Driving module and robot

Abstract

The application relates to a driving module and a robot. The driving module comprises a reducer, a flange, a rotary driving mechanism, a transmission shaft, an oil seal ring and an oil seal. The reducer comprises a reducer shell, a reduction mechanism and a reduction shaft. The reduction mechanism is arranged in the reducer shell, and the reduction shaft is connected to the reduction mechanism. The flange is fixedly connected to the reducer shell. The flange is provided with a shaft hole. The rotary driving mechanism is connected to the flange. The rotary driving mechanism is provided with a driving shaft. The transmission shaft is arranged in the shaft hole and connected between the reduction shaft and the driving shaft. The oil seal ring is arranged in the shaft hole. The oil seal ring is arranged on the transmission shaft and rotationally connected to the transmission shaft. The oil seal is arranged between the oil seal ring and the hole wall of the shaft hole. The driving module can realize more stable sealing effect. The risk of oil leakage of the driving module and the possible incidental losses caused by the risk are reduced through the part features. Therefore, the failure rate of the reducer and the rotary driving mechanism during the use of the robot is reduced.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a drive module and a robot. Background Technology

[0002] With the rapid development of the robotics industry, robots are being used more and more widely in various industries. In the internal structure of a robot, the drive mechanism is composed of a motor and a reducer. In order to improve the performance and service life of the drive mechanism, a large amount of lubricating oil is usually injected into the motor and reducer. However, when the drive mechanism is running at high speed, the internal pressure of the reducer and motor connection increases, which forces the lubricating oil leaking from the reducer to the motor end, causing a short circuit in the internal structure of the motor and affecting the operation of the motor. Summary of the Invention

[0003] This application provides a drive module and a robot.

[0004] According to a first aspect of this application, a drive module is provided, including a reducer, a flange, a rotary drive mechanism, a drive shaft, an oil seal ring, and an oil seal. The reducer includes a reducer housing, a reducer mechanism, and a reducer shaft. The reducer mechanism is disposed within the reducer housing, and the reducer shaft is connected to the reducer mechanism. The flange is fixedly connected to the reducer housing and has a shaft hole. The rotary drive mechanism is connected to the flange and has a drive shaft. The drive shaft passes through the shaft hole and is connected between the reducer shaft and the drive shaft. The oil seal ring is located within the shaft hole, sleeved on the outside of the drive shaft, and anti-rotationally connected to the drive shaft. The oil seal is disposed between the oil seal ring and the wall of the shaft hole.

[0005] According to a second aspect of this application, this application provides a robot, including a body and the aforementioned drive module, with a reducer housing connected to the body.

[0006] In the optional example drive module provided in this application, a flange is connected between the reducer and the rotary drive housing, isolating the reducer from the rotary drive mechanism. The reducer and rotary drive mechanism are connected by a drive shaft that passes through the flange. An oil seal and an oil seal ring are installed between the reducer and the rotary drive mechanism to achieve a relative seal, resulting in a more stable sealing effect. This reduces the risk of oil leakage from the drive module and potential collateral losses, thereby lowering the failure rate of the reducer and rotary drive mechanism during robot use and reducing the design, manufacturing, and maintenance costs of the robot's sealing system. Furthermore, the flange can be adapted to different types of reducers and rotary drive mechanisms, greatly improving the level of design standardization and serialization. Attached Figure Description

[0007] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0008] Figure 1 A schematic diagram of the structure of the robot provided in an embodiment of this application is shown.

[0009] Figure 2 A schematic diagram of the drive module provided in an embodiment of this application is shown.

[0010] Figure 3 It shows Figure 2 The diagram shows a cross-sectional view of the drive module.

[0011] Figure 4 It shows Figure 3 The diagram shows a cross-sectional view of the reducer and flange of the drive module.

[0012] Figure 5 It shows Figure 2 The diagram shows the structure of the rotary drive mechanism and transmission shaft of the drive module.

[0013] Figure 6 It shows Figure 3 A cross-sectional schematic diagram of the rotary drive mechanism of the drive module shown.

[0014] Figure 7 It shows Figure 3 The diagram shows the cross-sectional results of the drive shaft, oil seal ring, and oil seal.

