Explosion-proof joint module and robot

Abstract

The invention relates to the technical field of robots, in particular to an anti-explosion joint module and a robot, the anti-explosion joint module comprises a first joint structure and a second joint structure; the first joint structure is in transmission connection with the second joint structure and used for controlling the second joint structure to swing. The second joint structure comprises a first joint assembly and a second joint assembly, the first joint structure is in transmission connection with the first joint assembly, and the second joint assembly is rotationally connected with the first joint assembly. According to the anti-explosion joint module, the planet wheel motor is adopted as a drive and cooperates with the anti-explosion shell, the anti-explosion performance and stability of the joint module can be improved, and the anti-explosion performance of the joint module can be further improved by optimizing wiring of the joint module.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an explosion-proof joint module and robot. Background Technology

[0002] In environments with explosive gases or dust, such as petrochemical plants, mines, and hazardous chemical handling facilities, the application of biomimetic robots is becoming increasingly widespread. For example, explosion-proof inspection robots have replaced manual labor in equipment inspection, gas concentration detection (such as methane and carbon monoxide), and temperature monitoring, reducing personnel risks.

[0003] In biomimetic robots, joint modules are one of the core components. By integrating reducers, motors, and actuators, joint modules offer advantages such as compact structure and high load-bearing capacity, enabling stable operation of biomimetic robots. However, the explosion-proof performance of existing joint modules needs improvement when operating in humid, dusty, or explosive environments to ensure that biomimetic robots can operate in various harsh conditions. In existing technologies, the wiring of some joint modules is exposed, which makes the wires prone to breakage, entanglement, and pulling, posing an explosion risk. Furthermore, some joint modules lack self-locking functionality. When the robot suddenly stops working on a surface, the joint module may continue to operate due to inertia, easily causing the robot to tip over, especially on uphill sections. Therefore, improving the explosion-proof performance and stability of robot joint modules is one of the problems that needs to be solved in this field. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide an explosion-proof joint module and robot. By using a planetary gear motor as the drive and working in conjunction with the explosion-proof shell, the explosion-proof performance and stability of the joint module can be improved. Furthermore, by optimizing the wiring of the joint module, the explosion-proof performance of the joint module can be further improved.

[0005] The present invention solves the above-mentioned technical problems through the following technical means: An explosion-proof joint module includes a first joint structure and a second joint structure; The first joint structure is connected to the second joint structure via a transmission connection, and is used to control the swing of the second joint structure; The second joint structure includes a first joint assembly and a second joint assembly, wherein the first joint structure is drive-connected to the first joint assembly, and the second joint assembly is rotatably connected to the first joint assembly.

[0006] Furthermore, the first joint structure includes a first explosion-proof housing, a first planetary gear motor unit, and a first transmission component. The first planetary gear motor unit is assembled inside the first explosion-proof housing. One end of the first transmission component is connected to the first planetary gear motor unit for transmission, and the other end is fixedly connected to the first joint assembly.

[0007] According to the above-mentioned technical means, when the first planetary gear motor unit is working, it drives the first transmission component to work, thereby driving the second joint structure to swing. Through the cooperation of the first planetary gear motor unit and the first transmission component, the wiring is optimized.

[0008] Furthermore, the first transmission component includes a connecting arm, a fixing ring, and a communicating portion. One end of the connecting arm is fixedly connected to the first planetary gear motor unit, and the other end is covered on the first joint assembly. The fixing ring is covered on the first joint assembly and fixedly connected to the free end of the connecting arm. One end of the communicating portion is rotatably installed inside the first planetary gear motor unit, and the other end is fixedly connected to the first joint assembly.

[0009] According to the above technical means, the connection between the first joint assembly and the first joint structure is realized through the connecting arm and the fixing ring, and the swing of the first joint assembly and the internal wiring are realized through the connecting part.

[0010] Furthermore, the first joint assembly includes a second explosion-proof housing and a second planetary gear motor unit. The second planetary gear motor unit is assembled inside the second explosion-proof housing and is connected to the second joint assembly for driving control of the second joint assembly relative to the second explosion-proof housing.

