Joint module, leg structure and robot

Abstract

The invention discloses a joint module, a leg structure and a robot, the joint module comprises a connecting module, the connecting module comprises a first synchronous wheel assembly, a second synchronous wheel assembly and a synchronous belt, the first synchronous wheel assembly and the second synchronous wheel assembly are arranged in a spaced mode in the first direction, and the synchronous belt is connected with the first synchronous wheel assembly and the second synchronous wheel assembly; the synchronous belt is arranged on the first synchronous wheel assembly and the second synchronous wheel assembly in a sleeving mode. The output end of the motor module is connected with the first synchronizing wheel assembly; and the input end of the speed reducer module is connected with the second synchronizing wheel assembly. According to the technical scheme, the motor module and the speed reducer module are connected in a non-direct-connection mode, and the overall thickness of the joint module can be reduced.

Description

Technical Field

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

[0002] The joint module serves as the power output of the robot. The output end of the joint module is connected to the component to be driven, and then the component is driven to rotate through the joint module. Multiple joint modules are used to drive the corresponding components to move relative to each other, thereby realizing the humanoid operation of the robot.

[0003] The joint module is assembled in the entire robot. Due to the special position of some joints, a conventional direct connection layout is adopted. If the joint module is installed on the leg structure, the leg structure will be thicker, which will have a greater impact on the appearance. Summary of the Invention

[0004] One purpose of embodiments of the present application is to provide a joint module, a leg structure and a robot.

[0005] According to a first aspect of an embodiment of the present application, a joint module is provided, comprising:

[0006] A connecting module, the connecting module comprising a first synchronous wheel assembly, a second synchronous wheel assembly and a synchronous belt, the first synchronous wheel assembly and the second synchronous wheel assembly being spaced apart along a first direction, the synchronous belt being sleeved over the first synchronous wheel assembly and the second synchronous wheel assembly;

[0007] a motor module, wherein an output end of the motor module is connected to the first synchronous wheel assembly;

[0008] A reducer module, wherein the input end of the reducer module is connected to the second synchronous wheel assembly.

[0009] Optionally, the first synchronous wheel assembly includes a first gear, the second synchronous wheel assembly includes a second gear, and the synchronous belt is engaged with the first gear and the second gear.

[0010] Optionally, the diameter of the first gear is smaller than the diameter of the second gear.

[0011] Optionally, the joint module further includes a first shell and a second shell, wherein the second shell is covered on the first shell to form a cavity;

[0012] The connecting module is arranged in the cavity, and the second shell is provided with a first mounting groove and a second mounting groove, the first mounting groove and the second mounting groove are arranged at intervals along the first direction, the first mounting groove is connected to the cavity, and the second mounting groove is connected to the cavity, the output end of the motor module is connected to the first synchronous wheel assembly at the first mounting groove, and the input end of the reducer module is connected to the second synchronous wheel assembly at the second mounting groove.

[0013] Optionally, the connection module further includes a tensioner, which is disposed between the first synchronous wheel assembly and the second synchronous wheel assembly in the first direction, and abuts against an outer side of the synchronous belt.

[0014] Optionally, a mounting assembly is provided on the inner wall of the second shell, and the tensioner is detachably and rotatably connected to the mounting assembly.

[0015] Optionally, the first synchronous wheel assembly further includes a first mounting plate, which is provided at an end of the first gear away from the motor module, and a diameter of the first mounting plate is greater than a diameter of the first gear.

[0016] Optionally, the second synchronous wheel assembly further includes a mounting frame and a second mounting plate, the second gear is arranged on the mounting frame, the second mounting plate is arranged at one end of the mounting frame away from the reducer module, and the diameter of the second mounting plate is larger than the diameter of the second gear.

