Robot joint module

Abstract

The invention discloses a robot joint module, and belongs to the technical field of robots, the robot joint module comprises a main body, the main body comprises a wheel type chassis, a linear module is hinged to the top of the wheel type chassis, and the linear module drives a transverse frame to move in the vertical direction. Through the arrangement of the main body, the execution arm and the power piece, the goods loading operation of goods shelves with different heights can be completed in a supermarket scene, the coaxial design of the first rotating unit and the second rotating unit of the power piece is utilized, and the first rotating unit and the second rotating unit are detachably connected through the serial connection piece; the first rotating unit and the second rotating unit can act independently with low energy consumption, can also be connected in series for synchronous driving to increase power output, can also be used for locking joints to keep stable action, and can well adapt to large-load carrying and high-precision bulk cargo placement.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a robot joint module. BACKGROUND

[0002] The application of robots in various scenes greatly improves work efficiency and liberates labor, and can assist operators to perform repeated steps and high-load work in some high-repetition scenes, increase work precision, and reduce work difficulty. Among them, the robot in the supermarket scene has great development space in goods carrying and placing.

[0003] The existing Chinese invention patent with the publication number CN107434226B discloses a carrying robot. The lifting and rotating unit of the carrying robot can drive the tray to rotate relative to the vehicle body in one direction without limit and can rotate by any angle. The carrying robot can move without limit when performing a task, and the carrying robot itself does not need to be adjusted separately, thereby improving carrying efficiency. The lifting and rotating unit structure of the carrying robot is reliable and stable, and can bear a large load. However, in actual use scenarios, simple goods carrying can also be achieved by using a forklift. However, for the placement of bulk goods, i.e., restocking of empty shelves, it is still dependent on manual operation. After goods are carried, the goods cannot be automatically loaded, and the auxiliary function is relatively single. In view of this, a robot joint module is provided. SUMMARY

[0004] The technical problem to be solved by the application is to overcome the shortcomings of the prior art and provide a robot joint module.

[0005] The technical solution adopted to solve the above technical problem is: A robot joint module, comprising: A main body, wherein the main body comprises a wheeled chassis, a linear module is hingedly installed on the top of the wheeled chassis, and the linear module drives a cross frame to move in a vertical direction. Two execution arms, wherein the two execution arms are symmetrically installed at both ends of the cross frame, the execution arm comprises a base, the base is rotationally installed at one end with a joint one, the joint one is swingably installed with a joint two through a power member, the joint two is swingably installed with a joint three through a power member, and the joint three is rotationally installed at one end with a joint four. The power member comprises a rotating unit one and a rotating unit two, the rotating unit one and the rotating unit two are connected through a relay member, the joint one is fixedly connected with the relay member and swingably connected with the joint two through the rotating unit one and the rotating unit two, and the joint two is fixedly connected with the relay member and swingably connected with the joint three through the rotating unit one and the rotating unit two. The power component further comprises a series component composed of the clutch one, the clutch two and the brake, the clutch one rotates synchronously with the rotating unit one, the clutch two rotates synchronously with the rotating unit two, the clutch one and the clutch two can rotate coaxially through the brake, and the rotating unit one and the rotating unit two can be stopped from rotating through the lock shaft.

[0006] The wheeled chassis moves the whole device, the two execution arms are used to connect the mechanical arm to perform fine cargo handling actions such as cargo placement and cleaning, the linear module can change the height of the execution arm to adapt to different shelf heights, the base rotates around the shaft through the motor to drive joint one to perform pitch adjustment, joint one changes the horizontal position of joint two through the power component, and joint two changes the horizontal position of joint three through the power component to expand the coverage of horizontal operation, in the light load state, the rotating unit one and the rotating unit two of the power component can be selectively started to drive joint two and joint three to quickly swing to the predetermined position with small energy consumption, in the heavy load state, the clutch one and the clutch two are started to engage with the brake, at this time, the rotating driving forces of the rotating unit one and the rotating unit two of the power component are superimposed on each other and can provide rotating driving force from both sides at the same time to ensure that the driving force of joint two and joint three is sufficient when rotating and can ensure that the stress of joint two and joint three is stable, and when carrying cargo, joint two and joint three do not need to move relative to each other, at this time, the rotating unit one and the rotating unit two are locked by the brake to stably carry the cargo, instead of keeping the rotating unit one and the rotating unit two in a continuous power-on state to stabilize in the current position, while ensuring the carrying capacity, avoiding the abnormally high temperature caused by the rotating unit one and the rotating unit two being powered on but unable to rotate.

[0007] Further, the rotating unit one comprises a power source one, a synchronous wheel one is installed at the end of the power source one, a fin one is annularly installed at the end of the synchronous wheel one, a sun gear one is sleeved and installed outside the fin one, a gear ring one is coaxially sleeved with the sun gear one, and a planetary gear one is installed between the sun gear one and the gear ring one.

[0008] Through the above technical solution, the specific structure of the rotating unit one is disclosed, the structure of the rotating unit two is exactly the same as that of the rotating unit one, the power source one provides rotating power, the synchronous wheel one serves as the installation platform of the fin one to drive the fin one to rotate, the fin one serves as a support frame, the sun gear one has a hollow structure in the middle to make the whole weight light, the external energy required for rotation and stopping is small, and the transmission is more flexible to drive the sun gear one fixed outside the fin one to rotate quickly, when the sun gear one rotates, the gear ring one rotates slowly through the planetary gear one, and the deceleration structure can achieve the effect of deceleration and torque increase to improve the load capacity and adapt to the cargo carrying scene.

