Joint module, biped robot, point-foot robot, quadruped robot, four-wheel-foot robot, mechanical arm and robot

Abstract

The invention relates to the technical field of robots, and discloses a joint module adopting an outer rotor motor, a biped robot, a point-foot robot, a quadruped robot, a four-wheel-foot robot, a mechanical arm and a robot. Wherein the joint module mainly comprises a shell, a motor, a planetary reducer, a fixing disc, a first bearing and a rotor output shaft, the inner ring and the outer ring of the first bearing abut against the connecting shaft end and the bearing fixing part correspondingly, so that the bearing fixing part is close to the connecting shaft end, and at least part of the bearing fixing part is overlapped with the projection, in the radial direction, of an annular avoiding cavity; according to the joint module, the bearing fixing part can partially extend into the annular avoiding cavity, and the axial space of the annular avoiding cavity is utilized to accommodate part of the bearing fixing part, so that the structure is more compact in the axial direction, and the axial size of the joint module can be reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more particularly to a joint module, a biped robot, a point-legged robot, a quadruped robot, a four-wheeled legged robot, a robotic arm, and a robot. Background Art

[0002] In the existing technology of robot joint modules, one design is to overlap the motor and the reducer in the axial direction, and the reducer is usually arranged on the inner side of the motor. This design method is called "axial integrated design" or "axial compact layout", which forms a compact whole by compactly integrating the motor and the reducer. This compact design has been widely used in the field of robots, effectively improving the performance and application range of robots.

[0003] In the existing compact joint module structure, the motor rotor is generally fixed to the bearing position of the joint module rear shell by a bearing. Among them, the bearing position of the joint module rear shell usually needs to occupy the axial dimension of the joint module, and the motor rotor will also occupy a certain axial dimension facing the rear shell in order to assemble with the bearing position of the joint module rear shell. In addition, the motor rotor axis will be equipped with a low-speed synchronous shaft end encoder so that the encoder can be coupled with the circuit outside the rear shell. Due to the above reasons, the bearing position configuration of the compact joint module motor rotor will occupy a large axial space.

[0004] For example, the Chinese invention patent with publication number CN212385507U discloses a joint power mechanism with a compact layout of motor and reducer. In this design, the components on the circuit board outside the joint rear shell protrude toward the motor rotor, so a groove-shaped structure protruding toward the motor rotor is provided on the joint rear shell, and the motor rotor is also adaptively provided with a groove-shaped structure of the same shape to avoid the joint rear shell. However, according to the description and drawings, this design does not propose a solution to the problem that "the bearing position of the motor rotor of the compact joint module occupies a large axial space", and it mainly solves the problem of large space occupied by the circuit.

[0005] Similarly, the Chinese invention patent with publication number CN111805523B also discloses a joint module with a compact layout of a motor and a reducer. In this design, the motor rotor is provided with a groove for avoiding the axial fasteners between the motor rotor and the encoder. However, according to the description and drawings, this design does not provide a solution to the problem that "the bearing position of the motor rotor of the compact joint module occupies a large axial space". At the same time, the encoder connector of its motor rotor must axially pass through the circuit assembly, thus occupying a larger axial dimension, which mainly solves the problem of interference between the fasteners and the motor rotor.

[0006] In the field of robotics, the design of joint modules must not only meet high performance standards, but also take into account the requirements of size and appearance. Ensuring a balance between performance and size control has always been an important direction of continuous research for technicians in this field. Referring to the above-mentioned joint module design, the bearing position of the motor rotor needs to be associated with the high-speed rotating motor rotor and the low-speed shaft, which leads to a large amount of axial space occupation. This design not only increases the axial size of the joint module, but also increases the size design of the matching parts of a single joint module in robots equipped with more joint modules. The joint positions of the robot will be more bloated, and the overall mass will also increase, which will affect many aspects of the robot such as power endurance. Therefore, the compact joint module motor has a compact axial layout, and the corresponding bearing position occupies a large axial space. The problem needs to be solved urgently. Summary of the invention

[0007] The present application provides a joint module, a biped robot, a point-legged robot, a quadruped robot, a four-wheeled legged robot, a robotic arm and a robot, aiming to solve the problem that the bearing position of the motor rotor of the existing compact joint module occupies a large axial space.

[0008] In one embodiment, a joint module using an external rotor motor is provided, which mainly includes: a housing, a motor, a planetary reducer, a fixed plate, a first bearing and a rotor output shaft, the housing is constructed with a cylindrical shell and a roughly annular bracket, the central area of ​​the bracket is constructed with a hollow annular bearing fixing portion, and the cylindrical shell and the bracket define an open cavity; the motor includes a stator and a rotor; the rotor output shaft is integrally constructed with a rotor fixing portion, a second annular extension portion and a connecting portion from the outside to the inside, one end of the connecting portion in the axial direction is constructed with a coupling end, and the other end is constructed with a transmission end, and the second annular extension portion is adjacent to the connecting portion. The device is provided with an annular avoidance cavity, and the projection of the transmission end, the annular avoidance cavity and the rotor fixing part in the radial direction at least partially overlaps; wherein, the fixed disk is fixedly connected to the planetary reducer, the outer edge of the fixed disk is fixedly connected to one end of the cylindrical shell, the input end of the planetary reducer is fixedly connected to the transmission end, the rotor is fixedly connected to the rotor fixing part, the stator and the gear ring of the planetary reducer are relatively fixedly arranged, the coupling end is abutted against the inner ring of the first bearing, the bearing fixing part is abutted against the outer ring of the first bearing, at least part of the bearing fixing part overlaps with the projection of the annular avoidance cavity in the radial direction, and the motor and at least most of the planetary reducer are arranged in the cavity.