[0011] According to the above-mentioned technical means, the second planetary gear motor unit can control the second joint assembly to rotate within a certain range.

[0012] Furthermore, the second joint assembly includes a third explosion-proof housing and a third planetary gear motor unit. The third planetary gear motor unit is assembled inside the third explosion-proof housing and is coaxially arranged with the second planetary gear motor unit. The third explosion-proof housing is fixedly connected to the second planetary gear motor unit.

[0013] Based on the above technical means, the third planetary gear motor unit controls the connection of its end support foot, thereby enabling it to walk on the ground.

[0014] Furthermore, the first explosion-proof housing, the second explosion-proof housing, and the third explosion-proof housing have the same structure. The first explosion-proof housing includes a first sealing end, a second sealing end, and a connecting shell. The first sealing end and the second sealing end are respectively connected to the two ends of the connecting shell.

[0015] By using the aforementioned technical means, the ease of installation is improved by setting the structure of each explosion-proof enclosure to be identical.

[0016] Furthermore, the first planetary gear motor unit, the second planetary gear motor unit, and the third planetary gear motor unit have the same structure. The first planetary gear motor unit includes a stator, a rotor, an encoder, and a planetary gear assembly. The stator is installed inside the first explosion-proof housing, the encoder is mounted on the rotor, and the planetary gear assembly is fixedly connected to the rotor. The rotor is hollow, and a fixed plate is fixedly installed at one end of the rotor.

[0017] Based on the above technical means, by setting the structure of each planetary gear motor unit to be the same, it is not only easy to install, but also easy to maintain later. Furthermore, by setting the rotor to be hollow, it is more conducive to the arrangement of wiring, and the setting of the fixed plate is conducive to the transmission.

[0018] Furthermore, the planetary gear assembly includes a first sun gear, a plurality of first planet gears, a first ring gear, a second sun gear, a plurality of second planet gears, a second ring gear, and a transmission disk. The first sun gear is fixedly connected to the rotor, the first ring gear is fixedly installed inside the first explosion-proof housing, the plurality of first planet gears are rotatably meshed between the first sun gear and the first ring gear, and the transmission disk is installed inside the first explosion-proof housing and fixedly connected to one end of the rotor. The second sun gear is rotatably connected to the rotor, the second gear ring is fixedly installed inside the first explosion-proof housing, and multiple second planetary gears rotate and mesh between the second sun gear and the second gear ring.

[0019] Based on the above technical means, the design of double planetary gears can improve transmission efficiency, enhance reliability, reduce vibration and noise, and has strong scalability.

[0020] Furthermore, the first joint structure and the second joint structure are also provided with a self-locking structure. The self-locking structure includes a locking ring and a locking member. The locking ring is installed on the rotor, and the locking member is installed on the first sealing end for locking the locking ring.

[0021] According to the above-mentioned technical means, the locking ring can be locked by the locking component, thereby locking the rotor to prevent the robot from tipping over due to inertia when it suddenly stops working.

[0022] A robot includes a robot body and the aforementioned explosion-proof joint module.

[0023] By using the aforementioned explosion-proof joint modules on the robot, the robot's explosion-proof performance can be improved.

[0024] The present application, employing the above-described scheme, has at least the following beneficial effects: In the technical solution of this application, by using a dual planetary gear motor as the drive and working in conjunction with the explosion-proof shell, the explosion-proof performance and stability of the joint module can be improved, thereby enhancing the explosion-proof performance of the robot. Furthermore, the first joint structure controls the second joint structure to swing, and when the first joint component swings, it can control the second joint component to rotate, thereby enabling the explosion-proof joint module to perform multiple degrees of freedom of movement, improving its adaptability to complex environments. Moreover, the self-locking structure can further enhance the stability of the robot.

[0025] In the first joint structure, the arrangement of hollow rotors, the arrangement of the first joint assembly and the first joint assembly through the connecting part, and the coaxial arrangement of hollow rotors in the first joint assembly and the second joint assembly, can arrange the wiring of the joint module inside the joint module, optimize the wiring arrangement, further improve the explosion-proof performance of the joint module, and at the same time make the structure more compact. Attached Figure Description

[0026] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings.

