Joint module and robot

Abstract

The application provides a joint module and a robot. The joint module comprises an inner rotor and a front end cover of a motor; a planetary reducer comprising at least two levels of planetary rows and at least two gear rings, the gear rings being configured to have no relative motion with respect to the front end cover; the at least two levels of planetary rows are arranged in sequence along the axial direction of the front end cover, and adjacent two levels of planetary rows are connected in sequence, the inner rotor is connected in force with the first level of planetary rows, the last level of planetary rows is connected in force with an output mechanism of the joint module, and at least the last level of planetary rows and at least part of the corresponding gear rings are located outside the inner diameter space of the inner rotor. A separation structure is arranged between adjacent two levels of planetary rows and between adjacent two gear rings, and the separation structure has no relative motion with respect to the adjacent two gear rings. In the radial direction of the front end cover, the separation structure comprises a first separation part, a second separation part and a third separation part distributed in sequence from inside to outside.

Description

Technical Field

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

[0002] Robot joint modules are typically used to connect adjacent components of a robot and transmit motion and torque through motors, reducers, and output mechanisms. The motor rotor serves as the power input to the reducer, which slows down the motion output by the motor, and then drives the components connected to the joint module to move through the output mechanism.

[0003] In related technologies, the joint module can employ a multi-stage planetary reducer. Each stage of the planetary gear set typically includes a sun gear, planet gears, a planet carrier, and a ring gear; the motor rotor is axially distributed and connected to the first-stage planetary gear set for power transmission.

[0004] With the motor and multi-stage planetary reducer each occupying space along the axial direction, as the number of planetary stages increases, there are technical problems such as the joint module having a large axial dimension and limited placement within the robot's limited installation space. Summary of the Invention

[0005] This application addresses existing technical problems by proposing a joint module and a robot.

[0006] The first aspect of this application provides a joint module, comprising: The inner rotor and front cover of the motor; A planetary gear reducer includes at least two planetary gear sets and at least two ring gears, the ring gears being configured to have no relative motion with respect to a front end cover; the planetary gear sets include at least a first planetary gear set and a second planetary gear set, and the ring gears include at least a first ring gear and a second ring gear; along the axial direction of the front end cover, the first ring gear is located within the inner diameter space of the inner rotor, and the first planetary gear set is located within the inner diameter space of the first ring gear; along the axial direction of the front end cover, the first ring gear and the second ring gear are spaced apart, and the second planetary gear set is located within the inner diameter space of the second ring gear. At least two stages of the planetary gear set are arranged sequentially along the axial direction of the front end cover, and adjacent two stages of the planetary gear set are connected in sequence to transmit force. The inner rotor is connected to the first stage of the planetary gear set to transmit force, and the last stage of the planetary gear set is connected to the output mechanism of the joint module to transmit force. At least a portion of the last stage of the planetary gear set and the corresponding gear ring are located outside the inner diameter space of the inner rotor. A partition structure is provided between two adjacent planetary gear sets and between two adjacent gear rings, with no relative movement between the partition structure and the two adjacent gear rings; along the radial direction of the front end cover, the partition structure includes a first partition, a second partition, and a third partition distributed sequentially from the inside to the outside; the first partition and the second partition form an annular stepped structure, and the second partition includes a second step structure; the first gear ring is fixed to the inner peripheral wall of the second partition, and the first gear ring is in contact and fixed with the second step structure; along the axial direction of the front end cover, the front end cover, the second gear ring, and the third partition are arranged sequentially and connected in a manner without relative movement.

[0007] In one embodiment, the first planetary set includes: The first sun gear is connected to the inner rotor in a manner without relative motion; The first planetary gear meshes externally with the first sun gear and internally with the first gear ring; The first planetary shaft and the first planetary gear are rotatably fitted around the first planetary shaft; The first planetary carrier has a first planetary shaft fixedly mounted on it. When the first sun gear rotates, the first planetary gear revolves around the first sun gear and drives the first planetary carrier to rotate.

[0008] In one embodiment, along the axial direction of the front end cover, the second planetary gear set is located outside the inner diameter space of the inner rotor, and the radius of the second gear ring is larger than the radius of the inner rotor.

[0009] In one embodiment, the radius of the second planetary gear set is smaller than that of the inner rotor, and at least a portion of the second planetary gear set is located outside the inner diameter space of the inner rotor along the axial direction of the front end cover.