[0009] In one scheme, a joint module using an outer rotor motor is provided, in which the area where the rotor output shaft overlaps with the bearing fixing portion of the bracket in the axial direction is recessed toward the output flange, and the recessed area of ​​the rotor output shaft is defined as an annular avoidance cavity, and the diameter of the outer edge of the annular avoidance cavity is smaller than the diameter of the inner ring of the stator, and one end of the rotor output shaft is rotatably supported on the bearing fixing portion through a first bearing, and at least part of the bearing fixing portion overlaps with the radial projection of the annular avoidance cavity.

[0010] In one scheme, a joint module using an external rotor motor is provided, wherein the rotor output shaft is recessed toward the output flange in the axial direction to form an annular avoidance cavity, and the diameter of the outer edge of the annular avoidance cavity is smaller than the diameter of the inner ring of the motor stator; in the axial direction, at least part of the bearing fixing portion of the bracket is arranged in the annular avoidance cavity.

[0011] In one embodiment, a first gap is provided between a side of the bearing fixing portion facing the output flange and a bottom surface of the annular avoidance cavity, and a depth of the annular avoidance cavity is greater than a width of the first gap.

[0012] In one embodiment, the bearing fixing portion further includes a retaining ring protruding inwardly, the retaining ring limits the outer ring of the first bearing, and the sum of the axial thickness of the retaining ring and the width of the first gap is less than the depth of the annular avoidance cavity.

[0013] In one embodiment, the rotor fixing portion is constructed with a second cavity, the second cavity does not overlap with the axial projection of the annular avoidance cavity, the second cavity is located radially outside the annular avoidance cavity, and the stator of the joint module is at least partially located in the second cavity.

[0014] In one embodiment, a shoulder is provided on the outer side of the coupling end of the rotor output shaft, the shoulder abuts one end of the inner ring of the first bearing, the distance from the shoulder to the outer end of the coupling end is less than the axial height of the first bearing, and the distance from the shoulder to the bottom surface of the annular avoidance cavity is approximately equal to the sum of the axial thickness of the retaining ring and the width of the first gap.

[0015] In one solution, a guide groove is further configured between the shaft shoulder and the outer side surface of the coupling end.

[0016] In one embodiment, the transmission end of the rotor output shaft is also constructed with a support portion, which is located on a side of the rotor output shaft facing the output flange. The support portion abuts against the inner ring of the second bearing, and the outer ring of the second bearing abuts against the planetary reducer. The second bearing is a sun gear support bearing.

[0017] In one embodiment, the transmission end is configured with a plurality of first assembly holes, and the sun gear is configured with a plurality of second assembly holes in a one-to-one correspondence, and the first assembly holes are aligned with the second assembly holes.

[0018] In one embodiment, the outer diameter of the end of the outer side surface of the bearing fixing portion away from the output flange is larger than the outer diameter of the end of the outer side surface close to the output flange, and the outer diameter of the end of the inner wall surface of the annular avoidance cavity away from the output flange is larger than the outer diameter of the end of the inner wall surface close to the output flange.

[0019] In one embodiment, the joint module also includes an encoder adapter plate, the abutting end of the encoder adapter plate is fixedly connected to the coupling end of the rotor output shaft, the abutting end abuts against the inner ring of the first bearing, and the abutting end is also provided with a retaining ring extending outward, the retaining ring abuts against the end of the inner ring of the first bearing away from the shaft shoulder.

[0020] In one embodiment, the bearing fixing portion is configured with a plurality of third assembly holes, a first fastener is disposed in the third assembly hole, an end of the first fastener away from the third assembly hole is configured as a limiting end, and the limiting end abuts against the outer ring of the first bearing.

[0021] In one embodiment, a plurality of third assembly holes are arranged in an array and circumferentially on a side of the bearing fixing portion away from the annular avoidance cavity, and the third assembly holes are blind holes with openings away from the output flange.

[0022] In one embodiment, a bipedal robot is provided, wherein at least one driving joint adopts the joint module as described above.

[0023] In one embodiment, a point-legged robot is provided, wherein at least one driving joint adopts a joint module as described above.

[0024] In one embodiment, a quadruped robot is provided, wherein at least one driving joint adopts a joint module as described above.

[0025] In one embodiment, a four-wheeled legged robot is provided, wherein at least one driving joint adopts the joint module as described above.

[0026] In one embodiment, a robotic arm is provided, wherein at least one driving joint adopts the joint module as described above.

[0027] In one embodiment, a robot is provided, wherein at least one driving joint adopts the joint module as described above.