[0027] Figure 1 This is one of the structural schematic diagrams of the explosion-proof joint module in the embodiments of this application; Figure 2 This is the second schematic diagram of the explosion-proof joint module in the embodiments of this application; Figure 3 This is one of the cross-sectional structural schematic diagrams of the explosion-proof joint module in the embodiments of this application; Figure 4 yes Figure 3 Enlarged structural diagram at point A; Figure 5 yes Figure 3 Enlarged structural diagram at point B; Figure 6 This is a schematic diagram of the mating structure of the first installation disk and the second installation disk in an embodiment of this application; Figure 7 This is one of the schematic diagrams of the installation structure of the locking ring in the embodiments of this application; Figure 8 This is the second schematic diagram of the installation structure of the locking ring in the embodiments of this application; Figure 9 The second cross-sectional structural schematic diagram of the explosion-proof joint module in this application embodiment; Figure 10 yes Figure 9 Enlarged structural diagram at point C; Explanation of icon numbers: 100. First joint structure; 10. First planetary gear motor unit; 11. Rotor; 111. Fixed disk; 12. First sun gear; 121. First mounting disk; 122. Second mounting disk; 123. Third mounting disk; 13. First planetary gear; 131. First shaft; 14. First gear ring; 15. Transmission disk; 16. Second sun gear; 161. Second planetary gear; 162. Second shaft; 17. Second gear ring; 18. Fourth mounting disk; 181. Fifth mounting disk; 182. Sixth mounting disk; 183. Bracket; 184. Rotor winding; 19. Stator; 20. First explosion-proof housing; 21. First sealing end; 211. Encoder; 212. Fixing frame; 213. Stabilizing ring; 22. Second sealing end; 221. Connecting ring; 23. Connecting shell; 231. Mounting base; 24. Locking ring; 25. Locking element; 30. First transmission component; 31. Connecting arm; 32. Fixing ring; 33. Connecting part; 34. Protrusion; 35. Connecting sleeve; 200. First joint assembly; 210. Second explosion-proof housing; 220. Second planetary gear motor unit; 300, Second joint assembly; 310, Third explosion-proof housing; 320, Third planetary gear motor unit; 400, Second joint structure. Detailed Implementation

[0028] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. It should be noted that the illustrations provided in the following embodiments are for illustrative purposes only and represent schematic diagrams, not actual pictures, and should not be construed as limiting the present invention. In order to better illustrate the embodiments of the present invention, some components in the figures may be omitted, enlarged, or reduced, and do not represent the actual product size; it is understandable for those skilled in the art that some well-known structures and their descriptions may be omitted in the figures.

[0029] In the figures of this invention, the same or similar reference numerals correspond to the same or similar components. In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figure, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the figures are only for illustrative purposes and should not be construed as limiting this invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances. In the description of this application, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0031] like Figures 1-10 As shown in the figure, this application provides an explosion-proof joint module, including a first joint structure 100 and a second joint structure 400. The first joint structure 100 is fixedly mounted on the robot body, and the first joint structure 100 and the second joint structure 400 are connected by a transmission, so that the first joint structure 100 can control the swing of the second joint structure 400, enabling the explosion-proof joint module to move with multiple degrees of freedom.

[0032] In some alternative embodiments, such as Figure 1-3 As shown, the first joint structure 100 includes a first explosion-proof housing 20, a first planetary gear motor unit 10, and a first transmission component 30. The first planetary gear motor unit 10 is assembled inside the first explosion-proof housing 20, providing an installation base while also providing explosion protection for the first joint structure 100. One end of the first transmission component 30 is connected to the first planetary gear motor unit 10, and the other end is fixedly connected to the second joint structure 400. When the first planetary gear motor unit 10 is working, it can drive the second joint structure 400 to swing relative to the first joint structure 100 within a certain range, enabling the explosion-proof joint module to move in multiple directions. Furthermore, the cooperation between the first planetary gear motor unit 10 and the first transmission component 30 optimizes the wiring.

