Joint module, mechanical arm and robot

Abstract

This invention provides a joint module, a robotic arm, and a robot. In the joint module, an output shaft is rotatably disposed within a housing; a transmission shaft is rotatably disposed within the housing; a torque sensor is connected to both the output shaft and the transmission shaft, and is used to measure the output torque of the joint module; a flexible coupling is disposed between the torque sensor and the transmission shaft, connecting them and allowing for displacement between the torque sensor and the transmission shaft along the axial direction of the transmission shaft. Since the transmission shaft and the torque sensor do not contact each other, this avoids the pressure exerted by the transmission shaft on the torque sensor in the axial direction, further improving the accuracy of the torque sensor in measuring the actual output torque of the joint module.

Description

Technical Field

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

[0002] Robotic arms are an important component of various robots, typically consisting of multiple joint modules and links. The joint modules output corresponding torque to drive the rotation of the links, thereby achieving posture adjustment of the robotic arm. With the development of science and technology, the posture adjustment of robotic arms has achieved higher control precision, and they are gradually being applied in medical fields where higher control precision is required, such as surgical robots that assist surgeons in performing operations.

[0003] The joint module is a crucial drive component of the robotic arm, typically comprising a motor, reducer, gears, drive shaft, and output shaft. The output torque of the joint module is controlled by adjusting the motor's output torque, which in turn drives the connecting rods connected to the joint module to move rapidly and accurately, thus achieving posture adjustment of the robotic arm. The accuracy of the joint module's output torque determines the precision of the robotic arm's posture adjustment, which is critical to the quality of patient surgery.

[0004] The output torque of the joint module is usually controlled by feedback. During operation, the actual output torque of the joint module is measured in real time. This actual output torque is used as a feedback signal and transmitted to the motor control system for compensation calculation, so as to correct the output torque of the motor in real time and thus control the output torque of the joint module.

[0005] Taking surgical robots as an example, a surgical robot has a main control console and slave robotic arms. The main control console has a two-dimensional or three-dimensional display device and the master robotic arm. The surgeon observes the patient's body tissues through the display device at the main control console and remotely controls the slave robotic arm's movements to complete the surgical procedure by dragging the master robotic arm. Whether it's the master or slave robotic arm, precise control of the output torque of each joint module is required during use to accurately achieve the robotic arm's posture adjustment for different objectives. Therefore, based on the principle of joint module output torque control, accurately measuring the actual output torque of the joint module becomes crucial for precisely controlling its output torque.

[0006] There are several ways to measure the actual output torque of a joint module in related technologies.

[0007] For example, a common method is to directly measure the input current used to control the motor rotation within the joint module, and then use this input current to calculate the joint module's output torque, thus indirectly measuring the actual output torque of the joint module. However, because the joint module contains multiple transmission components such as a reducer, and the reducer has significant friction, the actual output torque of the joint module is somewhat lost when the motor's output torque is transmitted to the joint module's output end. Furthermore, the reducer's friction varies with temperature, making it an uncontrollable and difficult-to-estimate variable. Therefore, the output torque calculated in this way cannot accurately reflect the actual output torque of the joint module.

[0008] Another common approach is to place a sensor on the outside of the joint module. For example, in the prior patent CN220104337U entitled "Joint Torque Measuring Device and Joint Module," a sensor is placed between the output shaft of the joint module and the connecting rod outside the joint module. This sensor directly measures the actual output torque of the joint module. However, in this measurement method, the connecting rod and the sensor are in direct contact. Under load, the connecting rod will generate a bending moment, which is directly transmitted to the sensor. The sensor is affected by this bending moment, resulting in the inaccuracy of the actual output torque of the joint module measured by the sensor.

[0009] Therefore, how to accurately measure the actual output torque of the joint module remains a problem that urgently needs to be solved. Summary of the Invention

[0010] The purpose of this invention is to provide a joint module, a robotic arm, and a robot, improving the measurement accuracy of the actual output torque of the joint module, thereby improving the control accuracy of the joint module's output torque. The specific technical solution is as follows:

[0011] A joint module, comprising:

[0012] shell,

[0013] The output shaft is rotatably disposed within the housing;

[0014] The drive shaft is rotatably disposed within the housing;

[0015] A torque sensor is connected to the output shaft and the drive shaft respectively, and is used to measure the output torque of the joint module;

[0016] A flexible coupling is disposed between the torque sensor and the drive shaft, providing a transmission connection between the torque sensor and the drive shaft, such that there is a displacement between the torque sensor and the drive shaft in the axial direction of the drive shaft, and the drive shaft and the torque sensor do not contact each other.

[0017] In some embodiments, the flexible coupling is an inelastic flexible coupling.

[0018] In some embodiments, the flexible coupling has a first coupling component and a second coupling component;

[0019] The first coupling component is fixedly connected to one end of the torque sensor;

[0020] The second coupling component is fixedly connected to the drive shaft;

[0021] The second coupling component is driven to the first coupling component, so that the drive shaft is driven to the torque sensor, and there is a displacement between the torque sensor and the drive shaft in the axial direction.

[0022] In some embodiments, the first coupling component has a cross groove, and the second coupling component has a cross slider, the cross slider being inserted into the cross groove, such that there is a displacement between the torque sensor and the drive shaft in the axial direction.

[0023] In some embodiments, the flexible coupling has a third coupling component, a fourth coupling component, and a connecting member;

[0024] The third coupling component is fixedly connected to one end of the torque sensor;

[0025] The fourth coupling component is fixedly connected to the drive shaft;

[0026] The connector is disposed between the third coupling component and the fourth coupling component, and drives the third coupling component and the fourth coupling component, so that the drive shaft is driven to the torque sensor, and the torque sensor and the drive shaft have a displacement in the axial direction.

[0027] In some embodiments, the third coupling component has a slotted groove;

[0028] The fourth coupling component has a linear slider;

[0029] The connector has a straight connecting slider and a straight connecting groove;

[0030] The one-slot slider is inserted into the one-slot connecting groove, and the projection of the one-slot slider intersects with the projection of the one-slot connecting groove in the axial direction. The torque sensor and the drive shaft have a displacement in the axial direction.

[0031] In some embodiments, the joint module further includes:

[0032] The first bearing is disposed inside the housing;

[0033] The output shaft is disposed on the first bearing, and one end of the output shaft has a first shoulder. One side of the first shoulder is fixedly connected to the torque sensor, and the other side abuts against one side of the first bearing.

[0034] In some embodiments, the joint module further includes:

[0035] A bearing assembly, the bearing assembly including a second bearing disposed within the housing;

[0036] The drive shaft is disposed on the second bearing and has a second shoulder that abuts against one side of the second bearing to restrict the drive shaft from moving toward the torque sensor along the axial direction.

[0037] In some embodiments, the bearing assembly further includes a third bearing disposed within the housing;

[0038] The drive shaft is mounted on the third bearing and has a third shoulder that abuts against one side of the third bearing to restrict the drive shaft from moving away from the torque sensor along the axial direction.

[0039] In some embodiments, the joint module further includes:

[0040] The motor assembly is connected to the drive shaft for transmission.

[0041] In some embodiments, the motor assembly includes a motor and a reducer, wherein the motor, the reducer, and the drive shaft are sequentially connected in a driving manner.

[0042] In some embodiments, the motor assembly includes a first motor, a first reducer, a second motor, a second reducer, and a transmission gear set;

[0043] The first motor and the first reducer are arranged along the first axis and are connected in a transmission manner;

[0044] The second motor and the second reducer are arranged along the second axis and are connected in a transmission manner;

[0045] The transmission gear set is drivingly connected to the first reducer and the transmission shaft, and drivingly connected to the second reducer and the transmission shaft, so that the motor assembly is drivingly connected to the transmission shaft;

[0046] The first axis is parallel to the second axis.