[0028] Beneficial effects of this application:

[0029] In the present application, a joint module, a biped robot, a point-legged robot, a quadruped robot, a four-wheeled leg robot, a mechanical arm and a robot using an external rotor motor, the joint module mainly includes: a housing, a motor, a planetary reducer, a fixed plate, a first bearing and a rotor output shaft, the rotor output shaft forms a supporting relationship with the bearing fixing part of the bracket through the first bearing, and a second annular extension is provided on the rotor output shaft, and an annular avoidance cavity is constructed, in the radial direction, at least part of the bearing fixing part overlaps with the radial projection of the annular avoidance cavity. In the above-mentioned setting, the inner and outer rings of the first bearing are respectively abutted against the coupling end and the bearing fixing part, so that the bearing fixing part is close to the coupling end, and the second annular extension part is adjacent to the connecting part. The position of the connecting part is constructed with an annular avoidance cavity, and at least part of the bearing fixing part overlaps with the radial projection of the annular avoidance cavity, that is, the bearing fixing part can partially extend into the annular avoidance cavity, such a setting utilizes the space surrounded by the annular avoidance cavity, and can accommodate part of the support structure of the first bearing, that is, the bearing fixing part, so that the structure is more compact in the axial direction, and the axial size of the joint module can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 is a partial cross-sectional schematic diagram of a joint module in one embodiment of the present application;

[0032] Figure 2 It is a schematic diagram of a partial exploded view of a joint module in a cross-sectional state in one embodiment of the present application;

[0033] Figure 3 is a cross-sectional schematic diagram of a joint module in one embodiment of the present application;

[0034] Figure 4 It is a partial exploded schematic diagram of a joint module in a cross-sectional state in one embodiment of the present application;

[0035] Figure 5 It is a partial exploded schematic diagram of a joint module in a three-dimensional state in one embodiment of the present application;

[0036] Figure 6 It is a partial exploded schematic diagram of a joint module in a three-dimensional cutaway state in one embodiment of the present application;

[0037] Figure 7 It is a schematic diagram of the three-dimensional structure after the rotor output shaft of the joint module and the motor rotor are assembled in one embodiment of the present application;

[0038] Figure 8 yes Figure 7 Schematic diagram of the assembly of the rotor output shaft and the motor rotor;

[0039] Fig. 9 It is a three-dimensional structural schematic diagram of a rotor output shaft of a joint module in one embodiment of the present application from a top view;

[0040] Fig.10 This is a schematic diagram of the three-dimensional structure of the rotor output shaft of the joint module in one embodiment of the present application from a bottom-up perspective;

[0041] Fig.11 is a cross-sectional schematic diagram of a rotor output shaft of a joint module in an embodiment of the present application in a three-dimensional state;

[0042] Fig.12 is a cross-sectional schematic diagram of a bracket of a joint module in a three-dimensional state in one embodiment of the present application;

[0043] Fig.13 is a cross-sectional schematic diagram of a joint module in one embodiment of the present application;

[0044] Fig.14 yes Fig.13 An enlarged schematic diagram at A;

[0045] Fig.15 yes Fig.13 An enlarged schematic diagram at B;

[0046] Fig.16 yes Fig.13 An enlarged schematic diagram at B;

[0047] Fig.17 is a schematic diagram of a three-dimensional structure of a robot in one embodiment of the present application;

[0048] Fig.18 is a schematic diagram of the three-dimensional structure of another robot in one embodiment of the present application;

[0049] Fig.19 is a schematic diagram of a three-dimensional structure of another robot in an embodiment of the present application;

[0050] Fig. 20 It is a three-dimensional structural schematic diagram of a mechanical arm structure in one embodiment of the present application.

[0051] Reference numerals in the figures:

[0052] 1. Shell;

[0053] 11. Bracket;

[0054] 12. bearing fixing portion; 121. retaining ring; 122. third assembly hole;

[0055] 13. cavity; 14. first fastener; 141. limit end;

[0056] 2. Motor; 21. Stator;

[0057] 22, rotor; 221, magnet; 222, steel ring;

[0058] 3. Planetary reducer; 31. Ring gear; 32. Output flange; 33. Hollow transmission shaft;

[0059] 4. Fixed plate;

[0060] 51. first bearing; 52. second bearing; 53. sun gear; 531. second assembly hole; 54. encoder adapter plate; 541. abutment end; 542. retaining ring;

[0061] 6. Rotor output shaft;

[0062] 61. rotor fixing part; 611. second cavity;

[0063] 62. second annular extension; 622. annular avoidance cavity;

[0064] 63, connecting part; 631, coupling end; 632, transmission end; 633, first assembly hole;

[0065] 64. Shaft shoulder; 66. Guide groove; 67. Support portion; 68. Weight reduction hole; 69. Tooth structure;

[0066] 7. First gap;

[0067] 8. Wave spring;

[0068] 91. driving plate; 92. upper shell; 93. third bearing;