[0033] In one embodiment, the first transmission component 30 includes a connecting arm 31, a fixing ring 32, and a connecting portion 33. One end of the connecting arm 31 is fixedly connected to the first planetary gear motor unit 10, and the other end covers the second joint structure 400, so that when the first planetary gear motor unit 10 is working, it can drive the second joint structure 400 to swing relative to the first joint structure 100. The fixing ring 32 covers the second joint structure 400 and is fixedly connected to the free end of the connecting arm 31, thereby fixing the second joint structure 400. One end of the connecting portion 33 is rotatably installed inside the first planetary gear motor unit 10, and the other end is fixedly connected to the second joint structure 400. On the one hand, it can provide a channel for wiring, and on the other hand, it can provide a rotating end for the swinging of the second joint structure 400.

[0034] In this embodiment, one end of the connecting arm 31 is converging into a hollow cylindrical shape, while the other end is shaped like an "8". The cylindrical end of the connecting arm 31 is fixedly connected to the first planetary gear motor unit 10 by bolts; the shaped end of the connecting arm 31 is attached to the outer wall of the second joint structure 400. The fixing ring 32 is semi-circular, attached to the outer wall of the second joint structure 400, and connected to the connecting arm 31. The fixing ring 32 and the connecting arm 31 are fixed by bolts, thereby connecting the first joint structure 100 and the second joint structure 400.

[0035] In this embodiment, the connecting part 33 is hollow and is fixedly connected to the outer wall of the second joint structure 400. It is inserted into the connecting arm 31 and the first planetary gear motor unit 10. One end of the connecting part 33 is connected to the second joint structure 400, so that the cable can enter the second joint structure 400 through the first planetary gear motor unit 10 and the connecting part 33. This allows the wiring of the explosion-proof joint module to be routed from inside, thereby improving safety.

[0036] In some embodiments, such as Figure 1-2 As shown, the second joint structure 400 includes a first joint assembly 200 and a second joint assembly 300. The second joint assembly 300 is rotatably connected to the first joint assembly 200, enabling the first joint assembly 200 to drive the second joint assembly 300 to rotate. The first joint assembly 200 is connected to the first joint structure 100 via a connecting arm 31 and a fixing ring 32, allowing the second joint assembly 300 to swing and rotate relative to the first joint structure 100.

[0037] In some other embodiments, at least one third joint component may be provided in addition to the first joint component 200 and the second joint component 300. When there is only one third joint component, the third joint component is connected to the second joint component 300 in the same way as the first joint component 200 and the second joint component 300. When there are multiple third joint components, the connection method between two adjacent third joint components is the same as the connection method between the first joint component 200 and the second joint component 300.

[0038] In one implementation, such as Figure 1-2 and Figure 9 As shown, the first joint assembly 200 includes a second explosion-proof housing 210 and a second planetary gear motor unit 220. The second planetary gear motor unit 220 is assembled inside the second explosion-proof housing 210 and is connected to the second joint assembly 300 for transmission. It is used to control the rotation of the second joint assembly 300 relative to the second explosion-proof housing 210, so that the second joint assembly 300 can rotate within a certain range, thereby giving the explosion-proof joint module more degrees of freedom.

[0039] In one implementation, such as Figure 1-2 and Figure 9 As shown, the second joint assembly 300 includes a third explosion-proof housing 310 and a third planetary gear motor unit 320. The third planetary gear motor unit 320 is assembled inside the third explosion-proof housing 310 and is coaxially arranged with the second planetary gear motor unit 220. This coaxial arrangement facilitates wiring within the assembly. The third explosion-proof housing 310 is fixedly connected to the second planetary gear motor unit 220, enabling the second planetary gear motor unit 220 to drive the entire second joint assembly 300 to rotate within a certain range during operation.

[0040] In this embodiment, the output end of the second joint assembly 300 is equipped with a support foot, and the third planetary gear motor unit 320 is connected to the support foot, thereby enabling the robot to walk on the ground.

