Robot explosion-proof joint module

Abstract

The invention discloses a robot anti-explosion joint module, and relates to the field of specialized robots. According to the explosion-proof joint module, the problems that the explosion-proof design is complex, the reliability is low and the maintenance is difficult due to the fact that an existing explosion-proof joint module adopts a rotary hollow shaft to achieve internal wiring and needs to depend on a complex and high-cost dynamic sealing structure are solved. The device comprises a shell assembly, a driver assembly, a motor assembly, a speed reducing mechanism, a hollow output flange, a fixed center shaft and a cable gland, the shell assembly is composed of a driver shell, a motor shell and a cover plate which are coaxial, and the interior of the motor shell is divided into two cavities for containing corresponding parts respectively; the fixed center shaft coaxially penetrates through the module and forms a static wiring channel, and a cable is led in through the cable gland and then led out through the channel and does not make contact with a rotating component in the whole process. According to the invention, the static wiring channel is arranged in the fixed central shaft and is matched with double-copper-sleeve rotary sealing and gland static sealing to form double isolation, so that the problems of dust explosion and dynamic sealing failure of traditional external wiring are solved.

Description

Technical Field

[0001] This invention relates to the field of special robots, specifically to a robot explosion-proof joint module. Background Technology

[0002] With the rapid iteration of technology, robots have been widely deployed in complex and harsh environments such as fire rescue, chemical production, and oil extraction. The high temperature and flammable / explosive characteristics of their operating environments pose severe challenges to the reliability of core components. As the core execution unit for robots to achieve precise movement, the joint module's explosion-proof performance and high-temperature stability directly determine whether the robot can operate safely in extreme environments. If the technical bottleneck of joint modules in high-temperature and explosion-proof scenarios can be overcome, it can effectively replace manual labor in entering high-risk areas to complete tasks such as detection and operation, significantly reducing the risk of personnel injury or death, and has significant industrial value and social significance.

[0003] Currently, the overall design of robot joint modules has become increasingly mature, but when adapting to harsh working environments such as high temperature and flammable and explosive environments, two major technical pain points have not yet been effectively resolved:

[0004] I. Regarding cable layout, traditional joint modules mostly adopt an external cabling structure. This design poses significant safety hazards in high-temperature environments: flammable dust and oil easily accumulate on the surface of cables and wrapped components. On the one hand, this hinders heat dissipation, leading to a continuous rise in local temperature and the formation of high-temperature surfaces exceeding safety thresholds. On the other hand, the accumulated flammable dust can easily cause a dust explosion upon contact with an electrical spark or high-temperature heat source. Modifying the external cabling structure for explosion protection requires additional complex sealing and isolation components and dust protection structures. This not only increases the overall module size and increases structural redundancy but may also reduce explosion-proof reliability due to excessive sealing interfaces, making it difficult to meet the application requirements of compactness and lightweight design. In existing technologies, even with the addition of dust covers or dynamic seals, the contradiction between dust accumulation and seal wear cannot be simultaneously resolved. Dust covers hinder heat dissipation, and dynamic seals are prone to aging and failure due to high-frequency rotation, making it difficult to guarantee long-term explosion-proof reliability.

[0005] Second, regarding the power transmission system, motor-driven joint modules pose a risk of spontaneous explosion under high-temperature environments: electromagnetic losses and mechanical friction during motor operation generate a large amount of heat. If the internal structure of the module is poorly designed (e.g., blocked heat dissipation channels, improper stator-rotor clearance, insufficient heat resistance of the coil insulation layer), the heat cannot be dissipated in time, leading to overheating and burnout of the internal coils, insulation failure, or even arcing that ignites surrounding flammable gases or dust, ultimately causing the motor to explode. Furthermore, while some modules have optimized their spatial layout through integrated design, they have failed to simultaneously address the stability issues of component coordination under high temperatures, making it difficult to avoid the safety risks caused by motor overheating. Existing integrated modules mostly focus only on spatial layout optimization, without improving the collaborative explosion-proof design of wiring structures and sealing designs in high-temperature scenarios, thus failing to fundamentally avoid the cascading risks of motor overheating and dust explosions.

[0006] In summary, existing joint modules in high-temperature explosion-proof scenarios either suffer from complex explosion-proof design and insufficient reliability due to dust accumulation and heat dissipation problems in the external wiring structure, or have self-explosion risks due to thermal management defects in the motor drive structure. There is an urgent need for a joint module design solution that combines a simple explosion-proof structure with efficient heat dissipation performance to meet the operational needs of special robots in high-risk environments. Summary of the Invention

[0007] The purpose of this invention is to solve the problem that existing explosion-proof joint modules rely on complex and costly dynamic sealing structures to achieve internal wiring using a rotating hollow shaft, resulting in complex explosion-proof design, low reliability, and difficult maintenance. Therefore, this invention provides an explosion-proof joint module for robots.

[0008] The technical solution of this invention is:

[0009] This invention provides a robot explosion-proof joint module, the module comprising a housing assembly, a driver assembly, a motor assembly, a reduction mechanism, a hollow output flange 5, a fixed central shaft 9-9-5, and a gland 9-5; the housing assembly includes a driver housing 9-6, a motor housing 8, and a cover plate 1 arranged coaxially along the axial direction; the driver housing 9-6 houses the driver assembly, and the motor housing 8 has a motor housing partition that divides the inner cavity of the motor housing into a motor housing cavity and a transmission housing cavity; the motor housing cavity houses the motor assembly, and the transmission housing cavity houses the reduction mechanism and the hollow output flange 5; the driver assembly is arranged coaxially along the axial direction. The module is connected to the drive assembly, motor assembly, reduction mechanism, and hollow output flange 5. A fixed central shaft 9-9-5 coaxially passes through the module, and one end of the fixed central shaft 9-9-5 is fixedly connected to the drive housing 9-6. The fixed central shaft 9-9-5 has an axially penetrating through hole to form a static wiring channel. The gland 9-5 is fixedly installed on the drive housing 9-6. The inner hole of the gland 9-5 is sealed and connected to the inlet end of the static wiring channel. The outlet end of the static wiring channel leads to or extends to the center hole of the hollow output flange 5. The static wiring channel allows cables to be introduced from the gland 9-5, pass through the inside of the fixed central shaft 9-9-5, and exit from the center hole of the hollow output flange 5.

