Robot joint module and robot

Abstract

The present application relates to a robot joint module and a robot, comprising: a motor, a brake, a hollow shaft and a first support member. The hollow shaft passes through the output shaft of the motor, the friction disc of the brake and the first support member in sequence; the friction disc is fixedly connected to the end face of the output shaft, and the first support member is fixedly connected to the other side of the friction disc away from the output shaft and is at least partially located in the inner cavity of the yoke of the brake; the friction disc and the first support member are both sleeved on the output shaft of the minimum diameter section. In the robot joint module provided by the present application, the output shaft of the motor, the friction disc and the first support member are tightly fixedly connected in sequence and sleeved on the outer peripheral surface of the minimum diameter section of the output shaft. There is no need to set multiple steps on the output shaft, so that a larger diameter accommodation space can be reserved, which provides sufficient space for the hollow shaft to have a large inner diameter, so the wiring harness has a larger space, thereby reducing the risk and probability of failure due to winding or friction.

Description

Technical Field

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

[0002] With technological advancements, industrial manufacturing is increasingly emphasizing standardization and industrialization. The use of robots in production processes can ensure consistent product quality while reducing the need for skilled labor. Collaboration with regular workers can effectively reduce production costs and significantly improve efficiency. Driven by these industrial demands, robots are gradually emerging in various processing and assembly processes. The joint module is the core hardware component of a robot, primarily consisting of a motor, reducer, brake, encoder, and driver. The stability, precision, cost, and various parameters of the joint module determine the upper limit of a robot's performance.

[0003] When the joint module has the same output power and torque, the miniaturization and compact design of the joint module can reduce the volume of the joint module. Miniaturization makes the robot more flexible and improves its ability to operate flexibly in narrow working space areas.

[0004] In order to realize internal wiring of the robot, the joint module is generally designed to be hollow inside. The wiring harness passes through the hollow shaft inside each joint module to achieve electrical connection, thereby providing power supply and communication for the joint module of each joint.

[0005] In existing technology, a hollow shaft runs through the motor's output shaft. Because the motor's output shaft has multiple diameter segments, each with a sleeved component, the inner diameter of the hollow shaft is determined by the diameter of the smallest diameter segment. During robot operation, the rotation of the hollow shaft can cause the wiring harness to become entangled and rub against it. The smaller the inner diameter of the hollow shaft, the greater the risk of electrical connection failure due to entanglement or friction, impacting robot operation. Summary of the Invention

[0006] Based on this, it is necessary to provide a robot joint module to solve the problem that the inner diameter of the hollow shaft of the current joint modules of the same size is small. It includes:

[0007] The motor has an output shaft with a hollow receiving space, and the output shaft has a plurality of diameter sections that decrease in sequence along its axial direction;

[0008] The hollow shaft is used to place the wiring harness, the hollow shaft is connected to the output shaft to receive power for rotation, and the hollow shaft runs through the accommodation space;

[0009] The brake comprises a coaxially arranged friction disc and a magnetic yoke, wherein the magnetic yoke is used to control the rotation of the friction disc, the friction disc is fixedly connected to the axial end face of the output shaft and is coaxially arranged, and the magnetic yoke is located on the side of the friction disc facing away from the output shaft;

[0010] a first support member, the first support member being fixedly connected to the other side of the friction disc away from the output shaft and at least partially located in the inner cavity of the magnetic yoke; the first support member being used for mounting a first encoder;

[0011] The friction disc and the first support member are both sleeved on the minimum diameter section of the output shaft.

[0012] In one embodiment, a reducer is further included, wherein the output shaft is coaxially fixedly connected to the input shaft of the reducer, and the output shaft of the reducer is fixedly connected to the hollow shaft.

[0013] In one embodiment, it further includes multiple fixing parts, the axial end face of the output shaft is provided with multiple first mounting holes along the circumferential direction, the friction disk is provided with multiple second mounting holes along the circumferential direction, and the first support member is provided with multiple third mounting holes along the circumferential direction. The multiple first mounting holes, the multiple second mounting holes and the multiple third mounting holes correspond to each other one by one, and the multiple fixing parts pass through the multiple third mounting holes and the multiple second mounting holes one by one and are fixedly connected to the first mounting holes to fixedly connect the output shaft, the friction disk and the first support member.