[0069] 1000. Joint module. DETAILED DESCRIPTION

[0070] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and Examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0071] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0072] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0073] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0075] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0076] In the present invention, the general concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain specific shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0077] In one embodiment, see Figures 1 to 6, provides a joint module using an outer rotor motor 2, which mainly includes a housing 1, a motor 2, a planetary reducer 3, a fixed plate 4, a first bearing 51 and a rotor output shaft 6, the housing 1 is constructed with a cylindrical shell and a roughly annular bracket 11, the central area of ​​the bracket 11 is constructed with a hollow annular bearing fixing portion 12, and the cylindrical shell and the bracket 11 define an open cavity 13; the motor 2 includes a stator 21 and a rotor 22; the rotor output shaft 6 is integrally formed with a rotor fixing portion 61, a second annular extension portion 62 and a connecting portion 63 from the outside to the inside, one end of the connecting portion 63 in the axial direction is constructed with a coupling end 631, and the other end is constructed with a transmission end 632, and the second annular extension portion 62 is constructed near the connecting portion 63. An annular avoidance cavity 622, a transmission end 632, an annular avoidance cavity 622 and a radial projection of the rotor fixing portion 61 at least partially overlap; wherein, the fixed disk 4 is fixedly connected to the planetary reducer 3, the outer edge of the fixed disk 4 is fixedly connected to one end of the cylindrical shell, the input end of the planetary reducer 3 is fixedly connected to the transmission end 632, the rotor 22 is fixedly connected to the rotor fixing portion 61, the stator 21 and the gear ring 31 of the planetary reducer 3 are relatively fixedly arranged, the coupling end 631 abuts against the inner ring of the first bearing 51, the bearing fixing portion 12 abuts against the outer ring of the first bearing 51, at least part of the bearing fixing portion 12 overlaps with the radial projection of the annular avoidance cavity 622, and the motor 2 and at least most of the planetary reducer 3 are arranged in the cavity 13.

[0078] The rotor output shaft 6 forms a supporting relationship with the bearing fixing portion 12 of the bracket 11 through the first bearing 51, and the rotor output shaft 6 is provided with a second annular extension portion 62 and is constructed with an annular avoidance cavity 622. In the radial direction, at least part of the bearing fixing portion 12 overlaps with the radial projection of the annular avoidance cavity 622. In the above-mentioned setting, the inner and outer rings of the first bearing 51 are respectively in contact with the coupling end 631 and the bearing fixing portion 12, so that the bearing fixing portion 12 is close to the coupling end 631, and the second annular extension portion 62 is adjacent to the connection portion 63. The position of the connecting portion 63 is constructed with an annular avoidance cavity 622, and at least part of the bearing fixing portion 12 overlaps with the radial projection of the annular avoidance cavity 622, that is, the bearing fixing portion 12 can partially extend into the annular avoidance cavity 622. Such a setting utilizes the space enclosed by the annular avoidance cavity 622 to accommodate part of the support structure of the first bearing 51, that is, the bearing fixing portion 12, so that the structure is more compact in the axial direction, and the axial size of the joint module can be reduced.

[0079] The housing 1 is constructed with a cylindrical outer shell and a roughly annular bracket 11. The fixed disk 4 is fixedly connected to the planetary reducer 3, and is fixedly connected to one end of the cylindrical outer shell through the outer edge of the fixed disk 4, forming an installation of the planetary reducer 3 and the motor 2, and the structure is compact and reliable.

[0080] In one embodiment, see Figures 1 to 6, a joint module using an outer rotor motor 2 is provided, the area where the rotor output shaft 6 of the joint module overlaps with the bearing fixing part 12 of the bracket 11 in the axial direction is recessed toward the output flange 32, and the recessed area of ​​the rotor output shaft 6 is defined as an annular avoidance cavity 622, the diameter of the outer edge of the annular avoidance cavity 622 is smaller than the diameter of the inner ring of the stator 21, one end of the rotor output shaft 6 is rotatably supported on the bearing fixing part 12 through a first bearing 51, and at least part of the bearing fixing part 12 overlaps with the radial projection of the annular avoidance cavity 622.

[0081] In one embodiment, see Figures 1 to 6 , provides a joint module using an external rotor motor 2, the rotor output shaft 6 of the joint module is recessed toward the output flange 32 in the axial direction to form an annular avoidance cavity 622, the diameter of the outer edge of the annular avoidance cavity 622 is smaller than the diameter of the inner ring of the stator 21 of the motor 2; in the axial direction, at least part of the bearing fixing portion 12 of the bracket 11 is arranged in the annular avoidance cavity 622.

[0082] The compact joint module currently used in robots usually nests the motor 2 and the planetary reducer 3, and the rotor output shaft 6 is supported by a bearing supported by a bracket 11 extending inward from the side of the joint housing 1 adjacent to the rotor 22. Usually, the bearing and the rotor output shaft 6 are arranged parallel to each other, which causes the axial dimension of the joint module to be occupied more. By adopting any of the above-mentioned schemes, at least part of the bearing fixing portion 12 of the bracket 11 can be arranged in the annular avoidance cavity 622, so that the axial avoidance of the bearing fixing portion 12 of the bracket 11 can be formed, so that the bracket 11 is closer to the rotor output shaft 6, thereby reducing the axial dimension of the joint of the joint module. This position can reduce the axial dimension of the joint by at least several millimeters.

[0083] In one embodiment, see Figures 1 to 6 as well as Fig.15 There is a first gap 7 between the side of the bearing fixing part 12 facing the output flange 32 and the bottom surface of the annular avoidance cavity 622, and the depth of the annular avoidance cavity 622 is greater than the width of the first gap 7. The above arrangement allows the bearing fixing part 12 to partially extend into the annular avoidance cavity 622, thereby reducing the axial space occupied, and at the same time there is a avoidance gap between the electronic output shaft, and no motion interference occurs. The existence of the first gap 7 avoids direct contact between the bearing fixing part 12 and the bottom surface of the annular avoidance cavity 622, reduces unnecessary friction and wear, and extends the service life of the module.

