Integrated joint module and joint robot

Abstract

The invention relates to the technical field of robot joint modules, in particular to an integrated joint module. Comprising a motor assembly, the motor assembly comprises a shell and a motor rotor, and the inner side of the shell integrally extends inwards in the radial direction to form a plurality of stator teeth; each stator tooth is provided with a magnet exciting coil; the motor rotor is rotatably assembled in an inner circumferential surface defined by the plurality of stator teeth; the speed reducer comprises a transmission shaft, the transmission shaft is provided with an input end and an output end, and the input end is in driving connection with the motor rotor; the first encoder assembly is arranged in the end area of the input end. The technical problems that a traditional joint module is too large in size and bloated in structure are solved. In addition, the invention further provides a joint robot comprising the integrated joint module.

Description

Technical Field

[0001] This application relates to the field of robot joint module technology, and in particular to an integrated joint module and a joint robot. Background Technology

[0002] With the rapid development of the intelligent manufacturing and service robot industry, the market has placed more stringent demands on the various operational capabilities of robots. As the core execution component for robots to perform various actions, the structure of the joint module determines the overall spatial adaptability of the robot.

[0003] However, traditional joint modules require functional components such as a housing, motor stator, motor rotor, and reducer, which are assembled together using connectors such as flanges, splines, and couplings. This complex connection process increases the axial and radial dimensions of the joint module, resulting in a bulky overall size and high space occupancy, making it difficult to meet the application requirements of lightweight and compact robots.

[0004] Therefore, developing a highly integrated joint module has become a pressing technical problem that needs to be solved to meet the development needs of the robotics industry. Summary of the Invention

[0005] The purpose of this application is to provide an integrated joint module to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this application provides the following technical solution: An integrated joint module includes: A motor assembly includes a housing and a motor rotor. A plurality of stator teeth extend radially inward from the inner side of the housing. Each stator tooth is provided with an excitation coil. The motor rotor is rotatably mounted within the inner circumferential surface formed by the plurality of stator teeth. A speed reducer, the speed reducer including a drive shaft having an input end and an output end, the input end being driven and connected to the motor rotor.

[0007] Furthermore, the motor rotor includes a rotor sleeve, and the input end of the transmission shaft and the rotor sleeve are integrally formed.

[0008] Furthermore, the drive shaft has an extension that forms the input end and is integrally formed with the rotor sleeve, extending axially upward from the end of the rotor sleeve to form the end region of the input end.

[0009] Furthermore, it also includes a control component; the inner side of the housing is provided with a radially inwardly extending step portion, and the control component is mounted on the step portion by fasteners and is located on the axial side of the input end of the drive shaft.

[0010] Furthermore, an insulating layer is provided on the outer periphery of each stator tooth, and the excitation coil is wound around the outer periphery of the insulating layer.

[0011] Furthermore, the outer circumferential surface of the motor rotor is provided with several grooves along the axial direction for embedding magnets, and each groove has an axial opening.

[0012] Furthermore, the integrated joint module includes a second encoder assembly, which includes a second mounting bracket and a second encoder module; The second mounting bracket is a ring-shaped component, which is fixed to one end of the motor rotor where the axial opening is provided, and covers the axial opening area of ​​several grooves; The second encoder module is fixedly installed on the side of the second mounting bracket away from the motor rotor.

[0013] Furthermore, the integrated joint module also includes a first encoder assembly disposed in the end region of the input end; The first encoder component includes: First mounting bracket and first encoder module; The first mounting bracket is fixed to the input end of the drive shaft and rotates with it; The first encoder module is fixedly mounted on the first mounting bracket.

[0014] Furthermore, a positioning structure is provided on the outer periphery of the input end of the drive shaft, and the first mounting bracket is sleeved on the end of the input end and fixed in cooperation with the positioning structure.

[0015] In addition, an articulated robot is proposed, which includes the aforementioned integrated joint module.