[0009] Further, the rotating unit one further comprises an end shell one and a lining plate one, the power source one is fixedly installed in the space formed by the end shell one and the lining plate one, the end shell one is provided with a pressing shell one matched with the gear ring one at the opening position, the gear ring one is provided with a sleeve matched with the fin one at the circular opening in the middle, the lining plate one is provided with a middle hole matched with the fin one in the middle, and the vertical side wall of the end shell one is provided with an air passing hole.

[0010] Through the above technical scheme, the power source one needs to be frequently rotated forward and backward and stopped to make the execution arm quickly complete the action. In order to ensure the stable work of the power source and not high temperature, when the fin one as the support frame rotates at high speed, the airflow along the sleeve to the end shell one is generated, the airflow directly blows to the position of the power source one through the middle hole, and the heat carried by the airflow is discharged from the end shell one through the air passing hole. Therefore, it is not necessary to separately design an external heat dissipation structure, the structure of the power element is simplified, the miniaturization design is more convenient, the total weight of the power element is reduced, the energy consumption required to overcome the weight of the execution arm during work is reduced, and the continuous working capacity is improved.

[0011] Further, the relay further comprises a pull rod, the pull rod is horizontally installed between the rotating unit one and the rotating unit two, the circumferential side wall of the relay is provided with a rib, the side wall of the relay is provided with a through hole, and the outer wall of the joint one and the joint two is provided with a mesh plate corresponding to the sleeve and the relay.

[0012] Through the above technical scheme, in order to ensure the stable installation of the power element, the power element is fixed at the end of the joint two through the pull rod, and the joint one is fixedly connected with the joint two through the rotating unit one and the rotating unit two to rotate and drive. At this time, the mesh plate is convenient for external air to enter the sleeve, the hot air is discharged from the end shell one through the through hole and escapes to the external atmosphere, and the continuous air cooling heat dissipation is carried out.

[0013] Further, the adapter one comprises a rotating shaft one, the rotating shaft one is provided with a transmission wheel one at the end, the transmission wheel one is meshed and connected with a synchronous wheel one through a synchronous belt, a spline head one is installed at the end away from the transmission wheel one of the rotating shaft one, a sliding block one is installed outside the spline head one, the sliding block one is coaxially and slidingly connected with the spline head one through a spline hole, a sliding sleeve one is installed outside the sliding block one, and an electromagnetic ring one is installed at the end away from the rotating shaft one of the sliding sleeve one.

[0014] Through the above technical scheme, the specific structure of the adapter one is disclosed, the structure of the adapter two is exactly the same as that of the adapter one, the circumferential side wall of the synchronous wheel one is provided with a gear groove to drive the transmission wheel one to rotate synchronously, when the rotating unit one and the rotating unit two work to drive the joint two and the joint three to swing forward through the planetary gear one and the gear ring one, the rotating shaft one and the sliding block one rotate reversely at high speed to generate the moment of inertia to offset the swing of the joint two and the joint three, the stability of the execution arm during work is improved, and the success rate of fine actions such as goods placing is improved.

[0015] Further, a convex ring one is arranged in the middle of the sliding block one, a spring one is arranged between the convex ring one and the rotating shaft one, a sliding gap is arranged between the convex ring one and the electromagnetic ring one, and a contact one is arranged at one end of the sliding block one close to the electromagnetic ring one.

[0016] Through the above technical scheme, in order to realize the smooth combination and separation with the brake, when the electromagnetic ring one is powered on, the convex ring one is attracted by magnetic force to make the sliding block one slide horizontally along the sliding gap, the spring one is elongated, and the contact one is pressed tightly at the end of the brake to realize the combination. When the electromagnetic ring one is powered off, the spring one returns to reset, the sliding block one is away from the brake, and the adapter one and the adapter two are separated from each other.

[0017] Further, the brake further comprises a shell, a through hole is arranged in the middle of the shell, a middle shaft is horizontally arranged in the middle of the through hole, an end disc is arranged at the end of the middle shaft, a contact block is embedded on the end face of the end disc, the distance between the contact block and the contact one is less than the width of the sliding gap, and the lock shaft device is arranged in the middle segment of the middle shaft.

[0018] Through the above technical scheme, in order to ensure the power transmission function of the brake, a middle shaft is arranged, the adapter one and the adapter two are directly combined with the middle shaft when working, the middle shaft rotates in the through hole of the shell, and the rotation power can be transmitted. At this time, the lock shaft device plays a role of centering and limiting to ensure the horizontal stable rotation of the middle shaft.

[0019] Further, the lock shaft device comprises a pressing frame and a supporting frame, a clamping groove for fixing and installing the supporting frame is arranged on the inner side of the shell, a sliding groove for vertically sliding the pressing frame is arranged on the upper part of the inner side of the shell, a notch matched with the pressing frame is arranged on the top of the supporting frame, an intermediate plate is arranged in the middle of the pressing frame, an extension rod is arranged between the intermediate plate and the shell, and the extension rod is connected with a bidirectional pump through a pipeline.