[0014] In one embodiment, the first support member includes a first side wall and a first bottom wall and a first accommodating cavity surrounded by the first side wall and the first bottom wall. The first bottom wall is provided with a plurality of third mounting holes along the circumferential direction and a fourth through hole extending along the axial direction so as to be sleeved on the minimum diameter section of the output shaft through the fourth through hole, and the inner wall of the fourth through hole is in contact with the outer peripheral surface of the minimum diameter section.

[0015] In one embodiment, a second support member is further included. The second support member is fixedly connected to the hollow shaft and is used to install a second encoder.

[0016] In one embodiment, the first support member includes a first side wall and a first bottom wall and a first accommodating cavity enclosed by the first side wall and the first bottom wall, and the inner diameter of the first accommodating cavity is larger than the outer diameter of the hollow shaft, so that the second support member is arranged between the inner wall of the first accommodating cavity and the outer wall of the hollow shaft.

[0017] In one embodiment, the hollow shaft located in the first accommodating cavity is provided with a boss extending along its circumference, and the inner wall of the second support member is sleeved on the outer wall of the boss and fixedly connected thereto.

[0018] In one embodiment, a gap between an outer wall of the first support member located in the inner cavity of the magnetic yoke and an inner wall of the inner cavity is 0.1 mm-1 mm.

[0019] In one embodiment, it further includes a rear cover, which is supported against one end of the hollow shaft and rotatably connected thereto, and the rear cover is provided with a wire hole coaxial with the hollow shaft to allow the wire harness to pass through.

[0020] The present application also provides a robot comprising the robot joint module in any of the above embodiments.

[0021] The above-mentioned robot joint module includes: a motor, a brake, a hollow shaft and a first support member. The hollow shaft passes through the output shaft of the motor, the friction disc of the brake and the first support member in sequence. The friction disc is fixedly connected to the end face of the output shaft, and the first support member is fixedly connected to the other side of the friction disc away from the output shaft and is at least partially located in the inner cavity of the yoke of the brake. The friction disc and the first support member are both sleeved on the output shaft of the minimum diameter section. In the robot joint module provided by the present application, the output shaft of the motor, the friction disc and the first support member are tightly fixedly connected in sequence, and are sleeved on the outer peripheral surface of the minimum diameter section of the output shaft. There is no need to set multiple steps on the output shaft, so that a larger diameter accommodating space can be reserved, which provides sufficient space for the hollow shaft to have a large inner diameter. The wiring harness has a larger space, which reduces the risk and probability of failure due to winding or friction. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a cross-sectional view of a joint module in one embodiment.

[0023] Figure 2 for Figure 1 An enlarged view of area A in the examples.

[0024] Figure 3 This is a schematic diagram of the half-section structure when the brake is not energized.

[0025] Figure 4 This is the end view of the motor shaft.

[0026] Figure 5 for Figure 3 Cross-sectional view of the brake in the embodiment.

[0027] Figure 6 This is a structural diagram of the first support member.

[0028] Figure 7 for Figure 6 Structural diagram of the first support member from another angle.

[0029] Figure 8 This is the end view of the right side of the hollow shaft.

[0030] Figure 9 This is a structural diagram of the second encoder support.

[0031] Figure 10 for Figure 9Structural diagram of the second encoder support from another angle.

[0032] Reference numerals: motor 100; output shaft 110; first mounting surface 111; second mounting surface 112; third mounting surface 113; first mounting hole 114; hollow shaft 200; wiring harness 210; boss 220; outer side wall 221; radial surface 222; brake 300; friction disc 310; second mounting hole 311; yoke 320; coil 330; armature 340; friction post 350; cover plate 360; support post 370; spring 380 ; First support member 400; First encoder 410; First side wall 420; First bottom wall 430; Third mounting hole 431; Fourth through hole 432; Fixing member 433; Fourth mounting surface 434; Fifth mounting surface 435; First accommodating cavity 440; Reducer 500; Second support member 600; Second encoder 610; Second accommodating cavity 620; Sixth mounting surface 621; Seventh mounting surface 622; Back cover 700; Encoder reader 800. DETAILED DESCRIPTION

[0033] 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.

[0034] In the description of this application, it should be understood that if 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", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does 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 cannot be understood as a limitation on this application.

[0035] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0036] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0037] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "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 described as being "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.