[0016] The technical solutions provided in this application have the following advantages compared with the prior art: The integrated joint module provided in this application eliminates the traditional assembly process between the stator teeth and the housing by designing the stator teeth and housing as a single molded structure. Simultaneously, it allows for direct drive connection between the motor rotor and the input end of the reducer's transmission shaft, thereby reducing the number of connecting components and assembly layers. This effectively solves the technical problems of traditional joint modules, which consist of independent components such as the housing, stator, rotor, and reducer, assembled through multiple connectors like flanges and splines, resulting in excessive size, bulky structure, and high space occupancy, making them unsuitable for the lightweight and compact development requirements of robots. It meets the urgent need for highly integrated, miniaturized joint actuators in intelligent manufacturing and service robots. Attached Figure Description The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0019] Figure 1 An external structural diagram of an integrated joint module provided in an embodiment of this application; Figure 2 This is a cross-sectional view of the motor assembly inside the integrated shutdown module of this application; Figure 3 This is a cross-sectional view of the reducer inside the integrated shutdown module of this application; Figure 4 This is a schematic diagram showing the location of the insulating layer inside the integrated joint module of this application; Figure 5 This is a schematic diagram of the structure of the first encoder component and the second encoder component of this application.

[0020] Explanation of reference numerals in the attached figures: 1. Motor assembly; 11. Housing; 12. Motor rotor; 121. Rotor sleeve; 122. Groove; 1221. Opening; 13. Magnet; 14. Stator teeth; 15. Excitation coil; 16. Insulation layer; 17. Stepped section; 2. Reducer; 21. Drive shaft; 211. Input end; 212. Extension section; 213. Output end; 22. Positioning structure; 221. Annular groove; 3. First encoder assembly; 31. First mounting bracket; 32. First encoder module; 4. Second encoder assembly; 41. Second mounting bracket; 42. Second encoder module; 5. Control components. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0023] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0024] To address the technical problems of existing joint modules, which are bulky, have low space utilization, and fail to meet the requirements of lightweight and compact robots due to their loose structure and numerous connecting parts, this application provides an integrated joint module that enables a compact design of the motor, reducer 2, and encoder.

[0025] like Figures 1 to 5As shown, an integrated joint module includes: a motor assembly 1, which includes a housing 11 and a motor rotor 12. A plurality of stator teeth 14 extend radially inward from the inner side of the housing 11; each stator tooth 14 is provided with an excitation coil 15; the motor rotor 12 is rotatably mounted in the inner circumferential surface formed by the plurality of stator teeth 14; a reducer 2, which includes a drive shaft 21, which has an input end 211 and an output end 213, the input end 211 being drivenly connected to the motor rotor 12; and a first encoder assembly 3, which is disposed in the end region of the input end 211.

[0026] Detailed, such as Figure 2 As shown, the motor assembly 1 includes a cylindrical outer shell 11, the inner wall of which extends radially inward along the circumferential direction with a plurality of stator teeth 14 integrally. These stator teeth 14 and the outer shell 11 are a single integral component, typically formed in one piece by precision casting or machining. An excitation coil 15 is wound on each stator tooth 14 to generate a rotating magnetic field. A motor rotor 12, made of a permanent magnet, is rotatable when energized and is mounted inside the cylindrical space enclosed by these stator teeth 14. This design eliminates the need for a separate stator and its fixing structure.

[0027] It should be understood that in traditional designs, the motor housing 11 only serves a supporting and protective function, while the stator is installed inside it as a separate component. In this design, the stator teeth 14 are integrated with the housing 11 as a single unit. The stator teeth 14, which extend radially inward from the inner side of the housing 11, are responsible for generating a magnetic field (by winding excitation coils 15). At the same time, these stator teeth 14 and the main body of the housing 11 to which they are attached directly constitute the mechanical structure supporting the bearings of the motor rotor 12. This eliminates the assembly interface, connectors (such as screws and pressure rings) between the stator and the housing 11, as well as the installation space reserved for this purpose, thereby reducing the number of parts and radial stacking from the source and effectively reducing the radial width of the joint module.

[0028] The reducer 2 is connected to the output side of the motor assembly 1 to reduce the speed and increase the torque. In this embodiment, the reducer 2 includes a drive shaft 21 with an input end 211 and an output end 213. The input end 211 of the reducer 2 is directly coaxially connected to the shaft (or rotor body) of the aforementioned motor rotor 12, realizing direct drive without intermediate transmission components. The output end 213 is used to connect to an external robotic arm or load.

[0029] This design eliminates the need for intermediate transmission components such as couplings, transition flanges, or spline sleeves to connect the input end 211 of the reducer 2's drive shaft 21 to the motor rotor 12, as is done in traditional designs. It should be understood that this simplifies the power transmission chain, avoiding the axial or radial dimension increase, assembly error accumulation, and potential rigidity loss that would result from adding intermediate connecting parts. This direct connection design minimizes the power transmission path from the motor to the reducer 2, resulting in a compact structure.