[0047] In some embodiments, the joint module further includes an encoder assembly;

[0048] The encoder assembly includes a first encoder and a flexible transmission component. The flexible transmission component is tractively connected to the shaft of the first encoder and the transmission shaft. The flexible transmission component is connected to the end of the transmission shaft away from the output shaft.

[0049] In some embodiments, the motor assembly includes a third motor, a fourth motor, and a third reducer;

[0050] Along the axial direction, the drive shaft, the third reducer, the third motor, and the fourth motor are arranged sequentially. The third motor and the fourth motor are respectively connected to the third reducer, and the third reducer is connected to the drive shaft.

[0051] In some embodiments, the motor assembly includes a fifth motor, a sixth motor, a fourth reducer, and a fifth reducer;

[0052] Along the axial direction, the drive shaft, the fourth reducer, the fifth motor, the fifth reducer, and the sixth motor are arranged sequentially. The fifth motor is driven by the fourth reducer, the sixth motor is driven by the fifth reducer, and both the fourth and fifth reducers are driven by the drive shaft.

[0053] A robotic arm, comprising:

[0054] At least one link;

[0055] At least one of the above-mentioned joint modules, wherein the output shaft of each joint module drives the connecting rod connected to it.

[0056] A robot, comprising:

[0057] The aforementioned robotic arm.

[0058] Beneficial effects of the embodiments in this application:

[0059] This application provides a joint module, robotic arm, and robot. In the joint module, both the output shaft and the drive shaft are rotatably mounted within the housing. A torque sensor is connected to both the output shaft and the drive shaft. Compared to existing technologies, in this embodiment, the torque sensor is located within the joint module, avoiding the influence of connecting rods connected to the joint module on the torque sensor and improving the accuracy of the torque sensor in measuring the actual output torque of the joint module. Furthermore, because a flexible coupling is provided between the torque sensor and the drive shaft, there is a compensable displacement between the torque sensor and the drive shaft in the axial direction of the drive shaft. The drive shaft and the torque sensor do not contact each other, avoiding the squeezing force exerted by the drive shaft on the torque sensor in the axial direction, further improving the accuracy of the torque sensor in measuring the actual output torque of the joint module.

[0060] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0062] Figure 1 This is a schematic diagram of the structure of a first joint module according to an embodiment of this application;

[0063] Figure 2 This is a side view structural diagram of a first joint module according to an embodiment of this application;

[0064] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure of AA;

[0065] Figure 4 This is an exploded structural diagram of a first flexible coupling according to an embodiment of this application;

[0066] Figure 5 This is a schematic diagram of the structure of a second type of joint module according to an embodiment of this application;

[0067] Figure 6 yes Figure 5 Schematic diagram of the cross-sectional structure of BB;

[0068] Figure 7 This is an exploded structural diagram of a second type of flexible coupling according to an embodiment of this application;

[0069] Figure 8 This is an exploded view of the internal structure of the first joint module housing according to an embodiment of this application;

[0070] Figure 9 This is a schematic diagram of the structure of the first transmission gear, the second transmission gear and the third transmission gear inside the housing of the first type of joint module according to an embodiment of this application;

[0071] Figure 10 This is a partial structural schematic diagram of the first encoder of the first joint module according to an embodiment of this application;

[0072] Figure 11a This is a first schematic diagram of the motor assembly in the third type of joint module according to the embodiments of this application;

[0073] Figure 11bThis is a second schematic diagram of the motor assembly in the third type of joint module according to the embodiments of this application;

[0074] Figure 12 This is a schematic diagram of the motor assembly in the fourth type of joint module according to the embodiments of this application;

[0075] Figure 13 This is a schematic diagram of the structure of a robotic arm according to an embodiment of this application;

[0076] Figure 14 This is a schematic diagram of the structure of a main console according to an embodiment of this application.

[0077] The attached figures are labeled as follows:

[0078] Outer shell 10, base shell 101, gear shell 102, end cap 103, first shaft seat 11, second shaft seat 12, third shaft seat 13;

[0079] Output shaft 20, first shoulder 21;

[0080] Drive shaft 30, second shoulder 31, third shoulder 32, extension shaft 33;

[0081] Motor assembly 40, first motor 41a, second motor 41b, third motor 41c, fourth motor 41d, fifth motor 41e, hollow output shaft 411e of the fifth motor, sixth motor 41f, first reducer 42a, second reducer 42b, third reducer 42c, fourth reducer 42d, fifth reducer 42e, transmission gear set 43, first transmission gear 431, second transmission gear 432, third transmission gear 433, first motor shaft 411c, second motor shaft 411 d, reducer housing 421c, sun gear 422c, first sun gear 4221c, second sun gear 4222c, through hole of second sun gear 42221c, gear ring 423c, planet gear 424c, first planet gear 4241c, second planet gear 4242c, second planet carrier 421d, first gear ring 422d, third planet gear 423d, third sun gear 424d, third planet carrier 421e, second gear ring 422e, fourth planet gear 423e, fourth sun gear 424e;

[0082] Torque sensor 50, first torque sensing unit 51, second torque sensing unit 52;

[0083] Flexible coupling 60, first coupling component 61, second coupling component 62, third coupling component 63, fourth coupling component 64, connector 65, cross slide 611, cross slider 621, straight slide 631, straight slider 641, straight connecting slider 651, straight connecting slide 652, first screw hole 612, second screw hole 632;

[0084] First bearing 70;

[0085] Bearing assembly 80, second bearing 81, third bearing 82;

[0086] Encoder assembly 90, first encoder 91, flexible transmission component 92, transmission wheel 93;

[0087] Robotic arm 1100;

[0088] Link 100, first link 110, second link 120, third link 130, joint module 200, first module 210, second module 220, third module 230, swing arm 300, pull rod 400;

[0089] Main console 1200, main robotic arm 1210, binoculars 1220;

[0090] The axis direction is X. Detailed Implementation

[0091] The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof.

[0092] Although the terms first, second, third, etc., may be used in the text to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another region, layer, or section.

[0093] For ease of description, spatial relative terms may be used in the text to describe the relationship 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," "upper," 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.

[0094] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments.

[0095] The current method of measuring actual output torque using torque sensors within joint modules is susceptible to errors due to factors such as sensor structure, mounting method, and other interference forces. Therefore, this application improves the conventional mounting structure of torque sensors within joint modules, providing a joint module whose structure enhances the accuracy of actual output torque detection. For example, this joint module can be used in the robotic arms of industrial robots or in the robotic arms of medical devices, such as surgical robots.

[0096] The following is combined with Figures 1 to 12 The specific structure of this joint module is described.

[0097] See Figures 1 to 3 ,in, Figure 1 This is a schematic diagram of the structure of the first type of joint module provided in the embodiments of this application. Figure 2 for Figure 1 A side view of the mid-joint module. Figure 3 for Figure 2 Schematic diagram of the sectional structure of the middle AA section. (See diagram below.) Figures 1 to 3 As illustrated, the joint module provided in this application embodiment includes: a housing 10, an output shaft 20, a transmission shaft 30, a torque sensor 50, and a flexible coupling 60.