[0017] Optionally, the mounting frame includes: a first mounting portion, a second mounting portion, and a plurality of third mounting portions, wherein the first mounting portion includes an annular outer wall, the second mounting portion is provided at an end of the first mounting portion close to the reducer module, and the plurality of third mounting portions are provided in an annular manner at an end of the first mounting portion away from the reducer module;

[0018] The second gear includes a gear portion and a connecting portion, wherein the connecting portion is provided at an end of the gear portion away from the reducer module, and the connecting portion is provided with a plurality of mounting holes;

[0019] The gear portion is nested in the annular outer wall of the first mounting portion, one of the third mounting portions is embedded in one of the mounting holes, and the second mounting plate is connected to the third mounting portion.

[0020] Optionally, the reducer module includes an inner ring gear and a first planetary reduction assembly, wherein the first planetary reduction assembly is meshed with the inner ring gear.

[0021] Optionally, the reducer module further includes a second planetary reduction assembly, which is spaced apart from the first planetary reduction assembly and meshes with the inner ring gear.

[0022] Optionally, the reduction ratio of the first planetary reduction assembly is the same as that of the second planetary reduction assembly.

[0023] Optionally, the reducer module further includes an upper cover, an output planetary carrier and a cross roller bearing. The output planetary carrier is rotationally connected to the upper cover via the cross roller bearing. The output planetary carrier is the output end of the reducer module.

[0024] According to a second aspect of an embodiment of the present application, a leg structure is provided, comprising the above-mentioned joint module.

[0025] According to a third aspect of the embodiments of the present application, a robot is provided, comprising:

[0026] The joint module mentioned above; or

[0027] The leg structure described above.

[0028] One technical effect of an embodiment of the present application is that the motor module and the reducer module are connected through a connecting module, and the motor module and the reducer module adopt a non-direct connection method, which can reduce the overall thickness of the joint module; when the joint module is used in the leg structure of the robot, the left and right dimensions of the leg structure can be reduced, thereby making the leg structure more compact.

[0029] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0031] Figure 1 Schematic diagram of the structure of the joint module in the embodiment of the present application;

[0032] Figure 2 This is an exploded view of the joint module in an embodiment of the present application;

[0033] Figure 3 Schematic diagram of the structure of the joint module in the embodiment of the present application;

[0034] Figure 4 is a structural diagram of a connection module in an embodiment of the present application;

[0035] Figure 5 Schematic diagram of the structure of the first gear in the embodiment of the present application;

[0036] Figure 6Schematic diagram of the structure of the first gear in the embodiment of the present application;

[0037] Figure 7 This is a schematic structural diagram of a mounting frame in an embodiment of the present application;

[0038] Figure 8 This is a schematic structural diagram of a mounting frame in an embodiment of the present application;

[0039] Figure 9 is a schematic structural diagram of the second gear in an embodiment of the present application;

[0040] Figure 10 is a schematic structural diagram of the second gear in an embodiment of the present application;

[0041] Figure 11 Schematic diagram of the structure of the second shell in the embodiment of the present application;

[0042] Figure 12 Schematic diagram of the structure of the reducer module in the embodiment of the present application;

[0043] Figure 13 for Figure 12 Cross-sectional view at AA in.

[0044] Explanation of reference numerals: joint module 100; motor module 1; reducer module 2; first sun gear 211; first planetary gear 212; first planetary carrier 213; second planetary carrier 214; first planetary shaft 215; second sun gear 221; second planetary gear 222; third planetary carrier 223; output planetary carrier 224; second planetary shaft 225; upper cover 23; lower cover 24; inner gear ring 25; cross roller bearing 26; connection module 3; first synchronous wheel assembly 31; first gear Wheel 311; first mounting plate 312; second synchronous wheel assembly 32; second gear 321; gear portion 3211; connecting portion 3212; mounting hole 3213; mounting frame 322; first mounting portion 3221; second mounting portion 3222; third mounting portion 3223; accommodating space 3224; second mounting plate 323; synchronous belt 33; tensioner 34; first shell 4; second shell 5; first mounting slot 51; second mounting slot 52; mounting assembly 53; fixing portion 6. DETAILED DESCRIPTION

[0045] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0046] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0047] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0048] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0049] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0050] First, the first direction and the second direction mentioned in the embodiment of this application are described in the attached Figure 1 The axis of the first direction intersects the axis of the second direction.

