Robot joint module

Abstract

The invention belongs to the technical field of robots, and provides a robot joint module which comprises a driving mechanism, a speed reducing mechanism and an output mechanism which are in transmission connection in sequence, the driving mechanism generates torque, and the torque is output through the output mechanism after being increased through the speed reducing mechanism; wherein the driving mechanism is provided with a power cavity, and a stator and a rotor rotating around the periphery of the stator are arranged in the power cavity; the rotor is provided with a rotor magnet yoke with fan blades, and external air can enter the power cavity from the axial direction of the stator through rotation of the rotor magnet yoke and is discharged in the radial direction of the stator so as to take away heat generated in the power cavity to achieve heat dissipation of the stator and the rotor. Through the rotor magnet yoke with the fan blades, air flow in the power cavity can be accelerated, external air is guided to enter the power cavity and is discharged to form an efficient heat dissipation channel to take away heat, the heat dissipation capacity is improved, the heat dissipation effect is enhanced, overheating of the driving mechanism is avoided, the service life of the driving mechanism is prolonged, and the reliability of the joint module is effectively improved; and the stability of the robot during long-time operation is ensured.

Description

Technical Field

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

[0002] In the field of robotics, joint modules are the core components that enable robots to move flexibly. With the continuous expansion of robot application scenarios, higher requirements are placed on the miniaturization, efficiency, and performance of joint modules.

[0003] At present, the existing small joint modules have the following design deficiencies: 1. Insufficient heat dissipation capacity: The existing joint module has obvious defects in heat dissipation design. Long-term operation can easily cause the motor to overheat, affecting the performance and life of the motor and reducing the reliability of the joint module; 2. Limited transmission torque: Traditional joint modules mostly use single-stage planetary gear transmission. This design has low transmission torque and transmission efficiency, and cannot meet the robot's motion requirements under different loads, limiting the robot's application scenarios and performance. 3. Lack of hollow structure: Joint modules of the same size with a diameter of less than 60 mm are usually compact in structure and have no hollow design, making it difficult to thread the power lines of the wires. This not only makes the wiring layout complicated, but also makes the overall structure not concealed enough, affecting the overall aesthetics of the robot. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a robot joint module to solve the problems of insufficient heat dissipation capacity, limited transmission torque and lack of hollow structure of the prior art joint modules.

[0005] To achieve the above object, the present invention provides the following technical solutions: A robot joint module, comprising: A drive mechanism for providing power to generate torque; a speed reduction mechanism, drivingly connected to the driving mechanism, for increasing the torque and transmitting it to the output mechanism; and An output mechanism, drivingly connected to the reduction mechanism, for outputting torque to realize the movement of the robot-related components; Among them, the driving mechanism has a power cavity, in which a stator and a rotor rotating around the periphery of the stator are arranged; the rotor is provided with a rotor yoke with fan blades, and the outside air can enter the power cavity from the axial direction of the stator through the rotation of the rotor yoke and be discharged along the radial direction of the stator, so as to take away the heat generated in the power cavity and realize the heat dissipation of the stator and the rotor.

[0006] In one embodiment disclosed in the present application, the driving mechanism includes a cylindrical outer shell and a support connected to the outer shell, a partition is provided inside the outer shell, and the support covers one end of the outer shell to form a power chamber bounded by the partition and the support inside the outer shell; The housing is provided with a plurality of circular air outlet holes which are evenly distributed around the circumference, and the air outlet holes are connected with the power cavity along the radial direction of the stator; The support is provided with a plurality of strip-shaped air inlet holes which are evenly distributed around the circumference, and the air inlet holes are directly opposite to the stator and are connected with the power chamber along the axial direction of the stator; The stator is fixedly sleeved on the support, and the rotor is rotatably connected to the support.

[0007] In one embodiment disclosed in the present application, the rotor yoke includes an integrally formed core shaft portion and a disc portion; One end of the core shaft is rotatably connected to the support, and the other end freely passes through the hole in the middle of the partition and is connected to the speed reduction mechanism; The disc portion is parallel to the partition plate and is provided with a plurality of trapezoidal holes evenly distributed around the circumference so that the remaining portion of the disc portion constitutes the above-mentioned fan blades, and the thickness of the fan blades gradually decreases radially outward along the disc portion.