[0098] The output shaft 20 is rotatably disposed within the housing 10; the drive shaft 30 is rotatably disposed within the housing 10; the torque sensor 50 is drivenly connected to both the output shaft 20 and the drive shaft 30, and is used to measure the output torque of the joint module; a flexible coupling 60 is disposed between the torque sensor 50 and the drive shaft 30, drivingly connecting the torque sensor 50 and the drive shaft 30, such that there is a displacement between the torque sensor 50 and the drive shaft 30 in the axial direction X of the drive shaft 30, and the drive shaft 30 and the torque sensor 50 do not contact each other. In this application, the axial direction of the drive shaft 30 is referred to as the axial direction X, and the direction perpendicular to the axial direction X is referred to as the radial direction.

[0099] The torque sensor 50 can be directly connected to the output shaft 20, or it can be connected to the output shaft 20 through intermediate components such as an adapter flange. This allows it to directly measure the torque transmitted from the drive shaft 30 to the output shaft 20, and also to measure the torque reacted by the output shaft 20 on the torque sensor 50.

[0100] One end of the flexible coupling 60 is directly connected to the torque sensor 50, and the other end is directly connected to the drive shaft 30. Figure 3In the embodiment shown, the torque sensor 50 includes a first torque sensing part 51 and a second torque sensing part 52, wherein the first torque sensing part 51 is drivenly connected to the output shaft 20, and the second torque sensing part 52 is drivenly connected to the flexible coupling 60.

[0101] The joint module may also include a motor assembly 40, which can directly or indirectly drive the drive shaft 30 to rotate, and the drive shaft 30 in turn drives the output shaft 20 to rotate, so as to output torque to the outside.

[0102] In the joint module provided in this application embodiment, since the flexible coupling 60 disposed between the transmission shaft 30 and the output shaft 20 is flexible, the torque sensor 50 and the output shaft 20 have a certain degree of freedom in the axial direction X. That is, the torque sensor 50 and the transmission shaft 30 have a certain amount of displacement in the axial direction X of the transmission shaft 30, thereby enabling displacement compensation.

[0103] In actual operation, if a compressive force is generated on one side of the drive shaft 30 towards the torque sensor 50, the flexible coupling 60 allows for displacement between the torque sensor 50 and the drive shaft 30 in the axial direction X. This displacement compensation protects the torque sensor 50 from compression from the drive shaft 30. In other words, the torque sensor 50 only measures the torque of the output shaft 20 in the rotational direction, and its measurement result is not affected by the axial compressive force of the drive shaft 30 or assembly pressure, thus improving the measurement accuracy of the torque sensor 50 for the actual output torque.

[0104] Furthermore, in practical applications of the joint module, it needs to be connected to external components (such as connecting rods) to drive the connecting rods to rotate. In some related technologies, the pressure of the external connecting rods may affect the torque sensor installed in the joint module. However, for the joint module provided in this embodiment, the torque sensor 50 is located between the output shaft 20 and the transmission shaft 30, belonging to the internal structure of the joint module. The external connecting rod and the output shaft 20 are connected externally to the joint module and do not directly contact the internal torque sensor 50, thus reducing the influence of the external connecting rod on the measurement results of the torque sensor 50 to a certain extent. At the same time, after the output shaft 20 is fixedly connected to the external connecting rod, the external connecting rod will abut against the outer shell, which will also limit the output shaft 20 from moving towards the torque sensor 50 and squeezing the torque sensor 50, further improving the measurement accuracy of the torque sensor 50.

[0105] The flexible coupling 60 in the joint module provided in the embodiments of this application will be described in detail below.

[0106] As mentioned earlier, during the rotation of the drive shaft 30 driven by the motor assembly 40, the drive shaft 30 transmits torque to the output shaft 20. Based on the preceding description, in the joint module provided in this embodiment, the drive shaft 30 is specifically connected to the output shaft 20 via a flexible coupling 60 and a torque sensor 50. Therefore, in this joint module, the flexible coupling 60 must not only ensure displacement between the torque sensor 50 and the drive shaft 30 in the axial direction X, but also effectively transmit the torque of the drive shaft 30 to the output shaft 20.

[0107] For the joint module provided in this application embodiment, to ensure the performance of the joint module, the selection of the flexible coupling should ensure that: when transmitting the torque of the drive shaft 30 to the output shaft 20 using the flexible coupling 60, the drive shaft 30 and the output shaft 20 can achieve high rotational synchronization and coaxiality. The higher the rotational synchronization and the better the coaxiality of the drive shaft 30 and the output shaft 20, the better the performance of the joint module and the more precise the control.

[0108] Specifically, flexible couplings generally include two types: inelastic flexible couplings and elastic flexible couplings. Inelastic flexible couplings do not contain elastic elements and have high rigidity, while elastic flexible couplings are equipped with elastic elements and have the function of buffering and shock absorption.

[0109] In the two types of flexible couplings mentioned above, if an elastic flexible coupling is selected in the joint module, the stiffness of the joint module will be significantly reduced due to the elastic element installed in the elastic flexible coupling. This will cause the torque of the transmission shaft 30 to be unable to be transmitted to the output shaft 20 in time, resulting in a significant delay in the rotation angle of the output shaft 20 compared to the rotation angle of the transmission shaft 30. Consequently, the end effector of the robotic arm will be unstable, and the performance of the joint module will be affected.

[0110] Therefore, in some embodiments of this application, an inelastic flexible coupling is selected as the flexible coupling 60. In this case, the joint module has high stiffness, and when the drive shaft 30 rotates, the flexible coupling 60 can effectively limit the degree of freedom of the output shaft 20 in the rotation direction, and transmit the torque to the output shaft 20 in a timely manner. As a result, the rotation angle of the output shaft 20 is less delayed than that of the drive shaft 30, the rotation synchronization between the drive shaft 30 and the output shaft 20 is higher, and the performance of the joint module is better.

[0111] This application provides two specific structures for the flexible coupling 60, which will be described separately below.

[0112] Figure 4 This is an exploded structural diagram of the first type of flexible coupling 60 provided in this application embodiment, see [link / reference]. Figure 3 as well as Figure 4As shown in the diagram, the flexible coupling 60 has a first coupling component 61 and a second coupling component 62.

[0113] The first coupling component 61 is fixedly connected to one end of the torque sensor 50; the second coupling component 62 is fixedly connected to the drive shaft 30; the second coupling component 62 is drivenly connected to the first coupling component 61, so that the drive shaft 30 is drivenly connected to the torque sensor 50, and the torque sensor 50 and the drive shaft 30 have a displacement in the axial direction X.

[0114] The second coupling component 62 and the drive shaft 30 can be either separate structures or integrally formed structures. For example, to simplify the structure of the joint module and achieve miniaturization of the joint module, in... Figure 4 In one embodiment, the second coupling component 62 and the drive shaft 30 are integrally formed.

[0115] The first coupling component 61 and the torque sensor 50 can be connected by screws or bolts, or by other means that can transmit motion and torque. Figure 4 In the illustration, the first coupling component 61 has a first screw hole 612 on one side, and the first coupling component 61 and the torque sensor 50 are connected by bolts through the first screw hole 612.

[0116] exist Figure 4 In this embodiment, the second coupling component 62 can limit the degree of freedom of the first coupling component 61 in the rotational direction, but does not limit the degree of freedom of the first coupling component 61 in the axial direction X. That is, when the drive shaft 30 rotates, the second coupling component 62 can drive the first coupling component 61 to rotate, and there is a slidable displacement between the first coupling component 61 and the second coupling component 62 in the axial direction X. When the first coupling component 61 and the second coupling component 62 satisfy this condition, it can be guaranteed that the drive shaft 30 drives the torque sensor 50 to rotate, and there is a displacement between the torque sensor 50 and the drive shaft 30 in the axial direction X.

