Joint module and robot

Abstract

The embodiment of the invention provides a joint module and a robot. The joint module comprises a shell, a driving mechanism and an output flange. The shell is of a cylindrical structure, the driving mechanism is arranged in the shell, and an output shaft of the driving mechanism penetrates through the end face of the shell; the output flange is arranged outside the shell, and the output flange is connected with an output shaft of the driving mechanism; the output flange is used for being connected with the first robot assembly, and the driving mechanism is used for driving the output flange to rotate so that the output flange can drive the first robot assembly to rotate. At least one first connecting structure is arranged on the outer side wall of the shell and used for being connected with a second robot assembly, and the included angle between the extending direction of the second robot assembly and the axis of the shell is larger than zero degree. At least one end of the shell is provided with a second connecting structure, the second connecting structure is used for being connected with a third robot assembly, and the extending direction of the third robot assembly is parallel to the axis of the shell. The joint module provided by the invention can be compatible with multi-direction installation.

Description

Joint modules and robots Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a joint module and a robot. Background Technology

[0002] With the development of intelligent manufacturing and human-machine collaboration technologies, the application scenarios of collaborative robots, humanoid robots, and lightweight industrial robots continue to expand. As the core execution component of a robot, the degree of integration and installation flexibility of robot joint modules affect the robot's structural layout freedom and its ability to adapt to complex scenarios.

[0003] Currently, existing joint modules typically have a mounting flange structure at the output end or bottom of the module, which is used to achieve the fixed assembly of the joint module and the main structure of the robotic arm.

[0004] However, the mounting flange structure can only achieve fixed installation on a single end face, which cannot meet the multi-directional installation needs of robots with multiple configuration layouts and multiple working conditions. Summary of the Invention

[0005] In view of this, embodiments of the present disclosure provide a joint module and a robot to at least partially solve the above-mentioned problems.

[0006] According to a first aspect of the present disclosure, a joint module is provided, the joint module comprising: a housing, a drive mechanism, and an output flange; the housing is a cylindrical structure, the drive mechanism is disposed within the housing, and the output shaft of the drive mechanism passes through an end face of the housing; the output flange is disposed outside the housing and is connected to the output shaft of the drive mechanism; the output flange is used to connect a first robot assembly, and the drive mechanism is used to drive the output flange to rotate, so that the output flange drives the first robot assembly to rotate; at least one first connecting structure is provided on the outer side wall of the housing, the first connecting structure is used to connect a second robot assembly, the angle between the extension direction of the second robot assembly and the axis of the housing is greater than zero degrees; at least one end of the housing is provided with a second connecting structure, the second connecting structure is used to connect a third robot assembly, the extension direction of the third robot assembly is parallel to the axis of the housing.

[0007] In one possible implementation, a first end of the first connecting structure is connected to the outer wall of the housing, and a second end of the first connecting structure extends away from the outer wall of the housing to form a first mounting surface. The angle between the normal direction of the first mounting surface and the axis of the housing is greater than zero degrees. At least one first connecting portion is provided on the first mounting surface, and the first connecting portion is used to connect the second robot component.

[0008] In one possible implementation, the outer wall of the housing is provided with a plurality of the first connecting structures, which are symmetrically distributed relative to the central axis of the housing.

[0009] In one possible implementation, the first connecting structure is integrally formed with the housing.

[0010] In one possible implementation, a reinforcing rib is provided between the first connecting structure and the housing.

[0011] In one possible implementation, a first end of the second connecting structure is connected to an end of the housing, and a second end of the second connecting structure extends away from the end of the housing to form a second mounting surface, the normal direction of which is parallel to the axis of the housing; at least one second connecting portion is provided on the second mounting surface, the second connecting portion being used to connect the third robot assembly.

[0012] In one possible implementation, the output flange is provided with at least one first mounting hole for connecting the first robot component.

[0013] In one possible implementation, the outer side wall of the housing is provided with at least one second mounting hole for connecting a fourth robot component.

[0014] In one possible implementation, the drive mechanism includes a motor assembly and a reduction gear assembly; the motor assembly is disposed within the housing, and its output shaft is drive-connected to the input end of the reduction gear assembly; the reduction gear assembly is disposed within the housing, and its output shaft passes through the end face of the housing and is drive-connected to the output flange; the reduction gear assembly is used to reduce the speed and increase the torque of the rotational power output by the motor assembly, and transmit the reduced speed and increased torque rotational power to the output flange to drive the output flange to rotate.

[0015] According to a second aspect of the present disclosure, a robot is provided, including a joint module as described in the first aspect of the present disclosure.