[0084] In one embodiment, see Figures 1 to 6 as well as Fig.12The bearing fixing portion 12 further includes a retaining ring 121 protruding inwardly, the retaining ring 121 limits the outer ring of the first bearing 51, and the sum of the axial thickness of the retaining ring 121 and the width of the first gap 7 is less than the depth of the annular avoidance cavity 622. The setting of the retaining ring 121 not only limits the outer ring of the first bearing 51 to the extreme position close to one end of the planetary reducer 3, but also prevents the outer ring from contacting the rotor output shaft 6.

[0085] The sum of the axial thickness of the retaining ring 121 and the width of the first gap 7 is smaller than the depth of the annular avoidance cavity 622. This arrangement enables the first bearing 51 to be partially located in the annular avoidance cavity 622 when the first bearing 51 abuts against the retaining ring 121. This arrangement enables the first bearing 51 to have a partially overlapping position with the annular avoidance cavity 622 in the radial direction, thereby better reducing the axial size of the joint module.

[0086] The retaining ring 121 extends radially and can strengthen the structure of the bearing fixing portion 12 to cope with the radial force on the bearing fixing portion 12 after the first bearing 51 is installed, thereby ensuring the stability of the structure and thus ensuring the supporting effect of the first bearing 51.

[0087] In one embodiment, see Fig. 9 and Fig.10 The rotor fixing part 61 is constructed with a second cavity 611, the second cavity 611 and the axial projection of the annular avoidance cavity 622 do not overlap, and the second cavity 611 is located radially outside the annular avoidance cavity 622, and the stator 21 of the joint module is at least partially located in the second cavity 611.

[0088] The second cavity 611 is configured to avoid part of the stator 21 , so that the annular avoidance cavity 622 can extend into the area surrounding the stator 21 along the axis in a direction close to the planetary reducer 3 , so that the rotor 22 can maintain a stable output.

[0089] In one embodiment, in radial projection, the stator 21 at least partially overlaps with the annular avoidance cavity 622 .

[0090] In one embodiment, the motor 2 may be an outer rotor motor, the second cavity 611 is used to avoid the inner stator 21 , and the joint module is an inner stator 21 and outer rotor 22 joint module.

[0091] In one embodiment, see Fig.16 A shoulder 64 is provided on the outer side of the coupling end 631 of the rotor output shaft 6, and the shoulder 64 abuts against one end of the inner ring of the first bearing 51. The distance from the shoulder 64 to the outer end of the coupling end 631, that is, the length L1, is less than the axial height of the first bearing 51, and the distance L2 from the shoulder 64 to the bottom surface of the annular avoidance cavity 622 is roughly equal to the sum of the axial thickness W1 of the retaining ring 121 and the width W2 of the first gap 7.

[0092] The setting of the shaft shoulder 64 is used to cooperate with the outer side of the coupling end 631 to form a limit for the inner ring of the first bearing 51 to ensure that the two are tightly combined, and the inner ring of the first bearing 51 can remain relatively still with the rotor output shaft 6.

[0093] The distance from the shaft shoulder 64 to the outer end of the coupling end 631 is smaller than the axial height of the first bearing 51 , that is, the axial end surface of the first bearing 51 away from the annular avoidance cavity 622 is higher than the outer end of the coupling end 631 , thereby reducing the axial height of the rotor output shaft 6 and further simplifying the space occupied by the rotor output shaft 6 in the axial direction.

[0094] The distance from the shoulder 64 to the bottom of the annular avoidance cavity 622 is roughly equal to the sum of the axial thickness of the retaining ring 121 and the axial height of the first gap 7, that is, the distance from the shoulder 64 to the bottom of the annular avoidance cavity 622 is roughly equal to the distance from the retaining ring 121 away from the first gap 7 to the bottom of the annular avoidance cavity 622, that is, the inner ring of the first bearing 51 and the outer ring of the first bearing 51 are roughly equal in axial position on the end face close to the annular avoidance cavity 622, so that the axial positions of the inner and outer rings of the first bearing 51 can be kept roughly the same, so that the inner and outer rings of the bearing will not be squeezed, and when the inner and outer rings of the first bearing 51 rotate relatively, there will be no wear and no loud noise, which is beneficial to the noise control of the joint module.

[0095] At the same time, such assembly enables the axial installation of the first bearing 51 to be roughly equal to the axial dimension of the inner ring or outer ring of the first bearing 51, and does not cause the axial space to be enlarged due to the bearing.

[0096] In one embodiment, see Fig.11 and Fig.15 A guide groove 66 is also constructed between the shaft shoulder 64 and the outer side surface of the coupling end 631. The guide groove 66 is provided for the inner ring of the first bearing 51, which is close to the end of the planetary reducer 3, so that it can be directly placed on the shaft shoulder 64 during assembly, and will not be unable to be placed due to processing, exhaust failure, etc. The cross-section of the shaft shoulder 64 and the coupling end 631 is rectangular. The rectangular processing is affected by the tool, and the radial deviation may occur at the connection, which will affect the placement of the first bearing 51.