[0010] Furthermore, the module also includes a detection device, which is coaxially disposed between the driver assembly and the motor assembly. The detection device is used to detect the rotation angle of the moving end of the motor assembly.

[0011] Furthermore, the detection device includes an encoder bracket 9-4 and an encoder assembly. The driver housing 9-6 has an axially arranged driver housing center sleeve at its center, which is nested outside the fixed central shaft 9-9-5. The encoder bracket 9-4 is nested outside the driver housing center sleeve. The encoder assembly includes an encoder stator 9-8 and an encoder rotor 9-2. The encoder stator 9-8 is nested outside the encoder bracket 9-4. The encoder rotor 9-2 is coaxially opposite to the encoder stator 9-8 and is connected to the movable end of the motor assembly.

[0012] Furthermore, the drive assembly includes a driver 9-7, which is nested outside the center sleeve of the drive housing. The driver 9-7 is used to power the motor assembly and the encoder assembly, as well as to control the rotation angle of the moving end of the motor assembly.

[0013] Furthermore, the motor assembly includes a rotor support 9-1, rotor support bearing I 9-3, rotor support bearing II 9-9-8, a motor rotor 9-9-7, and a motor stator assembly 9-9. The motor housing 8 has an axially oriented central sleeve at the center of its housing partition. This central sleeve is nested outside the rotor support 9-1. The rotor support 9-1 is coaxially nested outside the middle of the fixed central shaft 9-9-5. One end of the rotor support 9-1 is rotatably connected to the encoder support 9-4 via rotor support bearing I 9-3, and the other end is rotatably connected to the motor housing partition of the motor housing 8 via rotor support bearing II 9-9-8. The front of the rotor support 9-1 has a section perpendicular to its axis. A rotor support connecting plate is arranged in a linear direction. One end of the rotor support connecting plate is fixedly connected to the encoder rotor 9-2. The motor rotor 9-9-7 is coaxially embedded on the outer side of the middle part of the rotor support 9-1. The rotor support 9-1 is fixedly connected to the other end of the rotor support connecting plate. The motor stator 9-9-6 is coaxially embedded on the outer side of the motor rotor 9-9-7. The motor stator assembly 9-9 includes the motor stator 9-9-6, coil I 9-9-1 and coil II 9-9-3. The motor stator 9-9-6 is rotatably arranged relative to the motor rotor 9-9-7. The motor stator 9-9-6 is fixedly connected to the motor housing 8. Coaxially arranged coil I 9-9-1 and coil II 9-9-3 are respectively provided on the left and right sides of the motor stator 9-9-6.

[0014] Furthermore, the module also includes copper sleeve I 9-9-4 and copper sleeve II 9-9-2. The fixed central shaft 9-9-5 is rotatably and sealed to the rotor support 9-1 through copper sleeve I 9-9-4, and the rotor support 9-1 is rotatably and sealed to the motor housing center sleeve through copper sleeve II 9-9-2. The copper sleeve I 9-9-4 and copper sleeve II 9-9-2, together with the static seal of the gland head 9-5, form a double isolation between the internal and external environments of the module.

[0015] Furthermore, the reduction mechanism includes a planetary gear reducer and a crossed roller bearing 2. The crossed roller bearing 2 is coaxially nested in the rear inner part of the transmission housing cavity of the motor housing 8. The planetary gear reducer is coaxially nested in the rear outer part of the fixed central shaft 9-9-5. The output side of the movable end of the planetary gear reducer is rotatably connected to the motor housing 8 through the crossed roller bearing 2.

[0016] Furthermore, the planetary gear reducer includes a first-stage planetary reduction mechanism 7, which is coaxially embedded in the right side of the transmission housing cavity of the motor housing 8. The first-stage planetary reduction mechanism 7 includes a first-stage planetary carrier 7-3, a first-stage planetary carrier bearing 7-1, a first-stage central gear 7-5, a first-stage planetary gear 7-4, a first-stage planetary gear bearing 7-6, a first-stage hole retaining ring 7-7, and a first-stage planetary gear shaft 7-8. The first-stage planetary carrier 7-3 is coaxially nested on the rear outer side of the fixed central shaft 9-9-5. The first-stage planetary carrier 7-3 is rotatably connected to the fixed central shaft 9-9-5. The front of the first-stage planetary carrier 7-3 is provided with a [missing information - likely a typo, should be "…"] arranged perpendicular to the axis of the first-stage planetary carrier 7-3. The first-stage planetary carrier connecting plate is rotatably connected to the rotor support 9-1 via the first-stage planetary carrier bearing 7-1. The first-stage central wheel 7-5 is coaxially embedded at the outer end of the rotor support 9-1. Multiple first-stage planetary gears 7-4 are evenly arranged along the circumferential direction on the outer side of the first-stage central wheel 7-5. The multiple first-stage planetary gears 7-4 are rotatably connected to multiple first-stage planetary gear shafts 7-8 via multiple first-stage planetary gear bearings 7-6. The first-stage planetary gear bearings 7-6 are fixedly connected to the first-stage planetary carrier 7-3 via the first-stage hole using a snap ring 7-7. One end of each of the multiple first-stage planetary gear shafts 7-8 is fixedly connected to the corresponding position on the first-stage planetary carrier connecting plate of the first-stage planetary carrier 7-3.