[0020] Through the above technical scheme, the specific configuration of the disclosed lock shaft device is that the pressing frame and the supporting frame adopt a semi-ring structure, the middle shaft is supported in the middle, and the role of centering and limiting is played. When it is necessary to lock the rotating unit one and the rotating unit two, the adapter one and the adapter two work with the middle shaft, the extension rod is elongated to press the middle shaft through the pressing frame to increase the friction force of the contact surface, the middle shaft is pressed and fixed, and then the position of the rotating unit one and the rotating unit two is locked. At this time, the rotating unit one and the rotating unit two can also remain stable in position when powered off, so as to carry out stable carrying work.

[0021] Further, the power source one comprises a stator one and a rotor one, the stator one is fixedly connected with the synchronous wheel one in the same axis, the rotor one is sleeved outside the stator one, and a protection shell is arranged outside the stator one.

[0022] Through the technical scheme, the specific configuration of the power source one is disclosed, the stator one is annular and internally coiled with three-phase coils, and the rotor one is fixed with a plurality of permanent magnets in annular array, when the stator one is powered, the rotor one can be driven to rotate in the required direction.

[0023] Further, the main body further comprises a vision module, the vision module, the electromagnetic ring one, the bidirectional pump and the stator one are electrically connected with the control module through wires respectively, and the control module is installed in the relay.

[0024] Through the technical scheme, the vision module can capture the positions of the execution arm and the goods, so as to continue smooth carrying and goods replenishment, and the electromagnetic ring one, the bidirectional pump and the stator one are electrically connected with the control module, so that the built-in control program of the control module can be used to automatically control the carrying and replenishment actions.

[0025] The beneficial effects of the present application are as follows: The present application can complete the goods replenishment operation of different height shelves in the supermarket scene through the setting of the main body, the execution arm and the power part, and the coaxial design of the rotating unit one and the rotating unit two of the power part, the serial connection of the rotating unit one and the rotating unit two, the low energy consumption independent action of the rotating unit one and the rotating unit two, the synchronous driving of the serial connection, the power output increase, the joint locking and the action stability maintenance. Through the design of the serial connection, when heavy load is carried, the serial connection is an integral whole on the rotating unit one and the rotating unit two to act as a transmission shaft, so as to ensure the stability of power transmission, and then make the joint power sufficient and the stress balanced, when light load is placed, the adapter one and the adapter two act to balance the horizontal torque, offset the vibration generated when the joint swings, ensure the stability of the execution arm during fine work, and avoid the resonance influence on the work precision caused by the vibration of the multi-joint. Through the optimization of the power part, the planetary gear set is used as the transmission structure to reduce speed and increase torque, so that the power source can maintain a high rotating speed, at the same time, the fin is used for hollow connection for the connection of the sun gear and the power source, in the scene needing frequent start and stop and reversing, the high energy consumption and high impact vibration caused by the too large mass of the sun gear are inhibited, axial airflow can also be generated for self-cooling, and the stability of the joint during long time work is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a structural schematic diagram of the present application; Figure 2 is a state schematic diagram of the present application; Figure 3 is a structural schematic diagram of the execution arm of the present application; Figure 4is a structural schematic diagram of a power element of the present application; Figure 5 is a sectional schematic diagram of a power element of the present application Figure 1 ; Figure 6 is a sectional schematic diagram of a power element of the present application Figure 2 ; Figure 7 is a structural schematic diagram of a gear ring, a planetary gear and a sun gear of a power element of the present application; Figure 8 is a structural schematic diagram of a sun gear of a power element of the present application and a structure connected thereto; Figure 9 is a sectional schematic diagram of a sun gear of the present application and a clutch; Figure 10 is a disassembled schematic diagram of a clutch of the present application; Figure 11 is a disassembled schematic diagram of a brake of the present application; Figure 12 is a sectional schematic diagram of a clutch, a clutch and a brake of the present application in a combined state.