[0010] In one embodiment, the radius of the second gear ring is smaller than the radius of the inner rotor, and at least a portion of the second gear ring is located axially outside the inner diameter space of the inner rotor.

[0011] In one embodiment, the first planetary gear set includes a first planet carrier, and the second planetary gear set includes a second sun gear and a second planet carrier. The first planet carrier and the second sun gear are connected in a manner without relative motion. The joint module further includes: A first support bearing is disposed between the partition structure and the first planetary carrier. Along the radial direction of the front end cover, the first planetary carrier is supported on the inner side of the first support bearing, and the partition structure is supported on the outer side of the first support bearing. The second support bearing is disposed between the partition structure and the second planetary carrier, along the radial direction of the front end cover. The second planetary carrier is supported on the inner side of the second support bearing, and the partition structure is supported on the outer side of the second support bearing. The third support bearing is disposed between the second gear ring and the second planetary carrier, along the radial direction of the front end cover. The second planetary carrier is supported on the inner side of the third support bearing, and the second gear ring is supported on the outer side of the third support bearing.

[0012] In one embodiment, an end face sealing groove is provided on the end face of the partition structure. The end face sealing groove extends circumferentially along the front end cover and is arranged around the rotation axis of the joint module. The axial end face of the inner rotor along the front end cover is arranged opposite to the end face of the partition structure to form an end face sealing gap, so as to restrict the axial flow of grease between the inner rotor and the partition structure.

[0013] In one embodiment, at least two planetary gear sets include a first planetary gear set and a second planetary gear set. The internal spaces corresponding to the first planetary gear set and the internal spaces corresponding to the second planetary gear set are isolated from each other by a partition structure and filled with different greases respectively.

[0014] In one embodiment, different greases have different performance parameters, including at least one of viscosity, consistency, and additives.

[0015] In one embodiment, the joint module further includes a grease-sealing structure, the grease-sealing structure comprising: The first toothed structure is located on the front end cover; The second toothed structure is arranged opposite to the first toothed structure and interlocks with it; A tortuous sealed channel is formed between the first toothed structure and the second toothed structure to isolate the internal space of the joint module corresponding to the planetary gearbox connected to the output mechanism from the external environment of the joint module.

[0016] The second aspect of this application provides a robot, including any of the joint modules provided in the first aspect of this application.

[0017] The beneficial technical effects of the technical solutions provided in this application include: The inner rotor is connected to the first-stage planetary gear set for power transmission. At least two stages of planetary gear sets are sequentially arranged along the axial direction of the front cover and are connected sequentially for power transmission. The last stage of planetary gear set is connected to the output mechanism for power transmission. Thus, the torque output by the inner rotor can be transmitted to the output mechanism stage by stage through each planetary gear set. At least two gear rings maintain no relative movement with respect to the front cover, serving as a fixed meshing base for the corresponding planetary gear sets, enabling each stage of the planetary gear set to form a continuous deceleration and torque-increasing power transmission path.

[0018] At least a portion of the last-stage planetary gear set and its corresponding gear ring is located outside the inner diameter space of the inner rotor, ensuring that the arrangement of the last-stage planetary gear set and its corresponding gear ring is not entirely constrained by the inner diameter space of the inner rotor. Based on this arrangement, the last-stage planetary gear set and its corresponding gear ring can be configured in conjunction with the force transmission position on the output mechanism side, and space is reserved for the output mechanism, its support structure, and the structure connecting to external driven components. This facilitates simultaneously meeting the force transmission requirements of multi-stage reduction and the installation requirements of the output-side components.

[0019] The first and second planetary gear sets correspond to the first and second gear rings, respectively. The two-stage planetary gear sets can be configured with different transmission ratios according to the design requirements of the joint module, which helps to improve the design freedom of the joint module.

[0020] The first and second gear rings are spaced apart along the axial direction, allowing the radial dimensions, axial positions, and support positions of different stages of planetary gear sets to be designed separately, which is beneficial for balancing the design freedom of the front-stage planetary gear set being built into the front-stage planetary gear set and the rear-stage planetary gear set being installed.

[0021] The partition structure creates a fixed spatial boundary between adjacent planetary gear sets, allowing the internal spaces corresponding to the first and second planetary gear sets to be divided into zones. This partition structure helps reduce grease cross-contamination between adjacent planetary gear sets and provides a structural basis for zoned support, zoned sealing, and zoned lubrication. The partition structure also improves the clarity of the internal functional zones of the multi-stage planetary reducer, facilitating lubrication maintenance and upkeep during long-term operation.