[0008] In one embodiment disclosed in the present application, the support includes an integrally formed small cylindrical portion and a large cylindrical portion, the small cylindrical portion is located in the power chamber, the large cylindrical portion is connected to the housing to cover one end of the housing, and the air inlet holes are uniformly distributed around the axial circumference of the small cylindrical portion on the side end surface where the large cylindrical portion and the small cylindrical portion are connected; The stator comprises an integrally formed stator yoke and claw poles, wherein the stator yoke is fixedly sleeved on the small cylindrical portion, and the claw poles extend radially along the stator yoke and are evenly distributed on the circumference; The core shaft portion is rotatably connected to the small cylindrical portion through a pair of first bearings. The outer edge of the disc portion is connected to a rotor magnet that encircles the stator. The rotor magnet is embedded with a plurality of circumferentially evenly distributed magnetic poles, which are directly opposite to the claw poles.

[0009] In one embodiment disclosed in the present application, a first gland with a hole in the middle is connected to one end of the large cylindrical portion away from the small cylindrical portion to form a power supply cavity in the large cylindrical portion, a circuit board is installed in the power supply cavity, and the circuit board is fixedly connected to a support block preset in the large cylindrical portion; The external power source supplies power to the circuit board through the wire inlet notch opened on the outer circumferential surface of the large cylindrical part, and the circuit board is electrically connected to the stator and the rotor respectively through the threading holes opened on the side end surface where the large cylindrical part is connected to the small cylindrical part.

[0010] In one embodiment disclosed in the present application, the speed reduction mechanism includes a second gland, an inner gear ring, and a primary planetary gear transmission pair and a secondary planetary gear transmission pair that are transmission-connected to each other; The second gland is connected to an end of the housing away from the support to form a deceleration chamber inside the housing bounded by the partition and the second gland; The inner gear ring is pressed against the speed reduction chamber through the second gland; The first-stage planetary gear transmission pair and the second-stage planetary gear transmission pair are respectively meshed with the inner side of the inner gear ring; The input end of the first-stage planetary gear transmission pair is connected to the other end of the core shaft portion; The output end of the secondary planetary gear transmission pair is connected to the output mechanism.

[0011] In one embodiment disclosed in the present application, the first-stage planetary gear transmission pair includes a first-stage sun gear, a first-stage planetary gear and a first-stage planet carrier. The first-stage sun gear is used as the input end of the first-stage planetary gear transmission pair, and its shaft end is fixedly connected to the other end of the core shaft portion in a plug-in form. There are three first-stage planetary gears evenly distributed on the circumference and all mesh with the outer side of the first-stage sun gear and the inner side of the inner gear ring to achieve revolution. The three first-stage planetary gears are respectively rotatably connected to the first-stage planet carrier to achieve rotation. The secondary planetary gear transmission pair includes a secondary sun gear, a secondary planetary gear and a secondary planet carrier. One axial end of the secondary sun gear is fixedly connected to the middle of the primary planet carrier in a plug-in manner. The other axial end of the secondary sun gear is rotatably connected to the middle of the secondary planet carrier via a second bearing sleeved thereon. Three secondary planetary gears are evenly distributed on the circumference and are meshed with the outer side of the secondary sun gear and the inner side of the inner gear ring to achieve revolution. The three secondary planetary gears are rotatably connected to the secondary planet carrier to achieve rotation. The secondary planetary carrier is rotatably connected to the inner ring gear via a third bearing, and the third bearing is embedded between the second pressure cover and the inner ring gear. The side end of the secondary planetary carrier away from the secondary planetary gear is used as the output end of the secondary planetary gear transmission pair, and the side end is connected to the output mechanism via screws.

[0012] In one embodiment disclosed in the present application, the reduction ratio between the input end of the first-stage planetary gear transmission pair and the output end of the second-stage planetary gear transmission pair is 19.54.

[0013] In one embodiment disclosed in the present application, the output mechanism includes an output end and an end cover; The inner side of the output end is connected to the side of the secondary planetary carrier away from the secondary planetary gear by screws to press the second bearing outer ring and the third bearing inner ring; The outer side of the output end is connected to the robot-related components through screws to output torque; The end cover is embedded in the middle of the output end from the outside to the inside and is connected to the latter by screws.