[0030] In addition, such as Figure 3 As shown, the first encoder assembly 3 is used to detect the rotational position and speed of the drive shaft 21. This first encoder assembly 3 is compactly arranged in the end region of the input end 211 of the drive shaft 21 of the reducer 2. This design makes full use of the "shaft end space" that might otherwise be unused. In conventional layouts, the encoder is often installed as a separate unit at the tail of the motor, occupying additional axial length. This solution, however, mounts the first encoder assembly 3, which detects the position and speed of the motor rotor 12, at the input shaft end of the reducer 2. This utilizes the existing shaft end space of the drive shaft 21, thus eliminating the need to allocate a separate installation space for the encoder and effectively reducing the axial dimension.

[0031] In summary, the integrated joint module of this technical solution features a radially integrated design where the motor rotor 12 is housed within the stator teeth 14 enclosure, and the stator teeth 14 and housing 11 are integrated to ensure that the electromagnetic functional structure and mechanical support structure overlap in radial section, maximizing the use of radial space. Axially, the motor rotor 12, the first encoder assembly 3, and the drive shaft 21 are coaxially connected in series, forming a compact axial layout that effectively shortens the axial length. Through the integrated design of the housing 11 and stator teeth 14, the direct drive connection between the reducer 2 drive shaft 21 and the motor rotor 12, and the embedded assembly of the first encoder assembly 3 at the input end 211 of the drive shaft 21, the number of connecting parts is reduced, redundant assembly interfaces and reserved space are eliminated, and the volume, axial and radial dimensions of the integrated joint module are reduced while ensuring core functions such as drive and feedback, thus meeting the core design requirements of lightweight and compact robots.

[0032] Furthermore, to address the issue that in traditional designs, the output shaft of the motor rotor 12 and the input shaft of the reducer 2 are two separate parts, mechanically connected by splines, keyways, or couplings. This design inevitably introduces clearance and requires additional structural length for connection and fastening (such as the spline mating section and lock nut position), increasing the axial dimension.

[0033] Therefore, in a specific embodiment, such as Figure 3As shown, the motor rotor 12 includes a rotor sleeve 121, and the input end 211 of the transmission shaft 21 and the rotor sleeve 121 are integrally formed. This integrally formed structure eliminates connecting components (such as couplings) and their necessary installation space (such as spline length and locking structure), effectively compressing the axial distance from the effective electromagnetic action area of ​​the motor rotor 12 to the first-stage transmission point of the reducer 2. This avoids the unavoidable fretting, backlash, and elastic deformation inherent in separate connections, thereby improving the overall torsional stiffness and axial stiffness of the transmission system.

[0034] In addition, the production process is simplified. For example, in a specific production scenario, metal powder injection molding or precision casting process can be used to directly manufacture a blank that includes both the rotor sleeve 121 and the initial tooth profile of the input shaft. Then, a small amount of subsequent finishing (such as grinding the tooth profile and precision turning the bearing seat) is used to produce the motor rotor 12 and the transmission shaft 21 of this embodiment to achieve the final size and precision requirements. This avoids the problem of complicated and time-consuming processes caused by the need to process two parts separately in traditional designs.

[0035] In summary, this embodiment adopts a design in which the input end 211 of the drive shaft 21 and the rotor sleeve 121 are integrally formed. First, it eliminates the need for connecting components such as couplings, effectively avoiding the cumulative assembly errors caused by separate connections and ensuring the coaxiality accuracy of the two components. Second, it eliminates the installation space required for connecting components, thereby effectively reducing the radial width of the joint module and shortening the bearing assembly length, achieving a compact design.

[0036] It should also be noted that, in a preferred embodiment, the integrally formed structure is specifically manifested as follows: the drive shaft 21 has an extension section 212, which constitutes the input end 211 and is integrally formed with the rotor sleeve 121, and extends axially upward from the end of the rotor sleeve 121 to form the end region of the input end 211.

[0037] It should be understood that designing the rotor sleeve 121 and the extension section 212 of the drive shaft 21 as an integral structure fundamentally changes the traditional power transmission path. When the motor is working, the rotor sleeve 121 rotates under the action of the electromagnetic field. Since the rotor sleeve 121 and the extension section 212 are the same continuous metal body, the rotational power can be directly transmitted to the extension section 212 without passing through any mechanical connection interface. This design avoids the microscopic gaps that are inevitable in traditional designs using spline connections, keyway fits, or flange connections, achieving a "zero-gap" transition in power transmission.