[0027] Reference signs: 1, wheeled chassis; 11, linear module; 12, cross frame; 13, visual module; 2, base; 21, joint one; 22, joint two; 23, joint three; 24, joint four; 3, power component; 4, rotating unit one; 41, compression shell one; 42, backing plate one; 421, middle hole; 43, gear ring one; 431, round port; 432, sleeve; 433, support plate; 434, inner tooth groove; 44, end shell one; 45, planetary gear one; 46, sun gear one; 47, fin one; 471, air passage; 48, synchronous wheel one; 49, power source one; 491, stator one; 492, rotor one; 5, rotating unit two; 51, compression shell two; 52, backing plate two; 53, gear ring two; 54, end shell two; 55, planetary gear two; 56, sun gear two; 57, fin two; 58, synchronous wheel two; 59, power source two; 591, stator two; 592, rotor two; 6, relay component; 61, pull rod; 7, adapter one; 71, rotating shaft one; 711, transmission wheel one; 712, spline head one; 72, sliding block one; 721, contact head one; 722, convex ring one; 723, spline hole; 73, spring one; 74, sliding sleeve one; 741, sliding gap; 75, electromagnetic ring one; 76, synchronous belt; 8, adapter two; 81, rotating shaft two; 811, transmission wheel two; 812, spline head two; 82, sliding block two; 821, contact head two; 822, convex ring two; 83, spring two; 84, sliding sleeve two; 85, electromagnetic ring two; 9, brake; 91, pressing frame; 911, middle plate; 912, telescopic rod; 913, bidirectional pump; 92, housing; 921, through hole; 922, clamping groove; 923, sliding groove; 93, middle shaft; 931, end disc; 932, contact block; 94, supporting frame; 941, notch; 10, control module. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0029] As shown in Figure 1 - Figure 12 The present embodiment provides a robot joint module. In order to balance the heavy load carrying action and the fine action such as bulk cargo placement, a specific configuration is provided. Regarding the main body, referring to Figure 1 , the main body comprises a wheeled chassis 1, and a linear module 11 is installed on the top of the wheeled chassis 1. The linear module 11 is internally provided with a heavy load type lead screw sliding table. A cross frame 12 is installed on the mounting seat of the heavy load type lead screw sliding table. The linear module 11 drives the cross frame 12 to move in the vertical direction, so as to adapt to the different height requirements of multi-layer shelves. Regarding the two execution arms, referring to Figure 3Two execution arms are symmetrically installed at both ends of the cross frame 12 to simulate the human arms to carry goods, the execution arm includes the base 2, the base 2 is internally provided with a load motor, a joint one 21 is installed at the end of the load motor, so that the joint one 21 can rotate around the electrode shaft of the load motor to perform pitch adjustment, the joint one 21 is swingably installed with a joint two 22 through a power member 3, the joint two 22 is swingably installed with a joint three 23 through the power member 3, the coverage position of the horizontal operation can be expanded to carry goods of different sizes, the joint three 23 is internally provided with a servo motor, a joint four 24 is rotationally connected to change the angle of the mechanical hand to perform horizontal, vertical or inclined clamping, the joint four 24 is detachably installed with a mechanical hand to finely clamp small-size goods; Wherein, with reference to Figure 4 , the power member 3 includes a rotating unit one 4 and a rotating unit two 5, the rotating unit one 4 and the rotating unit two 5 are connected through a relay member 6, the joint one 21 is fixedly connected with the relay member 6 and swingably connected with the joint two 22 through the rotating unit one 4 and the rotating unit two 5, the joint two 22 is fixedly connected with the relay member 6 and swingably connected with the joint three 23 through the rotating unit one 4 and the rotating unit two 5; The power member 3 further includes a series member, the series member is composed of a coupler one 7, a coupler two 8 and a brake 9, the coupler one 7 rotates synchronously with the rotating unit one 4, the coupler two 8 rotates synchronously with the rotating unit two 5, the coupler one 7 and the coupler two 8 can rotate coaxially through the brake 9, the brake 9 can stop the rotating unit one 4 and the rotating unit two 5 from rotating through a shaft locking device.

[0030] The working principle of the embodiment is as follows: In the commercial super use scene, with reference to Figure 1 , the wheeled chassis 1 is provided with driving wheels and reversing wheels to make the whole device move flexibly, two execution arms are used to connect the mechanical hand to perform fine goods arrangement actions, such as goods placement and cleaning, and the linear module 11 can change the height of the execution arm to adapt to goods shelves of different heights; With reference to Figure 2When taking heavy objects, the wheeled chassis 1 and the linear module 11 are hinged and installed by a swing element, and a driving element (such as a telescopic cylinder and a stepping motor) is designed to provide power, so that the linear module 11 can swing from a vertical state to a certain angle with the vertical direction, and the two execution arms clasp the goods, the linear module 11 tilts away from the goods, so that the center of gravity of the goods is within the range of the wheeled chassis 1, avoiding the device from falling towards the goods, high safety, the linear module 11 can also move the goods up and down and place them at different heights, in the process, the adapter one 7 and the adapter two 8 are started and engaged with the brake 9, at this time, the rotation unit one 4 and the rotation unit two 5 of the power element 3 superimpose the rotation driving force on each other, and can provide rotation driving force from both sides at the same time, to ensure that the driving force of the joint two 22 and the joint three 23 is sufficient when rotating, and to ensure that the stress of the joint two 22 and the joint three 23 is stable, during the process of carrying goods, the joint two 22 and the joint three 23 do not need to move relatively, only need to continuously clamp the goods, at this time, the rotation unit one 4 and the rotation unit two 5 are locked by the brake 9 in order to stably clamp the goods, instead of making the rotation unit one 4 and the rotation unit two 5 in a continuous power-on state to stabilize in the current position, while ensuring the carrying capacity, avoiding the abnormal high temperature caused by the rotation unit one 4 and the rotation unit two 5 being powered on but unable to rotate; In the light load state, the adapter one 7 and the adapter two 8 are powered off, the rotation unit one 4 and the rotation unit two 5 of the power element 3 can be started alternatively, to bring the joint two 22 and the joint three 23 to swing quickly to the predetermined position with smaller energy consumption, to perform light load actions such as placing and cleaning of bulk goods, and to reduce energy consumption.