[0097] In one embodiment, see Figures 1 to 11The transmission end 632 of the rotor output shaft 6 is also configured with a support portion 67, which is located on the side of the rotor output shaft 6 facing the output flange 32, and the support portion 67 abuts against the inner ring of the second bearing 52, the outer ring of the second bearing 52 abuts against the planetary reducer 3, and the second bearing 52 is a support bearing for the sun gear 53. Such a configuration enables the rotor output shaft 6 to be supported in the axial direction near the axis of rotation of the joint module, which helps the rotor output shaft 6 to rotate stably, thereby maintaining a stable output, and is also conducive to reducing the noise of the joint module.

[0098] The support portion 67 abuts against one end of the inner ring of the second bearing 52 , and the inner ring of the support portion 67 and the extended section of the sun gear 53 form a radial fit.

[0099] In one embodiment, see Fig.15 The transmission end 632 is configured with a plurality of first assembly holes 633 , and the sun gear 53 is configured with a plurality of second assembly holes 531 in one-to-one correspondence, and the first assembly holes 633 are aligned with the second assembly holes 531 .

[0100] The precise alignment of the first assembly hole 633 and the second assembly hole 531 ensures a high-precision connection between the transmission end 632 and the sun gear 53. This high-precision connection not only improves the reliability of the rotor transmission, but also enhances the good support of the rotor connector, providing a good foundation for precise rotation.

[0101] The first assembly hole 633 and the second assembly hole 531 are fixedly connected by threaded fasteners (such as bolts and nuts), thereby ensuring the firmness and reliability of the connection.

[0102] In one embodiment, see Fig.12 and Fig.13 The outer diameter of the end of the outer side surface of the bearing fixing portion 12 away from the output flange 32 is greater than the outer diameter of the end of the outer side surface close to the output flange 32, and the outer diameter of the end of the inner wall surface of the annular avoidance cavity 622 away from the output flange 32 is greater than the outer diameter of the end of the inner wall surface close to the output flange 32.

[0103] Such a setting forms a conical arc surface on the outer side surface of the bearing fixing part 12 and the outer side of the annular avoidance cavity 622, which can enhance the structural strength of the bearing fixing part 12 and the annular avoidance cavity 622, so as to provide a good support effect for the first bearing 51 and provide a stable output transmission for the rotor output shaft 6.

[0104] In one embodiment, see Fig.12 and Fig.13In the axial cross section, the angle between the outer side surface of the bearing fixing part 12 and the rotation axis of the joint module 1000 is smaller than the angle between the outer inner wall surface of the annular avoidance cavity 622 and the rotation axis of the joint module 1000. In this way, the bearing fixing part 12 will not interfere with the annular avoidance cavity 622 when extending into the annular avoidance cavity 622, and the two can rotate freely relative to each other.

[0105] In one embodiment, under the setting of the first gap 7, the distance from the outer side surface of the bearing fixing portion 12 to the first bearing 51 is always kept smaller than the distance from the inner wall surface of the annular avoidance cavity 622 at the corresponding axial position to the first bearing 51, which can form a good avoidance.

[0106] In one embodiment, see Figures 1 to 6 The joint module 1000 further includes an encoder adapter plate 54, abutting end 541 of the encoder adapter plate 54 is fixedly connected to the coupling end 631 of the rotor output shaft 6, abutting end 541 abuts against the inner ring of the first bearing 51, and a retaining ring 542 extending outward is also provided at the abutting end 541, and the retaining ring 542 abuts against one end of the inner ring of the first bearing 51 away from the shaft shoulder 64. Such a setting realizes the limit of one end of the inner ring of the first bearing 51 away from the shaft shoulder 64, and at the same time fixes the encoder adapter plate 54 to the rotor output shaft 6, so as to realize the accurate data collection of the rotor output shaft 6.

[0107] In one embodiment, see Figures 1 to 6 The bearing fixing portion 12 is constructed with a plurality of third assembly holes 122. The third assembly holes 122 are arranged adjacent to the outer side surface of the bearing fixing portion 12. A first fastener 14 is arranged in the third assembly hole 122. One end of the first fastener 14 away from the third assembly hole 122 is arranged as a limiting end 141, and the limiting end 141 abuts against the outer ring of the first bearing 51.

[0108] By limiting the end of the outer ring of the first bearing 51 away from the retaining ring 121 by the first fastener 14, the outer ring of the first bearing 51 and the bracket 11 can be completely fixed, maintaining the connection between the two to ensure that there is no relative movement that causes wear.

[0109] In one embodiment, see Figure 5 , a plurality of third assembly holes 122 are arranged in an array and surrounded on a side of the bearing fixing portion 12 away from the annular avoidance cavity 622, and the third assembly hole 122 is a blind hole with an opening away from the output flange 32. Such an arrangement facilitates the formation of simultaneous position limits at multiple positions to ensure the fixation of the outer ring of the first bearing 51. At the same time, the hole type setting of the blind hole enables the bearing fixing portion 12 to have good sealing properties, effectively isolating the outside world from the cavity 13, and preventing foreign matter such as dust from invading from the third assembly hole 122.