[0015] Figure 8 It shows Figure 7 The diagram shows a cross-sectional view of the oil seal ring.

[0016] Figure 9 It shows Figure 8 The diagram shows a partial cross-sectional view of the oil seal ring.

[0017] Figure 10 It shows Figure 7 The diagram shows the structure of the oil seal ring.

[0018] Figure 11 It shows Figure 7 The diagram shows another structural schematic of the oil seal ring.

[0019] Figure 12 It shows Figure 7 The diagram shows another structural schematic of the oil seal ring. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0021] If certain terms are used in the specification and claims to refer to specific components, those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. The specification and claims do not distinguish components based on differences in name, but rather on differences in function. For example, the term "comprising" used throughout the specification and claims is an open-ended term and should be interpreted as "including but not limited to"; "generally" means that those skilled in the art can solve the technical problem and basically achieve the technical effect within a certain margin of error.

[0022] The driving module and robot proposed in this application will be further described below with reference to specific embodiments and accompanying drawings.

[0023] Please see Figure 1 This application provides a drive module 100 and a robot 200 configured with the drive module 100. The drive module 100 can be applied to the robot 200 and can drive some structures of the robot 200 to move. This specification does not limit the specific type of the robot 200. For example, the robot 200 can be an industrial robotic arm robot, a crane robot, or a collaborative robot.

[0024] The robot 300 includes a body 201 and a drive module 100. The outer shell of the drive module 200 is connected to the body 201. Specifically, in this embodiment, the robot 200 may also include an actuator 203, and the drive module 100 is connected between the actuator 203 and the body 201, which is used to drive the actuator 203 to move relative to the robot body 201.

[0025] Furthermore, the robot 200 may include multiple actuators 203, and correspondingly, the robot 200 also includes drive modules 100 that correspond one-to-one with the multiple actuators 203. Each actuator 203 is connected to the robot body 201 through the corresponding drive module 100.

[0026] Please see Figures 2 to 3In this embodiment, the drive module 100 includes a reducer 10, a flange 20, a rotary drive mechanism 30, a drive shaft 40, an oil seal ring 50, and an oil seal 60. The reducer 10 includes a reducer housing 12, a reduction mechanism 14, and a reduction shaft 16. The reduction mechanism 14 is disposed within the reducer housing 12, and the reduction shaft 16 is connected to the reduction mechanism 12 and used to connect with the rotary drive mechanism 30. The flange 20 is fixedly connected to the reducer housing 12 and has a shaft hole 22 for the drive shaft 40 to pass through. The rotary drive mechanism 30 is connected to the flange 20 and has a drive shaft 32. The drive shaft 40 passes through the shaft hole 22 and connects between the reduction shaft 16 and the drive shaft 32. The drive shaft 40 can drive the reduction shaft 16 to rotate under the drive of the drive shaft 32. The oil seal ring 50 is located within the shaft hole 22 and is sleeved on the outside of the drive shaft 40, providing a non-rotating connection. Oil seal 60 is disposed between oil seal ring 50 and the hole wall of shaft hole 22 so that drive shaft 40 and shaft hole 22 are sealed together.

[0027] The flange 20 of the aforementioned drive module 100 connects the reducer 10 and the rotary drive housing 30, isolating the reducer 10 from the rotary drive mechanism 30. The reducer 10 and the rotary drive mechanism 30 are connected by a drive shaft 40, which passes through the flange 20. An oil seal 60 and an oil seal ring 50 are installed between the reducer 10 and the rotary drive mechanism 30 to achieve a relative seal, resulting in a more stable sealing effect. This reduces the risk of oil leakage from the drive module 100 and potential incidental losses, thereby lowering the failure rate of the reducer 10 and the rotary drive mechanism 30 during the use of the robot 200 and reducing the design, manufacturing, and maintenance costs of the robot 200's sealing system. Furthermore, the flange 20 can be adapted to different types of reducer 10 and rotary drive mechanism 30 structures, greatly improving the level of design standardization and serialization.