[0117] Specifically, when the first coupling component 61 is fixedly connected to one end of the torque sensor 50, and the second coupling component 62 is fixedly connected to the drive shaft 30, a radial clearance can exist between the torque sensor 50 and the drive shaft 30, or there can be no radial clearance between them, depending on actual needs. Both options ensure that the drive shaft 30 drives the output shaft 20 to rotate. While a certain radial clearance can reduce machining accuracy and assembly difficulty to some extent, it may affect the coaxiality between the drive shaft 30 and the output shaft 20, thus affecting joint performance.

[0118] like Figure 4As shown, as an example of a transmission connection between the first coupling component 61 and the second coupling component 62, the first coupling component 61 has a cross groove 611, and the second coupling component 62 has a cross slider 621. The cross slider 621 is inserted into the cross groove 611, so that the torque sensor 50 and the transmission shaft 30 have a sliding displacement in the axial direction X.

[0119] Specifically, targeting Figure 4 As illustrated in the diagram, the cross slider 621 and the cross groove 611 mutually restrict each other, allowing the second coupling component 62 to drive the first coupling component 61 to rotate. Furthermore, the cross slider 621, inserted into the cross groove 611, can slide within the cross groove 611 along the axial direction X, thereby ensuring that the torque sensor 50 and the drive shaft 30 have a displacement in the axial direction X.

[0120] It can be seen that Figure 4 The illustrated flexible coupling 60 has a simple structure, which facilitates a reduction in the number of parts required for the joint module, and may consequently reduce the assembly time of the joint module. However, Figure 4 While the structure of the provided flexible coupling 60 can reduce the assembly time of the joint module, it requires high machining accuracy for the two coupling components; otherwise, it may lead to... Figure 4 There is a risk that the two coupling components of the flexible coupling 60 may not be able to be assembled or that the coaxiality may not be high after assembly, which may affect the performance of the joint module.

[0121] In view of this problem, embodiments of this application also provide another structure for the flexible coupling 60 as an option. The following describes... Figures 5 to 7 The flexible coupling 60 with this structure and a second joint module using the flexible coupling 60 with this structure will be described, wherein, Figure 5 This is a schematic diagram of the structure of the second type of joint module provided in the embodiments of this application. Figure 6 yes Figure 5 Schematic diagram of the cross-sectional structure of BB. Figure 7 This is an exploded structural diagram of the second type of flexible coupling.

[0122] See Figure 6 and Figure 7 As an example, the flexible coupling 60 of this alternative structure includes a third coupling component 63, a fourth coupling component 64, and a connector 65. The third coupling component 63 is fixedly connected to one end of the torque sensor 50; the fourth coupling component 64 is fixedly connected to the drive shaft 30; the connector 65 is disposed between the third coupling component 63 and the fourth coupling component 64, drivingly connecting the third coupling component 63 and the fourth coupling component 64, such that the drive shaft 30 is drivingly connected to the torque sensor 50, and the torque sensor 50 and the drive shaft 30 have a displacement in the axial direction X.

[0123] The fourth coupling component 64 can be a separate structure from the drive shaft 30, or it can be... Figure 7 As shown, it is designed as an integral part of the drive shaft 30, forming a one-piece molded structure.

[0124] The third coupling component 63 and the torque sensor 50 can be connected by screws or bolts, or by other means that can transmit motion and torque. Figure 7 In the illustration, the third coupling component 63 has a second screw hole 632 on one side, and the third coupling component 63 and the torque sensor 50 are connected by bolts through the second screw hole 632.

[0125] In this embodiment, the fourth coupling component 64 can sequentially drive the connecting member 65 and the third coupling component 63 to rotate, and the third coupling component 63, the connecting member 65 and the fourth coupling component 64 have a certain displacement relative to each other in the axial direction X. Therefore, it can be ensured that the transmission shaft 30 drives the output shaft 20 to rotate, and the torque sensor 50 and the transmission shaft 30 have a displacement relative to each other in the axial direction X.

[0126] like Figure 6 and Figure 7 As shown, as an example of a transmission connection between the third coupling component 63 and the fourth coupling component 64, the third coupling component 63 has a slotted groove 631; the fourth coupling component 64 has a slider 641; one side of the connector 65 has a slider 651 and the other side has a slotted groove 652.

[0127] Among them, the straight slider 641 is inserted into the straight connecting groove 652, and the straight connecting slider 651 is inserted into the straight groove 631. Since the straight slider 641 of the fourth coupling component 64 and the straight connecting groove 652 on one side of the connector 65 have a mutual limiting effect, and the straight connecting slider 651 on the other side of the connector 65 and the straight groove 631 of the third coupling component 63 have a mutual limiting effect, the drive shaft 30 can sequentially drive the fourth coupling component 64, the connector 65 and the third coupling component 63 to transmit torque to the output shaft 20. Furthermore, the linear slider 641 can slide along the axial direction X within the linear connecting groove 652, so that the fourth coupling component 64 and the connecting member 65 have a displacement in the axial direction X. The linear connecting slider 651 can slide along the axial direction X within the linear groove 631, so that the third coupling component 63 and the connecting member 65 have a displacement in the axial direction X. These two displacements together constitute the displacement between the torque sensor 50 and the drive shaft 30 in the axial direction X.

[0128] exist Figure 7In the illustrated embodiment, the projection of the linear slider 641 intersects the projection of the linear connecting slider 651 on a plane perpendicular to the axial direction X, ensuring transmission reliability and stability. Simultaneously, there are certain radial assembly gaps in both the linear extension direction of the linear slider 641 and the linear extension direction of the linear connecting slider 651. By setting small radial assembly gaps in these two directions, the actual assembly of the flexible coupling 60 is achieved, while ensuring the coaxiality of the various coupling components of the flexible coupling 60, thereby guaranteeing the coaxiality of rotation between the drive shaft 30 and the output shaft 20. Compared to the first structure of the flexible coupling, the machining accuracy requirements for each coupling component are lower, reducing machining costs and installation difficulty.

[0129] Specifically, the projection of the linear slider 641 intersects the projection of the linear connecting slider 651, meaning the linear slider 641 and the linear connecting slider 651 are perpendicular. Alternatively, the intersection angle between the linear slider 641 and the linear connecting slider 651 can be set between 80° and 100°, such as: 80°, 81°, 82°, 83°, 84°, 85°, 86°, 87°, 88°, 89°, 90°, 91°, 92°, 93°, 94°, 95°, 96°, 97°, 98°, 99°, or 100°, etc.

[0130] To further ensure the performance of the joint module, the joint module provided in this application embodiment also includes other components, which are described below in conjunction with... Figure 3 , Figure 8 This needs to be explained. Specifically, Figure 8 This is an exploded view of the internal structure of the joint shell of a joint module according to an embodiment of this application.

[0131] exist Figure 3 In the embodiment shown, the joint housing 10 has a first bearing 11 and a second bearing 12. The shaft hole of the first bearing 11 and the shaft hole of the second bearing 12 are coaxially arranged. The output shaft 20 is rotatably arranged on the first bearing 11, and the transmission shaft 30 is rotatably arranged on the second bearing 12, so as to improve the installation stability of the output shaft 20 and the transmission shaft 30 and ensure that the output shaft 20 and the transmission shaft 30 are coaxially arranged.