[0016] According to an embodiment of this disclosure, the joint module includes a housing, a drive mechanism, and an output flange. The housing is a cylindrical structure, with the drive mechanism disposed within the housing and its output shaft passing through the end face of the housing. The output flange is disposed outside the housing and connected to the output shaft of the drive mechanism. The output flange is used to connect a first robot assembly, and the drive mechanism is used to drive the output flange to rotate, thereby causing the output flange to rotate the first robot assembly. At least one first connecting structure is provided on the outer wall of the housing, for connecting a second robot assembly, the angle between the extension direction of the second robot assembly and the axis of the housing being greater than zero degrees. At least one end of the housing is provided with a second connecting structure, for connecting a third robot assembly, the extension direction of the third robot assembly being parallel to the axis of the housing. By integrating an output flange for external rotational power output, a first connection structure for non-axial assembly, and a second connection structure for axial parallel assembly onto a cylindrical shell, a single joint module can simultaneously support three mounting methods: flange mounting, lateral circumferential mounting, and end-face mounting. This enables multi-directional fixed connection and installation adaptation, meeting the full-dimensional functional structural design requirements of different robotic arms. It solves the problem that existing joint modules can only achieve single-axial end-face mounting, thereby increasing the freedom of robot structural design and the flexibility of structural layout. Simultaneously, it enhances the versatility and multi-scenario assembly adaptability of robot joint modules, simplifies the overall robot structural design, and reduces assembly and maintenance costs. Furthermore, by directly integrating various mounting structures onto the shell, there is no need for additional adapter plates, mounting brackets, or other intermediate connecting parts, making the overall structure of the joint module more compact, effectively reducing the overall joint size, minimizing the use of additional structural components, and facilitating lightweight design of robot joints. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 is a structural schematic diagram of a joint module provided in an embodiment of the present disclosure; Figure 2 is a structural schematic diagram of a shell provided in an embodiment of the present disclosure.

[0019] Explanation of reference numerals in the attached drawings: 100, joint module; 1, housing; 2, output flange; 3, first connecting structure; 31, first mounting surface; 311, first connecting part; 4, second connecting structure; 41, second mounting surface; 411, second connecting part; 5, first mounting hole; 6, second mounting hole. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions in the embodiments of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art should fall within the protection scope of this disclosure.

[0021] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0022] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0023] As mentioned earlier, with the development of intelligent manufacturing and human-machine collaboration technologies, the application scenarios of collaborative robots, humanoid robots, and lightweight industrial robots continue to expand. As a core actuator of a robot, the degree of integration and installation flexibility of the robot joint module affects the robot's structural layout freedom and adaptability to complex scenarios. Currently, existing joint modules typically have mounting flange structures at the output end or bottom of the module, achieving fixed assembly between the joint module and the main structure of the robotic arm. However, the mounting flange structure can only achieve fixed installation on a single end face, failing to meet the multi-directional installation requirements of robots with multiple configurations and operating conditions.

[0024] This disclosure provides a joint module and a robot. By integrating an output flange for external rotational power output, a first connection structure for non-axial assembly, and a second connection structure for axial parallel assembly into the cylindrical shell of the joint module, a single joint module can simultaneously support three installation methods: flange mounting, lateral circumferential mounting, and end-face mounting. This enables multi-directional fixed connection and installation adaptation, meeting the full-dimensional functional structural design requirements of different robotic arms. It solves the problem that existing joint modules can only achieve single-axial end-face mounting, thereby improving the freedom of robot structural design and the flexibility of structural layout. Simultaneously, it enhances the versatility and multi-scenario assembly adaptability of the robot joint module, simplifies the overall robot structural design, and reduces assembly and maintenance costs. Furthermore, by directly integrating various mounting structures onto the shell, there is no need for additional adapter plates, mounting brackets, or other intermediate connecting parts, making the overall structure of the joint module more compact, effectively reducing the overall joint size, and minimizing the use of additional structural components, which is beneficial for achieving lightweight design of robot joints.

[0025] The joint module and robot provided in this disclosure are illustrated below through examples.

[0026] Figure 1 is a structural schematic diagram of a joint module provided in an embodiment of this disclosure, and Figure 2 is a structural schematic diagram of a housing provided in an embodiment of this disclosure. As shown in Figures 1 and 2, the joint module 100 includes a housing 1, a drive mechanism (not shown in the figures), and an output flange 2. The housing 1 has a cylindrical structure, and the drive mechanism is disposed inside the housing 1, with the output shaft of the drive mechanism passing through the end face of the housing 1. The output flange 2 is disposed outside the housing 1 and is connected to the output shaft of the drive mechanism. The output flange 2 is used to connect a first robot assembly, and the drive mechanism is used to drive the output flange 2 to rotate, so that the output flange 2 drives the first robot assembly to rotate. At least one first connecting structure 3 is provided on the outer side wall of the housing 1, and the first connecting structure 3 is used to connect a second robot assembly, wherein the angle between the extension direction of the second robot assembly and the axis of the housing 1 is greater than zero degrees. At least one end of the housing 1 is provided with a second connecting structure 4, and the second connecting structure 4 is used to connect a third robot assembly, wherein the extension direction of the third robot assembly is parallel to the axis of the housing 1.