[0110] In one embodiment, the first fastener 14 may be a threaded fastener, and a nut end of the threaded fastener is the limiting end 141 .

[0111] In one embodiment, see Fig. 9 , Fig.13 and Fig.14 The rotor 22 of the joint module includes a magnet 221 and a steel ring 222. The rotor output shaft 6 is provided with a tooth structure 69. The magnet 221 is magnetically fixed on the steel ring 222 at a certain interval. The tooth structure 69 of the rotor output shaft 6 is located between one or more adjacent magnets 221. Through the magnetic field transformation of the stator 21, the magnet 221 is subjected to force, which eventually drives the steel ring 222 to rotate, thereby driving the rotor output shaft 6 to rotate.

[0112] In the area between the rotor fixing portion 61 and the annular avoidance cavity 622 , a plurality of weight-reducing holes 68 evenly arranged around the rotation axis of the joint module are provided. The weight-reducing holes 68 can lighten the joint module and also play a role in heat dissipation of the motor 2 .

[0113] A wave spring 8 is provided on the side of the second bearing 52 away from the rotor output shaft 6, and the wave spring 8 is used to provide a preload force on the outer ring of the second bearing 52 to eliminate the gap between the inner and outer rings of the second bearing 52 and the ball. This preload ensures that the second bearing 52 can maintain stable and smooth operation even in a high-speed rotation state.

[0114] There may be an axial gap between the outer ring and the ball of the second bearing 52, and the bottom of the outer ring is not directly supported, which may cause the axial gap to increase, thereby affecting the smooth operation of the second bearing 52. The prestress provided by the wave spring 8 can maintain the axial gap in a smaller range, ensuring the performance under high-speed operation conditions.

[0115] During long-term operation, the bearings and related components may undergo axial displacement due to external factors such as wear and temperature changes. The elastic characteristics of the wave spring 8 can automatically compensate for such displacement, maintain the smooth operation of the sun gear 53, and effectively reduce the vibration and noise caused by the displacement.

[0116] During the operation of the planetary reducer 3, temperature changes will cause thermal expansion and contraction of the material, which may cause changes in the axial clearance of the bearing. With its elastic properties, the wave spring 8 can automatically adjust the changes in the axial clearance caused by temperature changes to ensure the stability of the system operation. By reducing vibration, wear and impact, the wave spring 8 not only helps to extend the service life of the bearing, but also improves the durability and reliability of the entire transmission system.

[0117] In one embodiment, the joint module is roughly cylindrical in structure, and further includes a drive plate 91, an upper shell 92, and a third bearing 93. The drive plate 91 is fixed on the bracket 11, and a third bearing 93 is provided between the fixed plate 4 and the output flange 32. The upper shell 92 is fixed to the bracket 11 and covers the drive plate 91. The bearing support of the output flange 32 can be a cross roller bearing. The planetary reducer 3 also includes a hollow transmission shaft 33 connected to the output flange 32. The output flange 32 outputs power outward, and the hollow transmission shaft 33 is used to cooperate with the drive plate 91 to record the real-time rotation speed of the output flange 32.

[0118] In one embodiment, see Fig.19 , provides a biped robot, at least one of whose driving joints adopts the joint module 1000 in any of the above embodiments. The biped robot can meet the requirements of driving joints to achieve stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity and high adaptability to multiple terrain environments.

[0119] In one embodiment, see Fig.17 , provides a point-legged robot, at least one of whose driving joints adopts the joint module 1000 in any of the above embodiments. The point-legged robot can meet the requirements of driving joints to achieve stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity and high adaptability to multiple terrain environments.

[0120] In one embodiment, a quadruped robot is provided, at least one driving joint of which adopts the joint module 1000 in any of the above embodiments. The quadruped robot can meet the requirements of driving joints to achieve stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity, and high adaptability to multiple terrain environments.

[0121] In one embodiment, see Fig.18 , provides a four-wheeled leg robot, at least one of whose driving joints adopts the joint module 1000 in any of the above embodiments. The four-wheeled leg robot can meet the requirements of driving joints to achieve stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity and high adaptability to multiple terrain environments.

[0122] In one embodiment, see Fig. 20 , a mechanical arm is provided, wherein at least one driving joint adopts the joint module 1000 in any of the above embodiments. The mechanical arm generally includes a plurality of driving joints, and the application of the joint module 1000 can ensure the multi-degree-of-freedom motion capability of the mechanical arm.

[0123] In one embodiment, a robot is provided, wherein at least one driving joint of the robot adopts a joint module 1000 as in any of the above embodiments.

[0124] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A joint module, characterized in that: include: A housing, wherein the housing is constructed with a cylindrical outer shell and a substantially annular bracket, a hollow annular bearing fixing portion is constructed in the central area of ​​the bracket, and the cylindrical outer shell and the bracket define an open cavity; Motor, including stator and rotor; Planetary reducer, fixed plate, first bearing; and A rotor output shaft, wherein the rotor output shaft is integrally formed with a rotor fixing portion, a second annular extension portion and a connecting portion in sequence from outside to inside, wherein one end of the connecting portion in the axial direction is configured with a coupling end, and the other end is configured with a transmission end, and an annular avoidance cavity is configured at a position of the second annular extension portion adjacent to the connecting portion, and the transmission end, the annular avoidance cavity and the projection of the rotor fixing portion in the radial direction at least partially overlap; Among them, the fixed disk is fixedly connected to the planetary reducer, the outer edge of the fixed disk is fixedly connected to one end of the cylindrical shell, the input end of the planetary reducer is fixedly connected to the transmission end, the rotor is fixedly connected to the rotor fixing part, the stator and the gear ring of the planetary reducer are relatively fixedly arranged, the coupling end abuts against the inner ring of the first bearing, the bearing fixing part abuts against the outer ring of the first bearing, at least part of the bearing fixing part overlaps with the radial projection of the annular avoidance cavity, and the motor and at least most of the planetary reducer are arranged within the cavity.