[0132] like Figure 3 , Figure 8As shown, the joint housing 10 includes a base housing 101 and a gear housing 102. A first bearing 11 is disposed on a first side of the base housing 101, and a second bearing 12 is disposed on a second side of the base housing 101. A torque sensor 50 and a flexible coupling 60 are disposed inside the base housing 101. The first side of the gear housing 102 is open and engages with the second side of the base housing 101. The first side of the gear housing 102 and the second side of the base housing 101 can be fixed together by bolts. The engagement of the gear housing 102 and the second side of the base housing 101 forms a gear cavity. A transmission gear set is disposed inside the gear cavity, and the motor assembly 40 drives the transmission shaft 30 to rotate through the transmission gear set.

[0133] The transmission gear set can be either a spur gear set or a helical gear set. Helical gear sets have a smaller axial width, allowing for a larger meshing area in a smaller space, thus facilitating miniaturization and weight reduction of the joint module, and also contributing to improved transmission smoothness and increased transmission capacity. However, since helical gear sets directly introduce axial force, axial compressive force may be transmitted from the drive shaft 30 to the torque sensor 50, affecting the measurement accuracy of the actual output torque by the torque sensor 50. In the joint module provided in this embodiment, the flexible coupling 60 can compensate for the relative displacement between the torque sensor 50 and the drive shaft 30, preventing the drive shaft 30 from contacting the torque sensor 50. Therefore, even if a helical gear set is used in the joint module provided in this embodiment to drive the electrode assembly 40 to the drive shaft 30, the axial compressive force transmitted from the helical gear set to the torque sensor 50 through the drive shaft 30 can be avoided. As can be seen, by applying the joint module provided in this application embodiment, the advantages of the helical gear set can be utilized to achieve miniaturization and weight reduction of the joint module, and the problem of the torque sensor 50 being subjected to axial extrusion force caused by the helical gear set can be avoided, thus ensuring the measurement accuracy of the actual output torque.

[0134] For example, the relative compensation displacement of the flexible coupling 60 can be set according to actual factors such as the machining accuracy of the parts, assembly requirements, and the applicable scenarios of the robotic arm. The range of the relative compensation displacement can be from 0.05mm to 4mm, for example, 0.05mm, 0.1mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, or 4mm.

[0135] like Figure 3 In one embodiment, a first bearing 70 is also provided inside the housing 10; an output shaft 20 is disposed on the first bearing 70, and one end of the output shaft 20 has a first shoulder 21, one side of the first shoulder 21 is fixedly connected to the torque sensor 50, and the other side abuts against one side of the first bearing 70.

[0136] See Figure 3The joint housing 10 also includes an end cap 103, which has a connection hole for the output shaft 20 to pass through. The end cap 103 covers one side of the first bearing seat 11 and confines the first bearing 70 within the first bearing seat 11. One side of the first bearing 70 abuts against the first shoulder 21, and the other side abuts against the end cap 103 of the housing 10. At this time, the joint module can provide a highly rigid output interface to the outside world under the support of the first bearing 70.

[0137] Specifically, when the output shaft 20 of the joint module is connected to an external connecting rod, and the connecting rod rotates due to the output shaft 20, the connecting rod may apply a bending moment to the output shaft 20. If no support is provided for the output shaft 20, it is prone to deformation under the action of bending moment. The deformed output shaft 20 will compress the torque sensor 50, resulting in insufficient measurement accuracy of the actual output torque by the torque sensor 50. If the output shaft 20 is designed as a hollow structure to reduce the weight of the joint module and facilitate wiring, the impact of the deformation of the output shaft 20 caused by the bending moment applied by the external connecting rod on the torque sensor 50 will be particularly significant.

[0138] And in Figure 3 In the schematic joint module, the first bearing 70 provides radial support for the output shaft 20, while the first shoulder 21 provides axial support and limit for the output shaft 20. Therefore, it can protect the output shaft 20 from deformation due to alternating loads (especially output bending moments) at the load end, avoid the influence of such deformation on the measurement results of the torque sensor 50, and also help to increase the overall output rigidity of the joint module, improve the responsiveness of the output power and the positioning accuracy.

[0139] For example, the first bearing 70 can be a crossed roller bearing. Specifically, the crossed roller bearing has rollers arranged perpendicularly to each other, which allows it to bear greater axial and radial support forces compared to a conventional bearing, thereby improving the bending moment resistance of the output shaft 20. Therefore, using a crossed roller bearing can, on the one hand, prevent deformation of the output shaft 20 caused by the output torque, thus preventing the measurement results of the torque sensor 50 from being further affected by the output shaft 20, improving the measurement accuracy of the torque sensor 50 for the actual output torque of the joint module; on the other hand, it also increases the overall output rigidity of the joint module.

[0140] In some embodiments, to further enhance the rigidity of the output end, the output shaft 20 can be a solid shaft. In other embodiments, to reduce the weight of the output shaft 20 and facilitate wiring requirements, the output shaft 20 can be a hollow shaft. Furthermore, the hollow shaft can be a hollow flange shaft, comprising a first flange and a second flange on the connecting rod, thereby connecting the first and second flanges with bolts to achieve the transmission connection between the output shaft 20 and the connecting rod. It is understood that in specific implementations, the connection method between the connecting rod and the output shaft 20 is not limited to a flange connection.

[0141] like Figure 3 As shown, to limit the axial movement of the drive shaft 30 within the housing 10, the joint module further includes a bearing assembly 80, which includes a second bearing 81 disposed within the housing 10. The drive shaft 30 is disposed on the second bearing 81 and has a second shoulder 31 that abuts against one side of the second bearing 81 to limit the movement of the drive shaft 30 toward the torque sensor 50 along the axial direction X.

[0142] like Figure 3 As shown, the bearing assembly 80 also includes a third bearing 82, which is disposed within the housing 10.

[0143] The drive shaft 30 is mounted on the third bearing 82 and has a third shoulder 32, which abuts against one side of the third bearing 82 to restrict the drive shaft 30 from moving away from the torque sensor 50 along the axial direction X. The joint housing 10 also contains a third bearing seat 13, with the shaft holes of the second bearing seat 12 and the third bearing seat 13 coaxially arranged. In this case, the third bearing 82 is specifically mounted on the third bearing seat 13.

[0144] Specifically, with the second bearing 81 and the third bearing 82 provided, the axial displacement of the drive shaft 30 is restricted by both the second bearing 81 and the third bearing 82.

[0145] In this embodiment, the motor assembly 40 can be configured as a single motor assembly or a multi-motor assembly. When the motor assembly 40 is a single motor assembly, the motor assembly 40 can directly coaxially drive the transmission shaft 30, or it can indirectly drive the transmission shaft 30 through an intermediate transmission component.

[0146] For example, in the case where the motor assembly 40 is a single motor assembly, the motor assembly 40 may specifically include a motor and a reducer, and the motor, reducer and drive shaft are connected in sequence for transmission.

[0147] The following text uses motor assembly 40 as an example, specifically a dual-motor assembly, to further illustrate the joint module provided in this application. Specifically, the two motors within motor assembly 40 can be arranged side-by-side or coaxially. The joint module provided in this application... Figure 1 , Figure 5 This illustrates a situation where two motors are arranged side by side.

[0148] In the case where the motor assembly 40 is a dual-motor assembly with the two motors arranged in parallel, the motor assembly 40 includes a first motor 41a, a first reducer 42a, a second motor 41b, a second reducer 42b, and a transmission gear set 43.