[0027] The housing 1 is a cylindrical structure with an outer wall extending axially around its central axis (as shown by X in the figure). The outer wall encloses a hollow cavity that accommodates functional components such as the drive mechanism, providing stable mounting space and rigid support for these components. The housing 1 can adopt three types of axial end structures: a closed cylindrical structure with both ends sealed, an open-closed cylindrical structure with one end closed and the other axially open, and a through-type cylindrical structure open at both axial ends. As the structural base of the joint module 100, the housing 1 provides a unified mounting reference for all connecting structures.

[0028] The drive mechanism is located in the hollow cavity inside the housing 1, and can generate and output rotational power. The drive mechanism has an output shaft for transmitting power, which passes through the end face of the housing 1 and transmits the rotational power generated inside the housing 1 to the external space of the housing 1. For housing 1 with different structural forms, the output shaft of the drive mechanism can pass through the axial plane of the annular end face of the open end of the housing 1, or it can pass through a through hole opened on the closed end face.

[0029] The output flange 2 is located in the external space of the housing 1 and forms a fixed transmission connection with the output shaft of the drive mechanism that protrudes from the end face of the housing 1. It can rotate synchronously with the output shaft of the drive mechanism at the same speed and angle. The fixed transmission connection includes, but is not limited to, synchronous transmission connection methods without relative motion, such as key connection, flange bolt connection, and interference fit connection.

[0030] The output flange 2 is used to connect to the first robot assembly. When the drive mechanism drives the output flange 2 to rotate, the output flange 2 can drive the first robot assembly connected to it to rotate synchronously. The first robot assembly is a structural component that can be connected to the output flange 2 and can be driven to rotate synchronously by it. For example, the first robot assembly includes, but is not limited to, the next-level rotary arm body driven by the current joint module 100 in the serial robotic arm, the robot end effector, the limb rotation base, and other structural components.

[0031] The outer wall of the housing 1 is provided with at least one first connecting structure 3, which is used to connect the second robot assembly. After the connection is completed, the angle between the extension direction of the second robot assembly and the axis of the housing 1 is greater than zero degrees. The second robot assembly is a structural component that can be fixedly connected to the first connecting structure 3 and whose extension direction forms an angle greater than zero degrees with the axis of the housing 1. For example, the second robot assembly includes, but is not limited to, structural components such as a lateral support arm of a robotic arm, a diagonal link, a frame fixing bracket, and a lateral adapter base for a multi-degree-of-freedom joint.

[0032] At least one end of the housing 1 is provided with a second connecting structure 4, which is used to connect a third robot assembly. After connection, the extension direction of the third robot assembly is parallel to the axis of the housing 1. The third robot assembly is a structural component that can be fixedly connected to the second connecting structure 4 and whose extension direction is parallel to the axis of the housing 1. For example, the third robot assembly specifically includes, but is not limited to, the preceding arm segment of the serial robotic arm, the robot fixing base, the mounting base, the axially extending connecting rod, and other structural components.

[0033] In this embodiment, by simultaneously integrating an output flange 2 for external rotational power output, a first connecting structure 3 for non-axial assembly, and a second connecting structure 4 for axial parallel assembly onto the cylindrical housing 1, a single joint module 100 can simultaneously possess three installation forms: flange mounting, lateral circumferential mounting, and end-face mounting. This achieves multi-directional fixed connection and installation adaptation, meeting the full-dimensional functional structural design requirements of different robotic arms. It solves the problem that existing joint modules 100 can only achieve single-axial end-face mounting, thereby improving the freedom of robot structural design and the flexibility of structural layout. Simultaneously, it enhances the versatility and multi-scenario assembly adaptability of the robot joint module 100, simplifies the overall robot structural design, and reduces overall assembly and maintenance costs. Furthermore, by directly integrating various mounting structures onto the housing 1, there is no need for additional adapter plates, mounting brackets, or other intermediate connecting parts, making the overall structure of the joint module 100 more compact. This effectively reduces the overall joint size, decreases the use of additional structural components, and facilitates lightweight design of the robot joints.