[0022] The partition structure includes a first partition, a second partition, and a third partition, distributed radially from the inside to the outside along the front end cover, enabling the partition structure to provide isolation, positioning, and support positions at different radial levels. The first and second partitions form an annular stepped structure, with the first partition including a first step structure and a first kick surface structure, and the second partition including a second step structure. Thus, the stepped structure provides axial bearing surfaces and radial limiting surfaces for adjacent structures, facilitating the definition of the axial and radial positions of the first gear ring relative to the partition structure.

[0023] The first gear ring is fixed to the inner circumferential wall of the second partition and is in contact with and fixed to the second step structure, allowing the first gear ring to obtain radial support through the second partition and axial support through the second step structure. Along the axial direction of the front cover, the front cover, the second gear ring, and the third partition are arranged sequentially and connected in a manner without relative movement, allowing the second gear ring to remain fixed relative to the front cover and the partition structure. Thus, the first and second gear rings each have a stable fixed support base, which helps maintain the meshing position of the first and second planetary gear sets and facilitates the structural stability of the joint module during force transmission.

[0024] When the aforementioned joint module is applied to a robot, the inner rotor, at least two planetary gear sets, at least two gear rings, and the output mechanism together form a force transmission path that transmits torque step by step along the axial direction of the front end cover. The last-stage planetary gear set and the corresponding gear ring are at least partially located outside the inner diameter space of the inner rotor, which can reserve space for the output-side deceleration structure and support structure, and is beneficial for the robot joint module to adapt to the torque transmission requirements of the output side. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the joint module provided in the embodiments of this application; Figure 2 for Figure 1 A cross-sectional view of the joint module in the embodiment shown. Figure 3 for Figure 1 The diagram shows a cross-sectional view of the joint module after removing the housing, stator, and part of the external structure of the motor. Figure 4 for Figure 3 An exploded view of the joint module portion in the illustrated embodiment; Figure 5 for Figure 3 A magnified view of the structure at point B in the middle; Figure 6 for Figure 3 A magnified schematic diagram of the local structure at point A; Figure 7 Simplified structural diagrams of joint modules provided in some embodiments of this application; Figure 8 A simplified structural diagram of a joint module provided in some other embodiments of this application.

[0026] Explanation of reference numerals in the attached figures: 100-Motor; 101-Inner rotor; 102-Front end cover; 103-Rotor base; 104-House; 105-Stator; 200-Planetary Gear Reducer; 210 - Planetary Alignment; 211-First planetary gear; 2111-First sun gear; 2112-First planetary gear; 2113-First planetary axis; 2114-First planet carrier; 212 - Second planetary gear; 2121 - Second sun gear; 2122 - Second planetary gear; 2123 - Second planetary axis; 2124 - Second planetary carrier; 220 - Gear ring; 221 - First gear ring; 222 - Second gear ring; 230 - Separation structure; 231 - First separation part; 2311 - First step structure; 2312 - First kick surface structure; 232 - Second separation part; 2321 - Second step structure; 233 - Third separation part; 234 - End face sealing groove; 240 - Grease sealing structure; 241 - First toothed joint structure; 242 - Second toothed joint structure; 251 - First support bearing; 252 - Second support bearing; 253 - Third support bearing; 254 - Fourth support bearing; 300 - Output mechanism. Detailed Implementation

[0027] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0028] Those skilled in the art will understand that, unless specifically stated otherwise, the terms "described" and "the" as used herein may also include plural forms. It should be further understood that the term "comprising" as used in the specification of this application means the presence of the described features, integers, and / or components, but does not exclude implementations of other features, information, data components, and / or combinations thereof supported by the art. The term "and / or" as used herein refers to at least one of the items defined by the term; for example, "A and / or B" can be implemented as "A," or as "B," or as "A and B."

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0030] The technical solution of this application and how it solves the above-mentioned technical problems are described in detail below with specific embodiments. It should be noted that the following embodiments can be referenced, borrowed, or combined with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be described again.

[0031] It should be noted that the force transmission connection described in this application refers to a mating relationship between two or more components that enables torque transmission, allowing the inner rotor, rotor base, input components of each stage of the planetary gear set, and output components of each stage of the planetary gear set to transmit power according to a predetermined force transmission path. The force transmission connection includes, but is not limited to, fixed connections, relatively movable transmission connections, meshing transmission connections, key connections, spline connections, pin connections, end-face tooth connections, interference connections, fastener connections, friction connections, and integrally formed connections. As long as the relevant components can maintain synchronous rotation, relative stillness, or transmit torque according to a predetermined transmission relationship during operation, it can be understood as forming a force transmission connection.