[0014] In an embodiment disclosed in the present application, the core shaft portion, the primary sun gear, the secondary sun gear and the end cover are all provided with through holes in the axial direction to form a hollow structure for connecting the power supply cavity to achieve threading.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The rotor yoke with fan blades can accelerate the air flow inside the power cavity, guide the outside air into the power cavity and discharge it to form an efficient heat dissipation channel to take away the heat, improve the heat dissipation capacity, enhance the heat dissipation effect, avoid overheating of the drive mechanism, extend its service life, effectively improve the reliability of the joint module, and ensure the stability of the robot during long-term operation.

[0016] 2. Through the rotation of the fan blades, the outside air enters the power cavity from the air inlet, and then flows through the stator and the trapezoidal holes of the disc in turn, and then is discharged from the power cavity from the air outlet, thereby taking away the heat and realizing the heat dissipation of the stator and rotor.

[0017] 3. The two-stage planetary gear transmission consisting of a primary planetary gear transmission pair and a secondary planetary gear transmission pair can provide a high reduction ratio while increasing the output torque, thereby reducing the output speed, achieving large torque output and precise speed control, making the joint module more stable and efficient when transmitting torque, meeting the robot's movement requirements under different loads, and improving the robot's overall performance and the diversity of application scenarios.

[0018] 4. The hollow structure formed by the through holes enables the joint modules of the same size with a diameter of less than 60 mm to meet the power line threading requirements of the robot. The wire layout is simplified and the wires can be arranged more concealedly inside the robot, which improves the practicality of the joint module and the overall aesthetics of the robot. In addition, the hollow structure facilitates subsequent upgrades and functional expansion (such as integrating more sensors or actuators), so that the joint module has the characteristics of lightweight, integration, high reliability, etc. on the basis of miniaturization, while maintaining good flexibility and scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, 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 any creative work.

[0020] Figure 1 Schematic diagram of the explosion structure of the present invention Figure 1 ; Figure 2 Schematic diagram of the explosion structure of the present invention Figure 2 ; Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 4 for Figure 3 Schematic diagram of the axial cross-section structure.

[0021] The following are the descriptions of the reference numerals: 100, driving mechanism, 110, stator, 111, stator yoke, 112, claw pole, 120, rotor, 121, rotor yoke, 122, rotor magnet, 123, magnetic pole, 130, housing, 131, partition, 132, air outlet, 140, support, 141, air inlet, 142, small cylindrical part, 143, large cylindrical part, 150, first bearing, 160, first gland; 200, reduction mechanism, 210, second gland, 220, inner ring gear, 230, primary sun gear, 240, primary planetary gear, 250, primary planetary carrier, 260, secondary sun gear, 261, second bearing, 270, secondary planetary gear, 280, secondary planetary carrier, 281, third bearing; 300. output mechanism, 310. output end, 320. end cover. DETAILED DESCRIPTION

[0022] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0023] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0024] 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 one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0025] 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 connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0027] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention.

[0028] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0029] See also Figure 1 to Figure 4 As shown, the present invention provides a robot joint module, comprising: A driving mechanism 100, for providing power to generate torque; The speed reduction mechanism 200 is drivingly connected to the driving mechanism 100 and is used to increase the torque and transmit it to the output mechanism 300; and The output mechanism 300 is transmission-connected with the speed reduction mechanism 200 and is used to output torque to realize the movement of the robot-related components; Among them, the driving mechanism 100 has a power cavity, in which a stator 110 and a rotor 120 rotating around the periphery of the stator 110 are arranged; the rotor 120 is provided with a rotor yoke 121 with fan blades, and the outside air can enter the power cavity axially from the stator 110 and be discharged radially along the stator 110 through the rotation of the rotor yoke 121, so as to take away the heat generated in the power cavity and realize the heat dissipation of the stator 110 and the rotor 120.