[0034] In one possible implementation, the first end of the first connecting structure 3 is connected to the outer wall of the housing 1, and the second end of the first connecting structure 3 extends away from the outer wall of the housing 1 to form a first mounting surface 31. The angle between the normal direction of the first mounting surface 31 and the axis of the housing 1 is greater than zero degrees. At least one first connecting portion 311 is provided on the first mounting surface 31, which is used to connect the second robot assembly.

[0035] The first end of the first connecting structure 3 is fixedly connected to the outer wall of the housing 1. The fixed connection can be achieved by integral molding, welding, bolting, or interference fit, so that no unexpected relative displacement occurs between the first connecting structure 3 and the housing 1, thereby ensuring the installation accuracy of the second robot assembly. The second end of the first connecting structure 3 extends away from the outer wall of the housing 1. The extension section adopts a rigid arm structure with a constant or gradually changing cross section, and the end of the extension section forms a first mounting surface 31 for assembling the second robot assembly.

[0036] The first mounting surface 31 is a flat plane, serving as the assembly reference surface for the second robot component. The angle between the normal direction of the first mounting surface 31 and the central axis of the housing 1 is greater than zero degrees, meaning the angle between them is any angle greater than zero degrees and less than or equal to 90 degrees, to adapt to diverse non-axial assembly scenarios such as lateral and oblique movements of the robotic arm. The normal direction of the first mounting surface 31 serves as the reference extension direction of the second robot component after assembly, ensuring that the extension direction of the second robot component after assembly forms a preset angle with the axis of the housing 1, satisfying the requirements for multi-posture movement and spatial structural layout of the robot.

[0037] At least one first connecting portion 311 is provided on the first mounting surface 31. The first connecting portion 311 provides a connection point for the assembly of the second robot component. Its structural form is adapted to the connection requirements of the second robot component, ensuring that no unexpected relative movement occurs between the first connecting portion 311 and the second robot component after connection. For example, the first connecting portion 311 may adopt, but is not limited to, threaded connection holes, composite positioning and locking holes, mating boss structures, etc., and can be adapted to various fixing connection methods such as bolt connection, pin composite positioning and locking, interference fit, etc.

[0038] In one specific embodiment, the extension of the first connecting structure 3 is a boss structure that extends outward along the axis of the vertical housing 1. The outer end face of the boss structure forms a first mounting surface 31. A plurality of first connecting parts 311 are arranged on the first mounting surface 31. The first connecting parts 311 are mounting holes adapted to bolt connectors and are used to achieve a fixed connection between the first connecting structure 3 and the second robot assembly by bolt fastening.

[0039] In this embodiment, the first end of the first connecting structure 3 is connected to the outer wall of the housing 1, and the second end of the first connecting structure 3 extends away from the outer wall of the housing 1 to form a first mounting surface 31 with a preset angle between the normal and the axis of the housing 1. The first connecting part 311 is provided on the first mounting surface 31 to realize the assembly and fixation of the second robot component. This can realize the non-axial precise assembly of the second robot component relative to the housing 1. Lateral assembly can be completed without additional auxiliary structures such as adapter plates and mounting brackets, making the joint module 100 structure more compact, effectively reducing the overall size of the joint, while ensuring the rigidity and assembly stability of the connecting structure, and adapting to the diverse spatial structure layout and multi-angle posture movement requirements of the robot.

[0040] In one possible implementation, the outer wall of the housing 1 is provided with a plurality of first connecting structures 3, which are symmetrically distributed with respect to the central axis of the housing 1.

[0041] The outer wall of the housing 1 is provided with multiple first connecting structures 3. The specific number can be flexibly set according to the outer diameter of the housing 1, rated load requirements, robot configuration expansion, etc., and two, four or more can be selected. The normal angle of the first mounting surface 31 of each first connecting structure 3 can be set to the same angle or different angles according to assembly requirements. For example, the angle between the normal direction of the first mounting surface 31 of each first connecting structure 3 and the central axis of the housing 1 can be set to the same angle or different angles according to assembly requirements to adapt to different assembly scenarios. For example, in a housing 1 with four first connecting structures 3, the normal of each first mounting surface 31 is perpendicular to the central axis of the housing 1, or they are symmetrically set to different oblique angles in pairs to cover the synchronous assembly requirements of multiple directions and dimensions.