[0149] The first motor 41a and the first reducer 42a are arranged along the first axis and are connected in a driving relationship; the second motor 41b and the second reducer 42b are arranged along the second axis and are connected in a driving relationship; the transmission gear set 43 drives the first reducer 42a and the transmission shaft 30, and drives the second reducer 42b and the transmission shaft 30, so that the motor assembly 40 is connected in a driving relationship with the transmission shaft 30; the first axis and the second axis are both arranged along the axial direction X and are parallel to each other.

[0150] The structure of the transmission gear set 43 is described below as an example when the motor assembly 40 is a dual-motor assembly and the two electrodes are arranged side by side.

[0151] like Figure 9 As shown, the transmission gear set 43 includes a first transmission gear 431, a second transmission gear 432, and a third transmission gear 433. The first transmission gear 431 is mounted on the transmission shaft 30 and can drive the transmission shaft 30 to rotate; the second transmission gear 432 is connected to the first reducer 42a and is driven by the first motor 41a; the third transmission gear 433 is connected to the second reducer 42b and is driven by the second motor 41b.

[0152] Based on this, during the operation of the joint module, the first motor 41a and the second motor 41b drive the second transmission gear 432 and the third transmission gear 433 to rotate via the first reducer 42a and the second reducer 42b, respectively. The second transmission gear 432 and the third transmission gear 433 together drive the first transmission gear 431 to rotate, which in turn drives the transmission shaft 30 to rotate. In other words, when the joint module is working, the first motor 41a and the second motor 41b work together to drive the transmission shaft 30 to rotate via the transmission gear set 43.

[0153] exist Figure 9In the transmission gear set 43 shown, the first transmission gear 431 is positioned between the second transmission gear 432 and the third transmission gear 433, and the axes of these three transmission gears are all arranged along the axial direction X. The first transmission gear 431 meshes with the second transmission gear 432 and the third transmission gear 433 respectively. In this case, when the first motor 41a and the second motor 41b drive the second transmission gear 432 and the third transmission gear 433 to rotate respectively, the first transmission gear 431 and the second transmission gear 432 are tightly meshed together in the first rotation direction, and the first transmission gear 431 and the third transmission gear 433 are tightly meshed together in the second rotation direction. The first rotation direction and the second rotation direction are opposite, so no matter which direction the first transmission gear 431 rotates, the first motor 41a and the second motor 41b can exert a biasing torque on the transmission shaft 30, achieving the effect of real-time backlash elimination of the joint module.

[0154] Specifically, the first transmission gear 431, the second transmission gear 432, and the third transmission gear 433 can be spur gears or helical gears. In some embodiments of this application, in order to reduce the space occupied by the transmission gear set 43 in the axial direction and achieve miniaturization and weight reduction of the joint module, the first transmission gear 431 can be a helical gear, and the second transmission gear 432 and the third transmission gear 433 are helical gears that cooperate with the first transmission gear 431.

[0155] For example, the first reducer 42a and the second reducer 42b can be structures such as planetary reducers, cycloidal pinwheel reducers, harmonic reducers, and reducers driven by steel wire or steel belt.

[0156] Taking the first reducer 42a as a planetary reducer as an example, the first reducer 42a with a planetary reducer structure includes: a reducer housing, a sun gear, at least two planet gears, and a planet carrier. A gear ring is disposed inside the reducer housing. The output shaft of the first motor 41a is drive-connected to the sun gear of the first reducer 42a. In the first reducer 42a, at least two planet gears are respectively meshed between the gear ring and the sun gear, and the planet carrier is rotatably connected to the shafts of at least two planet gears. For example, the planet carrier of the first reducer 42a is drive-connected to the second transmission gear 432. In embodiments of this solution, the first reducer 42a can be a single-stage planetary reducer, a two-stage planetary reducer, or a multi-stage planetary reducer.

[0157] The structure of the second reducer 42b is similar to that of the first reducer 42a, and will not be described in detail here.

[0158] In practical applications, in addition to controlling the output torque of the joint module, it is also necessary to control the rotation angle or speed of the joint module. For this reason, such as... Figure 1 , Figure 2, Figure 3 and Figure 10 As shown, the joint module also includes an encoder assembly 90.

[0159] The encoder assembly 90 includes a first encoder 91 and a flexible transmission component 92. The flexible transmission component 92 is drively connected to the shaft of the first encoder 91 and the drive shaft 30. The flexible transmission component 92 is connected to the end of the drive shaft 30 away from the output shaft 20. As one embodiment of connecting the flexible transmission component 92 to the drive shaft 30, in... Figure 3 and Figure 4 In the schematic diagram, the drive shaft 30 has an extension shaft 33 extending out of the housing 10 on the side away from the output shaft 20, and the flexible transmission component 92 is specifically connected to the extension shaft 33.

[0160] If there is sufficient space at the end of the drive shaft 30 away from the output shaft 20, it is also possible to directly connect the first encoder 91 to the drive shaft 30.

[0161] The flexible transmission component 92 may include at least one of a transmission belt, a transmission rope, and a transmission chain. The following description uses a transmission belt as an example of the flexible transmission component 92. In this case, the transmission shaft 30 has a transmission pulley 93, and the flexible transmission component 92 drives the transmission pulley 93 to the first encoder 91. To ensure reliable transmission, a tensioning device, such as an adjusting screw or other equivalent functional component, is provided between the transmission pulley 93 and the first encoder 91.

[0162] Specifically, the first encoder 91 can measure the rotation angle and speed of the drive shaft 30 for the control of the joint module.

[0163] In some embodiments, the transmission ratio between the shaft of the first encoder 91 and the transmission shaft 30 can be 1, and they rotate synchronously. In this case, the measured values ​​of the first encoder 91 are the rotation angle and speed of the transmission shaft 30. In other embodiments, the transmission ratio between the shaft of the first encoder 91 and the transmission shaft 30 may not be 1. In this case, the rotation angle and speed of the transmission shaft 30 can be calculated based on the measured values ​​of the first encoder 91 and the transmission ratio, thereby achieving indirect measurement of the rotation angle and speed of the transmission shaft 30.

[0164] In addition to the embodiment described above where the two motors of the motor assembly 40 are arranged side-by-side, the two motors of the motor assembly 40 can also be arranged coaxially. See [link to previous document]. Figure 11a and Figure 11b As shown in the diagram, the motor assembly 40 includes a third motor 41c, a fourth motor 41d, and a third reducer 42c.

[0165] Along the axial direction X, a drive shaft 30, a third reducer 42c, a third motor 41c, and a fourth motor 41d are sequentially arranged. The third motor 41c and the fourth motor 41d are respectively connected to the third reducer 42c for transmission. The third reducer 42c is connected to the drive shaft 30 for transmission.

[0166] In this embodiment, the first motor shaft 411c of the third motor 41c is connected to the input drive of the third reducer 42c. The first motor shaft 411c of the third motor 41c is a hollow shaft, which is sleeved on the second motor shaft 411d and coaxially arranged with the second motor shaft 411d, and is connected to the input drive of the third reducer 42c. The output of the third reducer 42c is connected to the drive shaft 30. In this embodiment, because the first motor shaft 411c of the third motor 41c and the second motor shaft 411d of the fourth motor 41d are sleeved, space can be saved, thereby reducing the overall volume of the joint module and facilitating miniaturization.

[0167] like Figure 11a and Figure 11b As shown, the third reducer 42c includes a reducer housing 421c, a sun gear 422c, a ring gear 423c, planet gears 424c, and a first planet carrier (not shown). The planet gears 424c are drivingly connected to the sun gear 422c and the ring gear 423c. The planet gears 424c are rotatably mounted on the first planet carrier. The first planet carrier and the reducer housing 421c are fixed. In some embodiments, the first planet carrier is not limited to being fixed to the reducer housing 421c; it only needs to be fixedly mounted. The ring gear 423c is drivingly connected to the drive shaft 30.