[0030] Specifically, the driving mechanism 100 includes a cylindrical outer shell 130 and a support 140 connected to the outer shell 130, a partition 131 is provided inside the outer shell 130, and the support 140 covers one end of the outer shell 130 to form a power chamber bounded by the partition 131 and the support 140 inside the outer shell 130; a plurality of circumferentially evenly distributed and circular air outlet holes 132 are provided on the outer shell 130, and the air outlet holes 132 are connected to the power chamber along the radial direction of the stator 110; a plurality of circumferentially evenly distributed and strip-shaped air inlet holes 141 are provided on the support 140, and the air inlet holes 141 are opposite to the stator 110 and connected to the power chamber along the axial direction of the stator 110; the stator 110 is fixedly mounted on the support 140, and the rotor 120 is rotatably connected to the support 140. When the rotor 120 rotates at high speed, its rotor yoke 121 with fan blades can generate a suction force in the power cavity, so that the outside air is sucked into the power cavity along the axial direction of the stator 110 from the multiple strip-shaped air inlet holes 141 on the support 140 and blown toward the stator 110. After flowing through the rotor 120, the air is discharged from the power cavity from the air outlet holes 132 along the radial direction of the stator 110 to take away the heat generated in the power cavity due to the current flowing through the stator 110 and the rotor 120, thereby achieving heat dissipation of the stator 110 and the rotor 120. That is to say, through the rotor yoke 121 with fan blades, the air flow inside the power cavity can be accelerated, and the outside air can be guided into the power cavity and discharged to form an efficient heat dissipation channel to take away the heat, improve the heat dissipation capacity, enhance the heat dissipation effect, avoid overheating of the drive mechanism 100, extend its service life, effectively improve the reliability of the joint module, and ensure the stability of the robot during long-term operation.

[0031] The rotor yoke 121 includes an integrally formed core shaft portion and a disc portion, one end of the core shaft portion is rotatably connected to the support 140, and the other end freely passes through the hole in the middle of the partition 131 and is connected to the reduction mechanism 200. The disc portion is parallel to the partition 131, and is provided with a plurality of trapezoidal holes evenly distributed around the circumference so that the remaining part of the disc portion constitutes the above-mentioned fan blade, and the thickness of the fan blade gradually decreases radially outward along the disc portion. That is to say, through the rotation of the fan blade, the outside air enters the power cavity from the air inlet 141, and then flows through the stator 110 and the trapezoidal holes of the disc portion in turn, and then is discharged from the power cavity from the air outlet 132, thereby taking away the heat and achieving heat dissipation of the stator 110 and the rotor 120.

[0032] The support 140 includes an integrally formed small cylindrical portion 142 and a large cylindrical portion 143, the small cylindrical portion 142 is located in the power chamber, the large cylindrical portion 143 is connected to the housing 130 to cover one end of the housing 130, and the air inlet holes 141 are uniformly distributed around the axial circumference of the small cylindrical portion 142 on the side end surface where the large cylindrical portion 143 and the small cylindrical portion 142 are connected; the stator 110 includes an integrally formed stator yoke 111 and claws The stator yoke 111 is fixedly mounted on the small cylindrical part 142, and the claw poles 112 extend radially along the stator yoke 111 and are evenly distributed around the circumference; the core shaft portion is rotatably connected to the small cylindrical part 142 through a pair of first bearings 150, and the outer edge of the disc portion is connected to the rotor magnet 122 that encircles the stator 110, and the rotor magnet 122 is embedded with a plurality of evenly distributed magnetic poles 123, which are directly opposite to the claw poles 112. After power is turned on, the rotor magnet 122 and the plurality of magnetic poles 123 rotate around the plurality of claw poles 112, and rotate with the core shaft portion, thereby generating torque to be transmitted to the reduction mechanism 200.

[0033] The end of the large cylindrical part 143 away from the small cylindrical part 142 is connected to a first gland 160 with a hole in the middle to form a power supply cavity in the large cylindrical part 143. A circuit board (not shown in the figure) is installed in the power supply cavity. The circuit board is fixedly connected to a preset support block in the large cylindrical part 143. The external power supply supplies power to the circuit board through the wire inlet notch opened on the outer circumferential surface of the large cylindrical part 143. The circuit board is electrically connected to the stator 110 and the rotor 120 through the wire threading holes opened on the side end surface where the large cylindrical part 143 and the small cylindrical part 142 are connected. After power is turned on, the rotor 120 rotates, and the outside air enters the power supply cavity from the hole in the middle of the first gland 160, and then enters the power cavity through the air inlet 141.