[0017] Furthermore, the planetary gear reducer also includes a secondary planetary reduction mechanism 6, which is coaxially embedded on the left side of the transmission housing cavity of the motor housing 8. The secondary planetary reduction mechanism 6 includes a secondary planetary carrier 6-2, a secondary planetary carrier bearing 6-1, a secondary center wheel 6-7, secondary planetary gears 6-6, secondary planetary gear bearing I 6-5, secondary planetary gear bearing II 6-8, a secondary bore retaining circlip 6-4, and a secondary planetary gear shaft 6-3. The secondary planetary carrier 6-2 is coaxially embedded at the outer end of the primary planetary carrier 7-3. The end of the secondary planetary carrier 6-2 is fixedly connected to the hollow output flange 5. The secondary planetary carrier 6-2 is rotatably connected to the primary planetary carrier 7-3 via the secondary planetary carrier bearing 6-1. 2. The secondary planetary gear 6-7 is rotatably connected to the motor housing 8 via the crossed roller bearing 2. The secondary central gear 6-7 is coaxially embedded in the rear outer side of the primary planetary carrier 7-3. Multiple secondary planetary gears 6-6 are evenly arranged along the circumferential direction on the outer side of the secondary central gear 6-7. The multiple secondary planetary gears 6-6 are rotatably connected to multiple secondary planetary gear bearings I 6-5 and II 6-8 respectively. The secondary planetary gear bearing I 6-5 is fixedly connected to the secondary planetary carrier 6-2 through the secondary hole using a snap ring 6-4. The secondary planetary gear bearing II 6-8 is fixedly connected to the secondary planetary carrier 6-2 through the secondary hole using a snap ring 6-4. The multiple secondary planetary gear shafts 6-3 are fixedly connected to the corresponding positions on the secondary planetary carrier 6-2 respectively.

[0018] Furthermore, the planetary gear reducer also includes a gear ring 4 and a crossed roller bearing sleeve 3. The gear ring 4 is coaxially mounted on the outside of the first-stage planetary reduction mechanism 7 and the second-stage planetary reduction mechanism 6. The gear ring 4 is fixedly connected to the motor housing 8. A crossed roller bearing sleeve 3 is provided between the gear ring 4 and the crossed roller bearing 2.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. The present invention adopts a design with a built-in static cable routing channel on a fixed central shaft 9-9-5, which completely avoids the core contradiction between the cable routing of rotating parts and complex sealing in the prior art. The cable explosion protection is achieved only through the static seal between the gland 9-5 and the fixed central shaft 9-9-5, avoiding wear and aging of the dynamic sealing interface, and significantly improving long-term operational reliability.

[0021] 2. The static cabling channel of this invention completely isolates the cable from direct contact with the external environment, eliminating the accumulation of combustible dust on the cable surface in traditional external cabling structures. This avoids the risk of explosion caused by dust ignition and reduces the obstruction of heat dissipation by dust, making it suitable for harsh working environments with high temperature and high dust.

[0022] 3. This invention does not rely on high-precision rotating explosion-proof mating surfaces or complex dynamic sealing components, which simplifies the overall structural design and processing technology and reduces manufacturing costs; at the same time, the sealing structure is simple and has low wear, which reduces the frequency and cost of later maintenance and extends the service life of the module.

[0023] 4. The coaxial integrated driver 9-7, motor, two-stage planetary gear reducer, and detection device of this invention have a compact structure and reasonable layout; with the rotational sealing design of the crossed roller bearing 2 and copper sleeve I 9-9-4 and copper sleeve II 9-9-2, the transmission accuracy and load-bearing capacity are taken into account while ensuring explosion-proof performance, thus meeting the motion control requirements of special robots.

[0024] 5. The static wiring channel design of this invention does not affect the rotation function of the joint module. The hollow output flange 5 can be flexibly connected to the external actuator, and the overall structure meets the national explosion-proof standards. It can be stably applied in high-risk scenarios such as fire fighting, chemical industry, and oil extraction, which are flammable, explosive, high-temperature and high-dust, providing core protection for the reliable operation of special robots.

[0025] In summary, this invention breaks away from the conventional approach of relying on dynamic sealing for explosion protection by having the wiring rotate with the joint. It innovatively proposes a design that fixes the central shaft 9-9-5 and uses static wiring. By fixing the central shaft, the cable is kept out of contact with the rotating parts throughout the entire process. This not only completely avoids the wear and failure problem of dynamic sealing, but also isolates dust from contact with the cable at the source. This design is a reconstruction and optimization of the core structure of the explosion-proof joint. Attached Figure Description

[0026] Figure 1 This is an exploded view of the overall explosion-proof joint module of the robot of the present invention;

[0027] Figure 2 This is an exploded view of the two-stage planetary reduction mechanism in the reduction mechanism of the present invention;

[0028] Figure 3 This is an exploded view of the first-stage planetary reduction mechanism in the reduction mechanism of the present invention;

[0029] Figure 4 This is an exploded view of the entire assembly of the motor component and the detection device of the present invention.

[0030] Figure 5 This is a schematic diagram of the longitudinal axial section of the explosion-proof joint module of the robot of the present invention.

[0031] In the diagram: 1 is the cover plate, 2 is the crossed roller bearing, 3 is the crossed roller bearing sleeve, 4 is the gear ring, 5 is the hollow output flange, 6 is the two-stage planetary reduction mechanism, 7 is the one-stage planetary reduction mechanism, 6-1 is the two-stage planetary carrier bearing, 6-2 is the two-stage planetary carrier, 6-3 is the two-stage planetary gear shaft, 6-4 is the two-stage hole retaining ring, 6-5 is the two-stage planetary gear bearing I, 6-6 is the two-stage planetary gear, 6-7 is the two-stage center gear, 6-8 is the two-stage planetary gear bearing II, 6-9 is the two-stage planetary gear sleeve, 7-1 is the one-stage planetary carrier bearing, 7-2 is the one-stage center gear sleeve II, 7-3 is the one-stage planetary carrier, 7-4 is the one-stage planetary gear, 7-5 is the one-stage center gear, 7-6 is the one-stage planetary reduction mechanism. The sequence is as follows: 7-7 is the first-stage planetary gear bearing; 7-8 is the first-stage planetary gear shaft; 8 is the motor housing; 9-1 is the rotor support; 9-2 is the encoder rotor; 9-3 is the rotor support bearing I; 9-4 is the encoder support; 9-5 is the gland head; 9-6 is the driver housing; 9-7 is the driver; 9-8 is the encoder stator; 9-9 is the motor stator assembly; 9-9-1 is coil I; 9-9-2 is copper sleeve II; 9-9-3 is coil II; 9-9-4 is copper sleeve I; 9-9-5 is the fixed center shaft; 9-9-6 is the motor stator; 9-9-7 is the motor rotor; 9-9-8 is the rotor support bearing II; 9-9-9 is the first-stage center gear sleeve I. Detailed Implementation

[0032] "Axial axis" refers to the direction of the central axis of the robot's explosion-proof joint module. "Coaxial setting" means that the central axis of each component coincides with the central axis of the module, ensuring transmission accuracy and structural compactness.