[0042] Multiple first connecting structures 3 are symmetrically distributed relative to the central axis of the shell 1. In one example, the multiple first connecting structures 3 are evenly distributed along the circumference of the shell 1, and the circumferential included angles between two adjacent first connecting structures 3 along the circumference of the shell 1 are equal, which can make the force on the shell 1 circumferentially uniform. For example, four connecting structures are spaced 90 degrees apart circumferentially, and six connecting structures are spaced 60 degrees apart circumferentially. In another example, the multiple first connecting structures 3 are symmetrically distributed relative to a longitudinal plane passing through the central axis of the shell 1, which can adapt to the left and right symmetrical arm structure of the robot, ensure that the assembly reference height on both sides is consistent, and avoid the problems of left and right unbalanced loading and assembly reference offset. For example, two connecting structures are set on each of the left and right sides of the shell 1, symmetrical with respect to the vertical central plane of the shell 1.

[0043] In this embodiment, by providing multiple first connecting structures 3 on the outer side wall of the housing 1 and symmetrically distributing the multiple first connecting structures 3 relative to the central axis of the housing 1, the circumferential force of the housing 1 can be evenly distributed, effectively avoiding the problems of eccentric load and structural deformation caused by concentrated load on one side, improving the load-bearing stability and structural rigidity of the connecting structure and the housing 1 as a whole, and adapting to the usage requirements of symmetrical arm structure and multi-directional synchronous assembly of the robot, allowing designers to flexibly select assembly points and installation directions according to design requirements, improving the freedom of robot structural design, and expanding the robot's configuration expansion capabilities and scene adaptability.

[0044] In one possible implementation, the first connecting structure 3 is integrally formed with the shell 1.

[0045] The first connecting structure 3 and the outer wall of the shell 1 are a continuous, seamless, integral rigid substrate. The first connecting structure 3 extends integrally from the outer wall of the shell 1 along a predetermined direction to form a support structure that is integrated with the cylindrical structure of the shell 1. For example, this integrally formed structure can be obtained by, but is not limited to, integral casting, integral milling, or additive manufacturing, so that the first connecting structure 3 and the shell 1 form a complete single rigid structure during the forming stage.

[0046] In this embodiment, the first connecting structure 3 is integrally formed with the shell 1. This eliminates the need for additional auxiliary parts such as adapter structures and fasteners, ensuring consistency between the installation reference of the first connecting structure 3 and the reference of the shell 1. This improves the structural integration of the joint module 100, reduces intermediate connection links, and makes the structural force path more direct. It effectively avoids the failure risks associated with split-connection structures, such as loose connections, stress concentration, and welding deformation, thus enhancing the overall structural rigidity of the joint module 100. This, in turn, improves the load-bearing capacity and structural stability of the joint module 100 under dynamic load conditions. Furthermore, the integrally formed structure eliminates the need for additional auxiliary structural components, effectively reducing the overall weight of the joint module 100. This facilitates lightweight design of the robot joints, simplifies the overall structure of the joint module 100, reduces assembly and maintenance costs, and enhances the flexibility of the joint module 100's configuration and its adaptability to various assembly scenarios.

[0047] In one possible implementation, a reinforcing rib is provided between the first connecting structure 3 and the shell 1.

[0048] A reinforcing rib is provided in the transition area between the first connecting structure 3 and the outer wall of the shell 1. One side of the reinforcing rib is fixedly connected to the outer wall of the shell 1, and the other side of the reinforcing rib is fixedly connected to the first connecting structure 3, thereby strengthening the connection between the first connecting structure 3 and the shell 1. The reinforcing rib, the shell 1, and the first connecting structure 3 can be integrally formed into a rigid structure without relative displacement by means of integral molding, welding, bolting, etc.

[0049] The extension direction of the reinforcing rib can be adapted to the stress conditions of the first connecting structure 3. Specifically, it can be an extension direction parallel to the axial direction of the shell 1, an extension direction perpendicular to the extension direction of the first connecting structure 3, or an extension direction that coincides with the radial direction of the shell 1, so as to counteract the bending moment and shear stress experienced by the first connecting structure 3 when it is under load.

[0050] In this embodiment, a reinforcing rib is provided between the first connecting structure 3 and the shell 1, which can effectively improve the structural rigidity and deformation resistance of the connection part between the first connecting structure 3 and the shell 1, reduce stress concentration in the connection area under load conditions, avoid deformation of the first connecting structure 3 that affects the assembly reference accuracy of the first mounting surface 31, thereby ensuring the assembly stability and motion execution accuracy of the second robot component. At the same time, without significantly increasing the structural volume and weight, it further improves the overall load tolerance and structural reliability of the joint module 100, takes into account the lightweight design requirements of the joint module 100, and expands the adaptability of the joint module 100 in heavy-duty robot scenarios.

[0051] In one possible implementation, the first end of the second connecting structure 4 is connected to the end of the housing 1, and the second end of the second connecting structure 4 extends away from the end of the housing 1 to form a second mounting surface 41, the normal direction of which is parallel to the axis of the housing 1. At least one second connecting portion 411 is provided on the second mounting surface 41 for connecting a third robot assembly.