[0168] exist Figure 11a and Figure 11b In the example, there are two sun gears 422c, namely a first sun gear 4221c and a second sun gear 4222c. The first sun gear 4221c and the second sun gear 4222c are arranged along the axis of the first motor shaft 411c. The second sun gear 4222c has a through hole 42221c. The first motor shaft 411c passes through the through hole 42221c and is drivingly connected to the first sun gear 4221c. The second motor shaft 411d of the fourth motor 41d is a hollow shaft and is drivingly connected to the second sun gear 4222c. There are at least two planet gears 424c, namely a first planet gear 4241c and a second planet gear 4242c. The first planet gear 4241c is drivingly connected to the first sun gear 4221c and the ring gear 423c. The second planet gear 4242c is connected to the second sun gear 4222c and the ring gear 423c. The first planet gear 4241c and the second planet gear 4242c are rotatably mounted on the first planet carrier. In some embodiments, the first planetary gear 4241c and the second planetary gear 4242c may be disposed on the same shaft, and the first planetary carrier may be disposed on the first reducer housing.

[0169] In this embodiment, the reducer housing 421c is a cylindrical body, and a gear ring is disposed inside the cylindrical body and rotatably connected to the cylindrical body. The gear ring and the cylindrical body cooperate, and the cylindrical body can further limit the movement of the gear ring, thereby facilitating the provision of more stable output power. The first planetary carrier can be fixed to the inner wall of the cylindrical body.

[0170] In addition, in some embodiments of this application, the first motor shaft 411c and the second motor shaft 411d may also be connected to an emergency braking device, which can realize emergency stop control of the joint module.

[0171] An encoder can be provided at the tail of the first motor shaft 411c and the second motor shaft 411d respectively for controlling the rotation angle and speed of the third motor 41c and the fourth motor 41d, thereby improving the speed and position control accuracy of the third motor 41c and the fourth motor 41d.

[0172] The following is combined with Figure 12 Another example is provided, where motor assembly 40 is a dual-motor assembly and the two motors are coaxially arranged. See [link to documentation]. Figure 12 The motor assembly 40 includes a fifth motor 41e, a sixth motor 41f, a fourth reducer 42d, and a fifth reducer 42e.

[0173] Along the axial direction X, a drive shaft 30, a fourth reducer 42d, a fifth motor 41e, a fifth reducer 42e, and a sixth motor 41f are arranged in sequence. The fifth motor 41e is connected to the fourth reducer 42d, the sixth motor 41f is connected to the fifth reducer 42e, and both the fourth reducer 42d and the fifth reducer 42e are connected to the drive shaft 30.

[0174] In this embodiment, as described above Figure 11a and Figure 11b The difference between the "combined" third reducer 42c shown in the figure is that, in this embodiment, the fourth reducer 42d and the fifth reducer 42e are separate, and the fourth reducer 42d, the fifth motor 41e, the fifth reducer 42e and the sixth motor 41f are coaxially arranged, which usually facilitates the miniaturization of the joint module.

[0175] In some embodiments where the fourth reducer 42d, the fifth motor 41e, the fifth reducer 42e, and the sixth motor 41f are coaxially arranged, the fourth reducer 42d and the fifth reducer 42e are both planetary reducers.

[0176] In some embodiments, the fourth reducer 42d includes a second planetary carrier 421d, a first ring gear 422d, a third planetary gear 423d, and a third sun gear 424d, and the fifth reducer 42e includes a third planetary carrier 421e, a second ring gear 422e, a fourth planetary gear 423e, and a fourth sun gear 424e.

[0177] The shaft of the second planetary carrier 421d is driven through the hollow output shaft 411e of the fifth motor 41e and the shaft of the third planetary carrier 421e of the fifth reducer 42e. The shaft of the second planetary carrier 421d is also driven through the transmission shaft 30. Figure 11a and Figure 11b The difference between the illustrated joint module and the one shown in the previous embodiment is that, in this embodiment, two reducers are designed separately, which facilitates manufacturing. Furthermore, in this embodiment, the fourth reducer 42d and the fifth reducer 42e employ a fixed gear ring and a planetary carrier as the output, which also achieves the deceleration function of a planetary reducer.

[0178] In some embodiments, the first gear ring 422d is fixed, and the third planetary gear 423d is connected to the first gear ring 422d and the third sun gear 424d via a transmission.

[0179] In some embodiments, the second gear ring 422e is fixed, and the fourth planetary gear 423e is drivingly connected to the second gear ring 422e and the fourth sun gear 424e.

[0180] In this scheme, the fourth reducer 42d and the fifth reducer 42e can be single-stage planetary reducers, two-stage planetary reducers or multi-stage planetary reducers.

[0181] Based on the same inventive concept, this application also provides a robotic arm, which is described below in conjunction with... Figure 13 The robotic arm provided in this application is described in detail.

[0182] See Figure 13 As illustrated, the robotic arm 1100 includes: at least one link 100; at least one joint module 200, wherein the output shaft 20 of each joint module 200 drives the link 100 connected thereto.

[0183] Among them, joint module 200 is the aforementioned Figures 1 to 12 The embodiments provide any joint module.

[0184] For example, the robotic arm 1100 can be applied in a surgical robot or in other types of robots. The robotic arm of the surgical robot includes a master robotic arm and a slave robotic arm. In this embodiment, the robotic arm can be applied in a master robotic arm or a slave robotic arm.

[0185] In this embodiment, the linkage 100 is driven by controlling the forward and reverse rotation of each joint module, so as to achieve precise control of the robotic arm's movements.

[0186] When the robotic arm of this embodiment is applied to the master robotic arm, the master robotic arm further includes an input device, which is disposed on a link 100 at the end of the robotic arm. The master robotic arm is controlled by the doctor to remotely control the slave robotic arm to perform surgical operations on the patient.

[0187] The system comprises multiple links 100. In related technologies, the closer the center of gravity of the robotic arm is to its end, the weaker its maneuverability and the worse its stability. To address this issue, in some embodiments, the joint modules of some links in the robotic arm are positioned at the front. Taking a three-link system as an example, from the beginning to the end of the robotic arm, the multiple links 100 are sequentially: a first link 110, a second link 120, and a third link 130; multiple joint modules 200 are also present, namely: a first module 210, a second module 220, and a third module 230; the output shaft 20 of the first module 210 is connected to the first end of the first link 110 to drive the first link 110 to swing around the axis of the output shaft 20 of the first module 210; the output shaft 20 of the second module 220 is connected to the first end of the second link 120 to drive the second link 120 to output the second module 220. The axis of shaft 20 swings; the first end of the third link 130 and the second end of the second link 120 are rotatably connected; the third module 230 also includes a swing arm 300 and a pull rod 400. The joint housing 10 of the third module 230 is fixed to the second link 120. The first end of the swing arm 300 is drively connected to the output shaft 20 of the third module 230. The second end of the swing arm 300 and the first end of the pull rod 400 are rotatably connected. The second end of the pull rod 400 and the third link 130 are rotatably connected. The second link 120, the third link 130, the pull rod 400, and the swing arm 300 form a four-bar linkage. The input device is located at the second end of the third link 130. Since the third module 230 is located on the second link 120, which is far from the third link 130, the center of gravity of the robotic arm is far from the end of the robotic arm, thus improving the maneuverability of the robotic arm.