[0031] In further embodiments, the specific configuration of the rotation unit one 4 is disclosed, referring to Figure 8 , the rotation unit one 4 includes a power source one 49, the power source one 49 is provided with a synchronous wheel one 48 at the end, the synchronous wheel one 48 is provided with an array of fins one 47 at the end, the fins one 47 are provided with a sun gear one 46 outside the sleeve, the sun gear one 46 is coaxially provided with a gear ring one 43, the gear ring one 43 and the sun gear one 46 are provided with a planetary gear one 45, the power source one 49 provides rotary power, the synchronous wheel one 48 serves as the installation platform of the fins one 47, so that the fins one 47 are driven to rotate, the fins one 47 serve as a support frame, the sun gear one 46 is formed with a hollow structure in the middle to make the whole weight light, the external energy required for rotation and stopping is less, the transmission is more flexible, to drive the sun gear one 46 fixed outside the fins one 47 to rotate quickly, when the sun gear one 46 rotates, through the meshing of the planetary gear one 45 and the inner tooth groove 434 of the gear ring one 43, the gear ring one 43 is driven to rotate slowly, the use of the reduction structure can achieve the effect of speed reduction and torque increase, improve the load capacity, and adapt to the large load scene of goods carrying; The structure of the rotating unit two 5 is completely same as the structure of the rotating unit one 4. The rotating unit two 5 comprises a power source two 59, the power source two 59 is provided with a synchronous wheel two 58 at the end, the synchronous wheel two 58 is provided with a fin two 57 in an annular array at the end, the fin two 57 is provided with a sun gear two 56 outside along the sleeve, the sun gear two 56 is coaxially provided with a gear ring two 53, and the gear ring two 53 is provided with a planetary gear two 55 between the sun gear two 56.

[0032] In further embodiments, the power source one 49 needs to be frequently rotated forward and backward and stopped to make the execution arm quickly complete the action. In order to ensure the stable work of the power source without high temperature, the power source one 49 is provided with a cooling fan 50. Figure 5 Figure 7 The rotating unit one 4 further comprises an end shell one 44 and a backing plate one 42 (the rotating unit two 5 further comprises an end shell two 54 and a backing plate two 52), the power source one 49 is fixedly installed in the space formed by the end shell one 44 and the backing plate one 42, the end shell one 44 is provided with a pressing shell one 41 matched with the gear ring one 43 at the opening position (the end shell two 54 is provided with a pressing shell two 51 at the end), the gear ring one 43 is provided with a sleeve pipe 432 matched with the fin one 47 at the circular opening 431 in the middle, the backing plate one 42 is provided with a middle hole 421 matched with the fin one 47 in the middle, and the vertical side wall of the end shell one 44 is provided with an air passing hole. When the fin one 47 rotates at high speed as a support frame, the inclined design of the fin one 47 can push the air to flow to the end shell one 44 along the air passing channel 471 of the sleeve pipe 432, the airflow directly blows to the position of the power source one 49 through the middle hole 421, and the heat carried by the airflow is discharged from the end shell one 44 through the air passing hole. Therefore, it is not necessary to separately design an external heat dissipation structure, the structure of the power component 3 is simplified, the miniaturization design is more convenient, the total weight of the power component 3 is reduced, the energy consumption required to overcome the weight of the execution arm during work is reduced, and the continuous working capacity is improved.

[0033] In further embodiments, in order to ensure the stable installation of the power component 3, the power source one 49 is provided with a plurality of fixing holes 491. Figure 4 ​The relay piece 6 further comprises a pull rod 61 horizontally installed between the rotating unit one 4 and the rotating unit two 5, the power piece 3 is fixed at the end of the joint two 22 through the pull rod 61, and is fixedly connected with the joint one 21 through the gear ring one 43 and the gear ring two 53 (the vertical side wall of the gear ring one 43 and the gear ring two 53 is provided with a support plate 433, and the joint one 21 can be connected through bolts) of the rotating unit one 4 and the rotating unit two 5, so as to be driven to rotate (for the same reason, the power piece 3 at the jointing position of the joint two 22 and the joint three 23, the pull rod 61 is fixed at the end of the joint three 23, and the rotating unit one 4 and the rotating unit two 5 are fixedly connected with the joint two 22), the circumferential side wall of the relay piece 6 is provided with a rib, which increases the structural strength of the hollow relay piece 6, and also facilitates the heat transfer in the relay piece 6 to the joint position, avoids that the temperature of the relay piece 6 is too high, the side wall of the relay piece 6 is provided with a through hole, the outer wall of the joint one 21 and the joint two 22 is provided with a mesh plate corresponding to the sleeve 432 and the relay piece 6, at this time, the mesh plate is convenient for the external air to enter the sleeve 432, and the hot air is discharged from the through hole to the outside atmosphere to escape to the outside atmosphere, and the continuous air cooling heat dissipation is carried out.