[0041] In one exemplary implementation, such as Figure 2-4 As shown, the first explosion-proof housing 20, the second explosion-proof housing 210, and the third explosion-proof housing 310 have identical structures. By making the structure of each explosion-proof housing identical, the ease of installation is improved, while simultaneously providing explosion protection. The following description uses the first explosion-proof housing 20 as an example: The first explosion-proof housing 20 includes a first sealing end 21, a second sealing end 22, and a connecting shell 23. The first sealing end 21 and the second sealing end 22 are respectively fixedly connected to both ends of the connecting shell 23 by bolts.

[0042] In this embodiment, the first end cap 21 has a first through hole at its center for mounting and exiting the rotor 11; the edge of the first end cap 21 is used to connect with the robot body. The second end cap 22 has a second through hole at its center, and a connecting ring 221 is provided at the edge of the second through hole of the second end cap 22 to increase the contact surface with the first planetary gear motor unit 10, thereby enhancing the stability of the connection. To enhance the sealing performance here, a sealing ring can also be provided at the connecting ring 221.

[0043] In this embodiment, a mounting base 231 is fixedly installed on the inner wall of the connecting shell 23. The mounting base 231 is used to provide an installation position for the first planetary gear motor unit 10.

[0044] In one exemplary implementation, such as Figure 3-5As shown, the first planetary gear motor unit 10, the second planetary gear motor unit 220, and the third planetary gear motor unit 320 have identical structures. By making the structure of each planetary gear motor unit identical, installation and maintenance are both facilitated. The following description uses the first planetary gear motor unit 10 as an example: The first planetary gear motor unit 10 includes a stator 19, a rotor 11, an encoder 211, and a planetary gear assembly. The stator 19 is installed inside the connecting housing 23, and a mounting base 231 provides a mating position, ensuring the stator 19 is stably installed within the connecting housing 23. The encoder 211 is mounted on the rotor 11, eliminating transmission errors and improving accuracy. The planetary gear assembly is fixedly connected to the rotor 11, enabling the rotor 11 to drive the planetary gear assembly for transmission when it rotates.

[0045] In this embodiment, the planetary gear assembly includes a first planetary gear assembly and a second planetary gear assembly. The first planetary gear assembly is mounted on the side closer to the stator 19, and the second planetary gear assembly is mounted on the side farther from the stator 19. When the rotor 11 rotates, it drives the first planetary gear assembly to work, and the work of the first planetary gear assembly drives the work of the second planetary gear assembly, so as to realize multi-stage transmission and flexible power distribution.

[0046] In one specific embodiment, the first planetary gear assembly includes a first sun gear 12, a plurality of first planetary gears 13, a first ring gear 14, and a transmission disk 15. The transmission disk 15 is rotatably mounted inside the connecting housing 23 and partially protrudes through the second through hole; the portion of the transmission disk 15 protruding through the second through hole is fixedly connected to the connecting arm 31 by bolts. A fixed disk 111 is fixedly mounted on one end of the rotor 11, and the fixed disk 111 is fixedly connected to the transmission disk 15 by bolts, so that when the rotor 11 rotates, it can drive the transmission disk 15 to rotate.

[0047] A first mounting position is formed between the connecting housing 23 and the transmission disk 15. The first gear ring 14 is fixedly mounted at the first mounting position. The first sun gear 12 is splined and mounted on the rotor 11. A plurality of first planet gears 13 are rotatably meshed between the first sun gear 12 and the first gear ring 14. In this embodiment, there are three first planet gears 13, which are equally spaced and rotatably meshed between the first sun gear 12 and the first gear ring 14.

[0048] In this embodiment, a first bearing is installed between one edge of the first sun gear 12 and the transmission disk 15, so that the first sun gear 12 will not directly drive the transmission disk 15 to rotate and reduce the friction at the mounting point; the other edge of the first sun gear 12 has a first mounting disk 121, a second mounting disk 122 is fixedly mounted on the first mounting disk 121 by bolts, a third mounting disk 123 is mounted on the second mounting disk 122, and a second bearing is installed between the second mounting disk 122 and the third mounting disk 123, so that the rotation of the second mounting disk 122 will not drive the rotation of the third mounting disk 123.