[0028] Please see Figure 4In this embodiment, the reducer 10 includes a reducer housing 12, a reduction mechanism 14, and a reduction shaft 16. The reducer housing 12 provides a closed space for the reduction mechanism 14, isolating it from the external environment and providing waterproofing and dustproofing, thereby improving the service life and reliability of the reducer 10. The reduction mechanism 14 is disposed within the reducer housing 12. Specifically, a bearing 13 can be disposed between the reduction mechanism 14 and the reducer housing 12, allowing the reduction mechanism 14 to rotate relative to the reducer housing 12. This application does not limit the specific type of the reduction mechanism 14. For example, the reduction mechanism 14 can be a worm gear transmission reduction mechanism, a gear transmission reduction mechanism, a planetary gear transmission reduction mechanism, etc., to achieve the purpose of speed reduction. In this embodiment, the reduction mechanism 14 can be an RV-N series reducer. The transmission of this reducer is achieved by the three planetary gears in the first stage driving the internal cycloidal gear to rotate, thereby achieving speed reduction and torque increase. The three planetary gears in the first stage are driven by gears on the input shaft of the reducer.

[0029] Furthermore, in this embodiment, since the inside of the reducer 10 is filled with lubricant, a sealing structure (not shown in the figure) can be provided on the outside of the reduction shaft 16. For example, an oil seal structure can be provided on the outside of the reduction shaft 16. The oil seal structure is used to prevent the lubricant inside the reducer 10 from flowing out through the installation gap of the reduction shaft 16.

[0030] In this embodiment, flange 20 is fixedly connected to reducer housing 12, and flange 20 is used to connect reducer 10 and rotary drive mechanism 30. Specifically, in this embodiment, flange 20 includes flange body 24, connecting portion 26, and mounting portion 28, with connecting portion 26 and mounting portion 28 located on opposite sides of 24. In this embodiment, flange body 24, connecting portion 26, and mounting portion 28 can be an integrally formed structure, for example, flange 20 can be integrally formed by casting or die casting.

[0031] The flange body 24 is generally plate-shaped, with the shaft hole 22 located approximately in the middle of the flange body 24 and extending through both sides of the flange body 24. The flange body 24 is disposed on the side of the reducer 10 near the rotary drive mechanism 30. The connecting portion 26 is generally annular, surrounding and connecting to the flange body 24. The connecting portion 26 is connected to the reducer housing 12, and the connecting portion 26 and the reducer housing 12 can be connected by a connector 101. For example, both the connecting portion 26 and the reducer housing 12 have connecting holes, and the connector 101 is at least partially embedded in the connecting hole, making the flange 20 and the reducer 10 more securely connected. In some embodiments, the connector 101 can be a threaded connector, and the connecting hole can be a threaded hole. The connector 101 and the connecting hole are screwed together to connect the connecting portion 26 and the reducer housing 12. In other embodiments, the connector 101 can be a snap-fit ​​structure, directly engaging with the connecting hole to connect the connecting portion 26 and the reducer housing 12. In this embodiment, the mounting part 28 is generally annular in shape. One end of the mounting part 28 is connected to the flange body 24, and the other end protrudes towards the side close to the rotary drive mechanism 30. The mounting part 28 is used to connect the rotary drive mechanism 30.

[0032] Please see Figures 5 to 6 In this embodiment, the rotary drive mechanism 30 is connected to the flange 20 and is used to provide driving force to the drive module 100. The rotary drive mechanism 30 is located on the side of the flange 20 away from the reducer 10, so that the flange 20 isolates the rotary drive mechanism 30 from the reducer 10, thereby preventing the lubricant in the reducer 100 from flowing directly into the rotary drive mechanism 30.

[0033] The rotary drive mechanism 30 includes a drive housing 34, which has a receiving cavity 341 for accommodating other structures of the rotary drive mechanism 30. The drive housing 34 includes a first outer wall 343 and at least one second outer wall 345 connected to the first outer wall 343. The first outer wall 343 and the second outer wall 345 together define the receiving cavity 341. Specifically, in this embodiment, the drive housing 34 is generally prismatic, and there are three second outer walls 345, which are a first sub-outer outer wall 3451, a second sub-outer outer wall 3453, and a third sub-outer outer wall 3455. The first outer wall 343, the first sub-outer outer wall 3451, the second sub-outer outer wall 3453, and the third sub-outer outer wall 3455 are connected end to end to jointly define the receiving cavity 341. Further, the drive housing 34 also has an opening 347 near the flange 20, which communicates with the receiving cavity 341.