[0034] In further embodiments, the specific configuration of the connector one 7 is disclosed, referring to Figure 9 、 Figure 10 and Figure 12 The connector one 7 comprises a rotating shaft one 71, the rotating shaft one 71 is horizontally arranged, a transmission wheel one 711 is installed at the end of the rotating shaft one 71, the circumferential side wall of the synchronous wheel one 48 is provided with a gear groove, the transmission wheel one 711 is engaged and connected with the synchronous wheel one 48 through the synchronous belt 76, so as to drive the synchronous rotation of the transmission wheel one 711, a spline head one 712 is installed at the end of the rotating shaft one 71 away from the transmission wheel one 711, a sliding block one 72 is installed outside the spline head one 712, the sliding block one 72 is coaxially and slidingly connected with the spline head one 712 through the spline hole 723, so that the horizontal sliding of the sliding block one 72 will not affect the synchronous rotation between the rotating shaft one 71 and the sliding block one 72, the sliding block one 72 is sleeved with a sliding sleeve one 74, the electromagnetic ring one 75 is installed at the end of the sliding sleeve one 74 away from the rotating shaft one 71, and the sliding block one 72 is attracted to the brake 9 for engagement when electrified; It is emphasized that when performing delicate movements such as placing goods, a smaller torque is required but higher precision is required. At this time, taking the power element 3 at the joint one 21 and joint two 22 connection as an example, the power element 3 at the joint two 22 and joint three 23 connection has the same principle. When the joint two 22 needs to swing slightly to place the goods, the sun gear one 46 rotates counterclockwise, and through the transmission of the planet gear one 45, it will drive the gear ring one 43 to rotate clockwise. According to Newton's third law (action and reaction), the gear ring one 43 and the joint two 22 will inevitably exert a clockwise reaction torque on the joint one 21 to obtain a clockwise angular acceleration, which will cause the end of the joint one 21 connected to the joint two 22 to vibrate, affecting the precision of placing goods, and even the vibration of multiple joints is out of order, which may even cause the goods to fall. At this time, because the clutch one 7 is connected with the synchronous wheel one 48, when the clutch one 7 is driven to rotate by the synchronous wheel one 48, it is subjected to a counterclockwise driving torque. Similarly, according to Newton's third law, the clutch one 7 will exert a clockwise reaction torque on the frame through its bearing. In this way, the clutch one 7 is arranged away from the joint two 22, and when the joint two 22 is driven to swing, an opposite rotational inertia is generated on the opposite side to offset the shaking generated when the joint two 22 swings. This design takes advantage of the transmission characteristics of the planetary gear train to naturally achieve the "opposite" relationship between the two key components (joint two 22 and clutch one 7) in motion, and thus the reaction torque of the two on the joint one 21 also shows an opposite relationship. At the same time, the joint two 22 is in a low-speed high-torque state, and the reaction torque generated by it has a low frequency, while the clutch one 7 and the sun gear one 46 are also in a high-speed low-torque state. High-speed rotation enables a relatively small clutch one 7 to store a large angular momentum, thereby generating sufficient counteracting torque to improve the stability of the execution arm during operation, avoid execution arm resonance, prevent goods from falling when the clamping force is small (soft package goods cannot be clamped too hard otherwise there is a risk of damage, so the clamping force cannot be too large), and improve the success rate of delicate movements such as placing soft packages or fragile goods.

[0035] The structure of the clutch two 8 is exactly the same as that of the clutch one 7. The clutch two 8 includes a rotating shaft two 81, the end of the rotating shaft two 81 is provided with a transmission wheel two 811, the synchronous wheel two 58 is connected with the transmission wheel two 811 through a synchronous belt to drive the transmission wheel two 811 to rotate synchronously, the end of the rotating shaft two 81 away from the transmission wheel two 811 is provided with a spline head two 812, the spline head two 812 is externally provided with a sliding block two 82, the sliding block two 82 is coaxially slidably connected with the spline head two 812, so that the horizontal sliding of the sliding block two 82 will not affect the synchronous rotation between the rotating shaft two 81 and the sliding block two 82, the rotating shaft two 81 is externally provided with a sliding sleeve two 84, the end of the sliding sleeve two 84 away from the rotating shaft two 81 is provided with an electromagnetic ring two 85, and the electromagnetic ring two 85 can attract the sliding block two 82 when electrified, so that the sliding block two 82 extends to the brake 9 for engagement.

[0036] Further embodiments, to achieve the smooth combination and separation with the brake 9, refer to Figure 9 、 Figure 10 and Figure 12 , the middle part of the slider one 72 is provided with a convex ring one 722 (the middle part of the slider two 82 is also provided with a convex ring two 822), the outer diameter of the convex ring one 722 is larger than the outer diameter of the slider one 72, the spring one 73 is installed between the convex ring one 722 and the rotating shaft one 71 (the spring two 83 is installed between the convex ring two 822 and the rotating shaft two 81), the sliding gap 741 is arranged between the convex ring one 722 and the electromagnetic ring one 75, when the electromagnetic ring one 75 is powered, the convex ring one 722 is attracted by magnetic force to make the slider one 72 slide horizontally along the sliding gap 741, the spring one 73 is elongated, the contact one 721 is pressed on the end of the brake 9, the smooth combination is realized, the contact one 721 is installed at one end of the slider one 72 close to the electromagnetic ring one 75 (the contact two 821 is installed at the end of the slider two 82), the end face of the contact one 721 is designed as frosted, the roughness is high, so that the contact is more firm, when the electromagnetic ring one 75 is powered off, the spring one 73 is reset, the slider one 72 is away from the brake 9, so that the adapter one 7 and the adapter two 8 are separated from the brake 9.