[0051] like Figures 1-13 As shown, according to the first aspect of an embodiment of the present application, a joint module 100 is provided, including a connection module 3, a motor module 1 and a reducer module 2; the connection module 3 includes a first synchronous wheel assembly 31, a second synchronous wheel assembly 32 and a synchronous belt 33, the first synchronous wheel assembly 31 and the second synchronous wheel assembly 32 are spaced apart along a first direction, and the synchronous belt 33 is sleeved on the first synchronous wheel assembly 31 and the second synchronous wheel assembly 32; the output end of the motor module 1 is connected to the first synchronous wheel assembly 31; the input end of the reducer module 2 is connected to the second synchronous wheel assembly 32.

[0052] The joint module 100 in this application is mainly used in a robot and acts as a power unit of the robot; it can also be used in other devices, and this application does not limit this. In the embodiments of this application, the joint module 100 is used in a robot as an example for description.

[0053] like Figure 1 and Figure 2 As shown, the joint module 100 includes a connection module 3, a motor module 1 and a reducer module 2; wherein the motor module 1 is used for power output, and the reducer module 2 is used for increasing torque.

[0054] Further explanation, the connection module 3 includes a first synchronous wheel assembly 31, a second synchronous wheel assembly 32 and a synchronous belt 33. The first synchronous wheel assembly 31 and the second synchronous wheel assembly 32 are arranged at intervals along the first direction, and the synchronous belt 33 is sleeved on the first synchronous wheel assembly 31 and the second synchronous wheel assembly 32; wherein, the first direction is different from the axial direction of the first synchronous wheel assembly 31, and the first direction is different from the axial direction of the second synchronous wheel assembly 32.

[0055] Specifically, the output end of the motor module 1 is connected to the first synchronous wheel assembly 31, and the output end of the reducer module 2 is connected to the second synchronous wheel assembly 32; wherein, the output end and axis of the motor module 1 intersect with the axis of the first direction, and the axis of the input end of the reducer module 2 intersects with the axis of the first direction; therefore, the power of the motor module 1 is transmitted to the reducer module 2 through the first synchronous wheel assembly 31 and the second synchronous wheel assembly 32, and the power is output through the output end of the reducer module 2.

[0056] In the joint module 100 in the present application, the motor module 1 and the reducer module 2 are connected through the connecting module 3, and the motor module 1 and the reducer module 2 adopt a non-direct connection method, which can reduce the overall thickness of the joint module 100; when the joint module 100 is used in the leg structure of the robot, the thickness direction of the joint module 100 is the left and right direction of the robot, thereby reducing the left and right dimensions of the leg structure, making the leg structure more compact.

[0057] The thickness direction of the joint module 100 is the same as the axis direction of the output end of the reducer module 2, that is, Figure 1 The second direction is marked in .

[0058] In a specific embodiment, the first synchronous wheel assembly 31 includes a first optical wheel; the second synchronous wheel assembly 32 includes a second optical wheel; the outer wall of the first optical wheel is a smooth curved surface, and the outer wall of the second optical wheel is a smooth curved surface, and the synchronous belt 33 is mounted on the outer wall of the first optical wheel and the outer wall of the second optical wheel.

[0059] In another specific embodiment, the first synchronous wheel assembly 31 includes a first gear 311 , the second synchronous wheel assembly 32 includes a second gear 321 , and the synchronous belt 33 is engaged with the first gear 311 and the second gear 321 .