[0034] In this embodiment, the rotary drive mechanism 30 further includes an end cover 38, which is disposed at the end of the drive housing 34 facing the flange 20 and opposite to the flange 20. The end cover 38 and the drive housing 36 together define a generally enclosed space to achieve a seal for the rotary drive mechanism 30. As an example, the end cover 38 can be fixedly connected to the flange 20 so that the reducer 10 and the rotary drive mechanism 30 form a whole. In this embodiment, the end cover 38 includes a cover body portion 381 and a boss portion 383. The cover body portion 381 is generally plate-shaped, and is disposed opposite to the flange 20 and covers the opening 347. The cover body portion 381 can be used to support the output rotor of the rotary drive mechanism 30 and to house bearings and other structures. The cover portion 381 may be provided with a central hole 3811, which is approximately located in the middle of the cover portion 381. The central hole 3811 is connected to the opening 347, and the drive shaft 40 passes through the central hole 3811 and the shaft hole 22 in sequence.

[0035] In this embodiment, the outer peripheral wall of the end cap 38 includes a first sidewall 387 and at least one second sidewall 389 connected to the first sidewall 387. The first outer wall 343 and the first sidewall 387 are connected side-by-side along the axial direction of the drive shaft 32. Specifically, in this embodiment, there are three second sidewalls 389, namely a first sub-sidewall 3891, a second sub-sidewall 3893, and a third sub-sidewall 3555. The first sidewall 387, the first sub-sidewall 3891, the second sub-sidewall 3893, and the third sub-sidewall 3895 are connected end-to-end in sequence. The first sub-outer wall 3451 and the first sub-sidewall 3891 are connected side-by-side along the axial direction of the drive shaft 32, the second sub-outer wall 3453 and the second sub-sidewall 3893 are connected side-by-side along the axial direction of the drive shaft 32, and the third sub-outer wall 3455 and the third sub-sidewall 3895 are connected side-by-side along the axial direction of the drive shaft 32.

[0036] In this embodiment, a boss 383 is provided on the side of the cover 381 facing the flange 20 and surrounds the drive shaft 40. The boss 383 is generally annular and is used to reduce the possibility of lubricant from the reducer 10 side entering the interior of the rotary drive mechanism 30.

[0037] In this embodiment, the end cap 38 further includes a protrusion 385, which is disposed on the side of the cover portion 381 facing the flange 20 and surrounds the outer periphery of the boss portion 383. The protrusion 385 is used to connect the flange 20 and to the reducer 10 through the flange 20. Specifically, in this embodiment, the protrusion 385 is generally annular, and the mounting portion 28 of the flange 20 is sleeved on the outer periphery of the protrusion 385 and stacked on the end face of the cover portion 381 to make the connection between the flange 20 and the rotary drive mechanism 30 more stable. Further, the protrusion 385 and the boss portion 383 are spaced apart to form an oil-receiving groove 384, which is used to receive lubricant on the reducer 10 side.

[0038] In this embodiment, the surface of the end cap 38 facing the flange 20 is provided with an oil drain groove 388, which allows lubricant on the surface of the end cap 38 to drain to the outside of the drive housing 34. Specifically, in this embodiment, the side of the flange 20 facing the cover portion 381 is spaced apart from the oil drain groove 388 so that the lubricant of the reducer 10 can flow into the oil drain groove 388 and flow to the outside of the rotary drive mechanism 30 through the oil drain groove 388. The oil drain groove 388 is generally a strip-shaped groove, which is provided on the surface of the cover portion 381. The oil drain groove 388 penetrates the protrusion 385 and penetrates the outer peripheral wall of the end cap 38 to form an oil drain port 3881. The oil drain port 3811 is provided on the second side wall 353 and communicates with the outside of the rotary drive mechanism 30. In this embodiment, there can be three oil drain grooves 388, and correspondingly, there are also three oil drain ports 3881. The three oil drain ports 3881 are respectively disposed on the first sub-side wall 3551, the second sub-side wall 3553, and the third sub-side wall 3555, which can improve the oil drain efficiency of the oil drain grooves 388, thereby ensuring the stable operation of the drive module 100. Specifically, in this embodiment, the extension direction of each oil drain groove 388 can be multiple. For example, each oil drain groove 388 extends radially along the flange body 32, and multiple oil drain grooves 388 can be radially distributed sequentially. In some embodiments, each oil drain groove 388 can extend along a straight line, and in other embodiments, each oil drain groove 388 can extend in a bent manner.