[0032] This application provides a joint module, such as Figures 1 to 8 As shown, it includes: The inner rotor 101 and the front cover 102 of the motor 100; The planetary reducer 200 includes at least two planetary gear sets 210 and at least two gear rings 220, the gear rings 220 being configured to have no relative motion with respect to the front end cover 102; the planetary gear sets 210 include at least a first planetary gear set 211 and a second planetary gear set 212, and the gear rings 220 include at least a first gear ring 221 and a second gear ring 222; along the axial direction of the front end cover 102, the first gear ring 221 is located within the inner diameter space of the inner rotor 101, and the first planetary gear set 211 is located within the inner diameter space of the first gear ring 221; along the axial direction of the front end cover 102, the first gear ring 221 and the second gear ring 222 are spaced apart, and the second planetary gear set 212 is located within the inner diameter space of the second gear ring 222; At least two planetary gear sets 210 are arranged sequentially along the axial direction of the front end cover 102, and adjacent planetary gear sets 210 are connected in sequence to transmit force. The inner rotor 101 is connected to the first-stage planetary gear set 210 to transmit force, and the last-stage planetary gear set 210 is connected to the output mechanism 300 of the joint module to transmit force. At least a portion of the last-stage planetary gear set 210 and the corresponding gear ring 220 are located outside the inner diameter space of the inner rotor 101. The partition structure 230 is disposed between two adjacent planetary gear sets and between two adjacent gear rings 220. The partition structure 230 and the two adjacent gear rings 220 have no relative movement. Along the radial direction of the front cover 102, the partition structure 230 includes a first partition portion 231, a second partition portion 232, and a third partition portion 233 distributed sequentially from the inside to the outside. The first partition portion 231 and the second partition portion 232 form an annular stepped structure. The first partition portion 231 includes a first step structure 2311 and a first kick surface structure 2312, and the second partition portion 232 includes a second step structure 2321. The first gear ring 221 is fixed to the inner peripheral wall of the second partition portion 232, and the first gear ring 221 is in contact with and fixed to the second step structure 2321. Along the axial direction of the front cover 102, the front cover 102, the second gear ring 222, and the third partition portion 233 are arranged sequentially and connected in a manner without relative movement.

[0033] The inner rotor 101 is connected to the first-stage planetary gear set 210 for power transmission. At least two stages of planetary gear sets 210 are arranged sequentially along the axial direction of the front end cover 102 and are connected sequentially for power transmission. The last stage of planetary gear set 210 is connected to the output mechanism 300 for power transmission, so that the torque output by the inner rotor 101 can be transmitted to the output mechanism 300 step by step through multiple stages of planetary gear sets 210. The gear ring 220 has no relative movement with respect to the front end cover 102, and can provide a fixed meshing foundation for the corresponding planetary gear set 210, so that each stage of planetary gear set 210 can form a continuous power transmission path of deceleration and torque increase.

[0034] At least a portion of the last-stage planetary gear set 210 and the corresponding gear ring 220 are located outside the inner diameter space of the inner rotor 101, so that the last-stage planetary gear set 210 and the corresponding gear ring 220 are not completely confined to the inner diameter space of the inner rotor 101. Therefore, the last-stage planetary gear set 210 and the corresponding gear ring 220 can be arranged according to the force transmission requirements on one side of the output mechanism 300, which is beneficial for balancing multi-stage reduction force transmission and the structural arrangement space on the output side.

[0035] The first planetary gear set 211 and the second planetary gear set 212 correspond to the first gear ring 221 and the second gear ring 222, respectively. The two-stage planetary gear set 210 can be configured with different transmission ratios according to the design requirements of the joint module, which helps to improve the design freedom of the joint module.

[0036] The first gear ring 221 and the second gear ring 222 are spaced apart along the axial direction, so that the radial dimensions, axial positions and support positions of different stages of planetary gear 210 can be designed separately, which is beneficial to take into account the design freedom of both the built-in front-stage planetary gear 210 and the installation of the rear-stage planetary gear 210.