2. A joint module, characterized in that: The area where the rotor output shaft and the bearing fixing part of the bracket overlap in the axial direction is recessed toward the output flange, and the recessed area of ​​the rotor output shaft is defined as an annular avoidance cavity, and the diameter of the outer edge of the annular avoidance cavity is smaller than the diameter of the stator inner ring. One end of the rotor output shaft is rotatably supported on the bearing fixing part through a first bearing, and at least part of the bearing fixing part overlaps with the radial projection of the annular avoidance cavity.

3. A joint module, characterized in that: The rotor output shaft is recessed toward the output flange in the axial direction to form an annular avoidance cavity, and the diameter of the outer edge of the annular avoidance cavity is smaller than the diameter of the inner ring of the motor stator; In the axial direction, at least a portion of the bearing fixing portion of the bracket is arranged in the annular avoidance cavity.

4. The joint module according to any one of claims 1, 2 or 3, characterized in that: A first gap is provided between the side of the bearing fixing portion facing the output flange and the bottom surface of the annular avoidance cavity, and the depth of the annular avoidance cavity is greater than the width of the first gap.

5. The joint module according to claim 4, characterized in that: The bearing fixing portion also includes a retaining ring protruding inwardly, the retaining ring limits the outer ring of the first bearing, and the sum of the axial thickness of the retaining ring and the width of the first gap is less than the depth of the annular avoidance cavity.

6. The joint module according to any one of claims 1, 2 or 3, characterized in that: The rotor output shaft is configured with a second cavity, the second cavity does not overlap with the axial projection of the annular avoidance cavity, the second cavity is located radially outside the annular avoidance cavity, and the stator of the joint module is at least partially located in the second cavity.

7. The joint module according to claim 5, characterized in that: A shoulder is provided on the outer side of the coupling end of the rotor output shaft, and the shoulder abuts against one end of the inner ring of the first bearing. The distance from the shoulder to the outer end of the coupling end is less than the axial height of the first bearing, and the distance from the shoulder to the bottom surface of the annular avoidance cavity is roughly equal to the sum of the axial thickness of the retaining ring and the width of the first gap.

8. The joint module according to claim 7, characterized in that: A guide groove is also configured between the shaft shoulder and the outer side surface of the coupling end.

9. The joint module according to any one of claims 1, 2 or 3, characterized in that: The transmission end of the rotor output shaft is also constructed with a support portion, which is located on a side of the rotor output shaft facing the output flange. The support portion abuts against the inner ring of the second bearing, and the outer ring of the second bearing abuts against the planetary reducer. The second bearing is a sun gear support bearing.

10. The joint module according to any one of claims 1, 2 or 3, characterized in that: The outer diameter of the end of the outer side surface of the bearing fixing portion away from the output flange is larger than the outer diameter of the end of the outer side surface close to the output flange, and the outer diameter of the end of the inner wall surface of the annular avoidance cavity away from the output flange is larger than the outer diameter of the end of the inner wall surface close to the output flange.

11. The joint module according to claim 7, characterized in that: Also includes An encoder adapter plate, the abutting end of the encoder adapter plate is fixedly connected to the coupling end of the rotor output shaft, the abutting end abuts against the inner ring of the first bearing, and the abutting end is also provided with a retaining ring extending outward, and the retaining ring abuts against one end of the inner ring of the first bearing away from the shaft shoulder.

12. The joint module according to any one of claims 1, 2 or 3, characterized in that: The bearing fixing portion is configured with a plurality of third assembly holes, a first fastener is disposed in the third assembly hole, an end of the first fastener away from the third assembly hole is configured as a limiting end, and the limiting end abuts against the outer ring of the first bearing.

13. The joint module according to claim 12, characterized in that: A plurality of third assembly holes are arranged in an array and are arranged around a side of the bearing fixing portion away from the annular avoidance cavity. The third assembly holes are blind holes with openings away from the output flange.

14. A bipedal robot, characterized in that: At least one driven joint adopts a joint module as described in any one of claims 1 to 13.

15. A point-foot robot, characterized in that: At least one driven joint adopts a joint module as described in any one of claims 1 to 13.

16. A quadruped robot, characterized in that: At least one driven joint adopts a joint module as described in any one of claims 1 to 13.

17. A four-wheeled legged robot, characterized in that: At least one driven joint adopts a joint module as described in any one of claims 1 to 13.

18. A robotic arm, characterized in that: At least one driven joint adopts a joint module as described in any one of claims 1 to 13.

19. A robot, characterized in that: At least one driven joint adopts a joint module as described in any one of claims 1 to 13.

Images