[0052] The first end of the second connecting structure 4 is fixedly connected to the axial end of the housing 1. This fixed connection can be achieved through integral molding, welding, bolting, or interference fit, ensuring no unexpected relative displacement occurs between the second connecting structure 4 and the housing 1, maintaining the consistency of the mounting reference and structural rigidity. The second end of the second connecting structure 4 extends away from the axial end of the housing 1, and the end of the extended section forms a flat second mounting surface 41, serving as the assembly reference surface for the third robot component. The normal direction of the second mounting surface 41 is parallel to the central axis of the housing 1, ensuring that the extension direction of the assembled third robot component remains parallel to the central axis of the housing 1, adapting to the requirements of axial parallel assembly scenarios.

[0053] At least one second connecting part 411 is provided on the second mounting surface 41. The second connecting part 411 provides a suitable connection point for the assembly of the third robot component. Its structure matches the connection interface of the third robot component, ensuring that no unexpected relative movement occurs between the second connecting structure 4 and the third robot component after the connection is completed, thus ensuring assembly stability and positional accuracy. For example, the second connecting part 411 may adopt, but is not limited to, threaded connection holes, composite positioning and locking holes, mating boss structures, etc., and can be adapted to various fixing connection methods such as bolt connection, pin composite positioning and locking, and interference fit.

[0054] In one specific embodiment, the second connecting structure 4 is a mounting flange structure located at the axial end of the housing 1. The mounting flange structure is fixedly connected to the axial end of the housing 1, and its end face facing away from the hollow cavity of the housing 1 forms a second mounting surface 41. A plurality of second connecting portions 411 are evenly distributed on the second mounting surface 41. The second connecting portions 411 are mounting holes that axially penetrate the mounting flange structure. The plurality of mounting holes are arranged in a circular array with the central axis of the housing 1 as the center. The mounting holes can be threaded through holes or smooth holes, used to achieve a fixed connection with the third robot component through suitable fasteners.

[0055] In this embodiment, the first end of the second connecting structure 4 is connected to the end of the housing 1, and the second end of the second connecting structure 4 extends away from the end of the housing 1 to form a second mounting surface 41 whose normal direction is parallel to the central axis of the housing 1. A matching second connecting part 411 is provided on the second mounting surface 41 to realize the assembly of the third robot component. This allows for precise axial assembly of the third robot component relative to the housing 1 without the need for additional auxiliary structures such as adapter plates. This makes the joint module 100 structure more compact, effectively reducing the overall size of the joint, while ensuring the rigidity and assembly stability of the connecting structure. It also adapts to the diverse axial spatial structure layout requirements of the robot, providing stable structural support for the robot's posture movement.

[0056] In one possible implementation, the output flange 2 is provided with at least one first mounting hole 5 for connecting the first robot assembly.

[0057] The output flange 2 is provided with at least one first mounting hole 5 for connecting the first robot component that rotates synchronously with the output flange 2. The first mounting hole 5 may adopt, but is not limited to, threaded connection holes, composite positioning and locking holes, etc., to accommodate various fixing connection methods such as bolt fastening and pin composite positioning and locking. Its structural form matches the connection interface of the first robot component, ensuring that no unexpected relative movement occurs between the first robot component and the output flange 2 after the connection is completed.

[0058] The first mounting hole 5 can be located on the axial end face of the output flange 2 or on the circumferential outer wall of the output flange 2. The central axis of the first mounting hole 5 located on the axial end face is parallel to the rotation center axis of the output flange 2. The central axis of the first mounting hole 5 located on the circumferential outer wall extends radially along the output flange 2 and is perpendicular to the rotation center axis.

[0059] When two or more first mounting holes 5 are provided, the first mounting holes 5 arranged on the end face of the output flange 2 can be uniformly or non-uniformly arranged in a circumferential ring on the same axial end face, with the rotation center axis of the output flange 2 as the center, or they can be arranged in multiple layers in a radial direction. The first mounting holes 5 arranged on the circumferential sidewall of the output flange 2 can be uniformly or non-uniformly arranged in a circumferential ring at the same circumferential height, with the rotation center axis as the center, or they can be arranged in multiple sets of stacked circumferential arrangements in a axial direction.

[0060] In this embodiment, the output flange 2 is provided with at least one first mounting hole 5 for connecting the first robot component, providing the first robot component with a multi-directional, flexibly adaptable rotary end assembly interface. This enables high-precision synchronous assembly and rigid transmission between the first robot component and the output flange 2, improving the installation and adaptability of the output flange 2 of the joint module 100. Furthermore, it can adapt to diverse connection requirements of the first robot component without the need for additional adapter structures, making the joint module 100 structure more compact, expanding the assembly dimensions and configuration flexibility of the joint module 100, and improving the versatility and multi-scenario adaptability of the joint module 100.