[0037] The partition structure 230 forms a fixed spatial boundary between two adjacent planetary gear sets 210, allowing the internal space corresponding to the first planetary gear set 211 and the internal space corresponding to the second planetary gear set 212 to be partitioned. The partition structure 230 helps reduce grease cross-contamination between adjacent planetary gear sets 210 and provides a structural basis for partitioned support, partitioned sealing, and partitioned lubrication. The partition structure 230 helps improve the clarity of the internal functional partitions of the multi-stage planetary reducer 200, facilitating lubrication maintenance and upkeep during long-term operation.

[0038] The partition structure 230 includes a first partition 231, a second partition 232, and a third partition 233 distributed radially from the inside to the outside along the front end cover 102, enabling the partition structure 230 to provide isolation, positioning, and support positions at different radial levels. The first partition 231 and the second partition 232 form an annular stepped structure. The first partition 231 includes a first step structure 2311 and a first kick surface structure 2312, and the second partition 232 includes a second step structure 2321. Thus, the stepped structure can provide an axial bearing surface and a radial limiting surface for adjacent structures, facilitating the definition of the axial and radial positions of the first gear ring 221 relative to the partition structure 230.

[0039] The first gear ring 221 is fixed to the inner peripheral wall of the second partition 232, and is in contact with and fixed to the second step structure 2321, so that the first gear ring 221 can obtain radial support through the second partition 232 and axial support through the second step structure 2321. Along the axial direction of the front cover 102, the front cover 102, the second gear ring 222, and the third partition 233 are arranged sequentially and connected in a manner without relative movement, so that the second gear ring 222 can remain fixed relative to the front cover 102 and the partition structure 230. Thus, the first gear ring 221 and the second gear ring 222 each have a stable fixed support base, which helps to maintain the meshing position of the first planetary gear set 211 and the second planetary gear set 212, and is beneficial to the structural stability of the joint module during force transmission.

[0040] When the aforementioned joint module is applied to a robot, the inner rotor 101, at least two stages of planetary gear sets 210, the gear ring 220, and the output mechanism 300 form a joint drive path that sequentially transmits torque along the axial direction of the front end cover 102. The last stage of the planetary gear set 210 and the corresponding gear ring 220 are at least partially arranged outside the inner diameter space of the inner rotor 101, which helps to provide space for the output-side deceleration structure and support structure, and facilitates the adaptation of the robot joint module to the torque transmission requirements of the output side.

[0041] In some embodiments, such as Figure 2 , Figure 3 , Figure 7 and Figure 8 As shown, the first planetary array 211 includes: The first sun gear 2111 is connected to the inner rotor 101 in a manner without relative motion; The first planetary gear 2112 meshes externally with the first sun gear 2111 and internally with the first gear ring 221; The first planetary axis 2113 and the first planetary gear 2112 are rotatably sleeved around the first planetary axis 2113; The first planetary carrier 2114 and the first planetary shaft 2113 are fixedly mounted on the first planetary carrier 2114; When the first sun gear 2111 rotates, the first planet gear 2112 revolves around the first sun gear 2111 and drives the first planet carrier 2114 to rotate.

[0042] The revolution of the first planetary gear 2112 is transmitted to the first planetary carrier 2114 via the first planetary shaft 2113, which generates primary deceleration and increases torque for the inner rotor 101.

[0043] In some embodiments, the second planetary array 212 includes: The second sun gear 2121 is connected to the first planet carrier 2114 in a manner without relative motion; The second planetary gear 2122 meshes externally with the second sun gear 2121 and internally with the second gear ring 222; The second planetary axis 2123 and the second planetary gear 2122 are rotatably fitted around the second planetary axis 2123; Second planetary carrier 2124; Second sun gear 2121 is connected to first planetary carrier 2114 in a manner without relative motion; The second planetary carrier 2124 constitutes the output component of the second planetary gear 212. When the second sun gear 2121 rotates, the second planetary gear 2122 revolves around the second sun gear 2121 and drives the second planetary carrier 2124 to rotate.

[0044] The second planetary gear set 212 receives the force output from the first planetary gear set 211 and continues to transmit force to the second planetary carrier 2124, forming a secondary reduction output. The first planetary gear set 211 and the second planetary gear set 212 form a cascaded force transmission path, which helps the robot joint module obtain a larger reduction ratio and output torque within a limited installation space.

[0045] In some embodiments, such as Figure 8 As shown, along the axial direction of the front cover 102, the second planetary gear 212 is located outside the inner diameter space of the inner rotor 101, and the radius of the second gear ring 222 is larger than the radius of the inner rotor 101.