[0037] Further embodiments, to ensure the power transmission function of the brake 9, refer to Figure 11 and Figure 12 , the brake 9 further comprises a shell 92, a through hole 921 is formed in the middle part of the shell 92, a middle shaft 93 is horizontally arranged in the middle part of the through hole 921, one middle shaft 93 is arranged, when the adapter one 7 and the adapter two 8 work, the middle shaft 93 is directly engaged, the middle shaft 93 rotates in the through hole 921 of the shell 92, so that the rotary power can be transmitted, at this time, the shaft lock plays a role of centering and limiting, ensures the horizontal stable rotation of the middle shaft 93, at the same time, the end disc 931 is arranged at the end of the middle shaft 93, the contact block 932 is embedded on the end face of the end disc 931, the end face of the contact block 932 can be roughened, in addition, the contact block 932 is made of soft magnetic material, when the electromagnetic ring one 75 is powered, it can be magnetized to generate greater suction force, improve the firmness of the contact surface, avoid the sliding of the contact surface, the distance between the contact block 932 and the contact one 721 is less than the width of the sliding gap 741, so that the contact block 932 can smoothly contact with the contact one 721 and the contact two 821, the shaft lock is arranged in the middle segment of the middle shaft 93, does not block the end of the middle shaft 93, ensures the smooth engagement.

[0038] Further embodiments, the specific configuration of the disclosed shaft lock is disclosed, refer to Figure 11The locking shaft device comprises a pressing frame 91 and a supporting frame 94, the pressing frame 91 and the supporting frame 94 adopt a semi-ring structure, the pressing frame 91 is downwardly open, the supporting frame 94 is upwardly open, and the pressing frame 91 and the supporting frame 94 are oppositely arranged to support the middle shaft 93 in the middle and play a role of centering and limiting, the supporting frame 94 is provided with a notch 941 matched with the pressing frame 91 at the top, the lower end of the pressing frame 91 is inserted into the notch 941 and guided by the vertical inner wall of the notch 941 of the supporting frame 94 to ensure the verticality of the pressing frame 91, the inner side of the shell 92 is provided with a clamping groove 922 for fixedly mounting the supporting frame 94, so that the supporting frame 94 cannot rotate and is always arranged below the middle shaft 93, meanwhile, the inner side of the shell 92 is provided with a sliding groove 923 for vertically sliding the pressing frame 91, so that the pressing frame 91 is vertically mounted and can only vertically slide to ensure the position stability when the middle shaft 93 is oppositely clamped, and the horizontal deviation of the middle shaft 93 is avoided, the middle plate 911 is arranged in the middle of the pressing frame 91 and connected with the two pressing frames 91 to realize synchronous clamping between a longer horizontal distance, the distance between the two pressing frames 91 is large, so that the radial torsion of the middle shaft 93 can be avoided, the telescopic rod 912 is arranged between the middle plate 911 and the shell 92, the telescopic rod 912 is connected with the bidirectional pump 913 through a pipeline, the bidirectional pump 913 drives hydraulic oil to enter or exit the telescopic rod 912, so that the length of the telescopic rod 912 can be controlled to be lengthened or shortened, when the rotation unit one 4 and the rotation unit two 5 need to be locked, the adapter one 7 and the adapter two 8 work to engage with the middle shaft 93, the telescopic rod 912 is lengthened to press the middle shaft 93 downward through the pressing frame 91 to increase the friction force of the contact surface and press and fix the middle shaft 93, and then the position of the rotation unit one 4 and the rotation unit two 5 is locked, at this time, the rotation unit one 4 and the rotation unit two 5 can also keep the position stable without power supply to facilitate stable carrying work, and the rotation unit one 4 and the rotation unit two 5 do not need to be powered on, so that abnormal heating caused by the rotation unit one 4 and the rotation unit two 5 being powered on but unable to rotate is avoided.

[0039] In further embodiments, a specific configuration of the power source one 49 is disclosed, referring to Figure 6 and Figure 8 The power source one 49 comprises a stator one 491 and a rotor one 492, the stator one 491 is annular and internally coiled with three-phase coils, the rotor one 492 is fixed with a plurality of permanent magnets in an annular array, the stator one 491 is coaxially fixedly connected with the synchronous wheel one 48, and the rotor one 492 is sleeved outside the stator one 491, when the stator one 491 is powered, the rotor one 492 can be driven to rotate in the required direction, the stator one 491 is provided with a protective shell outside to protect the stator one 491 and the rotor one 492, the power source two 59 is completely same in structure with the power source one 49, so that when the stator two 591 is powered, the rotor two 592 will also be inducted to rotate.

[0040] In further embodiments, referring to Figure 6The control module 10 adopts a customized control host, can receive and send digital information and make control actions, wherein the main body further comprises a vision module 13, the vision module 13 adopts a laser vision scheme, has high precision and low energy consumption, can capture the positions of the execution arm and the goods, so as to continue the smooth carrying and the goods replenishment of the shelf, the vision module 13, the electromagnetic ring 75, the bidirectional pump 913 and the stator 491 are electrically connected with the control module 10 through wires respectively, and the automation control of the carrying and the replenishment action is carried out through the built-in control program of the control module 10, and the control module 10 is installed in the relay piece 6 and arranged in the inside, so that the protection effect is good.

[0041] The above merely illustrates the preferred embodiments of the present application, but is not used to limit the protection scope of the present application.