[0061] In one possible implementation, the outer wall of the housing 1 is provided with at least one second mounting hole 6 for connecting a fourth robot component.

[0062] The outer wall of the housing 1 is provided with at least one second mounting hole 6. The second mounting hole 6 is a hole-like connection structure directly formed on the circumferential outer wall of the housing 1, without the need for an additional adapter extension structure, and the circumferential outer wall of the housing 1 itself serves as the direct assembly reference surface. The second mounting hole 6 may adopt, but is not limited to, threaded connection holes, composite positioning and locking holes, etc., and is adapted to fixed connection methods such as bolt fastening and pin composite positioning and locking.

[0063] The central axis of the second mounting hole 6 extends along the radial direction of the housing 1 and is perpendicular to the central axis of the housing 1, providing a connection point for the fourth robot assembly perpendicular to the axis of the housing 1. Its structure matches the connection interface of the fourth robot assembly, ensuring that no unexpected relative movement occurs between the fourth robot assembly and the housing 1 after the connection is completed.

[0064] When a single second mounting hole 6 is provided, it can be located at any preset position on the outer circumferential wall of the housing 1. When two or more second mounting holes 6 are provided, they can be arranged at uniform intervals around the central axis of the housing 1, or at non-uniform intervals around the circumferential axis according to load requirements and layout requirements. Simultaneously, multiple sets of circumferentially arranged second mounting holes 6 can be provided along the axial direction of the housing 1 to accommodate the synchronous assembly requirements of multiple sets of fourth robot components.

[0065] It should be noted that, based on the multiple second mounting holes 6 arranged around the perimeter, it can flexibly adapt to various circumferential assembly scenarios. It can adapt to the circumferential fitting installation scenario where the fourth robot component extends along the circumferential tangential direction of the housing 1 and is completely fitted to the outer circumferential wall of the housing 1, and it can also adapt to the radial vertical axial installation scenario where the fourth robot component extends radially outward along the housing 1, while covering the vertical axial assembly requirements at any angle around the housing 1.

[0066] In this embodiment, by providing at least one second mounting hole 6 on the outer sidewall of the housing 1, a circumferential assembly interface that fits against the sidewall of the housing 1 is provided for the fourth robot component. This enables precise circumferential installation of the fourth robot component and improves the multi-directional installation adaptability of the joint module 100. This solution eliminates the need for additional auxiliary parts such as adapter extension structures and mounting brackets, directly using the sidewall of the housing 1 as the assembly reference. This improves the structural integration of the joint module 100, making the joint module 100 structure more compact, effectively reducing the overall size of the joint, and expanding the assembly dimensions and configuration flexibility of the joint module 100, thereby enhancing the versatility and all-scenario adaptability of the joint module 100.

[0067] In one possible implementation, the drive mechanism includes a motor assembly and a reduction gear assembly. The motor assembly is housed within the housing 1, and its output shaft is drive-connected to the input end of the reduction gear assembly. The reduction gear assembly is also housed within the housing 1, with its output shaft passing through the end face of the housing 1 and drive-connected to the output flange 2. The reduction gear assembly is used to reduce the rotational power output by the motor assembly, increase its torque, and then transmit the reduced-speed, increased-torque rotational power to the output flange 2 to drive its rotation.

[0068] The motor assembly and reduction gear assembly are housed within the housing 1. They can be arranged coaxially, sequentially connected in series along the axial direction of housing 1, or they can be arranged in an integrated, nested configuration, depending on the axial dimensions of housing 1 and the overall layout requirements. The output shaft of the motor assembly is driven by the input end of the reduction gear assembly. The output shaft of the reduction gear assembly passes through the end face of housing 1 and is driven by the output flange 2. The stator of the motor assembly is fixed to the inner wall of housing 1, and its rotor rotates synchronously and coaxially with the motor output shaft, providing a stable high-speed rotational power input to the reduction gear assembly. The motor assembly can be, but is not limited to, permanent magnet synchronous servo motors, stepper motors, brushless DC motors, or other power output components adapted to the robot joint operating conditions. The fixed end of the reduction gear assembly is fixed to housing 1, and it can reduce the rotational power output by the motor assembly and increase its torque before transmitting it to the output flange 2, driving the output flange 2 to rotate synchronously. The reduction gear assembly can be, but is not limited to, harmonic reducers, planetary reducers, RV reducers, or other reduction transmission components adapted to the robot joint load requirements.