[0046] The second planetary gear set 212 can be arranged axially to the side of the inner rotor 101, which facilitates providing additional space for the subsequent planetary gear set 210 based on the built-in planetary gear set 210 of the preceding stage. This allows for the arrangement of a larger or more powerful second planetary gear set 212 and second gear ring 222 under greater output torque requirements.

[0047] The second planetary gear 212 is placed outside the inner diameter space of the inner rotor 101, which helps to meet the large joint output requirements without compressing the size of the subsequent drive components.

[0048] In some embodiments, such as Figure 7 As shown, the radius of the second planetary gear 212 is smaller than the radius of the inner rotor 101, and at least a portion of the second planetary gear 212 is located outside the inner diameter space of the inner rotor 101 along the axial direction of the front end cover 102.

[0049] The second planetary gear set 212 still fits the inner diameter space of the inner rotor 101 radially, but can extend relative to the inner rotor 101 axially. This helps to form a semi-enclosed multi-stage planetary reduction structure without significantly increasing the radial dimension of the joint module. For robot joints with limited radial shape, this arrangement helps to control the joint radius while preserving the space for subsequent reduction force transmission.

[0050] In some embodiments, such as Figure 7 As shown, the radius of the second gear ring 222 is smaller than the radius of the inner rotor 101, and at least a portion of the second gear ring 222 is located axially outside the inner diameter space of the inner rotor 101.

[0051] The second gear ring 222 can enter the inner diameter space of the inner rotor 101 radially, and extend out of the inner diameter space of the inner rotor 101 axially. The second gear ring 222 can provide an independent gear ring 220 mating base for the second planetary gear set 212, and reduce the impact on the radial dimensions of the joint module, which is conducive to forming a radially compact and axially moderately extended arrangement. The semi-enclosed arrangement of the second gear ring 222 helps to reduce the risk of joint radial enlargement and facilitates the integration of the subsequent reduction mechanism.

[0052] In some embodiments, the first kicker structure 2312 does not contact the first gear ring 221.

[0053] In some embodiments, such as Figure 2 As shown, the joint module also includes: The first support bearing 251 is disposed between the partition structure 230 and the first planetary carrier 2114. Along the radial direction of the front end cover 102, the first planetary carrier 2114 is supported on the inner side of the first support bearing 251, and the partition structure 230 is supported on the outer side of the first support bearing 251. The second support bearing 252 is disposed between the partition structure 230 and the second planetary carrier 2124. Along the radial direction of the front end cover 102, the second planetary carrier 2124 is supported on the inner side of the second support bearing 252, and the partition structure 230 is supported on the outer side of the second support bearing 252. The third support bearing 253 is disposed between the second gear ring 222 and the second planetary carrier 2124. Along the radial direction of the front end cover 102, the second planetary carrier 2124 is supported on the inner side of the third support bearing 253, and the second gear ring 222 is supported on the outer side of the third support bearing 253.

[0054] A first support bearing 251 is disposed between the partition structure 230 and the first planetary carrier 2114. The first planetary carrier 2114 is supported internally by the first support bearing 251, and the partition structure 230 is supported externally by the first support bearing 251, allowing the first planetary carrier 2114 to rotate relative to the partition structure 230 via the first support bearing 251. A second support bearing 252 is disposed between the partition structure 230 and the second planetary carrier 2124. The second planetary carrier 2124 is supported internally by the second support bearing 252, and the partition structure 230 is supported externally by the second support bearing 252, allowing the second planetary carrier 2124 to rotate relative to the partition structure 230 via the second support bearing 252. A third support bearing 253 is disposed between the second gear ring 222 and the second planetary carrier 2124. The second planetary carrier 2124 is supported internally by the third support bearing 253, and the second gear ring 222 is supported externally by the third support bearing 253, allowing the second planetary carrier 2124 to also rotate relative to the second gear ring 222 via the third support bearing 253.

[0055] The radial load of the first planetary carrier 2114 can be transmitted to the partition structure 230 via the first support bearing 251, and the radial load of the second planetary carrier 2124 can be transmitted to the partition structure 230 via the second support bearing 252, and then to the second gear ring 222 via the third support bearing 253. Thus, the partition structure 230 and the second gear ring 222 can provide a rotational support foundation for the corresponding planetary carriers, helping to reduce the risk of radial runout of the first planetary carrier 2114 and the second planetary carrier 2124 during force transmission, and facilitating the maintenance of stable meshing positions in the multi-stage planetary gear set.