[0033] Specific implementation method one: Combining Figures 1 to 5This embodiment of the invention provides a robot explosion-proof joint module. The module includes a housing assembly, a driver assembly, a motor assembly, a reduction mechanism, a hollow output flange 5, a fixed central shaft 9-9-5, and a gland 9-5. The housing assembly includes a driver housing 9-6, a motor housing 8, and a cover plate 1 arranged coaxially along the axial direction. The driver housing 9-6 houses the driver assembly, and the motor housing 8 has a motor housing partition that divides the inner cavity of the motor housing into a motor housing cavity and a transmission housing cavity. The motor housing cavity houses the motor assembly, and the transmission housing cavity houses the reduction mechanism and the hollow output flange 5. The components are coaxial along the axial direction. The driver assembly, motor assembly, reduction mechanism, and hollow output flange 5 are connected by a transmission. A fixed central shaft 9-9-5 coaxially passes through the module, and one end of the fixed central shaft 9-9-5 is fixedly connected to the driver housing 9-6. The fixed central shaft 9-9-5 has an axially penetrating through hole to form a static wiring channel. A gland 9-5 is fixedly installed on the driver housing 9-6. The inner hole of the gland 9-5 is sealed and connected to the inlet end of the static wiring channel. The outlet end of the static wiring channel leads to or extends to the center hole of the hollow output flange 5. The static wiring channel allows cables to be introduced from the gland 9-5, pass through the inside of the fixed central shaft 9-9-5, and exit from the center hole of the hollow output flange 5.

[0034] The fixed central shaft 9-9-5 runs coaxially through the module along the axial direction, and the fixed central shaft 9-9-5 remains stationary and does not rotate throughout its entire length. One end of it is fixedly connected to the driver housing 9-6. The built-in static wiring channel ensures that the cable does not come into contact with rotating components such as the rotor support 9-1 and the planetary carrier.

[0035] Specific Implementation Method Two: Combining Figures 1 to 5 This embodiment further includes a detection device, coaxially positioned between the driver assembly and the motor assembly. The detection device detects the rotation angle of the moving end of the motor assembly. This configuration, by coaxially arranging the detection device between the driver assembly and the motor assembly, allows for real-time and accurate capture of the rotation angle information of the moving end of the motor assembly (e.g., rotor support 9-1). This provides data support for the driver 9-7 to regulate the rotation state of the motor rotor 9-9-7, ensuring that the motion accuracy of the joint module meets the requirements of special robot operations. Other components and connections are the same as in Specific Embodiment One.

[0036] Specific implementation method three: Combining Figures 1 to 5This embodiment describes a detection device comprising an encoder bracket 9-4 and an encoder assembly. A driver housing 9-6 has an axially aligned central sleeve nested around the fixed central shaft 9-9-5. The encoder bracket 9-4 is nested around the central sleeve. The encoder assembly includes an encoder stator 9-8 and an encoder rotor 9-2. The encoder stator 9-8 is nested around the encoder bracket 9-4, and the encoder rotor 9-2 is coaxially opposite to the encoder stator 9-8. The encoder rotor 9-2 is connected to the movable end of the motor assembly. This configuration provides a stable mounting reference for the encoder stator 9-8. The coaxial arrangement of the encoder rotor 9-2, connected to the movable end of the motor assembly, with the encoder stator 9-8, enables high-precision acquisition and transmission of angle signals. Combined with the driver 9-7, this forms a closed-loop control, further improving the angle control accuracy and operational stability of the joint module. Other components and connections are the same as in specific embodiments one or two.

[0037] Specific implementation method four: Combination Figures 1 to 5 This embodiment describes a driver assembly including a driver 9-7, which is nested outside the central sleeve of the driver housing. The driver 9-7 supplies power to the motor assembly and encoder assembly, and controls the rotation angle of the moving end of the motor assembly. This configuration, with the driver 9-7 nested outside the central sleeve of the driver housing 9-6, achieves coaxial layout with the fixed central shaft 9-9-5, optimizing space utilization. It also directly supplies power to the motor assembly (motor stator 9-9-6, motor rotor 9-9-7, etc.) and encoder assembly (encoder stator 9-8, encoder rotor 9-2). Simultaneously, it adjusts the rotation angle of the moving end of the motor in real time based on the rotation angle information fed back by the detection device, simplifying the power supply and control chain and improving module integration. Other components and connections are the same as in specific embodiments one, two, or three.

[0038] Specific Implementation Method Five: Combining Figures 1 to 5This embodiment describes a motor assembly including a rotor support 9-1, rotor support bearing I 9-3, rotor support bearing II 9-9-8, a motor rotor 9-9-7, and a motor stator assembly 9-9. A motor housing center sleeve is axially positioned at the center of the motor housing partition of the motor housing 8. This center sleeve is nested outside the rotor support 9-1. The rotor support 9-1 is coaxially nested outside the middle of the fixed central shaft 9-9-5. One end of the rotor support 9-1 is rotatably connected to the encoder support 9-4 via rotor support bearing I 9-3, and the other end is rotatably connected to the motor housing partition of the motor housing 8 via rotor support bearing II 9-9-8. The front of the rotor support 9-1 has a section perpendicular to the rotor support... A rotor support connecting plate is arranged along the axis of the frame 9-1. One end of the rotor support connecting plate is fixedly connected to the encoder rotor 9-2. The motor rotor 9-9-7 is coaxially embedded in the outer side of the middle part of the rotor support 9-1. The other end of the rotor support 9-1 is fixedly connected to the rotor support connecting plate. The motor stator 9-9-6 is coaxially embedded in the outer side of the motor rotor 9-9-7. The motor stator assembly 9-9 includes the motor stator 9-9-6, coil I 9-9-1 and coil II 9-9-3. The motor stator 9-9-6 is rotatably arranged relative to the motor rotor 9-9-7. The motor stator 9-9-6 is fixedly connected to the motor housing 8. Coil I 9-9-1 and coil II 9-9-3 are coaxially arranged on the left and right sides of the motor stator 9-9-6, respectively. In this configuration, the rotor bracket 9-1 is rotatably connected to the encoder bracket 9-4 and the motor housing 8 via rotor bracket bearing I 9-3 and rotor bracket bearing II 9-9-8, respectively, ensuring rotational flexibility. The motor stator 9-9-6 and the motor rotor 9-9-7 are rotatably arranged relative to each other, and in conjunction with the coils I 9-9-1 and II 9-9-3 on the left and right sides, they can efficiently output driving force. The rotor bracket 9-1 connecting plate synchronously connects the encoder rotor 9-2 and the motor rotor 9-9-7, realizing the coordination of power transmission and angle detection, and ensuring the synchronization of module power output and precision control. Other components and connections are the same as in specific implementation methods one, two, three, or four.