[0034] The reduction mechanism 200 includes a second pressure cover 210, an inner ring gear 220, and a first-stage planetary gear transmission pair and a second-stage planetary gear transmission pair that are transmission-connected to each other. The second pressure cover 210 is connected to one end of the outer casing 130 away from the support 140 to form a reduction chamber inside the outer casing 130 bounded by a partition 131 and the second pressure cover 210. The inner ring gear 220 is pressed against the reduction chamber through the second pressure cover 210. The first-stage planetary gear transmission pair and the second-stage planetary gear transmission pair are respectively meshed with the inner side of the inner ring gear 220. The input end of the first-stage planetary gear transmission pair is connected to the other end of the core shaft portion, and the output end of the second-stage planetary gear transmission pair is connected to the output mechanism 300. Specifically, the primary planetary gear transmission pair includes a primary sun gear 230, a primary planetary gear 240 and a primary planet carrier 250. The primary sun gear 230 is used as the input end of the primary planetary gear transmission pair, and its shaft end is fixedly connected to the other end of the core shaft portion in a plug-in manner. There are three primary planetary gears 240 evenly distributed on the circumference and they are all meshed with the outer side of the primary sun gear 230 and the inner side of the inner gear ring 220 to achieve revolution. The three primary planetary gears 240 are respectively rotatably connected to the primary planet carrier 250 to achieve rotation; the secondary planetary gear transmission pair includes a secondary sun gear 260, a secondary planetary gear 270 and a secondary planet carrier 280. One axial end of the secondary sun gear 260 is fixedly connected to the middle part of the primary planet carrier 250 in a plug-in manner, and the other axial end of the secondary sun gear 260 is passed through a second bearing 261 sleeved thereon. The secondary planetary gears 270 are evenly distributed on the circumference of the secondary planetary carrier 280, and are meshed with the outer side of the secondary sun gear 260 and the inner side of the inner gear ring 220 to realize the revolution. The three secondary planetary gears 270 are respectively connected to the secondary planetary carrier 280 to realize the rotation. The secondary planetary carrier 280 is connected to the inner gear ring 220 through the third bearing 281 (that is, the inner ring of the third bearing 281 is fixedly sleeved on the secondary planetary carrier 280), and the third bearing 281 is embedded between the second pressure cover 210 and the inner gear ring 220 (that is, the outer ring of the third bearing 281 is fixedly embedded between the second pressure cover 210 and the inner gear ring 220). The side end of the secondary planetary carrier 280 away from the secondary planetary gears 270 is used as the output end of the secondary planetary gear transmission pair, and the side end is connected to the output mechanism 300 through screws. The high-speed rotation of the core shaft portion is decelerated in sequence by the primary sun gear 230, the primary planetary gear 240, the primary planetary carrier 250, the secondary sun gear 260, the secondary planetary gear 270 and the secondary planetary carrier 280 to increase the generated torque; in this process, the primary sun gear 230 rotates, driving the primary planetary gear 240 to rotate while revolving, thereby driving the primary planetary carrier 250 to rotate, and the secondary sun gear 260 rotates with the primary planetary carrier 250, driving the secondary planetary gear 270 to rotate while revolving, and then driving the secondary planetary carrier 280 to rotate, and finally the output torque is transmitted to the output mechanism 300 through the secondary planetary carrier 280 to realize the movement of the relevant components of the robot.That is to say, the two-stage planetary gear transmission composed of the first-stage planetary gear transmission pair and the second-stage planetary gear transmission pair can provide a high reduction ratio while increasing the output torque, thereby reducing the output speed, achieving large torque output and precise speed control, making the joint module more stable and efficient when transmitting torque, meeting the robot's movement requirements under different loads, and improving the robot's overall performance and the diversity of application scenarios.

[0035] In this embodiment, the reduction ratio between the input end of the first planetary gear transmission pair and the output end of the second planetary gear transmission pair is 19.54. This reduction ratio can output a large torque to meet the stable operation of the robot under high load.