[0056] In some embodiments, such as Figure 2 As shown, the end face of the partition structure 230 is provided with an end face sealing groove 234. The end face sealing groove 234 extends circumferentially along the front end cover 102 and is arranged around the rotation axis of the joint module. The axial end face of the inner rotor 101 along the front end cover 102 is arranged opposite to the end face of the partition structure 230 and forms an end face sealing gap to restrict the grease from flowing axially between the inner rotor 101 and the partition structure 230.

[0057] The end-face sealing groove 234 creates a non-simple straight-through path with a circumferential groove structure in the end-face gap between the inner rotor 101 and the partition structure 230. The end-face sealing groove 234 helps to increase the path complexity and flow resistance of grease flowing axially between the inner rotor 101 and the partition structure 230, and helps to restrict the flow of grease across the partition structure 230.

[0058] In some embodiments, such as Figure 2 and Figure 3 As shown, at least two-stage planetary gear sets 210 include a first planetary gear set 211 and a second planetary gear set 212. The internal space corresponding to the first planetary gear set 211 and the internal space corresponding to the second planetary gear set 212 are isolated from each other by a partition structure 230 and filled with different greases respectively.

[0059] The first planetary gear set 211 and the second planetary gear set 212 can be placed in different grease environments, reducing the possibility of direct mixing of different greases. Separate filling with different greases helps to match lubrication conditions according to differences in rotational speed, load, temperature rise, or friction conditions between the first planetary gear set 211 and the second planetary gear set 212.

[0060] In some embodiments, different greases have different performance parameters, including at least one of viscosity, consistency, and additives.

[0061] Differences in viscosity, consistency, and additives allow different greases to be adapted to different friction pairs, speed ranges, and load conditions. With the partition structure 230 already isolating the internal spaces corresponding to the first planetary gear set 211 and the second planetary gear set 212, greases with different performance parameters help improve the lubrication matching of each planetary gear set 210.

[0062] For robot joints, the partitioning of greases with different performance parameters helps reduce the risk of insufficient lubrication caused by the inability of a single grease to meet the needs of different levels of planetary transmission.

[0063] In some embodiments, such as Figure 2 , Figure 5 and Figure 6 As shown, the joint module also includes a grease sealing structure 240, which includes: The first toothed structure 241 is disposed on the front end cover 102; The second toothed structure 242 is disposed opposite to the first toothed structure 241 and engages with it. A tortuous sealed channel is formed between the first toothed structure 241 and the second toothed structure 242 to isolate the internal space of the joint module corresponding to the planetary gear 210 connected to the output mechanism 300 from the external environment of the joint module.

[0064] Some grease flows from the internal space of the planetary set 210 connected to the output mechanism 300 to the outside of the joint module. The tortuous sealed channel increases the flow path length and flow resistance of the grease. The non-straight-through sealed path formed by the first toothed structure 241 and the second toothed structure 242 helps reduce the risk of grease leakage from near the last-stage planetary set 210 to the external environment.

[0065] The grease seal structure 240 helps maintain the lubrication of the planetary gear set 210 and reduces the risk of contamination or insufficient lubrication caused by grease leakage.

[0066] This application also provides a robot, including any of the joint modules described in the above embodiments.

[0067] After the robot adopts the joint module in the aforementioned embodiment, the overlapping arrangement of the planetary reducer 200 and the inner rotor 101 in the joint module can help reduce the space occupied by the robot joint position along the axial direction of the joint module.

[0068] The following is a detailed description of an embodiment of the joint module and robot of this application, with reference to the accompanying drawings.

[0069] like Figures 1 to 8 As shown, the joint module includes a motor 100, a planetary reducer 200, and an output mechanism 300. The motor 100 provides torque input, the planetary reducer 200 receives the torque output from the motor 100 and transmits it in multiple stages, and the output mechanism 300 receives the output torque from the planetary reducer 200 and connects to the components in the robot that need to be driven.

[0070] like Figure 1 As shown, in some embodiments, the motor 100 includes an inner rotor 101, a front end cover 102, a rotor seat 103, a housing 104, and a stator 105. The housing 104 extends axially along the motor 100, and the front end cover 102 is disposed at one axial end of the housing 104 and connected to the housing 104. The stator 105 is disposed within the housing 104 and is fixed relative to the housing 104. The inner rotor 101 is disposed radially inside the stator 105 and is rotatable relative to the stator 105. The rotor seat 103 is disposed on one axial side of the inner rotor 101 and is connected to the inner rotor 101 in a manner without relative motion. Thus, when the inner rotor 101 rotates, it can drive the rotor seat 103 to rotate synchronously.