[0038] Furthermore, in traditional layouts, the encoder, as an independent functional unit, occupies a complete axial segment and is typically installed at the tail of the motor or the front of the reducer 2, resulting in a simple superposition of axial lengths. In this embodiment, the first encoder assembly 3 is directly mounted on the existing shaft end plane, eliminating the need for additional dedicated space and cleverly utilizing the inherent protrusion of the drive shaft 21. This layout is equivalent to superimposing new functions within an unchanged axial dimension, effectively utilizing axial space and thus reducing the size of the joint module.

[0039] Furthermore, such as Figure 3 As shown, in order to achieve intelligent driving and higher integration of the joint module, the shutdown module also includes a control component 5; the inner side of the housing 11 is provided with a radially inwardly extending step portion 17, and the control component 5 is installed on the step portion 17 by fasteners and is located on the axial side of the input end 211 of the transmission shaft 21.

[0040] It should be understood that control component 5 is specifically a control board, which is designed to ensure the normal operation of the joint module. In traditional technologies, components such as control boards are usually placed externally to save internal space, resulting in complex electrical connections and reduced reliability of the joint module.

[0041] To address this, the present technical solution incorporates a radially inwardly extending stepped portion on the inner side of the housing 11, providing a physical mounting platform for the control component 5. During assembly, the control component 5 is directly fixed to this stepped portion using fasteners and positioned on the axial side of the input end 211 of the drive shaft 21. This fully utilizes the underutilized radial and axial space between the motor and the reducer 2, integrating the control component 5 within the joint module. This design achieves fully integrated electromechanical design of the joint module, eliminating the need for an external control box, reducing external cables and interfaces, and improving the integration and reliability of the joint module.

[0042] In addition, such as Figure 4 As shown, in the above embodiment, an insulating layer 16 is provided on the outer periphery of each of the stator teeth 14, and the excitation coil 15 is wound around the outer periphery of the insulating layer 16.

[0043] It should be understood that the direct winding of the excitation coil 15 onto the metal stator teeth 14 may cause inter-turn short circuits, thus affecting the reliability and electrical safety of the motor. Therefore, a reliable electrical isolation barrier is constructed between the conductive metal structure and the coil winding: specifically, an insulating layer 16 (such as epoxy powder coating, insulating paper covering, or injection-molded insulating skeleton) is pre-formed on the outer peripheral surface of each stator tooth 14, and then the excitation coil 15 is wound on the insulating layer 16.

[0044] In operation, the stator teeth 14, as part of the overall structure, provide mechanical support and magnetic circuit channels. The insulation layer 16, acting as a dielectric, isolates the coil from direct contact with the metal teeth. Under its protection, the excitation coil 15 safely carries current to generate a magnetic field. This design ensures the electrical safety of the motor under high voltage and high power density, improves the insulation withstand voltage level and long-term operational reliability, while the insulation layer 16 also serves to fix the coil, improve heat dissipation, and protect the wires. It is a key foundation for achieving a highly integrated, high-performance integrated motor structure.

[0045] Furthermore, in order to solve the technical problem that the permanent magnets (magnets 13) embedded on the surface of the motor rotor 12 may move axially or even fall off due to centrifugal force or vibration under high speed or impact load.

[0046] The outer circumferential surface of the motor rotor 12 is provided with a plurality of grooves 122 for embedding magnets 13 along the axial direction, and each groove 122 has an axial opening 1221.

[0047] In detail, the motor rotor 12 has a cylindrical structure, and its outer circumferential surface serves as the mounting surface for the magnets 13. On this mounting surface, multiple rectangular grooves 122 are evenly spaced along the axial direction (i.e., parallel to the rotor axis). These grooves 122 are uniformly distributed along the circumference of the motor rotor 12 and are used to embed the rectangular magnets 13. The depth of each groove 122 is slightly greater than the thickness of the magnet 13, and the width is fitted with a slight clearance to the width of the magnet 13. At the rotational speed, the centrifugal force on the magnet 13 is borne by the radial sidewalls of the grooves 122. The sidewalls of the grooves 122 stop the magnets 13, preventing them from detaching from the motor rotor 12 during rotation.

[0048] In addition, in order to make full use of axial space, such as Figure 5 As shown, the integrated joint module also includes a second encoder assembly 4, which includes a second mounting bracket 41 and a second encoder module 42. The second mounting bracket 41 is an annular component that is fixed to one end of the motor rotor 12 where the axial opening 1221 is provided, and covers the axial opening 1221 area of ​​a plurality of grooves 122. The second encoder module 42 is fixedly mounted on the side of the second mounting bracket 41 away from the motor rotor 12.