[0049] In this embodiment, all three first planetary gears 13 are rotatably mounted between the transmission disk 15 and the third mounting disk 123 via the first rotating shaft 131. A third bearing is installed between the first rotating shaft 131 and each first planetary gear 13 to reduce friction and ensure that when the first planetary gear 13 rotates, it does not drive the transmission disk 15 and the third mounting disk 123 to rotate, and keeps the position of the third mounting disk 123 relatively stable.

[0050] In one specific embodiment, the second planetary gear assembly includes a second sun gear 16, a plurality of second planet gears 161, and a second ring gear 17. The second sun gear 16 is rotatably sleeved on the rotor 11 and located at the second mounting plate 122. The second mounting plate 122 is connected to one side of the second sun gear 16 via a fourth bearing to reduce friction at the connection. A fourth mounting plate 18 is mounted on one edge of the second sun gear 16, and a fifth mounting plate 181 is bolted to the fourth mounting plate 18. A rotor winding 184 is mounted on the fifth mounting plate 181 via a bracket 183, so that when the first sun gear 12 rotates, it can drive the second mounting plate 122 to rotate via the first mounting plate 121.

[0051] A second mounting position is formed between the mounting base 231 and the first end cap 21. A stator 19 is fixedly mounted within this second mounting position, and a portion of the rotor winding 184 is located within the second mounting position and inside the stator 19. A sixth mounting plate 182 is mounted on the fifth mounting plate 181. A fifth bearing is installed between the fifth and sixth mounting plates 181 and 182. A sixth bearing is also installed between the sixth mounting plate 182 and the lower part of the mounting base 231, fixing the position of the sixth mounting plate 182 relative to itself and allowing it to rotate. A third mounting position is formed at the bottom of the mounting base 231. A second gear ring 17 is fixedly mounted within this third mounting position, and multiple second planetary gears 161 are rotatably mounted between the second sun gear 16 and the second gear ring 17. One side of the sixth mounting plate 182 is fixedly connected to the second mounting plate 122 by bolts.

[0052] In this embodiment, such as Figure 6As shown, there are three second planetary gears 161, which are equally spaced and mesh between the second sun gear 16 and the second ring gear 17. The second shaft 162 is mounted between the second mounting plate 122 and the sixth mounting plate 182 by a pin. Each second planetary gear 161 is mounted on the second shaft 162, so that when the first sun gear 12 rotates, it can drive the sixth mounting plate 182 to rotate through the first mounting plate 121 and the second mounting plate 122, thereby driving the second shaft 162 to rotate, and then driving the second planetary gears 161 to rotate between the second sun gear 16 and the second ring gear 17, so as to realize multi-stage transmission adjustment.

[0053] In this embodiment, such as Figure 5 As shown, a pad is also provided between the first end cap 21 and the fifth mounting plate 181 to fix the relative position of the second sun gear 16 and the fifth mounting plate 181. The outer side of the encoder 211 is fixedly mounted on the first end cap 21 by bolts, and there is a gap between the inner side and the rotor 11. To make the installation of the rotor 11 more stable, a fixing bracket 212 is also installed on the first end cap 21. One end of the rotor 11 passes through the fixing bracket 212, and an eighth bearing is installed at the connection between the rotor 11 and the fixing bracket 212. To improve the installation stability of the eighth bearing, a stabilizing ring 213 is also installed on the rotor 11, and a shim is provided between the stabilizing ring 213 and the eighth bearing.

[0054] In this embodiment, the rotor 11 is hollow, allowing the circuit to enter the connecting portion 33 through the rotor 11 of the first joint structure 100, and then enter the first joint assembly 200.

[0055] In this embodiment, since the free end of the first joint assembly 200 is directly exposed to the environment, the center of the first sealing end 21 of the second explosion-proof housing 210 is not provided with a first through hole. A protrusion 34 that mates with the connecting part 33 is fixedly connected to the connecting shell 23 of the second explosion-proof housing 210. The protrusion 34 communicates with the interior of the first joint assembly 200, allowing the wiring to enter the first joint assembly 200 through the connecting part 33 and the protrusion 34; the wiring then enters the second joint assembly 300 through the hollow rotor 11 inside the first joint assembly 200.