[0039] Specific Implementation Method Six: Combination Figures 1 to 5This embodiment further includes copper sleeve I 9-9-4 and copper sleeve II 9-9-2. The fixed central shaft 9-9-5 and the rotor support 9-1 are rotatably sealed via copper sleeve I 9-9-4, and the rotor support 9-1 and the motor housing center sleeve are rotatably sealed via copper sleeve II 9-9-2. The copper sleeves I 9-9-4 and II 9-9-2, together with the static seal of the gland 9-5, form a double isolation between the module's internal and external environments. This configuration allows copper sleeve I 9-9-4 to achieve a rotational seal between the fixed central shaft 9-9-5 and the rotor support 9-1, and copper sleeve II 9-9-2 to achieve a rotational seal between the rotor support 9-1 and the motor housing center sleeve. This double copper sleeve sealing structure reduces frictional loss between rotating parts and blocks the entry of external flammable and explosive gases and dust into the module, further enhancing explosion-proof performance while ensuring smooth rotation of the rotor support 9-1. Other components and connections are the same as in specific implementation methods one, two, three, four, or five.

[0040] Specific implementation method seven: Combining Figures 1 to 5 This embodiment describes a reduction mechanism comprising a planetary gear reducer and a crossed roller bearing 2. The crossed roller bearing 2 is coaxially nested within the rear inner part of the transmission housing cavity of the motor housing 8. The planetary gear reducer is coaxially nested within the rear outer part of the fixed central shaft 9-9-5. The movable output side of the planetary gear reducer is rotatably connected to the motor housing 8 via the crossed roller bearing 2. This configuration, with the planetary gear reducer and crossed roller bearing 2 coaxially nested outside the fixed central shaft 9-9-5, provides stable support for the movable output side of the planetary gear reducer. This ensures radial and axial stiffness during transmission and, through its rotatable connection with the motor housing 8, allows the power of the reduction mechanism to be smoothly transmitted to the hollow output flange 5, improving the module's load-bearing capacity and transmission stability. Other components and connections are the same as in specific embodiments one, two, three, four, five, or six.

[0041] The deceleration mechanism can also be replaced with an RV reducer or a harmonic reducer.

[0042] Specific implementation method eight: Combination Figures 1 to 5This embodiment describes a planetary gear reducer comprising a first-stage planetary reduction mechanism 7, which is coaxially mounted on the right side of the transmission housing cavity of the motor housing 8. The first-stage planetary reduction mechanism 7 includes a first-stage planetary carrier 7-3, a first-stage planetary carrier bearing 7-1, a first-stage central gear 7-5, first-stage planetary gears 7-4, first-stage planetary gear bearings 7-6, a first-stage retaining circlip 7-7, and a first-stage planetary gear shaft 7-8. The first-stage planetary carrier 7-3 is coaxially nested on the rear outer side of the fixed central shaft 9-9-5, and is rotatably connected to the fixed central shaft 9-9-5. The front of the first-stage planetary carrier 7-3 has a direction perpendicular to its axis. The primary planetary carrier connecting plate is rotatably connected to the rotor support 9-1 via a primary planetary carrier bearing 7-1. The primary central wheel 7-5 is coaxially embedded at the outer end of the rotor support 9-1. Multiple primary planetary gears 7-4 are evenly arranged circumferentially on the outer side of the primary central wheel 7-5. The multiple primary planetary gears 7-4 are rotatably connected to multiple primary planetary gear shafts 7-8 via multiple primary planetary gear bearings 7-6. The primary planetary gear bearings 7-6 are fixedly connected to the primary planetary carrier 7-3 via primary holes using snap rings 7-7. One end of each of the multiple primary planetary gear shafts 7-8 is fixedly connected to the corresponding position on the primary planetary carrier connecting plate of the primary planetary carrier 7-3. In this configuration, the first-stage planetary reduction mechanism 7 is connected to the rotor support 9-1 via the first-stage central wheel 7-5, receiving power from the motor assembly. The first-stage planetary gear 7-4 meshes with the gear ring 4 to achieve the first-stage reduction and torque increase. The first-stage planetary carrier 7-3 is rotatably connected to the rotor support 9-1 via the first-stage planetary carrier bearing 7-1, ensuring smoothness of the reduction process. The first-stage bore uses a retaining circlip 7-7 to fix the first-stage planetary gear bearing 7-6, improving the structural stability of the reduction mechanism and laying a reliable foundation for the subsequent second-stage reduction. Other components and connections are the same as in specific implementation methods one, two, three, four, five, six, or seven.

[0043] Among them, the outer and inner rings on the right side of the first-stage planetary gear bearing 7-6 are fixed to the shoulder of the first-stage planetary gear shaft 7-8 through the shoulder of the first-stage planetary gear shaft 7-8.