[0038] It should be noted that if 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. If 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. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0039] In the prior art, a robot joint module typically includes a reducer, motor, brake, first encoder, second encoder, and hollow shaft. The reducer, motor, brake, and encoder are coaxially mounted in sequence; the motor's output shaft is connected to the reducer's input shaft; the front end of the hollow shaft is fixedly connected to the reducer's output shaft, and the rear end of the hollow shaft passes through the reducer, motor, and brake in sequence to the end. There are typically two encoders, mounted on a first support and a second support, respectively. The first support is fixedly mounted on the motor's output shaft, rotating at the same speed as the motor's output shaft; the second support is fixedly mounted at the end of the hollow shaft, rotating at the same speed as the hollow shaft.

[0040] When the joint module is operating, the motor is at high speed, and the motor's output shaft drives the reducer's input shaft to rotate at high speed. After being decelerated by the reducer, the power is output at a lower speed through the reducer's output shaft. The brake can apply a holding brake to the motor's output shaft, preventing it from rotating when the joint module is shut down. Alternatively, if an emergency braking situation requires an emergency stop during operation, the brake can apply an emergency brake to the motor, bringing the robot to an emergency stop and protecting personnel and the site.

[0041] At present, in the installation relationship of the joint module, the brake is located at the rear side of the motor, the encoder is located at the rear side of the brake, and the hollow shaft passes through the motor, the brake, and the encoder in sequence. The encoder includes an incremental encoder and an absolute encoder, wherein the incremental encoder is installed on the output shaft of the motor passing through the brake. The output shaft of the motor is a stepped shaft, which includes a plurality of diameter segments with decreasing diameters in the direction from the reducer to the brake, and a step is formed at the connection between two adjacent diameter segments, wherein the diameter segment connected to the brake is a certain diameter segment in the middle of the stepped shaft, and the diameter segment installed with the incremental encoder is the minimum diameter of the stepped shaft. Therefore, the diameters of the plurality of diameter segments decrease in sequence, which limits the inner diameter of the hollow shaft to be necessarily small. In the joint module based on the above scheme, the inner diameter of the hollow shaft is very small, which is very unfavorable for the installation of the wiring harness and the movement of the internal wiring harness, and often causes wiring harness failure.

[0042] Based on the direction of the drawings in this application, this application provides a joint module and a robot using the joint module, so as to achieve a larger inner diameter of the hollow shaft 200 while keeping the overall size of the joint module unchanged, thereby accommodating more internal wiring harnesses 210 or pipelines, or reducing the friction of the hollow wiring harness 210 in the hollow shaft 200. Figure 1 The left end of the hollow shaft 200 corresponds to the rear end of the present application. Figure 1 The specific structure is as follows:

[0043] See Figure 1 and Figure 2 , Figure 1 and Figure 2 A cross-sectional view of the joint module is shown, in which the hollow shaft 200 is located and passes through other components. The internal space of the hollow shaft 200 is used to accommodate the wiring harness 210 assembly to achieve signal transmission.

[0044] Other components include a reducer 500 , a motor 100 assembly, a brake 300 , a first encoder 410 , a second encoder 610 , and the like.

[0045] Specifically, the reducer 500 is a prior art, and its specific function is to reduce the high-speed rotation of the motor 100, thereby outputting low-speed power to the actuator. The reducer can effectively maintain the service life of the motor 100, save usage costs, and effectively reduce the moment of inertia, and timely control the start, stop and speed change of the system. This application does not elaborate on its specific structure. In this application, the output end of the reducer 500 is fixedly connected to the hollow shaft 200, and the input end is fixedly connected to the output shaft 110 of the motor 100 of the motor 100 assembly. In this way, the reducer 500 can achieve the high-speed rotation of the output shaft 110 of the motor 100 and the low-speed rotation of the hollow shaft 200.

[0046] The first encoder 410 can be an incremental encoder or another encoder that reads data related to the output shaft 110 of the motor 100. The first support member 400 is a support member connecting the first encoder 410 and the output shaft 110 of the motor 100. In this application, the first support member 400 is fixedly connected to the output shaft 110 of the motor 100, that is, it rotates synchronously with the output shaft 110 of the motor 100, and the first encoder 410 is located on the first support member 400 and is fixedly connected to it.