[0056] In this embodiment, as Figure 9-10 As shown, the first end 21 of the second joint assembly 300 has a connecting sleeve 35, which is fixedly connected to the transmission disk 15 in the first joint assembly 200 by bolts, so that when the transmission disk 15 in the first joint assembly 200 rotates, it can drive the second joint assembly 300 to rotate as a whole. The transmission disk 15 in the second joint assembly 300 is centrally closed and has an interface for connecting to the support leg. In this embodiment, the support leg is existing technology, such as a foot-type support leg or a bionic support leg, and those skilled in the art can select one according to the actual situation.

[0057] In some embodiments, to prevent the robot from suddenly stopping and the robot from tipping over due to inertia, a self-locking structure is installed at the first end 21 of the first joint structure 100, the first joint assembly 200, and the second joint assembly 300, so that when the self-locking structure is working, it can simultaneously self-lock the first joint structure 100, the first joint assembly 200, and the second joint assembly 300.

[0058] In this embodiment, such as Figure 7-8 As shown, each self-locking structure is identical. Taking the self-locking structure installed on the first joint structure 100 as an example, the following description is provided: The self-locking structure includes a locking ring 24 and a locking member 25. The middle part of the locking ring is mounted on the rotor 11 via a spline, and the locking member 25 is mounted on the first sealing end 21 to lock the locking ring 24. The locking ring has multiple locking holes corresponding to the positions of the locking member, so that when the locking member is working, the locking tongue of the locking member can be inserted into the locking holes to achieve locking. In this embodiment, the locking member 25 can be set as an electric bolt lock, a motor lock, etc., and a suitable lock can be selected according to the actual situation.

[0059] In this embodiment, the wiring is connected to the input terminal of the motor inside the first joint structure 100, and then enters the connecting part 33 and the protrusion 34 through the hollow rotor 11 inside the first joint structure 100, and then enters the first joint assembly 200 to connect with the input terminal of the motor inside the first joint assembly 200. The wiring then passes through the hollow rotor 11 of the first joint assembly 200 to enter the second joint assembly 300 and connect with the input terminal of the motor inside the second joint assembly 300. By arranging the wiring through the hollow rotor 11, the explosion-proof performance and safety of the explosion-proof joint module can be further improved.

[0060] When the rotor 11 inside the first joint structure 100 rotates, it drives the transmission disc 15 inside the first joint structure 100 to rotate. The rotation of the transmission disc 15 drives the connecting arm 31 to rotate, thereby causing the first joint assembly 200 and the second joint assembly 300 to swing within a certain range. When the rotor 11 inside the first joint assembly 200 rotates, it drives the transmission disc 15 inside the first joint assembly 200 to rotate, thereby causing the second joint assembly 300 to rotate within a certain range. When the rotor 11 inside the second joint assembly 300 rotates, it drives the transmission disc 15 inside the second joint assembly 300 to rotate, thereby causing the support leg to move.

[0061] This application also discloses a robot, which includes a robot body and the aforementioned explosion-proof joint module. In this embodiment, the robot body can be the same as that of a robot dog, or a suitable body can be selected according to the actual situation. By using the aforementioned explosion-proof joint module on the robot, the explosion-proof performance of the robot is improved.

[0062] The above provides a detailed description of an explosion-proof joint module and robot provided in this application. The specific embodiments are described only to aid in understanding the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

[0063] It should be noted that the terms "one embodiment," "embodiment," "some alternative embodiments," "exemplary embodiments," and "some embodiments" used in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An explosion-proof joint module, characterized in that, It includes a first joint structure (100) and a second joint structure (400); The first joint structure (100) is connected to the second joint structure (400) for transmission, and is used to control the swing of the second joint structure (400); The second joint structure (400) includes a first joint assembly (200) and a second joint assembly (300), wherein the first joint structure (100) is drive-connected to the first joint assembly (200), and the second joint assembly (300) is rotatably connected to the first joint assembly (200).