[0044] Specific Implementation Method Nine: Combining Figures 1 to 5This embodiment of the planetary gear reducer further includes a secondary planetary reduction mechanism 6. The secondary planetary reduction mechanism 6 is coaxially embedded in the left side of the transmission housing cavity of the motor housing 8. The secondary planetary reduction mechanism 6 includes a secondary planetary carrier 6-2, a secondary planetary carrier bearing 6-1, a secondary center wheel 6-7, secondary planetary gears 6-6, secondary planetary gear bearing I 6-5, secondary planetary gear bearing II 6-8, a secondary hole retaining ring 6-4, and a secondary planetary gear shaft 6-3. The secondary planetary carrier 6-2 is coaxially embedded at the outer end of the primary planetary carrier 7-3. The end of the secondary planetary carrier 6-2 is fixedly connected to the hollow output flange 5. The secondary planetary carrier 6-2 is rotatably connected to the primary planetary carrier 7-3 through the secondary planetary carrier bearing 6-1. Planetary carrier 6-2 is rotatably connected to motor housing 8 via crossed roller bearing 2. Secondary central wheel 6-7 is coaxially embedded on the outer rear part of primary planetary carrier 7-3. Multiple secondary planetary gears 6-6 are evenly arranged circumferentially on the outer side of secondary central wheel 6-7. Multiple secondary planetary gears 6-6 are rotatably connected to multiple secondary planetary gear shafts 6-3 via multiple secondary planetary gear bearings I 6-5 and II 6-8, respectively. Secondary planetary gear bearing I 6-5 is fixedly connected to secondary planetary carrier 6-2 via secondary holes using snap rings 6-4. Secondary planetary gear bearing II 6-8 is fixedly connected to secondary planetary carrier 6-2 via secondary holes using snap rings 6-4. Multiple secondary planetary gear shafts 6-3 are fixedly connected to corresponding positions on secondary planetary carrier 6-2. In this configuration, the secondary planetary reduction mechanism 6 receives the power transmitted from the primary planetary carrier 7-3. Through the meshing transmission between the secondary center wheel 6-7 and the secondary planetary gears 6-6, a second reduction and torque increase is achieved, further enhancing the output torque. The secondary planetary carrier 6-2 is rotatably connected to the primary planetary carrier 7-3 via the secondary planetary carrier bearing 6-1, and simultaneously connected to the motor housing 8 via the crossed roller bearing 2. This ensures rotational stability and precisely transmits the reduced power to the hollow output flange 5. The double sets of secondary planetary gear bearings I 6-5 and II 6-8, along with the secondary bore retaining circlip 6-4, enhance the load-bearing capacity and durability of the secondary reduction mechanism. Other components and connections are the same as in specific implementation methods one, two, three, four, five, six, seven, or eight.

[0045] Among them, the outer and inner rings on the right side of the secondary planetary gear bearing I6-5 and the secondary planetary gear bearing II6-8 are fixed by the shoulder of the secondary planetary gear shaft 6-3 and the shoulder of the secondary planetary gear shaft 6-3, respectively.

[0046] Specific Implementation Method Ten: Combining Figures 1 to 5This embodiment of the planetary gear reducer further includes a gear ring 4 and a crossed roller bearing sleeve 3. The gear ring 4 is coaxially embedded on the outside of the first-stage planetary reduction mechanism 7 and the second-stage planetary reduction mechanism 6. The gear ring 4 is fixedly connected to the motor housing 8, and the crossed roller bearing sleeve 3 is provided between the gear ring 4 and the crossed roller bearing 2. This arrangement, with the gear ring 4 fixed to the motor housing 8 and nested on the outside of the two-stage planetary reduction mechanism, provides a stable meshing reference for the first-stage planetary gear 7-4 and the second-stage planetary gear 6-6, ensuring the accuracy of the reduction transmission. The crossed roller bearing sleeve 3, located between the gear ring 4 and the crossed roller bearing 2, fills the installation gap and also acts as an axial limiter for the crossed roller bearing 2, preventing bearing displacement during transmission and further improving the structural stability and operational reliability of the reduction mechanism and the entire module. Other components and connections are the same as in embodiments one, two, three, four, five, six, seven, eight, or nine.

[0047] Detailed Implementation Method Eleven: Combining Figures 1 to 5 This embodiment further includes a primary center wheel sleeve II 7-2, a secondary planetary gear sleeve 6-9, and a primary center wheel sleeve I 9-9-9. The left side of the primary center wheel 7-5 is connected to the primary center wheel sleeve II 7-2, and the left side of the primary center wheel sleeve II 7-2 is connected to the inner ring of the primary planetary carrier bearing 7-1. The secondary planetary carrier bearing I 6-5 and the secondary planetary carrier bearing II 6-8 are connected by the secondary planetary gear sleeve 6-9. A primary center wheel sleeve I 9-9-9 is also provided between the primary center wheel 7-5 and the rotor support bearing II 9-9-8, and the right side of the primary center wheel sleeve I 9-9-9 is connected to the inner ring of the rotor support bearing II 9-9-8. This configuration, with the primary center wheel sleeve I 9-9-9 and the primary center wheel sleeve II 7-2 filling the installation gap between the primary center wheel 7-5 and the primary planetary carrier bearing 7-1 and the rotor support bearing II 9-9-8, and the secondary planetary gear sleeve 6-9 providing axial restraint for the secondary planetary gear bearings I 6-5 and II 6-8, preventing bearing displacement during transmission, further improving the structural stability and transmission accuracy of the reduction mechanism; these three components, together with the static wiring channel, copper sleeve I 9-9-4, and copper sleeve II 9-9-2 seal, form a synergistic explosion-proof system, further enhancing the structural stability and explosion-proof reliability of the module in high-temperature, dusty environments. Other components and connections are the same as in specific implementation methods one, two, three, four, five, six, seven, eight, nine, or ten.

[0048] Working principle

[0049] Combination Figures 1 to 5 Explanation of the working principle of the explosion-proof joint module for robots of this invention:

[0050] First, explosion-proof sealing and static wiring work together to ensure a solid safety foundation. After the cable is introduced through the gland 9-5, it extends along the static wiring channel inside the fixed central shaft 9-9-5 to the center hole of the hollow output flange 5, without contacting rotating components such as the rotor support 9-1, the primary planetary carrier 7-3, and the secondary planetary carrier 6-2. This eliminates the risk of explosion caused by the accumulation of flammable dust and oil on the cable surface, as is common in traditional external wiring structures, and also avoids cable wear and heat dissipation problems caused by dynamic wiring. Simultaneously, copper sleeve I 9-9-4 provides a rotational seal between the fixed central shaft 9-9-5 and the rotor support 9-1, while copper sleeve II 9-9-2 provides a rotational seal between the rotor support 9-1 and the central sleeve of the motor housing 8. This dual copper sleeve rotational seal, together with the static seal of the gland 9-5, forms a complete explosion-proof system, effectively preventing external flammable and explosive gases and dust from entering the module and ensuring safe operation in high-risk environments.