[0060] like Figure 4As shown, the first synchronous wheel assembly 31 includes a first gear 311, and the second synchronous wheel assembly 32 includes a second gear 321; the first gear 311 and the second gear 321 are spaced apart along the first direction, the axis of the first gear 311 is parallel to the axis of the second gear 321, the axis of the first gear 311 intersects with the axis of the first direction, and the axis of the second gear 321 intersects with the axis of the first direction; the synchronous belt 33 is sleeved on the first gear 311 and the second gear 321, that is, the inner side of the synchronous belt 33 is provided with teeth, so that the synchronous belt 33 can be meshed with the first gear 311 and the second gear 321. In this embodiment, through gear transmission, it is possible to ensure that the power transmission between the motor module 1 and the reducer module 2 is more stable, thereby making the joint module 100 work more reliable; through gear transmission, by selecting the first gear 311, the second gear 321 and the synchronous belt 33 with different parameters, it is possible to form a reduction module for the connection module 3, and cooperate with the reducer module 2 to make the joint module 100 meet different torque and speed requirements.

[0061] In an optional embodiment, the diameter of the first gear 311 is smaller than the diameter of the second gear 321 .

[0062] like Figure 4 As shown, the diameter of the first gear 311 is larger than the diameter of the second gear 321 , and the rotation speed of the second gear 321 is lower than the rotation speed of the first gear 311 , thereby increasing the output torque of the joint module 100 and reducing the output speed.

[0063] In an optional embodiment, the joint module 100 also includes a first shell 4 and a second shell 5, the second shell 5 is covered on the first shell 4 and forms a cavity; the connection module 3 is arranged in the cavity, and the second shell 5 is provided with a first mounting groove 51 and a second mounting groove 52, the first mounting groove 51 and the second mounting groove 52 are spaced apart along the first direction, the first mounting groove 51 is connected to the cavity, and the second mounting groove 52 is connected to the cavity, the output end of the motor module 1 is connected to the first synchronous wheel assembly 31 at the first mounting groove 51, and the input end of the reducer module 2 is connected to the second synchronous wheel assembly 32 at the second mounting groove 52.

[0064] like Figure 1 、 Figure 2 and Figure 3As shown, the joint module 100 also includes a first shell 4 and a second shell 5; wherein, the first shell 4 is connected to the second shell 5, and a cavity is formed between the first shell 4 and the second shell 5; a first mounting groove 51 and a second mounting groove 52 are provided on the second shell 5, and the first mounting groove 51 and the second mounting groove 52 are spaced apart along the first direction, and the first mounting groove 51 is connected to the cavity, and the second mounting groove 52 is connected to the cavity.

[0065] Further explanation: the connection module 3 is arranged inside the cavity, the output end of the motor module 1 extends into the cavity through the first mounting slot 51, the output end of the motor module 1 is connected to the first synchronous wheel assembly 31, and the motor module 1 is connected to the second shell 5; the input end of the reducer module 2 extends into the cavity through the second mounting slot 52, the input end of the reducer module 2 is connected to the second synchronous wheel assembly 32, the reducer module 2 is connected to the second shell 5, and the output end of the reducer module 2 is located outside the cavity. In this embodiment, the first shell 4 and the second shell 5 can provide protection for the connection module 3, the output end of the motor module 1 and the input end of the reducer module 2 to prevent external impurities from affecting the operation of the joint module 100.

[0066] In a preferred embodiment, Figure 3 As shown, the first shell 4 and the second shell 5 are provided with a fixing portion 6, which is used to directly connect to the skeleton of the leg structure. The joint module 100, as a separate module, can be directly connected to the fixing point in the skeleton of the leg structure, so that the joint module 100 is a specific structural component of the entire robot, and there is no need to set up a separate structural component to fix the joint module 100. This can reduce the number of overall parts required for the robot, making the robot structure more compact.

[0067] In an optional embodiment, the connection module 3 further includes a tensioner 34 , which is disposed between the first synchronous wheel assembly 31 and the second synchronous wheel assembly 32 in the first direction, and abuts against the outer side of the synchronous belt 33 .