[0069] In this embodiment, the drive mechanism includes a motor assembly and a reduction gear assembly. The motor assembly is disposed within the housing 1, and its output shaft is drive-connected to the input end of the reduction gear assembly. The reduction gear assembly is disposed within the housing 1, and its output shaft passes through the end face of the housing 1 and is drive-connected to the output flange 2. The reduction gear assembly is used to reduce the rotational power output by the motor assembly and increase its torque, and then transmits the reduced-speed, increased-torque rotational power to the output flange 2 to drive the output flange 2 to rotate. Through the motor assembly and the reduction gear assembly, stable output of rotational power of the joint module 100 and precise control of speed reduction and torque increase are achieved, ensuring the power transmission efficiency and rotational motion accuracy of the output flange 2.

[0070] This disclosure also provides a robot, which includes the joint module 100 described in any of the above embodiments. The specific structure of the joint module 100 is as described in the above embodiments. Since this robot adopts the technical solutions of the above embodiments, it at least has the technical effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0071] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this disclosure can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this disclosure.

[0072] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments disclosed herein.

[0073] The above embodiments are only used to illustrate the embodiments of this disclosure, and are not intended to limit the embodiments of this disclosure. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this disclosure. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this disclosure, and the patent protection scope of the embodiments of this disclosure should be defined by the claims.

Claims

1. A joint module (100), characterized in that, include: The housing (1), drive mechanism, and output flange (2) are provided. The housing (1) is a cylindrical structure. The drive mechanism is located inside the housing (1), and the output shaft of the drive mechanism passes through the end face of the housing (1). The output flange (2) is located outside the housing (1) and is connected to the output shaft of the drive mechanism. The output flange (2) is used to connect a first robot assembly. The drive mechanism is used to drive the output flange (2) to rotate so that the output flange (2) drives the first robot assembly to rotate. At least one first connecting structure (3) is provided on the outer side wall of the housing (1). The first connecting structure (3) is used to connect a second robot assembly. The angle between the extension direction of the second robot assembly and the axis of the housing (1) is greater than zero degrees. At least one end of the housing (1) is provided with a second connecting structure (4). The second connecting structure (4) is used to connect a third robot assembly. The extension direction of the third robot assembly is parallel to the axis of the housing (1).

2. The joint module (100) according to claim 1, characterized in that, The first end of the first connecting structure (3) is connected to the outer wall of the housing (1), and the second end of the first connecting structure (3) extends away from the outer wall of the housing (1) to form a first mounting surface (31). The angle between the normal direction of the first mounting surface (31) and the axis of the housing (1) is greater than zero degrees. At least one first connecting part (311) is provided on the first mounting surface (31), and the first connecting part (311) is used to connect the second robot component.

3. The joint module (100) according to claim 2, characterized in that, The outer wall of the housing (1) is provided with a plurality of the first connecting structures (3), and the plurality of the first connecting structures (3) are symmetrically distributed relative to the central axis of the housing (1).

4. The joint module (100) according to claim 2, characterized in that, The first connecting structure (3) is integrally formed with the shell (1).

5. The joint module (100) according to claim 2, characterized in that, A reinforcing rib is provided between the first connecting structure (3) and the shell (1).

6. The joint module (100) according to claim 1, characterized in that, The first end of the second connecting structure (4) is connected to the end of the housing (1), and the second end of the second connecting structure (4) extends away from the end of the housing (1) to form a second mounting surface (41). The normal direction of the second mounting surface (41) is parallel to the axis of the housing (1). At least one second connecting part (411) is provided on the second mounting surface (41), and the second connecting part (411) is used to connect the third robot assembly.

7. The joint module (100) according to claim 1, characterized in that, The output flange (2) is provided with at least one first mounting hole (5), which is used to connect the first robot component.

8. The joint module (100) according to any one of claims 1 to 7, characterized in that, The outer wall of the housing (1) is provided with at least one second mounting hole (6), which is used to connect the fourth robot component.

9. The joint module (100) according to any one of claims 1 to 7, characterized in that, The drive mechanism includes a motor assembly and a reduction assembly; the motor assembly is disposed inside the housing (1), and the output shaft of the motor assembly is connected to the input end of the reduction assembly; the reduction assembly is disposed inside the housing (1), and the output shaft of the reduction assembly passes through the end face of the housing (1) and is connected to the output flange (2); the reduction assembly is used to reduce the speed and increase the torque of the rotational power output by the motor assembly, and transmit the reduced speed and increased torque rotational power to the output flange (2) to drive the output flange (2) to rotate.

10. A robot, characterized in that, Includes the joint module (100) as described in any one of claims 1 to 9.

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