[0051] Secondly, the power drive and closed-loop control are precisely matched to the motion requirements. The driver 9-7 obtains power through the cables in the static wiring channel, supplying power to the motor assembly (motor stator 9-9-6, motor rotor 9-9-7) and the encoder assembly (encoder stator 9-8, encoder rotor 9-2). Simultaneously, it receives external control signals and, combined with the rotation angle data fed back from the encoder assembly, generates precise motor drive commands. These commands control the coils I 9-9-1 and II 9-9-3 on the left and right sides of the motor stator 9-9-6 to generate alternating magnetic fields, thereby driving the motor rotor 9-9-7 to synchronously rotate the rotor support 9-1. As the rotor support 9-1 rotates, the encoder rotor 9-2 connected to its front rotates relative to the encoder stator 9-8. The encoder assembly collects the rotation angle information of the rotor support 9-1 in real time and feeds it back to the driver 9-7. The driver 9-7 dynamically adjusts the motor drive current according to preset motion parameters and feedback data, forming a high-precision closed-loop control to ensure that the rotation angle accuracy of the joint module meets the operational requirements.

[0052] Finally, the two-stage reduction and stabilization support work together to improve output efficiency. During power transmission, the rotor support 9-1 drives the first-stage central wheel 7-5 to rotate synchronously. Since the gear ring 4 is fixed to the motor housing 8, the first-stage central wheel 7-5 drives the first-stage planetary carrier 7-3 to rotate through external meshing with multiple first-stage planetary gears 7-4, completing the first reduction and torque increase. The first-stage planetary carrier 7-3 synchronously drives the second-stage central wheel 6-7 to rotate. Similarly, the second-stage central wheel 6-7 drives the second-stage planetary carrier 6-2 to rotate through external meshing with multiple second-stage planetary gears 6-6, achieving the second reduction and torque increase. Finally, the high torque power is transmitted to the hollow output flange 5, which is fixedly connected to the second-stage planetary carrier 6-2, driving the external actuator to move stably. Throughout the transmission process, the crossed roller bearing 2 provides high-rigidity radial and axial support for the secondary planetary carrier 6-2, effectively suppressing transmission sway; the primary planetary carrier bearing 7-1 ensures the smooth rotation of the primary planetary carrier 7-3 and the rotor support 9-1, while the rotor support bearing II 9-9-8 ensures the coaxial rotation of the rotor support 9-1 and the motor housing 8, significantly reducing mechanical friction loss; the gear ring 4 and the crossed roller bearing sleeve 3 cooperate to axially limit the crossed roller bearing 2, preventing bearing displacement during transmission and further improving the overall operational stability and service life of the module.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot explosion-proof joint module, characterized in that, The module includes a housing assembly, a driver assembly, a motor assembly, a reduction mechanism, a hollow output flange (5), a fixed central shaft (9-9-5), and a gland (9-5); the housing assembly includes a driver housing (9-6), a motor housing (8), and a cover plate (1) arranged coaxially along the axial direction; the driver housing (9-6) houses the driver assembly, and the motor housing (8) has a motor housing partition inside, which divides the inner cavity of the motor housing into a motor housing cavity and a transmission housing cavity; the motor housing cavity houses the motor assembly, and the transmission housing cavity houses the reduction mechanism and the hollow output flange (5); the driver assembly, motor assembly, reduction mechanism, and cover plate (1) are arranged coaxially along the axial direction. The hollow output flange (5) is connected to the drive; the fixed center shaft (9-9-5) is coaxially inserted through the module along the axial direction, and one end of the fixed center shaft (9-9-5) is fixedly connected to the driver housing (9-6); the fixed center shaft (9-9-5) has an axially penetrating through hole to form a static wiring channel, the gland (9-5) is fixedly installed on the driver housing (9-6), the inner hole of the gland (9-5) is sealed and connected to the inlet end of the static wiring channel, and the outlet end of the static wiring channel leads to or extends to the center hole of the hollow output flange (5); the static wiring channel allows the cable to be introduced from the gland (9-5), pass through the inside of the fixed center shaft (9-9-5), and be led out from the center hole of the hollow output flange (5).

2. The robot explosion-proof joint module according to claim 1, characterized in that, The module also includes a detection device, which is coaxially disposed between the driver assembly and the motor assembly. The detection device is used to detect the rotation angle of the moving end of the motor assembly.

3. The explosion-proof joint module for a robot according to claim 2, characterized in that, The detection device includes an encoder bracket (9-4) and an encoder assembly. The driver housing (9-6) has an axially arranged driver housing center sleeve at its center. The driver housing center sleeve is nested outside the fixed central shaft (9-9-5). The encoder bracket (9-4) is nested outside the driver housing center sleeve. The encoder assembly includes an encoder stator (9-8) and an encoder rotor (9-2). The encoder stator (9-8) is nested outside the encoder bracket (9-4). The encoder rotor (9-2) is coaxially opposite to the encoder stator (9-8). The encoder rotor (9-2) is connected to the movable end of the motor assembly.

4. The explosion-proof joint module for a robot according to claim 3, characterized in that, The drive assembly includes a driver (9-7), which is nested outside the center sleeve of the drive housing. The driver (9-7) is used to power the motor assembly and the encoder assembly, as well as to control the rotation angle of the moving end of the motor assembly.