[0068] like Figure 2 and Figure 4 As shown, the connection module 3 also includes a tensioner 34; specifically, in the first direction, the tensioner 34 is arranged between the first synchronous wheel assembly 31 and the second synchronous wheel assembly 32, the inner side of the synchronous belt 33 is engaged with the first gear 311 of the first synchronous wheel assembly 31 and the second gear 321 of the second synchronous wheel assembly 32, and the tensioner 34 is in contact with the outer side of the synchronous belt 33. The tensioner 34 can adjust the tightness of the synchronous belt 33 relative to the first gear 311 and the second gear 321 to ensure that the synchronous belt 33 maintains appropriate tension during operation.

[0069] In an optional embodiment, a mounting assembly 53 is provided on the inner wall of the second shell 5 , and the tensioner 34 is detachably and rotatably connected to the mounting assembly 53 .

[0070] like Figure 11 As shown, a mounting assembly 53 is provided on the inner wall of the second shell 5, and the tensioner 34 is rotatably connected to the mounting assembly 53. The mounting assembly 53 provides a mounting position for the tensioner 34 and can ensure the rotation stability of the tensioner 34. The tensioner 34 can rotate around the axis of the mounting assembly 53, and the axial direction of the mounting assembly 53 is the same as the second direction.

[0071] It is further explained that the tensioner 34 and the mounting assembly 53 are detachably connected, and the tensioner 34 of different diameters can be replaced as needed to adjust the tightness of the synchronous belt 33; compared to changing the position of the tensioner 34 to adjust the tightness of the synchronous belt 33, the present application only sets the mounting assembly 53 to make the tensioner 34 and the mounting assembly 53 detachably connected, which can make the structure of the joint module 100 simpler.

[0072] In an optional embodiment, the first synchronous wheel assembly 31 further includes a first mounting plate 312 , which is disposed at an end of the first gear 311 away from the motor module 1 , and a diameter of the first mounting plate 312 is greater than a diameter of the first gear 311 .

[0073] like Figure 4 、 Figure 5 and Figure 6 As shown, the first synchronous wheel assembly 31 also includes a first mounting plate 312; wherein the first gear 311 is connected to the output end of the motor module 1, and the first mounting plate 312 is arranged at the end of the first gear 311 away from the motor module 1, the diameter of the first mounting plate 312 is larger than the diameter of the first gear 311, and the synchronous belt 33 is located between the first mounting plate 312 and the output end of the motor module 1; since the synchronous belt 33 is engaged with the first gear 311, the synchronous belt 33 is located between the first mounting plate 312 and the motor module 1, and the diameter of the first mounting plate 312 is larger than the diameter of the first gear 311, so the first mounting plate 312 can support the synchronous belt 33 in the axial direction of the motor module 1 to prevent the synchronous belt 33 from disengaging from the first gear 311, thereby improving the transmission stability of the connection module 3.

[0074] In an optional embodiment, the second synchronous wheel assembly 32 also includes a mounting frame 322 and a second mounting plate 323, the second gear 321 is arranged on the mounting frame 322, the second mounting plate 323 is arranged at one end of the mounting frame 322 away from the reducer module 2, and the diameter of the second mounting plate 323 is larger than the diameter of the second gear 321.

[0075] like Figure 4 、 Figure 7 、 Figure 8 、 Figure 9 and Figure 10 As shown, the second synchronous wheel assembly 32 also includes a mounting frame 322 and a second mounting plate 323; wherein the second gear 321 is connected to the input end of the reducer module 2, and the second gear 321 is arranged on the mounting frame 322. The mounting frame 322 provides a mounting position for the second gear 321 and can improve the installation stability of the second gear 321; the second mounting plate 323 is arranged at one end of the mounting frame 322 away from the reducer module 2, and the second gear 321 is located between the second mounting plate 323 and the reducer module 2. Since the synchronous belt 33 is engaged with the second gear 321, that is, the synchronous belt 33 is located between the second mounting plate 323 and the reducer module 2, the diameter of the second mounting plate 323 is larger than the diameter of the second gear 321, so the second mounting plate 323 can support the synchronous belt 33 in the axial direction of the reducer module 2 to prevent the synchronous belt 33 from disengaging from the second gear 321, thereby improving the transmission stability of the connection module 3.