[0047] Similarly, the second encoder 610 can be an absolute encoder or another encoder that reads data related to the hollow shaft 200. The second support member 600 is a support member connecting the second encoder 610 and the hollow shaft 200. In this application, the second encoder 610 is fixedly connected to the hollow shaft 200, that is, it rotates synchronously with the hollow shaft 200, and the second encoder 610 is located on the second support member 600 and is fixedly connected to it.

[0048] See Figure 3 The brake 300 includes a friction disc 310, a yoke 320, a coil 330, an armature 340, a friction column 350, a cover plate 360, a support column 370, a spring 380 and other components. Figure 3As explained in the direction of the figure, the coil 330 is positioned on the inner side of the yoke 320, and a plurality of springs 380 are positioned on the outer side of the yoke 320. The armature 340, friction disc 310, and cover plate 360 ​​are sequentially positioned above the yoke 320. The friction disc 310 is positioned in the accommodation space between the armature 340 and the cover plate 360, but only occupies approximately half of the space. A plurality of support columns 370 are positioned on the outer side of the accommodation space. The support columns 370 are used to support the yoke 320 and the cover plate 360, maintaining a constant distance between them. The yoke 320 and the cover plate 360 ​​are fastened together using bolt fasteners. A friction disc 310 is positioned between the armature 340 and the cover plate 360. The friction disc 310 is provided with a plurality of second mounting holes 311 circumferentially near the inner side thereof, for securing the friction disc 310 to the output shaft 110 of the motor 100. This will be discussed later. The outer portion of the friction disc 310 is also provided with a plurality of through holes, in which friction posts 350 are placed. The diameter of the friction posts 350 is slightly smaller than the diameter of the through holes, and the height of the friction posts 350 along the vertical direction is greater than the height of the friction disc 310. Therefore, the friction disc 310 can slide back and forth between the armature 340 and the cover plate 360 ​​along the axial direction of the friction posts 350, but the friction disc 310 and the friction posts 350 rotate simultaneously.

[0049] The height of the friction post 350 plus the thickness of the armature 340 is less than the distance between the surface of the yoke 320 and the cover plate 360. When the coil 330 of the brake 300 is de-energized, the spring 380 located inside the yoke 320 is released and extends outward, pressing the armature 340 toward the cover plate 360. Because the height of the friction post 350 plus the thickness of the armature 340 is less than the distance between the surface of the yoke 320 and the cover plate 360, the lower surface of the armature 340 is separated from the surface of the yoke 320, creating a gap. This gap is typically very small, approximately 0.1 to 0.2 mm. Because the friction post 350 is disposed between the armature 340 and the cover plate 360, friction is generated between the two surfaces of the friction post 350 and the two contact surfaces of the armature 340 and the cover plate 360, respectively. Since the friction post 350 is placed through the through hole of the friction disc 310, the friction disc 310 is stuck by the friction post 350 and cannot rotate. When the coil 330 in the yoke 320 of the brake 300 is energized, the coil 330 generates a magnetic field which is conducted through the yoke 320, generating a magnetic attraction on the armature 340. When the magnetic attraction is greater than the elastic force of the spring 380, the armature 340 is attracted to completely fit the surface of the yoke 320. The gap created by the armature 340 being pushed away from the surface of the yoke 320 by the spring 380 disappears. Since the distance between the cover plate 360 ​​and the yoke 320 is constant, when the armature 340 approaches and fits the yoke 320, the armature 340 is located at the armature 340. 0 and the cover plate 360, the two surfaces of the friction column 350 along the height direction cannot abut the cover plate 360 ​​and the armature 340 at the same time, so there must be a gap between the friction column 350 and the cover plate 360 ​​or the armature 340, and the size of the gap is equal to the gap between the armature 340 and the yoke 320 when the brake 300 is not energized. Since there is a gap between the friction column 350 and the cover plate 360 ​​and the armature 340, the friction column 350 can move between the cover plate 360 ​​and the armature 340, and therefore the friction disc 310 can move.