2. The explosion-proof joint module according to claim 1, characterized in that, The first joint structure (100) includes a first explosion-proof housing (20), a first planetary gear motor unit (10), and a first transmission component (30). The first planetary gear motor unit (10) is assembled inside the first explosion-proof housing (20). One end of the first transmission component (30) is connected to the first planetary gear motor unit (10) for transmission, and the other end is fixedly connected to the first joint assembly (200).

3. The explosion-proof joint module according to claim 2, characterized in that, The first transmission component (30) includes a connecting arm (31), a fixing ring (32), and a connecting part (33). One end of the connecting arm (31) is fixedly connected to the first planetary gear motor unit (10), and the other end is covered on the first joint assembly (200). The fixing ring (32) is covered on the first joint assembly (200) and fixedly connected to the free end of the connecting arm (31). One end of the connecting part (33) is rotatably installed in the first planetary gear motor unit (10), and the other end is fixedly connected to the first joint assembly (200).

4. The explosion-proof joint module according to claim 2, characterized in that, The first joint assembly (200) includes a second explosion-proof housing (210) and a second planetary gear motor unit (220). The second planetary gear motor unit (220) is assembled inside the second explosion-proof housing (210) and is connected to the second joint assembly (300) for driving control of the second joint assembly (300) rotating relative to the second explosion-proof housing (210).

5. The explosion-proof joint module according to claim 4, characterized in that, The second joint assembly (300) includes a third explosion-proof housing (310) and a third planetary gear motor unit (320). The third planetary gear motor unit (320) is assembled inside the third explosion-proof housing (310) and is coaxially arranged with the second planetary gear motor unit (220). The third explosion-proof housing (310) is fixedly connected to the second planetary gear motor unit (220).

6. The explosion-proof joint module according to claim 5, characterized in that, The first explosion-proof housing (20), the second explosion-proof housing (210) and the third explosion-proof housing (310) have the same structure. The first explosion-proof housing (20) includes a first sealing end (21), a second sealing end (22) and a connecting shell (23). The first sealing end (21) and the second sealing end (22) are respectively connected to the two ends of the connecting shell (23).

7. The explosion-proof joint module according to claim 5 or 6, characterized in that, The first planetary gear motor unit (10), the second planetary gear motor unit (220) and the third planetary gear motor unit (320) have the same structure. The first planetary gear motor unit (10) includes a stator (19), a rotor (11), an encoder (211) and a planetary gear assembly. The stator (19) is installed in the first explosion-proof housing (20). The encoder (211) is mounted on the rotor (11). The planetary gear assembly is fixedly connected to the rotor (11). The rotor (11) is hollow, and a fixed disk (111) is fixedly installed at one end of the rotor (11).

8. The explosion-proof joint module according to claim 7, characterized in that, The planetary gear assembly includes a first sun gear (12), a plurality of first planet gears (13), a first gear ring (14), a second sun gear (16), a plurality of second planet gears (161), a second gear ring (17), and a transmission disk (15). The first sun gear (12) is fixedly connected to the rotor (11), the first gear ring (14) is fixedly installed inside the first explosion-proof housing (20), the plurality of first planet gears (13) are rotatably meshed between the first sun gear (12) and the first gear ring (14), and the transmission disk (15) is installed inside the first explosion-proof housing (20) and fixedly connected to one end of the rotor (11). The second sun gear (16) is rotatably connected to the rotor (11), the second gear ring (17) is fixedly installed inside the first explosion-proof housing (20), and a plurality of second planet gears (161) are rotatably meshed between the second sun gear (16) and the second gear ring (17).

9. The explosion-proof joint module according to claim 7, characterized in that, The first joint structure (100) and the second joint structure (400) are also provided with a self-locking structure, which includes a locking ring (24) and a locking member (25). The locking ring (24) is installed on the rotor (11), and the locking member (25) is installed on the first end (21) for locking the locking ring (24).

10. A robot, characterized in that, Includes the robot body and the explosion-proof joint module as described in any one of claims 1-9.

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