[0076] In an optional embodiment, the mounting frame 322 includes a first mounting portion 3221, a second mounting portion 3222, and a plurality of third mounting portions 3223. The first mounting portion 3221 includes an annular outer wall. The second mounting portion 3222 is provided at an end of the first mounting portion 3221 close to the reducer module 2. The plurality of third mounting portions 3223 are arranged in an annular manner at an end of the first mounting portion 3221 away from the reducer module 2.

[0077] The second gear 321 includes a gear portion 3211 and a connecting portion 3212. The connecting portion 3212 is provided at one end of the gear portion 3211 away from the reducer module 2. The connecting portion 3212 is provided with a plurality of mounting holes 3213.

[0078] The gear portion 3211 is nested in the annular outer wall of the first mounting portion 3221 , one of the third mounting portions 3223 is embedded in one of the mounting holes 3213 , and the second mounting plate 323 is connected to the third mounting portion 3223 .

[0079] like Figure 7 and Figure 8As shown, the mounting frame 322 includes a first mounting portion 3221, a second mounting portion 3222 and a plurality of third mounting portions 3223; wherein the first mounting portion 3221 is annular, and the first mounting portion 3221 includes an annular outer wall and an annular inner wall, and the annular inner wall encloses a accommodating space 3224, and the direction of the axis of the first mounting portion 3221 is the same as the second direction, and the first mounting portion 3221 includes a first mounting end and a second mounting end, and the first mounting end and the second mounting end are respectively located at the two ends of the axis direction of the first mounting portion 3221; the second mounting portion 3222 is arranged at the first mounting end, and the first mounting portion 3221 extends in a direction away from the center of the first mounting portion 3221, and the third mounting portion 3223 is arranged at the second mounting end, and the third mounting portion 3223 extends in a direction close to the center of the first mounting portion 3221, and the plurality of third mounting portions 3223 are arranged at intervals around the circumference of the first mounting portion 3221.

[0080] like Figure 9 and Figure 10 As shown, the second gear 321 includes a gear portion 3211 and a connecting portion 3212; wherein, the gear portion 3211 is annular, the connecting portion 3212 is arranged at one end of the gear portion 3211, and the connecting portion 3212 is provided with a plurality of mounting holes 3213, and the plurality of mounting holes 3213 are arranged at circumferential intervals around the connecting portion 3212.

[0081] To further illustrate, the gear portion 3211 is connected to the input end of the reducer module 2, the gear portion 3211 is sleeved on the outer ring of the first mounting portion 3221, and a third mounting portion 3223 is embedded in a mounting hole 3213, so as to improve the structural strength of the second synchronous gear assembly 32, and when the second synchronous gear assembly 32 rotates, it can prevent the second synchronous gear assembly 32 from being deformed under the action of torque; the second mounting plate 323 is connected to the third mounting portion 3223 at the second mounting end, that is, the gear portion 3211 is located between the second mounting plate 323 and the second mounting portion 3222, and the second mounting portion 3222 and the second mounting plate 323 can jointly limit the synchronous belt 33 from disengaging from the second gear 321 in the axial direction of the reducer module 2.

[0082] In an optional embodiment, the reducer module 2 includes an inner ring gear 25 and a first planetary reduction assembly, and the first planetary reduction assembly is engaged with the inner ring gear 25. In this embodiment, the reducer module 2 is a one-stage planetary reduction structure.

[0083] In an optional embodiment, the reducer module 2 further includes a second planetary reduction assembly, which is spaced apart from the first planetary reduction assembly and meshes with the inner ring gear 25 .