[0050] The first encoder 410 can collect the rotational speed of the motor 100 in real time, thereby controlling the rotational speed of the motor 100 and obtaining the theoretically required low output speed; the second encoder 610 can collect the actual output speed of the low-speed end in real time, and by comparing the actually collected low speed with the theoretically calculated low speed after deceleration, the rotational speed of the motor 100 can be finely adjusted and controlled through feedback compensation, thereby improving the control accuracy of the output end of the joint module, thereby improving the control accuracy of the robot. Secondly, the second encoder 610 is installed at the low-speed end and can accurately collect the position information of the low-speed end. When the robot is hit by an external collision, the low-speed end will immediately produce a slight position information deviation. When this deviation exceeds a set threshold, the robot will automatically enter an emergency stop operation and shut off the power to the brake 300. After the brake 300 is powered off, the coil 330 in the yoke 320 no longer generates a magnetic field, and the magnetic attraction decreases and disappears. When the elastic force of the spring 380 exceeds the decreasing magnetic attraction, it presses the armature 340 toward the cover plate 360. The gap between the friction post 350, the cover plate 360, and the armature 340 disappears, generating friction. The friction post 350 is fixed, and thus the friction disk 310 is fixed. As a result, the output shaft 110 of the motor 100 is locked and fixed, thus braking the robot. This improves the safety of the robot when interacting with people.

[0051] The specific connection relationship of each component in this application is as follows:

[0052] See Figure 1 The output end of the reducer 500 assembly is fixedly connected to the hollow shaft 200. It can be understood that the reducer 500 assembly includes a reducer 500. The output end of the reducer 500 can be fixedly connected to the hollow shaft 200 itself, or it can be fixedly connected to the hollow shaft 200 indirectly by a flange fixedly connected to the hollow shaft 200. Figure 1 The motor 100 assembly is located on the right side of the reducer 500 assembly, wherein the output shaft 110 of the motor 100 is fixedly connected to the input shaft of the reducer 500. It can be simplified to think that the output shaft 110 of the motor 100 and the input shaft of the reducer 500 are the same rotating shaft. The output shaft 110 has a plurality of diameter sections that decrease in sequence along its axial direction. The right side of the output shaft 110 of the motor 100 is fixedly connected to the friction disk 310 of the brake 300. The right side of the friction disk 310 is the first support member 400 for mounting the first encoder 410, see Figure 1 It can be seen that the first support member 400 is located in the inner cavity of the magnetic yoke 320 of the brake 300. The first support member 400 is also provided with a first accommodating cavity 440. The second support member 600 is located in the first accommodating cavity 440 and is fixedly connected to the hollow shaft 200. The rear cover 700 is on the far right, serving as a closing component of the joint module.

[0053] For details, see Figure 4 , Figure 4 The end face of the output shaft 110 of the motor 100 is shown, including a first horizontal mounting surface 111 and a third mounting surface 113, and a second vertical mounting surface 112. The second mounting surface 112 is provided with a plurality of first mounting holes 114. The diameter section where the third mounting surface 113 is located is the smallest diameter section on the output shaft 110. Figure 1 and Figure 5 It can be seen that the output shaft 110 of the motor 100 is connected to the brake 300, that is, the left side of the friction disc 310 is pressed against the vertical second mounting surface 112, and the second mounting holes 311 of the friction disc 310 correspond one by one to the multiple first mounting holes 114, so that the friction disc 310 and the output shaft 110 of the motor 100 are fixedly connected through the fixing member 433. At this time, the inner wall of the cover plate 360 ​​is in contact with or parallel to the horizontal first mounting surface 111, and the length of the third mounting surface 113 is larger than the thickness of the friction disc 310. Therefore, after the friction disc 310 is tightly fixed to the second mounting surface 112, there will still be a remaining third mounting surface 113 exposed.

[0054] The structural diagram of the first support member 400 can be seen Figure 6 and Figure 7 See, from Figure 1 The connection relationship between the first support member 400 and the output shaft 110 of the motor 100 can be seen in FIG. Figure 6 The first support member 400 includes a first bottom wall 430 and a first side wall 420, and a first accommodating cavity 440 enclosed by the first and second side walls 420. The first bottom wall 430 is provided with a fourth through hole 432 for the hollow shaft 200 to pass through, and a plurality of third mounting holes 431. The number of third mounting holes 431 is the same as the second mounting holes 311 of the friction disc 310 and the first mounting holes 114 of the output shaft 110 of the motor 100, and they correspond one-to-one. A fourth vertical mounting surface 434 is located on the first bottom wall 430, facing away from the first accommodating cavity 440. The fourth mounting surface 434 abuts against the right side of the friction disc 310, and the third mounting holes 431 correspond to the second mounting holes 311. The friction disc 310 and the first support member 400 are then fixedly connected via a fixing member 433. This fixing member 433 is, of course, the fixing member 433 that secures the friction disc 310 to the output shaft 110 of the motor 100.