[0036] The output mechanism 300 includes an output end 310 and an end cover 320. The inner side of the output end 310 is connected to the side of the secondary planetary carrier 280 away from the secondary planetary gear 270 by screws to press the outer ring of the second bearing 261 and the inner ring of the third bearing 281. The outer side of the output end 310 is connected to the robot-related components by screws to output torque. The end cover 320 is embedded in the middle of the output end 310 from the outside to the inside and is connected to the latter by screws. The rotation of the secondary planetary carrier 280 drives the output end 310 and the end cover 320 to rotate synchronously, thereby realizing the movement of the robot-related components.

[0037] The core shaft, the primary sun gear 230, the secondary sun gear 260 and the end cover 320 are all provided with through holes in the axial direction to form a hollow structure, which is used to connect the power supply cavity to achieve threading. Specifically, the maximum outer dimension of this joint module is φ56×65mm, and the diameter of the through holes of the primary sun gear 230, the secondary sun gear 260 and the end cover 320 are all 5mm, which can simultaneously thread three 4mm 2 That is to say, through the hollow structure formed by the through holes, the joint module of the same size with a diameter of less than 60mm can meet the power line threading requirements of the robot wires, the wire layout is simplified and the wires can be arranged more concealedly inside the robot, which improves the practicality of the joint module and the overall aesthetics of the robot; in addition, the hollow structure is convenient for subsequent upgrades and functional expansion (such as integrating more sensors or actuators), so that the joint module has the characteristics of lightweight, integration, high reliability, etc. on the basis of miniaturization, while maintaining good flexibility and scalability.

[0038] The above embodiments are only preferred embodiments of the present invention and are not limitations of the technical solutions of the present invention. Any technical solution that can be implemented on the basis of the above embodiments without creative work should be deemed to fall within the scope of protection of the patent of the present invention.

Claims

1. A robot joint module, characterized in that: include: A drive mechanism for providing power to generate torque; A reduction mechanism, drivingly connected to the driving mechanism, for increasing the torque and transmitting it to the output mechanism; and An output mechanism, drivingly connected to the reduction mechanism, for outputting torque to realize the movement of the robot-related components; Among them, the driving mechanism has a power cavity, in which a stator and a rotor rotating around the periphery of the stator are arranged; the rotor is provided with a rotor yoke with fan blades, and the outside air can enter the power cavity from the axial direction of the stator through the rotation of the rotor yoke and be discharged along the radial direction of the stator, so as to take away the heat generated in the power cavity and realize the heat dissipation of the stator and the rotor.

2. The robot joint module according to claim 1, characterized in that: The driving mechanism comprises a cylindrical outer shell and a support connected to the outer shell, a partition is provided inside the outer shell, and the support covers one end of the outer shell to form a power chamber bounded by the partition and the support inside the outer shell; The housing is provided with a plurality of circular air outlet holes which are evenly distributed around the circumference, and the air outlet holes are connected with the power cavity along the radial direction of the stator; The support is provided with a plurality of strip-shaped air inlet holes which are evenly distributed around the circumference, and the air inlet holes are directly opposite to the stator and are connected with the power chamber along the axial direction of the stator; The stator is fixedly sleeved on the support, and the rotor is rotatably connected to the support.

3. The robot joint module according to claim 2, characterized in that: The rotor yoke comprises a core shaft portion and a disc portion formed in one piece; One end of the core shaft is rotatably connected to the support, and the other end freely passes through the hole in the middle of the partition and is connected to the speed reduction mechanism; The disc portion is parallel to the partition plate and is provided with a plurality of trapezoidal holes evenly distributed around the circumference so that the remaining portion of the disc portion constitutes the above-mentioned fan blades, and the thickness of the fan blades gradually decreases radially outward along the disc portion.