[0084] like Figure 12 and Figure 13As shown, the reducer module 2 also includes a second planetary reduction assembly, and the second planetary reduction assembly and the first planetary reduction assembly are both meshed with an inner ring gear 25. It can be understood that the first planetary reduction assembly and the second planetary reduction assembly share an inner ring gear 25. In this embodiment, the reducer module 2 can be made more compact. Sharing an inner ring gear 25 can reduce the size and weight of the reducer module 2, and there is no need to design a separate inner ring gear 25 for the first planetary reduction assembly and the second planetary reduction assembly. The reducer module 2 has high transmission efficiency. The first and second planetary reduction assemblies share an inner ring gear 25, which can further improve efficiency because energy loss is reduced. The combination of the first and second planetary reduction assemblies can enable the reducer module 2 to obtain a larger total reduction ratio.

[0085] In an optional embodiment, the first planetary reduction assembly and the second planetary reduction assembly have the same reduction ratio. Provided the inner ring gear 25 has the same number of teeth, the first and second planetary reduction assemblies have the same reduction ratio, which simplifies the design process, uses the same gear parameters and design standards, and reduces design variables. The interchangeability of components facilitates maintenance and replacement.

[0086] In an alternative embodiment, Figure 13 As shown, the reducer module 2 also includes an upper cover 23, an output planetary carrier 224 and a cross roller bearing 26. The output planetary carrier 224 is rotatably connected to the upper cover 23 through the cross roller bearing 26. The output planetary carrier 224 is the output end of the reducer module 2. Since the working conditions of robot applications are often single-cantilever supported, no additional bearing assembly is provided for support. Instead, the upper cover 23 and the output planetary carrier 224 are connected by the cross roller bearing 26, which can effectively improve the load-bearing effect of the output end of the reducer module 2 and ensure the normal rotation of the reducer module 2.

[0087] In an alternative embodiment, Figure 13As shown, the reducer module 2 also includes a lower cover 24, an upper cover 23 connected to the lower cover 24, and a storage area formed between the upper cover 23 and the lower cover 24. The first planetary reduction assembly, the second planetary reduction assembly, and the inner ring gear 25 are all located in the storage area. The first reduction assembly includes a first sun gear 211, a first planetary member, a second planetary carrier 214, a first planetary gear 212, and a first planetary shaft 215. Among them, the first sun gear 211 is the input end of the reducer module 2 and is used to connect to the second synchronous gear assembly 32. The first planetary carrier 213 is connected to the second planetary carrier 214, and the first planetary shaft 215 is fixedly connected to the second planetary carrier 214. The first planetary shaft 215 is rotatably connected to the first planetary carrier 213. The first planetary gear 212 is sleeved on the first planetary shaft 215 and meshes with the first sun gear 211 and the inner ring gear 25 respectively. The second planetary reduction assembly includes a second sun gear 221, a third planet carrier 223, a second planet gear 222, and a second planet shaft 225. The output planet carrier 224 is connected to the third planet carrier 223, the second planet shaft 225 is rotatably connected to the third planet carrier 223, and the second planet shaft 225 is fixedly connected to the output planet carrier 224. One end of the second sun gear 221 is connected to the second planet carrier 214, and the other end of the second sun gear 221 is rotatably connected to the output planet carrier 224 via a bearing. The second planet gear 222 is sleeved on the second planet shaft 225 and meshes with the inner ring gear 25 and the second sun gear 221, respectively. The other end of the second sun gear 221 is rotatably connected to the output planet carrier 224 via a bearing, which can assist in achieving a concentric effect during the rotation of the reducer module 2 and prevent eccentricity of the second planet shaft 225.

[0088] According to a second aspect of an embodiment of the present application, a leg structure is provided, comprising the joint module 100 as described above.

[0089] According to a first aspect of an embodiment of the present application, a robot is provided, comprising the above-mentioned joint module 100; or the above-mentioned leg structure.