[0055] from Figure 6 It can also be seen that the inner wall of the first bottom wall 430 is a transverse fifth mounting surface 435, which is tightly fitted with the third mounting surface 113 of the output shaft 110 of the motor 100, so that the entire structure is compact and stable.

[0056] Therefore, it can be seen that the first support member 400 is located in the inner cavity of the magnetic yoke 320, which can significantly shorten the length of the hollow shaft 200 in the joint module, making the joint module miniaturized and compact. At the same time, the output shaft 110 of the motor 100, the friction disk 310 and the first support member 400 are fixed together, reducing the number of fixing parts 433, and the first support member 400 and the friction disk 310 of the brake 300 are simultaneously installed on the minimum diameter section of the output shaft 110 of the motor 100. There is no need to set multiple steps on the output shaft 110 of the motor 100, so the output shaft 110 of the motor 100 can reserve a larger inner diameter as much as possible to provide sufficient space for the hollow shaft 200 to have a large inner diameter.

[0057] The third mounting hole 431 of the first support member 400 and the outer wall of the first accommodating cavity 440 will extend into the inner circle of the yoke 320 of the brake 300, so that the first support member 400 can rotate with the output shaft 110 of the motor 100. At the same time, there is a very small gap (between 0.1mm and 1mm) between the outer wall of the first accommodating cavity 440 and the inner circle of the yoke 320 of the brake 300. This small gap can isolate most of the dust on one side of the friction disk 310 from entering the encoder area, and has a good dust isolation effect.

[0058] from Figure 7 As can be seen in the figure, the cross section of the first bottom wall 430 of the first accommodating cavity 440 is the fourth mounting surface 434, and the inner wall surface of the first bottom wall 430 is the fifth mounting surface 435, wherein the first accommodating cavity 440 is used to install the second support member 600:

[0059] See Figure 8 , Figure 8 This is a structural diagram of the right side of the hollow shaft 200. After the hollow shaft 200 passes through the output shaft 110 and the friction disk 310 of the motor 100, a boss 220 is provided in the first accommodating cavity 440. The boss 220 extends along the circumference of the hollow shaft 200 and includes a horizontal outer wall 221 and a vertical radial surface 222 on the left side of the outer wall 221. Figure 9 and Figure 10 , Figure 9 and Figure 10 A structural schematic diagram of the second support member 600 is shown, including a vertical sixth mounting surface 621 and a horizontal seventh mounting surface 622 , wherein the sixth mounting surface 621 and the seventh mounting surface 622 jointly enclose a second accommodating cavity 620 of the second support member 600 .

[0060] The diameter of the second accommodating cavity 620 is the same as the diameter of the boss 220, so the hollow shaft 200 can enter the second accommodating cavity 620 until the radial surface 222 abuts against the sixth mounting surface 621 of the second support member 600. At this time, the seventh mounting surface 622 of the second support member 600 and the outer wall 221 between the positioning axis of the hollow shaft 200 are tightly fitted. The seventh mounting surface 622 in the second support member 600 and the outer wall 221 of the hollow shaft 200 can be threaded, glued, interference fit, or screw-locked. Through the above-mentioned structural form, the second support member 600 can be accommodated inside the first accommodating cavity 440 of the first support member 400. Compared with the prior art in which the mounting portion of the second support member 600 is on the side close to the end direction, the joint module provided by the present application accommodates the second support member 600 in the first accommodating cavity 440 of the first support member 400, which can shorten the axial dimension of the joint module, so that the joint module can be miniaturized and compact.

[0061] See Figure 1 and Figure 2 The rightmost end of the hollow shaft 200 is equipped with a rear cover 700. The rear cover 700 is supported by the right end of the hollow shaft 200 and is connected by a connector. The connector can provide rotational support for the hollow shaft 200, and external dust cannot enter the encoder area through one side of the rear cover 700. The connector is a sliding part, such as a sliding bearing or a rolling bearing. Because the first support member 400, the friction disk 310 of the brake 300, and the second mounting surface 112 of the output shaft 110 of the motor 100 are tightly mounted, a sealed area is formed between the friction disk 310, the first support member 400, the second support member 600, and the rear cover 700, thereby improving the cleanliness of the encoder area, preventing dust from affecting the encoder, and reducing encoder-induced malfunctions. An encoder reader 800 is installed on the rear cover 700. The encoder reader 800 can analyze and transmit the signal data collected by the first encoder 410 and the second encoder 610 and upload it to the host computer for reference by the staff.