[0039] In this embodiment, the rotary drive mechanism 30 further includes a rotary drive member 36, which is disposed within the receiving cavity 341. A drive shaft 32 is connected to the rotary drive member 36 and to the reduction shaft 12 to output power from the rotary drive mechanism 30 to the reducer 10. In this embodiment, the drive shaft 32 can be either the output shaft of the rotary drive member 36 or a shaft connected to the output shaft of the rotary drive member 36. This application does not limit the specific type of the rotary drive mechanism 30. For example, the rotary drive mechanism 30 can be a rotary motor, a rotary cylinder, a rotary hydraulic cylinder, or other drive components that perform rotary motion. In this embodiment, the rotary drive mechanism 30 can be a rotary motor, which may include a stator and an output rotor. The stator is fixedly connected to the drive housing 32, and the output rotor rotatably engages with the stator and is connected to the drive shaft 32. Further, both the stator and the output rotor are electromagnets. By controlling the magnitude and direction of the current input to the electromagnet, the output rotor can rotate relative to the stator.

[0040] In this embodiment, the reduction shaft 16, drive shaft 32, and transmission shaft 40 are all independent shaft structures. The transmission shaft 40 is connected between the reduction shaft 16 and the drive shaft 32. Specifically, the reduction shaft 16, transmission shaft 40, and drive shaft 32 are coaxially connected in sequence. For example, one end of the transmission shaft 40 can be sleeved on the reduction shaft 16, and the two can be connected by a spline or bolts. The other end of the transmission shaft 40 can be sleeved on the drive shaft 32, and the two can be connected by a spline or bolts. The transmission shaft 40 can drive the reduction shaft 16 to rotate under the drive of the drive shaft 32. It should be understood that in some other embodiments, the transmission shaft 40 can be integrally formed with the drive shaft 32. That is, the transmission shaft 40 and the drive shaft 32 can be different parts on the same shaft. For example, the transmission shaft 40 and the drive shaft 32 can be the output shaft of the rotary drive component 36. In other embodiments, the drive shaft 40 can be integrally formed with the reduction shaft 16, that is, the drive shaft 40 and the reduction shaft 16 can be different parts on the same shaft. For example, the drive shaft 40 and the reduction shaft 16 can be the input shaft of a reducer.

[0041] Please see Figures 8 to 12 In this embodiment, the oil seal ring 50 is located inside the shaft hole 33 of the flange 20, and the oil seal ring 50 is sleeved on the outside of the drive shaft 40 and connected to the drive shaft 40 in an anti-rotation connection. It should be understood that the "anti-rotation connection" between the oil seal ring 50 and the drive shaft 40 should be understood as the oil seal ring 50 being relatively fixed to the drive shaft 40, while the oil seal ring 50 can rotate with the rotation of the drive shaft 40. Furthermore, the outer diameter of the boss portion 383 is less than or equal to the outer diameter of the oil seal ring 50, so that lubricant can flow into the oil drain groove 388.