[0188] Since the third module 230 is not located at the connection between the second link 120 and the third link 130, in this embodiment, an encoder can be installed at the rotation point of the second link 120 and the third link 130 to detect the rotation angle and rotation speed of the second link 120 and the third link 130. The motor assembly of the third module 230 performs feedback control based on the rotation angle and rotation speed sensed by the encoder, thereby improving the control accuracy of the joint module.

[0189] Based on the same inventive concept, this application also provides a main control console, which serves as part of a surgical robot. The following is in conjunction with... Figure 14 The main console provided in this application is described in detail.

[0190] See Figure 14 The main control console 1200 provided in this application embodiment includes Figure 13 The robotic arm 1100 provided in the embodiment is exemplified by the robotic arm 1100 described above, which is specifically applied to the master robotic arm 1210 of the main console 1200.

[0191] like Figure 14 As shown, the main control console 1200 also includes a binocular lens 1220. During the surgical procedure, the doctor can view the image of the patient's surgical area in real time through the binocular lens 1220 and drag the master robotic arm 1210 to synchronously control the movement of the slave robotic arm, thereby realizing remote control of the slave robotic arm to perform surgical operations on the patient.

[0192] There can be two master hand robotic arms 1210, which serve as control components for the doctor's hands respectively.

[0193] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0194] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A joint module, characterized in that, include: Outer shell (10) The output shaft (20) is rotatably disposed within the housing (10); A drive shaft (30) is rotatably disposed within the housing (10); A torque sensor (50) is connected to the output shaft (20) and the transmission shaft (30) respectively, and is used to measure the output torque of the joint module; A flexible coupling (60) is disposed between the torque sensor (50) and the drive shaft (30), drivingly connecting the torque sensor (50) and the drive shaft (30) such that there is a displacement between the torque sensor (50) and the drive shaft (30) in the axial direction (X) of the drive shaft (30), and the drive shaft (30) and the torque sensor (50) are not in contact.

2. The joint module according to claim 1, characterized in that, The flexible coupling (60) is an inelastic flexible coupling.

3. The joint module according to claim 1 or 2, characterized in that, The flexible coupling (60) has a first coupling component (61) and a second coupling component (62). The first coupling component (61) is fixedly connected to one end of the torque sensor (50); The second coupling component (62) is fixedly connected to the drive shaft (30); The second coupling component (62) is driven to the first coupling component (61), such that the drive shaft (30) is driven to the torque sensor (50), and the torque sensor (50) and the drive shaft (30) have a displacement in the axial direction (X).

4. The joint module according to claim 3, characterized in that, The first coupling component (61) has a cross groove (611), and the second coupling component (62) has a cross slider (621). The cross slider (621) is inserted into the cross groove (611), so that the torque sensor (50) and the drive shaft (30) have a displacement in the axial direction (X).

5. The joint module according to claim 1 or 2, characterized in that, The flexible coupling (60) has a third coupling component (63), a fourth coupling component (64), and a connector (65). The third coupling component (63) is fixedly connected to one end of the torque sensor (50); The fourth coupling component (64) is fixedly connected to the drive shaft (30); The connector (65) is disposed between the third coupling component (63) and the fourth coupling component (64), drivingly connecting the third coupling component (63) and the fourth coupling component (64), such that the drive shaft (30) is drivingly connected to the torque sensor (50), and the torque sensor (50) and the drive shaft (30) have a displacement in the axial direction (X).

6. The joint module according to claim 5, characterized in that, The third coupling component (63) has a slotted groove (631); The fourth coupling component (64) has a linear slider (641). The connector (65) has a straight connecting slider (651) and a straight connecting groove (652); The linear slider (641) is inserted into the linear connecting groove (652), and the linear connecting slider (651) is inserted into the linear groove (631). The projection of the linear slider (641) and the projection of the linear connecting slider (651) intersect in the axial direction (X), so that the torque sensor (50) and the drive shaft (30) have a displacement in the axial direction (X).

7. The joint module according to claim 1, characterized in that, Also includes: The first bearing (70) is disposed inside the housing (10); The output shaft (20) is disposed on the first bearing (70). One end of the output shaft (20) has a first shoulder (21). One side of the first shoulder (21) is fixedly connected to the torque sensor (50), and the other side abuts against one side of the first bearing (70).

8. The joint module according to claim 1 or 7, characterized in that, Also includes: The bearing assembly (80) includes a second bearing (81) disposed within the housing (10); The drive shaft (30) is disposed on the second bearing (81) and has a second shoulder (31) abutting against one side of the second bearing (81) to restrict the drive shaft (30) from moving toward the torque sensor (50) along the axial direction (X).

9. The joint module according to claim 8, characterized in that, The bearing assembly (80) further includes a third bearing (82) disposed within the housing (10); The drive shaft (30) is disposed on the third bearing (82) and has a third shoulder (32) abutting against one side of the third bearing (82) to restrict the drive shaft (30) from moving away from the torque sensor (50) along the axial direction (X).

10. The joint module according to claim 1, characterized in that, Also includes: The motor assembly (40) is connected to the drive shaft (30) for transmission.

11. The joint module according to claim 10, characterized in that, The motor assembly (40) includes a motor and a reducer, and the motor, reducer and the drive shaft (30) are connected in sequence for transmission.

12. The joint module according to claim 10, characterized in that, The motor assembly (40) includes a first motor (41a), a first reducer (42a), a second motor (41b), a second reducer (42b), and a transmission gear set (43). The first motor (41a) and the first reducer (42a) are arranged along the first axis and are connected in a transmission manner; The second motor (41b) and the second reducer (42b) are arranged along the second axis and are connected in a transmission manner; The transmission gear set (43) is drivingly connected to the first reducer (42a) and the transmission shaft (30), and drivingly connected to the second reducer (42b) and the transmission shaft (30), so that the motor assembly (40) is drivingly connected to the transmission shaft (30); The first axis is parallel to the second axis.

13. The joint module according to claim 12, characterized in that, It also includes an encoder component (90); The encoder assembly (90) includes a first encoder (91) and a flexible transmission component (92), the flexible transmission component (92) being connected to the shaft of the first encoder (91) and the transmission shaft (30), and the flexible transmission component (92) being connected to one end of the transmission shaft (30) away from the output shaft (20).

14. The joint module according to claim 11, characterized in that, The motor assembly (40) includes a third motor (41c), a fourth motor (41d), and a third reducer (42c). Along the axial direction (X), the drive shaft (30), the third reducer (42c), the third motor (41c) and the fourth motor (41d) are arranged in sequence. The third motor (41c) and the fourth motor (41d) are respectively connected to the third reducer (42c), and the third reducer (42c) is connected to the drive shaft (30).

15. The joint module according to claim 11, characterized in that, The motor assembly (40) includes a fifth motor (41e), a sixth motor (41f), a fourth reducer (42d), and a fifth reducer (42e). Along the axial direction (X), the drive shaft (30), the fourth reducer (42d), the fifth motor (41e), the fifth reducer (42e), and the sixth motor (41f) are arranged in sequence. The fifth motor (41e) is driven by the fourth reducer (42d), the sixth motor (41f) is driven by the fifth reducer (42e), and both the fourth reducer (42d) and the fifth reducer (42e) are driven by the drive shaft (30).

16. A robotic arm, characterized in that, include: At least one link (100); At least one joint module (200) according to any one of claims 1-15, wherein the output shaft (20) of each joint module (200) drives the connecting rod (100) connected thereto.

17. A robot, characterized in that, include: The robotic arm (1100) as described in claim 16 above.

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