5. A robot explosion-proof joint module according to claim 4, characterized in that, The motor assembly includes a rotor support (9-1), rotor support bearing I (9-3), rotor support bearing II (9-9-8), a motor rotor (9-9-7), and a motor stator assembly (9-9). The motor housing (8) has an axially oriented motor housing center sleeve at the center of its housing partition. This center sleeve is nested outside the rotor support (9-1). The rotor support (9-1) is coaxially nested outside the middle of a fixed central shaft (9-9-5). One end of the rotor support (9-1) is rotatably connected to the encoder support (9-4) via rotor support bearing I (9-3), and the other end is rotatably connected to the motor housing partition of the motor housing (8) via rotor support bearing II (9-9-8). The front of the rotor support (9-1) has a square perpendicular to the axis of the rotor support (9-1). The rotor support connecting plate is arranged in the direction of the encoder rotor (9-2) at one end. The motor rotor (9-9-7) is coaxially embedded in the outer side of the middle part of the rotor support (9-1). The rotor support (9-1) is fixedly connected to the other end of the rotor support connecting plate. The motor stator (9-9-6) is coaxially embedded in the outer side of the motor rotor (9-9-7). The motor stator assembly (9-9) includes the motor stator (9-9-6), coil I (9-9-1) and coil II (9-9-3). The motor stator (9-9-6) is rotatably arranged relative to the motor rotor (9-9-7). The motor stator (9-9-6) is fixedly connected to the motor housing (8). Coil I (9-9-1) and coil II (9-9-3) are coaxially arranged on the left and right sides of the motor stator (9-9-6).

6. A robot explosion-proof joint module according to claim 5, characterized in that, The module also includes copper sleeve I (9-9-4) and copper sleeve II (9-9-2). The fixed central shaft (9-9-5) and the rotor support (9-1) are rotatably and sealedly connected through copper sleeve I (9-9-4). The rotor support (9-1) and the central sleeve of the motor housing are rotatably and sealedly connected through copper sleeve II (9-9-2). The copper sleeve I (9-9-4) and copper sleeve II (9-9-2) cooperate with the static seal of the gland head (9-5) to form a double isolation between the internal and external environments of the module.

7. A robot explosion-proof joint module according to claim 6, characterized in that, The reduction mechanism includes a planetary gear reducer and a cross roller bearing (2). The cross roller bearing (2) is coaxially nested in the rear inner part of the transmission housing cavity of the motor housing (8). The planetary gear reducer is coaxially nested in the rear outer part of the fixed central shaft (9-9-5). The output side of the movable end of the planetary gear reducer is rotatably connected to the motor housing (8) through the cross roller bearing (2).

8. A robot explosion-proof joint module according to claim 7, characterized in that, The planetary gear reducer includes a first-stage planetary reduction mechanism (7), which is coaxially embedded in the right side of the transmission housing cavity of the motor housing (8). The first-stage planetary reduction mechanism (7) includes a first-stage planetary carrier (7-3), a first-stage planetary carrier bearing (7-1), a first-stage central gear (7-5), a first-stage planetary gear (7-4), a first-stage planetary gear bearing (7-6), a first-stage hole retaining ring (7-7), and a first-stage planetary gear shaft (7-8). The first-stage planetary carrier (7-3) is coaxially nested on the rear side of the fixed central shaft (9-9-5). The first-stage planetary carrier (7-3) is rotatably connected to the fixed central shaft (9-9-5). The front of the first-stage planetary carrier (7-3) is provided with a [missing information - likely a typo, should be "a"] arranged perpendicular to the axis of the first-stage planetary carrier (7-3). The first-stage planetary carrier connecting plate is rotatably connected to the rotor support (9-1) via the first-stage planetary carrier bearing (7-1). The first-stage central wheel (7-5) is coaxially embedded at the outer end of the rotor support (9-1). Multiple first-stage planetary gears (7-4) are evenly arranged along the circumferential direction on the outer side of the first-stage central wheel (7-5). The multiple first-stage planetary gears (7-4) are rotatably connected to multiple first-stage planetary gear shafts (7-8) via multiple first-stage planetary gear bearings (7-6). The first-stage planetary gear bearings (7-6) are fixedly connected to the first-stage planetary carrier (7-3) via the first-stage hole using a snap ring (7-7). One end of the multiple first-stage planetary gear shafts (7-8) is fixedly connected to the corresponding position on the first-stage planetary carrier connecting plate of the first-stage planetary carrier (7-3).

9. A robot explosion-proof joint module according to claim 8, characterized in that, The planetary gear reducer also includes a secondary planetary reduction mechanism (6). The secondary planetary reduction mechanism (6) is coaxially embedded in the left side of the transmission housing cavity of the motor housing (8). The secondary planetary reduction mechanism (6) includes a secondary planetary carrier (6-2), a secondary planetary carrier bearing (6-1), a secondary center wheel (6-7), a secondary planetary gear (6-6), a secondary planetary gear bearing I (6-5), a secondary planetary gear bearing II (6-8), a secondary hole retaining ring (6-4), and a secondary planetary gear shaft (6-3). The secondary planetary carrier (6-2) is coaxially embedded in the outer end of the primary planetary carrier (7-3). The end of the secondary planetary carrier (6-2) is fixedly connected to the hollow output flange (5). The secondary planetary carrier (6-2) is rotatably connected to the primary planetary carrier (7-3) through the secondary planetary carrier bearing (6-1). The secondary center wheel (6-7) is rotatably connected to the motor housing (8) via a cross roller bearing (2). The secondary center wheel (6-7) is coaxially embedded in the rear part of the outer side of the primary planetary carrier (7-3). Multiple secondary planetary gears (6-6) are evenly arranged on the outer side of the secondary center wheel (6-7) along the circumferential direction. The multiple secondary planetary gears (6-6) are rotatably connected to multiple secondary planetary gear shafts (6-3) via multiple secondary planetary gear bearings I (6-5) and secondary planetary gear bearings II (6-8). The secondary planetary gear bearings I (6-5) are fixedly connected to the secondary planetary carrier (6-2) via secondary holes using snap rings (6-4). The secondary planetary gear bearings II (6-8) are fixedly connected to the secondary planetary carrier (6-2) via secondary holes using snap rings (6-4). The multiple secondary planetary gear shafts (6-3) are fixedly connected to the corresponding positions on the secondary planetary carrier (6-2).

10. A robot explosion-proof joint module according to claim 9, characterized in that, The planetary gear reducer also includes a gear ring (4) and a cross roller bearing sleeve (3). The gear ring (4) is coaxially mounted on the outside of the first-stage planetary reduction mechanism (7) and the second-stage planetary reduction mechanism (6). The gear ring (4) is fixedly connected to the motor housing (8). A cross roller bearing sleeve (3) is provided between the gear ring (4) and the cross roller bearing (2).

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