[0042] Specifically, in this embodiment, the oil seal ring 50 can be cylindrical and has a central hole 56 located approximately in the middle of the oil seal ring 50. The central hole 56 passes through both ends of the oil seal ring 50, and the oil seal ring 50 is fitted onto the drive shaft 40 through the central hole 56. The oil seal ring 50 also has a first end face 52 and a second end face 54 facing away from each other. The first end face 52 faces the rotary drive mechanism 30, and the central hole 56 passes through both the first end face 52 and the second end face 54. The central portion of the first end face 52 is recessed relative to the outer edge portion, so that the outer edge of the second end face 54 of the oil seal ring 50 forms a sharp angle structure. Under normal operating conditions, the shaft of the drive module 100 is usually arranged vertically, and the reducer 10 is above the rotary drive mechanism 30. Therefore, when the drive module 100 is running at high speed, the lubricant in the reducer 10 may flow out along the reduction shaft 16 to the surface of the transmission shaft 40 due to gravity, and then flow out through the gap between the transmission shaft 40 and the oil seal ring 50. Therefore, when the lubricant flows out from the center hole 56 of the oil seal ring 50 to the second end face 54, the sharp corner structure can make the lubricant flow down along the sharp corner, preventing the lubricant leaking at high speed from flowing into the interior of the rotary drive mechanism 30 from the connection between the oil seal ring 50 and the transmission shaft 40 along the transmission shaft 40.

[0043] In this embodiment, the distance between the center of the first end face 52 and the second end face 54 is less than the distance between the outer edge and the second end face 54. For example, please refer to... Figure 9 and Figure 11 The first end face 52 has an inner periphery 521 and an outer periphery 523. The inner periphery 521 is formed by a central hole 56 penetrating through the first end face 52. The outer periphery 52 is the outer edge of the first end face 52. The distance D1 between the inner periphery 521 and the second end face 54 is smaller than the distance between the outer periphery 523 and the second end face 54. Along the direction from the inner periphery 521 to the outer periphery 523, the distance between the first end face 52 and the second end face 54 can gradually decrease to facilitate the formation of an appropriate inclination so that leaked lubricant can slowly flow out along the second end face 54 to the outer periphery 523.

[0044] Furthermore, in the first end face 52, the central hole 56 is located at the lowest point of the entire surface. In other words, the distance between the edge (inner periphery 521) of the central hole 56 formed on the first end face 52 and the second end face 52 is smaller than the distance between other parts of the first end face 52 and the second end face 52. This prevents lubricant from flowing into the central hole 56 or flowing along the drive shaft 40 to the rotary drive mechanism 30. Specifically, the recessed structure of the first end face 52 can be a curved surface, a spherical surface (such as...). Figure 12 As shown), conical surface (e.g.) Figure 11As shown), the first end face 52 can be a conical surface, such as a stepped surface or a flat surface. Further, the first end face 52 can be formed directly during die casting, or it can be formed by cutting after forming the cylindrical base to create a chamfered structure.

[0045] In this embodiment, please refer again. Figure 8 and Figure 9 When the oil seal ring 50 is cut by a section along its own central axis O, the profile of the first end face 52 is a straight line, and the angle α between the profile of the first end face 52 and the central axis O is an acute angle. For example, the angle α between the profile of the first end face 52 and the central axis O is greater than or equal to 45 degrees and less than or equal to 87 degrees. In this embodiment, the angle α between the profile of the first end face 52 and the central axis O can be 85 degrees. The oil seal ring 50 used in this embodiment is a mating component of the high-speed oil seal. This component has a simple structure and low manufacturing cost. It can use the same sealing components and design methods even when the size of the drive shaft 40 and the size of the reduction shaft 16 are different, reducing the design and manufacturing costs and making the sealing at this position more universal.

[0046] In this embodiment, the oil seal 60 can be a skeleton oil seal. It should be understood that in other embodiments, the oil seal 60 can also be a star-shaped seal, an O-ring, or other dynamic or static sealing components, and the oil seal 60 is not limited to one type. In industrial robot design, the reducer 10 and sealing device are often located on top, while the rotary drive mechanism 30 and other components are below. Taking the first axis of a SCARA robot as an example, according to the traditional method of sealing the drive components, if the seal assembly of the reducer 10 fails after prolonged use or under accidental circumstances, the lubricant inside the reducer 10 will directly enter the drive components such as the rotary drive mechanism 30, causing damage and failure of the drive components. Therefore, in this embodiment, an oil seal 60 is provided outside the drive shaft 40, that is, between the reducer 10 and the rotary drive mechanism 30. This prevents the lubricating oil inside the reducer 10 from leaking into the rotary drive mechanism 30 when the drive module 100 is mounted upright, upside down, or sideways.