[0049] In detail, the second mounting bracket 41 is a ring-shaped metal part (which can be made of aluminum alloy or stainless steel). The second mounting bracket 41 is directly fixed to the end face of the motor rotor 12 with axial openings 1221 by circumferentially distributed screws. Its installation position is precisely designed so that when installed in place, the inner ring surface of the second mounting part fits tightly against the end face of the motor rotor 12, completely covering and sealing all the axial openings 1221 areas of the grooves 122 of the magnets 13.

[0050] With this design, the opening 1221 area of ​​the groove 122 of the magnet 13 on the end face of the motor rotor 12 is in a "functionally idle" state after the magnet 13 is installed. This technical solution utilizes this axial opening 1221 area as a mounting base for the second encoder assembly 4. This design does not require creating new axial space; instead, it utilizes the space at the top end of the motor rotor 12 to install the second mounting bracket 41, thus fully utilizing the internal space of the joint module.

[0051] Additionally, the second encoder module 42 is fixedly mounted on the side plane of the second mounting bracket 41 facing away from the motor rotor 12. This module typically includes a high-resolution code disk (such as an optical grating or magnetic code disk) and a read head assembly. The code disk is coaxially fixed to the mounting bracket, while the read head is mounted on an adjacent stationary component to read the rotation angle and speed information of the motor rotor 12.

[0052] Furthermore, in some embodiments, at least one side of the groove 122 is provided with a limiting stop protruding into the groove. When the magnet 13 is assembled into the groove 122, the limiting stop can form an abutment fit with the side wall of the magnet 13, thereby offsetting the assembly gap between the magnet 13 and the groove 122 and preventing the magnet 13 from shifting or shaking within the groove 122 during the high-speed rotation of the motor rotor 12. This structural design of the limiting stop enables reliable positioning of the magnet 13 within the groove 122, effectively improving the mechanical stability of the magnet 13 assembly.

[0053] In some embodiments, such as Figure 5 As shown, the first encoder assembly 3 includes a first mounting bracket 31 and a first encoder module 32; the first mounting bracket 31 is fixed to the input end 211 of the drive shaft 21 and rotates with it; the first encoder module 32 is fixedly mounted on the first mounting bracket 31.

[0054] In detail, the first mounting bracket 31 is a metal component (e.g., made of aluminum alloy or steel). It is directly and fixedly mounted to the input end 211 of the drive shaft 21 of the reducer 2. The specific connection method can be interference fit, where the first mounting bracket 31 has an inner hole that precisely matches the outer diameter of the input end 211 of the drive shaft 21, achieving a keyless connection through cold pressing or heat fitting. Alternatively, it can be screw-locked, where the first mounting bracket 31 is directly locked to the shoulder or a specific plane of the input end 211 of the drive shaft 21 using set screws or end face screws. Or, it can be integrally formed, where the first mounting bracket 31 can be part of the input end 211 of the drive shaft 21, directly formed through machining.

[0055] For example, in one embodiment, such as Figure 5As shown, the input end 211 of the transmission shaft 21 is provided with a positioning structure 22 on its outer periphery. The first mounting bracket 31 is sleeved on the end of the input end 211 and is fixed in cooperation with the positioning structure 22.

[0056] Specifically, the positioning structure 22 has an annular groove 221 machined on the outer cylindrical surface of the input end 211 of the reducer 2 drive shaft 21. This annular groove 221 provides a clear axial mounting position for the first mounting bracket 31. Since the first mounting bracket 31 is designed as an annular metal part with an inner hole, during assembly, the first mounting bracket 31 is pushed axially into the shaft end until it reaches the annular groove 221. At this point, the inner hole area of ​​the first mounting bracket 31 is aligned with the annular groove 122. Sufficient friction is generated through the interference fit of the cylindrical surfaces, fixing the first mounting bracket 31 to the drive shaft 21. This design eliminates intermediate transmission components between the first mounting bracket 31 and the drive shaft 21, allowing them to form a rotating unit. When the motor operates, the rotor drives the drive shaft 21 to rotate. The drive shaft 21 drives the first mounting bracket 31, which is rigidly connected to it, to rotate synchronously. The first mounting bracket 31 drives the encoder fixed to it to rotate synchronously. The encoder detects the periodic changing signal (magnetic signal) generated by the rotating component and converts it into an electrical signal to be output to the controller, thereby obtaining the angle and speed information of the drive shaft 21 (i.e. the side of the motor rotor 12) in real time and accurately.