Claims

1. A robot joint module, characterized in that, Include: The main body includes a wheeled chassis (1), the top of which is hingedly mounted with a linear module (11), which drives the horizontal frame (12) to move in the vertical direction; Two execution arms, two said execution arms are symmetrically installed at both ends of the horizontal frame (12), the execution arm includes a base (2), the end of which is rotatably mounted with a joint one (21), the joint one (21) is swingably mounted with a joint two (22) through a power element (3), the joint two (22) is swingably mounted with a joint three (23) through a power element (3), the end of the joint three (23) is rotatably mounted with a joint four (24); The power element (3) includes a rotary unit one (4) and a rotary unit two (5), which are connected through a relay element (6), the joint one (21) is fixedly connected with the relay element (6) and swingably connected with the joint two (22) through the rotary unit one (4) and the rotary unit two (5), the joint two (22) is fixedly connected with the relay element (6) and swingably connected with the joint three (23) through the rotary unit one (4) and the rotary unit two (5); The power element (3) further includes a series element composed of an adapter one (7), an adapter two (8) and a brake (9), the adapter one (7) rotates synchronously with the rotary unit one (4), the adapter two (8) rotates synchronously with the rotary unit two (5), the adapter one (7) and the adapter two (8) can rotate coaxially through the brake (9), the brake (9) can stop the rotary unit one (4) and the rotary unit two (5) from rotating through the shaft lock.

2. The robotic joint module of claim 1, wherein, The rotary unit one (4) includes a power source one (49), the end of which is mounted with a synchronous wheel one (48), the end of which is annularly mounted with a fin one (47), the fin one (47) is externally sleeved with a sun gear one (46), the sun gear one (46) is coaxially sleeved with a gear ring one (43), and the gear ring one (43) and the sun gear one (46) are provided with a planetary gear one (45) therebetween.

3. The robotic joint module of claim 2, wherein, The rotary unit one (4) further includes an end shell one (44) and a backing plate one (42), the power source one (49) is fixedly installed in the space formed by the end shell one (44) and the backing plate one (42), the end shell one (44) is provided with a pressure shell one (41) matched with the gear ring one (43) at the opening position, the gear ring one (43) is provided with a sleeve (432) matched with the fin one (47) at the circular opening (431) in the middle, the backing plate one (42) is provided with a middle hole (421) matched with the fin one (47) in the middle, and the vertical side wall of the end shell one (44) is provided with a gas passing hole.

4. The robotic joint module of claim 3, wherein, The relay piece (6) further comprises a pull rod (61) horizontally installed between the rotating unit one (4) and the rotating unit two (5), the circumferential side wall of the relay piece (6) is provided with a rib, the side wall of the relay piece (6) is provided with a through hole, the outer wall of the joint one (21) and the joint two (22) is provided with a mesh plate corresponding to the sleeve (432) and the relay piece (6).

5. The robotic joint module of claim 2, wherein, The adapter one (7) comprises a rotating shaft one (71), the end of the rotating shaft one (71) is provided with a transmission wheel one (711), the transmission wheel one (711) is connected with the synchronous wheel one (48) through a synchronous belt (76), the end of the rotating shaft one (71) away from the transmission wheel one (711) is provided with a spline head one (712), the spline head one (712) is provided with a sliding block one (72) outside, the sliding block one (72) is coaxially connected with the spline head one (712) through a spline hole (723), the sliding block one (72) is provided with a sliding sleeve one (74) outside, and the end of the sliding sleeve one (74) away from the rotating shaft one (71) is provided with an electromagnetic ring one (75).

6. The robotic joint module of claim 5, wherein, The middle part of the sliding block one (72) is provided with a convex ring one (722), the spring one (73) is arranged between the convex ring one (722) and the rotating shaft one (71), the sliding gap (741) is arranged between the convex ring one (722) and the electromagnetic ring one (75), and the end of the sliding block one (72) close to the electromagnetic ring one (75) is provided with a contact one (721).

7. The robotic joint module of claim 6, wherein, The brake (9) further comprises a shell (92), the middle part of the shell (92) is provided with a through hole (921), the middle part of the through hole (921) is provided with a middle shaft (93), the end of the middle shaft (93) is provided with an end disc (931), the end face of the end disc (931) is embedded with a contact block (932), the distance between the contact block (932) and the contact one (721) is less than the width of the sliding gap (741), and the lock shaft device is arranged in the middle segment of the middle shaft (93).

8. The robotic joint module of claim 7, wherein, The lock shaft device comprises a pressing frame (91) and a supporting frame (94), the inner side of the shell (92) is provided with a clamping groove (922) for fixedly installing the supporting frame (94), the inner side of the shell (92) is provided with a sliding groove (923) for vertically sliding the pressing frame (91), the top of the supporting frame (94) is provided with a notch (941) matched with the pressing frame (91), the middle part of the pressing frame (91) is provided with an intermediate plate (911), the intermediate plate (911) and the shell (92) are provided with a telescopic rod (912), and the telescopic rod (912) is connected with a bidirectional pump (913) through a pipeline.

9. The robotic joint module of claim 8, wherein, The power source one (49) comprises a stator one (491) and a rotor one (492), the stator one (491) is coaxially fixedly connected with the synchronous wheel one (48), the rotor one (492) is arranged outside the stator one (491), and the outer part of the stator one (491) is provided with a protection shell.

10. The robotic joint module of claim 9, wherein, The main body further comprises a visual module (13), the visual module (13), the electromagnetic ring one (75), the bidirectional pump (913) and the stator one (491) are electrically connected with the control module (10) through wires respectively, and the control module (10) is installed in the relay (6).

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