[0047] In this embodiment, the drive module 100 further includes a sealing ring 70, which is sleeved on the drive shaft 40 and disposed between the drive shaft 40 and the oil seal ring 50, so that the oil seal ring 50 and the drive shaft 40 are sealed together. Further, the outer peripheral wall of the drive shaft 40 may be provided with a sealing groove 42, and the sealing ring 70 is at least partially embedded in the sealing groove 42. This specification does not limit the type of sealing ring 70. For example, in this embodiment, the sealing ring 70 can be an O-ring; in other embodiments, the sealing ring 70 can be a V-ring, a U-ring, etc.

[0048] Please refer to it again. Figures 5 to 6 In this embodiment, the drive module 100 further includes a wiring harness connector 80, which is disposed on one side of the drive housing 34 and is used to connect external wiring harnesses. When projected along the axial direction of the drive shaft 32, the projection of the wiring harness connector 80 does not coincide with that of the oil drain port 3881, thereby allowing the lubricant leaking through the oil drain port 3881 to avoid the wiring harness connector 80 and electrical components such as the wiring harness, ensuring the normal operation of the drive module 100. Specifically, in this embodiment, the wiring harness connector 80 is disposed on the first outer wall 343, and the oil drain groove 388 is disposed on the second side wall 389. Therefore, when projected along the axial direction of the drive shaft 32, the projection of the wiring harness connector 80 and the oil drain port 3881 does not coincide, thereby allowing the lubricant to avoid the wiring harness connector 80 and electrical components such as the wiring harness, ensuring the normal operation of the drive module 100. In other embodiments, an oil drain groove 388 may also be provided on the first sidewall 387, and the projection of the oil drain port 3881 of the first sidewall 387 and the wire harness connector 80 on the first outer wall 343 does not coincide (e.g., they are staggered on the same surface), so that the lubricant flowing out of the oil drain port 3881 can avoid the wire harness connector 80 and electrical components such as wire harnesses, ensuring the normal operation of the drive module 100.

[0049] Furthermore, in some embodiments, a fence (not shown in the figure) may be provided around the wire harness connector 80 to better protect the wire harness connector 80 from contact with lubricant. For example, a rib is provided on the first outer wall 343. The rib is provided at least on the side of the wire harness connector 80 facing the end cap and is located between the oil drain port 3881 and the wire harness connector 80. The rib can act as a fence and block the lubricant from flowing to the wire harness connector to a certain extent. Of course, the rib can also surround the wire harness connector 80. In other embodiments, an oil guide groove (not shown in the figure) may be provided around the wire harness connector 80 to guide the lubricant to flow away from the wire harness connector 80, thereby better protecting the wire harness connector 80 from contact with the lubricant. For example, an oil guide groove is provided on the first outer wall 343, extending along the rotation axis of the rotary drive mechanism 30 and spaced apart from the wire harness connector 80. The oil guide groove is located on one side of the wire harness connector 80, with one end connected to the oil drain port 3881 and the other end penetrating through the first outer wall 343 to communicate with the outside of the drive housing 34, thereby guiding the lubricant to the outside of the drive housing 34 to a certain extent, thus preventing the lubricant from flowing to the wire harness connector.

[0050] In the optional example drive module provided in this application, a flange is connected between the reducer and the rotary drive housing, which can isolate the reducer from the rotary drive mechanism. The reducer and the rotary drive mechanism are connected by a drive shaft, which passes through the flange. An oil seal and an oil seal ring are provided between the reducer and the rotary drive mechanism to achieve a relative seal between them, thereby achieving a more stable sealing effect, reducing the risk of oil leakage from the drive module and the possible incidental losses, and thus reducing the failure rate of the reducer and the rotary drive mechanism during robot use, and reducing the design, manufacturing and maintenance costs of the robot sealing system. Furthermore, the flange can be adapted to different types of reducers and rotary drive mechanisms, greatly improving the level of design standardization and serialization. In the description of this specification, the reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., means that the specific feature, structure, material or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, those skilled in the art can combine and integrate the different embodiments or examples described herein, as well as the features of those different embodiments or examples, without contradiction.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A driving module, characterized by, The drive module comprises: a speed reducer, including a speed reducer housing, a speed reduction mechanism and a speed reduction shaft; the speed reduction mechanism is arranged in the speed reducer housing, and the speed reduction shaft is connected to the speed reduction mechanism; a flange fixedly connected to the speed reducer housing, the flange being provided with a shaft hole; a rotary drive mechanism connected to the flange, the rotary drive mechanism being provided with a drive shaft; a transmission shaft passing through the shaft hole and connected between the speed reduction shaft and the drive shaft; an oil seal ring located in the shaft hole, the oil seal ring being sleeved outside the transmission shaft and being rotationally connected with the transmission shaft; and an oil seal arranged between the oil seal ring and the hole wall of the shaft hole, the oil seal ring having a first end face and a second end face facing away from each other, the first end face being arranged towards the rotary drive mechanism, and the transmission shaft passing through the first end face and the second end face; the central part of the first end face is recessed relative to the outer edge part.