[0062] 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.

[0063] 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, and these modifications and improvements 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.

[0064] 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, and these modifications and improvements 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 robot joint module, characterized in that: include: A motor (100), wherein an output shaft (110) of the motor (100) is provided with a hollow accommodation space, and the output shaft (110) has a plurality of diameter sections that decrease in sequence along its axial direction; a hollow shaft (200) for accommodating a wiring harness (210), the hollow shaft (200) being connected to the output shaft (110) to receive power for rotation, and the hollow shaft (200) penetrating the accommodation space; A brake (300) comprising a coaxially arranged friction disc (310) and a magnetic yoke (320), wherein the magnetic yoke (320) is used to control the rotation of the friction disc (310), the friction disc (310) is fixedly connected to the axial end face of the output shaft (110) and is coaxially arranged, and the magnetic yoke (320) is located on a side of the friction disc (310) facing away from the output shaft (110); a first support member (400), the first support member (400) being fixedly connected to the other side of the friction disk (310) away from the output shaft (110) and at least partially located in the inner cavity of the magnetic yoke (320); the first support member (400) being used to mount a first encoder (410); The friction disc (310) and the first support member (400) are both sleeved on the minimum diameter section of the output shaft (110); It also includes a second support member (600), the second support member (600) is fixedly connected to the hollow shaft (200), and the second support member (600) is used to install a second encoder (610); The first support member (400) comprises a first side wall (420) and a first bottom wall (430), and a first accommodating cavity (440) enclosed by the first side wall (420), the inner diameter of the first accommodating cavity (440) being larger than the outer diameter of the hollow shaft (200), so that the second support member (600) is disposed between the inner wall of the first accommodating cavity (440) and the outer wall of the hollow shaft (200); The hollow shaft (200) located in the first accommodating cavity (440) is provided with a boss (220) extending along its circumference, and the inner wall of the second support member (600) is sleeved on the outer wall (221) of the boss (220) and fixedly connected thereto.

2. The robot joint module according to claim 1, characterized in that: include: It also includes a reducer (500), wherein the output shaft (110) is coaxially fixedly connected to the input shaft of the reducer (500), and the output shaft of the reducer (500) is fixedly connected to the hollow shaft (200).

3. The robot joint module according to claim 2, characterized in that: The invention also includes a plurality of fixing members, wherein the axial end surface of the output shaft (110) is provided with a plurality of first mounting holes (114) along the circumferential direction, the friction disc (310) is provided with a plurality of second mounting holes (311) along the circumferential direction, and the first support member (400) is provided with a plurality of third mounting holes (431) along the circumferential direction, the plurality of first mounting holes (114), the plurality of second mounting holes (311) and the plurality of third mounting holes (431) correspond to each other one by one, and the plurality of fixing members pass through the plurality of third mounting holes (431) and the plurality of second mounting holes (311) one by one and are fixedly connected to the first mounting holes (114) to fixedly connect the output shaft (110), the friction disc (310) and the first support member (400).

4. The robot joint module according to claim 3, characterized in that: The first support member (400) comprises a first side wall (420) and a first bottom wall (430) and a first accommodating cavity (440) enclosed by the first side wall (420), the first bottom wall (430) being provided with a plurality of third mounting holes (431) along the circumferential direction, and a fourth through hole (432) extending along the axial direction, so as to be sleeved on the minimum diameter section of the output shaft (110) through the fourth through hole (432), and the inner wall of the fourth through hole (432) being in contact with the outer peripheral surface of the minimum diameter section.

5. The robot joint module according to claim 1, characterized in that: A gap between an outer wall of the first support member (400) located in the inner cavity of the magnetic yoke (320) and an inner wall of the inner cavity is 0.1 mm to 1 mm.

6. The robot joint module according to claim 1, characterized in that: It also includes a rear cover (700), which is supported on one end of the hollow shaft (200) and rotatably connected thereto, and the rear cover (700) is provided with a wire hole coaxial with the hollow shaft (200) to allow the wire harness (210) to pass through.

7. A robot, characterized in that: Comprising the robot joint module described in any one of claims 1-6.

Images