4. The robot joint module according to claim 3, characterized in that: The support comprises an integrally formed small cylindrical portion and a large cylindrical portion, the small cylindrical portion is located in the power chamber, the large cylindrical portion is connected to the shell to cover one end of the shell, and the air inlet holes are uniformly distributed around the axial circumference of the small cylindrical portion on the side end surface where the large cylindrical portion and the small cylindrical portion are connected; The stator comprises an integrally formed stator yoke and claw poles, wherein the stator yoke is fixedly sleeved on the small cylindrical portion, and the claw poles extend radially along the stator yoke and are evenly distributed on the circumference; The core shaft portion is rotatably connected to the small cylindrical portion through a pair of first bearings. The outer edge of the disc portion is connected to a rotor magnet that encircles the stator. The rotor magnet is embedded with a plurality of circumferentially evenly distributed magnetic poles, which are directly opposite to the claw poles.

5. The robot joint module according to claim 4, characterized in that: The end of the large cylindrical part away from the small cylindrical part is connected to a first gland with a hole in the middle to form a power supply cavity in the large cylindrical part, a circuit board is installed in the power supply cavity, and the circuit board is fixedly connected to a support block preset in the large cylindrical part; The external power source supplies power to the circuit board through the wire inlet notch opened on the outer circumferential surface of the large cylindrical part, and the circuit board is electrically connected to the stator and the rotor respectively through the threading holes opened on the side end surface where the large cylindrical part is connected to the small cylindrical part.

6. The robot joint module according to claim 5, characterized in that: The speed reduction mechanism comprises a second gland, an inner gear ring, and a primary planetary gear transmission pair and a secondary planetary gear transmission pair which are connected in transmission; The second gland is connected to an end of the housing away from the support to form a deceleration chamber inside the housing bounded by the partition and the second gland; The inner gear ring is pressed against the speed reduction chamber through the second gland; The first-stage planetary gear transmission pair and the second-stage planetary gear transmission pair are respectively meshed with the inner side of the inner gear ring; The input end of the first-stage planetary gear transmission pair is connected to the other end of the core shaft portion; The output end of the secondary planetary gear transmission pair is connected to the output mechanism.

7. The robot joint module according to claim 6, characterized in that: The first-stage planetary gear transmission pair includes a first-stage sun gear, a first-stage planetary gear and a first-stage planet carrier. The first-stage sun gear is used as the input end of the first-stage planetary gear transmission pair, and its shaft end is fixedly connected to the other end of the core shaft portion in a plug-in form. There are three first-stage planetary gears evenly distributed on the circumference and they are all meshed with the outer side of the first-stage sun gear and the inner side of the inner gear ring to achieve revolution. The three first-stage planetary gears are respectively rotatably connected to the first-stage planet carrier to achieve rotation. The secondary planetary gear transmission pair includes a secondary sun gear, a secondary planetary gear and a secondary planet carrier. One axial end of the secondary sun gear is fixedly connected to the middle of the primary planet carrier in a plug-in manner. The other axial end of the secondary sun gear is rotatably connected to the middle of the secondary planet carrier via a second bearing sleeved thereon. Three secondary planetary gears are evenly distributed on the circumference and are meshed with the outer side of the secondary sun gear and the inner side of the inner gear ring to achieve revolution. The three secondary planetary gears are rotatably connected to the secondary planet carrier to achieve rotation. The secondary planetary carrier is rotatably connected to the inner ring gear via a third bearing, and the third bearing is embedded between the second pressure cover and the inner ring gear. The side end of the secondary planetary carrier away from the secondary planetary gear is used as the output end of the secondary planetary gear transmission pair, and the side end is connected to the output mechanism via screws.

8. The robot joint module according to claim 6 or 7, characterized in that: The reduction ratio between the input end of the first-stage planetary gear transmission pair and the output end of the second-stage planetary gear transmission pair is 19.

54.

9. The robot joint module according to claim 7, characterized in that: The output mechanism comprises an output end and an end cover; The inner side of the output end is connected to the side of the secondary planetary carrier away from the secondary planetary gear by screws to press the second bearing outer ring and the third bearing inner ring; The outer side of the output end is connected to the robot-related components through screws to output torque; The end cover is embedded in the middle of the output end from the outside to the inside and is connected to the latter by screws.

10. The robot joint module according to claim 9, characterized in that: The core shaft portion, the primary sun gear, the secondary sun gear and the end cover are all provided with through holes in the axial direction to form a hollow structure, which is used to connect with the power supply cavity to achieve threading.

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