2. The driving module according to claim 1, wherein When the oil seal ring is cut along the cross section of the central axis thereof, the included angle between the cross-sectional profile line of the first end face and the central axis is an acute angle.

3. The drive module of claim 2, wherein the drive module is configured to drive the plurality of light sources to emit light having a wavelength of 400 nm to 500 nm. The included angle between the cross-sectional profile line of the first end face and the central axis is greater than or equal to 45 degrees and less than or equal to 87 degrees.

4. The driving module of claim 1, wherein, The drive module further comprises a sealing ring, which is sleeved on the transmission shaft and arranged between the transmission shaft and the oil seal ring, so that the oil seal ring is sealingly connected with the transmission shaft.

5. The drive module of any one of claims 1 to 4, wherein, The rotary drive mechanism comprises a rotary drive member and an end cover, the drive shaft being an output shaft of the rotary drive member; the end cover is arranged opposite to the flange, a surface of the end cover towards the flange is provided with an oil drain groove, and an end of the oil drain groove penetrates through the outer peripheral wall of the end cover.

6. The drive module of claim 5, wherein the drive module is configured to drive the plurality of light sources to emit light having a wavelength of 400 nm to 500 nm. The end cover comprises a cover body and a boss, the cover body is arranged opposite to the flange, and the oil drain groove is arranged on the surface of the cover body; the transmission shaft passes through the cover body; the boss is arranged on the side of the cover body towards the flange and surrounds the transmission shaft outside, and the outer diameter of the boss is less than or equal to the outer diameter of the oil seal ring.

7. The drive module of claim 6, wherein the drive module is configured to drive the plurality of light sources to emit light having a wavelength of 400 nm to 500 nm. The end cover further comprises a protruding part, which is arranged on the side of the cover body towards the flange and surrounds the outer periphery of the boss; the protruding part is arranged in space with the boss to jointly define an oil containing groove; the oil drain groove penetrates through the protruding part and the outer peripheral wall of the cover body.

8. The driving module of claim 7, wherein the driving module further comprises a second driving module. The flange surrounds the outer periphery of the protruding part and is stacked on the cover body, and the side of the flange towards the cover body is arranged opposite to and spaced apart from the bottom wall of the oil drain groove.

9. The driving module of claim 5, wherein the driving module further comprises a driving module housing, and the driving module housing comprises a first driving module housing and a second driving module housing. The rotary drive mechanism further comprises a wire harness connector and a drive housing, the drive housing is connected to the end cover, the oil drain groove penetrates through the outer peripheral wall of the end cover to form an oil drain port; the wire harness connector is arranged on one side of the drive housing; when projected along the axial direction of the drive shaft, the projection of the wire harness connector does not coincide with the projection of the oil drain port.

10. The driving module of claim 9, wherein the driving module is configured to drive the display panel in a plurality of driving modes. The outer peripheral wall of the end cover comprises a first side wall and at least one second side wall connected with the first side wall, and the oil drain port is arranged on the second side wall; the drive housing comprises a first outer wall and at least one second outer wall connected with the first outer wall, and the first outer wall and the first side wall are arranged in parallel along the axis direction of the drive shaft; and the wire harness connector is arranged on the first outer wall.

11. A robot, characterized in that Comprise: a machine body; and The drive module according to any one of claims 1 to 9, wherein the reducer housing is connected to the machine body.

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