[0090] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A joint module, characterized in that: include: A connection module, wherein the connection module comprises a first synchronous wheel assembly, a second synchronous wheel assembly and a synchronous belt, wherein the first synchronous wheel assembly and the second synchronous wheel assembly are spaced apart along a first direction, and the synchronous belt is sleeved on the first synchronous wheel assembly and the second synchronous wheel assembly; A motor module, wherein an output end of the motor module is connected to the first synchronous wheel assembly; A reducer module, wherein an input end of the reducer module is connected to the second synchronous wheel assembly.

2. The joint module according to claim 1, characterized in that: The first synchronous wheel assembly includes a first gear, the second synchronous wheel assembly includes a second gear, and the synchronous belt is meshed with the first gear and the second gear.

3. The joint module according to claim 2, characterized in that: A diameter of the first gear is smaller than a diameter of the second gear.

4. The joint module according to claim 2, characterized in that: The joint module further comprises a first shell and a second shell, wherein the second shell is covered on the first shell to form a cavity; The connecting module is arranged in the cavity, the second shell is provided with a first mounting groove and a second mounting groove, the first mounting groove and the second mounting groove are arranged at intervals along the first direction, the first mounting groove is communicated with the cavity, the second mounting groove is communicated with the cavity, the output end of the motor module is connected with the first synchronous wheel assembly at the first mounting groove, and the input end of the reducer module is connected with the second synchronous wheel assembly at the second mounting groove.

5. The joint module according to claim 4, characterized in that: The connection module further includes a tension wheel, which is disposed between the first synchronous wheel assembly and the second synchronous wheel assembly in the first direction, and the tension wheel abuts against the outer side of the synchronous belt.

6. The joint module according to claim 5, characterized in that: A mounting assembly is disposed on the inner wall of the second shell, and the tensioning wheel is detachably and rotatably connected to the mounting assembly.

7. The joint module according to claim 2, characterized in that: The first synchronous wheel assembly also includes a first mounting plate, which is arranged at an end of the first gear away from the motor module, and a diameter of the first mounting plate is greater than a diameter of the first gear.

8. The joint module according to claim 2, characterized in that: The second synchronous wheel assembly also includes a mounting frame and a second mounting plate, the second gear is arranged on the mounting frame, the second mounting plate is arranged at one end of the mounting frame away from the reducer module, and the diameter of the second mounting plate is greater than the diameter of the second gear.

9. The joint module according to claim 8, characterized in that: The mounting frame comprises: a first mounting portion, a second mounting portion and a plurality of third mounting portions, the first mounting portion comprises an annular outer wall, the second mounting portion is arranged at one end of the first mounting portion close to the reducer module, and the plurality of third mounting portions are arranged around one end of the first mounting portion away from the reducer module; The second gear comprises a gear portion and a connecting portion, wherein the connecting portion is arranged at one end of the gear portion away from the reducer module, and the connecting portion is provided with a plurality of mounting holes; Wherein, the gear portion is nested in the annular outer wall of the first mounting portion, one of the third mounting portions is embedded in one of the mounting holes, and the second mounting plate is connected to the third mounting portion.

10. The joint module according to claim 1, characterized in that: The reducer module includes an inner ring gear and a first planetary reduction assembly, wherein the first planetary reduction assembly is meshed with the inner ring gear.

11. The joint module according to claim 10, characterized in that: The reducer module also includes a second planetary reduction assembly, which is spaced apart from the first planetary reduction assembly and meshes with the inner gear ring.

12. The joint module according to claim 11, characterized in that: The reduction ratio of the first planetary reduction assembly is the same as that of the second planetary reduction assembly.

13. The joint module according to claim 1, characterized in that: The reducer module further comprises an upper cover, an output planetary carrier and a cross roller bearing. The output planetary carrier is rotationally connected to the upper cover via the cross roller bearing. The output planetary carrier is the output end of the reducer module.

14. A leg structure, characterized in that: Comprising a joint module as described in any one of claims 1-13.

15. A robot, characterized in that: include: The joint module according to any one of claims 1 to 13; or The leg structure of claim 14.

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