2. The joint module as described in claim 1, characterized in that, The outer wall of the guide section is abutted against the inner wall of the fastening section; and / or, The fastener includes a locking part, a fastening end, and a connecting section connecting the locking part and the fastening end. The fastening end is used to connect with the first output structure. The radial dimension of the locking part is larger than the diameter of the second fastening hole. The locking part is used to lock the first input sleeve, the fastening sleeve, and the first output structure when the fastening end is connected with the first output structure.

3. The joint module as described in claim 1, characterized in that, The angle between the outer wall of the guide section and the axis of the first input sleeve is 5° to 45°; and / or, The angle between the inner wall of the fastening section and the axis of the fastening sleeve is 45°~85°; and / or, The fastening sleeve comprises multiple sleeve bodies, which are spliced ​​together to form a ring.

4. The joint module as described in claim 1, characterized in that, The first input sleeve includes a limiting segment connected to the end of the guide segment away from the first joint body; the outer diameter of the limiting segment is greater than or equal to the maximum outer diameter of the guide segment; and / or, The number of first fastening holes is multiple, and the multiple first fastening holes are arranged at intervals along the circumference of the guide section; the number of second fastening holes is multiple, and the multiple second fastening holes are arranged at intervals along the circumference of the fastening section; the number of fasteners is multiple, and the multiple fasteners are distributed corresponding to the first fastening holes and the second fastening holes.

5. The joint module as described in claim 1, characterized in that, The fastening sleeve includes a first sleeve body and a second sleeve body, the first sleeve body and the second sleeve body being joined together to form a ring; and / or, The joint module includes a pressure sensor, which is electrically connected to the main control circuit inside the first joint body. The pressure sensor is disposed on the end face of the first input sleeve adjacent to the first joint body, and is used to detect the pressure between the end face of the first output structure and the end face of the first input sleeve. And / or, The first joint body includes: a motor assembly, including a housing, a motor stator and a motor rotor, wherein the housing has a mounting cavity with an opening at one end, and the motor stator and the motor rotor are mounted in the mounting cavity; A speed reducer is installed at the open end of the motor assembly. The speed reducer has an input shaft and an output wheel. The input shaft extends into the mounting cavity and is connected to the motor rotor. The output wheel is differentially engaged with the input shaft and exposed in the mounting cavity. A support bearing includes an inner ring and an outer ring that are rotatably engaged. The inner ring is fixedly connected to the output wheel. The outer peripheral wall of the outer ring is provided with an external thread. The inner peripheral wall of the open end of the housing is provided with an internal thread. The outer ring is fixedly engaged with the open end of the housing by the thread.

6. The joint module as described in claim 5, characterized in that, The joint body also includes an end cap, which is sleeved on the side of the output wheel away from the support bearing. The end cap is provided with a first stop, and the output wheel is provided with a first rib, which is provided in correspondence with the first stop.

7. The joint module as described in claim 6, characterized in that, The end cap has a first mounting hole on the side opposite to the output wheel. This first mounting hole allows a first mounting component of an external device to connect, enabling the joint body to drive the external device to move; and / or, The peripheral wall of the end cap has a second mounting hole for connecting a second mounting component of an external device, so that the joint body can drive the external device to move.

8. The joint module as described in claim 6, characterized in that, The first joint body further includes a first auxiliary bearing, which is disposed in the mounting cavity and adjacent to the motor rotor. The first auxiliary bearing includes a first auxiliary inner ring and a first auxiliary outer ring. The first auxiliary inner ring is fixedly connected to the input shaft, and the first auxiliary outer ring is fixedly connected to the cavity wall of the mounting cavity; and / or, The first joint body also includes a second auxiliary bearing and a bearing adapter ring. The input shaft is a hollow shaft. The joint body also includes a central shaft. One end of the central shaft is connected to the end cover. The central shaft passes through the input shaft to connect with an encoder installed at the other end of the housing. The input shaft and the central shaft are rotatably engaged by the second auxiliary bearing. The second auxiliary bearing is located at the end of the input shaft away from the motor rotor. The bearing adapter ring is disposed between the input shaft and the second auxiliary bearing.

9. A joint module assembly, characterized in that, It includes a first joint module and a second joint module, wherein the first joint module is the joint module described in any one of claims 1 to 8; The second joint module includes a second joint body and a first output structure. The end of the first output structure away from the second joint body is installed in the first input sleeve of the first joint module. A connection hole is provided on the outer side wall of the first output structure, and the fastener of the first joint module is connected to the connection hole.

10. The joint module assembly as claimed in claim 9, characterized in that, The first joint module further includes a second output structure, which is connected to the first joint body of the first joint module. The axial direction of the second output structure is perpendicular to the axial direction of the input sleeve; and / or, The second joint module also includes a second input sleeve, which is connected to the second joint body.

11. A robot, characterized in that, Includes the joint module as described in any one of claims 1 to 8; or, Includes the joint module assembly as described in claim 9 or 10.

12. A method for controlling a robot, characterized in that, The robot includes a joint module as described in any one of claims 1 to 8; the outer side wall of the first input structure is provided with a connection hole, which is a threaded hole, and a fastener is threadedly connected to the first input structure. The robot control method includes: Obtain the current pressure between the end face of the first output structure and the end face of the first input sleeve; If the current pressure is determined to be less than the preset pressure, the depth of the fastener inserted into the mounting hole is increased so that the end face of the first output structure moves to the end face of the first input sleeve, thereby increasing the current extrusion pressure to be greater than or equal to the preset pressure.

13. The robot control method as described in claim 12, characterized in that, The steps preceding the increase in the depth of the fastener extending into the mounting hole also include: Obtain the current duration during which the current pressure is less than the preset pressure; If the current duration is greater than or equal to the preset duration, increase the depth of the fastener inserted into the mounting hole; If the current holding time is less than the preset time, maintain the current depth of the fastener inserted into the mounting hole.

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