[0057] This design, firstly, improves the compactness of the joint module by eliminating intermediate connecting parts such as traditional couplings and transition flanges; secondly, the direct connection between the drive shaft 21 and the first mounting bracket 31 increases the torsional stiffness of the feedback loop of the first encoder module 32 to a level close to that of the drive shaft 21 itself, effectively improving the control accuracy of the servo system; thirdly, the positioning structure 22 of the annular groove 221 and the push-in assembly method greatly simplify the installation process, reduce assembly difficulty and dependence on operational skills, and improve production efficiency and consistency; finally, reducing the number of connection interfaces also means reducing potential failure points and improving the long-term operational reliability of the entire first encoder assembly 3.

[0058] In addition, an articulated robot is proposed, including the aforementioned integrated joint module. Specifically, each joint of this articulated robot uses the aforementioned integrated joint module as its drive unit.

[0059] Because the integrated joint module achieves a high degree of integration and compactness in its structure, its application to articulated robots has several advantages. First, it significantly simplifies the robot's structure, reducing the volume and weight of each joint, thereby lowering the robot's overall inertia and energy consumption. Second, the compact physical dimensions of the joints allow the robot to operate flexibly in narrower or more complex spaces, greatly expanding its application scenarios. Third, the integrated joint module integrates the motor, reducer 2, encoder, and control components 5, and its modular nature facilitates rapid assembly, replacement, and maintenance of the robot joints, improving the product's maintainability and versatility. Finally, the module's built-in first encoder component 3 and second encoder component 4 provide high-resolution feedback capabilities for each joint module, laying a solid foundation for improving the absolute positioning accuracy and motion trajectory tracking performance of the robot's end effector.

[0060] Therefore, using the integrated joint module of this application as a core driving component will help to build a new generation of high-performance, lightweight, and modular robot systems.

[0061] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0062] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application 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, they should not be construed as limitations on this application.

[0063] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0064] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0065] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0067] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0068] The above description describes specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An integrated joint module, characterized in that, include: A motor assembly includes a housing and a motor rotor. A plurality of stator teeth extend radially inward from the inner side of the housing. Each stator tooth is provided with an excitation coil. The motor rotor is rotatably mounted within the inner circumferential surface formed by the plurality of stator teeth. A speed reducer, the speed reducer including a drive shaft having an input end and an output end, the input end being driven and connected to the motor rotor.

2. The integrated joint module according to claim 1, characterized in that, The motor rotor includes a rotor sleeve, and the input end of the transmission shaft and the rotor sleeve are integrally formed.

3. The integrated joint module according to claim 2, characterized in that, The drive shaft has an extension that forms the input end and is integrally formed with the rotor sleeve, extending axially upward from the end of the rotor sleeve to form the end region of the input end.

4. The integrated joint module according to claim 1, characterized in that, It also includes a control component; the inner side of the housing is provided with a radially inwardly extending stepped portion, and the control component is mounted on the stepped portion by fasteners and is located on the axial side of the input end of the drive shaft.

5. An integrated joint module according to claim 1, characterized in that, An insulating layer is provided on the outer periphery of each stator tooth, and the excitation coil is wound around the outer periphery of the insulating layer.

6. An integrated joint module according to claim 1, characterized in that, The outer circumferential surface of the motor rotor has several grooves along the axial direction for embedding magnets, and each groove has an axial opening.

7. An integrated joint module according to claim 6, characterized in that, The integrated joint module includes a second encoder assembly, which includes a second mounting bracket and a second encoder module. The second mounting bracket is a ring-shaped component, which is fixed to one end of the motor rotor where the axial opening is provided, and covers the axial opening area of ​​several grooves; The second encoder module is fixedly installed on the side of the second mounting bracket away from the motor rotor.

8. An integrated joint module according to claim 1, characterized in that, The integrated joint module also includes a first encoder assembly disposed in the end region of the input end; The first encoder component includes: First mounting bracket and first encoder module; The first mounting bracket is fixed to the input end of the drive shaft and rotates with it; The first encoder module is fixedly mounted on the first mounting bracket.

9. An integrated joint module according to claim 8, characterized in that, The input end of the drive shaft is provided with a positioning structure, and the first mounting bracket is sleeved on the end of the input end and is fixed in cooperation with the positioning structure.

10. An articulated robot, characterized in that, Includes an integrated joint module as described in any one of claims 1 to 9.

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