[0071] In some embodiments, the rotor housing 103 can serve as a force-transmitting connection between the inner rotor 101 and the planetary reducer 200. The rotor housing 103 can be connected to the first planetary gear set 211 in the planetary reducer 200 for force transmission. For example, the rotor housing 103 can be connected to the first sun gear 2111 in the first planetary gear set 211 in a manner without relative motion, so that the torque output by the inner rotor 101 is transmitted to the first sun gear 2111 via the rotor housing 103. In other embodiments, the first sun gear 2111 can also be directly connected to the inner rotor 101 in a manner without relative motion.

[0072] like Figure 2 , Figure 3 and Figure 4 As shown, the planetary reducer 200 includes at least two planetary gear sets 210 and at least two ring gears 220. The planetary gear sets 210 include at least a first planetary gear set 211 and a second planetary gear set 212, and the ring gears 220 include at least a first ring gear 221 and a second ring gear 222. Along the axial direction of the front end cover 102, the first ring gear 221 is located within the inner diameter space of the inner rotor 101, and the first planetary gear set 211 is located within the inner diameter space of the first ring gear 221. The first ring gear 221 has no relative movement with respect to the front end cover 102. Along the axial direction of the front end cover 102, the first ring gear 221 and the second ring gear 222 are spaced apart, and the second planetary gear set 212 is located within the inner diameter space of the second ring gear 222. The second ring gear 222 has no relative movement with respect to the front end cover 102. The first planetary gear set 211 and the second planetary gear set 212 are sequentially connected for force transmission.

[0073] like Figure 2 , Figure 3 , Figure 7 and Figure 8 As shown, in different embodiments, the first planetary gear set 211 and the second planetary gear set 212 can adopt different spatial arrangements. In one embodiment, the second planetary gear set 212 is located outside the inner diameter space of the inner rotor 101 along the axial direction of the front end cover 102, and the radius of the second gear ring 222 is larger than the radius of the inner rotor 101. In another embodiment, the radius of the second planetary gear set 212 is smaller than the radius of the inner rotor 101, and at least a portion of the second planetary gear set 212 is located outside the inner diameter space of the inner rotor 101 along the axial direction of the front end cover 102. Correspondingly, the radius of the second gear ring 222 can be smaller than the radius of the inner rotor 101, and at least a portion of the second gear ring 222 is located outside the inner diameter space of the inner rotor 101 along the axial direction.

[0074] like Figure 7 and Figure 8As shown, the first planetary gear set 211 includes a first sun gear 2111, first planet gears 2112, a first planetary shaft 2113, and a first planetary carrier 2114. The first sun gear 2111 is connected to the inner rotor 101 in a non-relative motion manner, or is connected to the inner rotor 101 in a non-relative motion manner via the rotor seat 103. The first planet gears 2112 externally mesh with the first sun gear 2111 and internally mesh with the first gear ring 221. The first planetary shaft 2113 is disposed on the first planetary carrier 2114, and the first planet gears 2112 are rotatably sleeved around the first planetary shaft 2113. Thus, the first planet gears 2112 can rotate relative to the first planetary shaft 2113, and the first planetary shaft 2113 can rotate with the first planetary carrier 2114.

[0075] like Figure 7 and Figure 8 As shown, the second planetary gear set 212 includes a second sun gear 2121, second planet gears 2122, and a second planet carrier 2124. The second sun gear 2121 is connected to the first planet carrier 2114 in a non-relative motion manner, so that the rotation of the first planet carrier 2114 can drive the second sun gear 2121 to rotate synchronously. The second planet gear 2122 meshes externally with the second sun gear 2121 and internally with the second ring gear 222. The second planet carrier 2124 constitutes the output component of the second planetary gear set 2122, and the second planet carrier 2124 is connected to the output mechanism 300 for force transmission. The second planetary gear set 212 may also include a second planet shaft 2123, on which the second planet gears 2122 are rotatably sleeved, and the second planet shaft 2123 is fixedly mounted on the second planet carrier 2124.

[0076] like Figure 2 As shown, the partition structure 230 is disposed between the first planetary gear set 211 and the second planetary gear set 212, and located between the first gear ring 221 and the second gear ring 222. The partition structure 230 has no relative movement with the two adjacent gear rings 220 and isolates the internal spaces corresponding to the two adjacent planetary gear sets 210 from each other. The internal spaces corresponding to the first planetary gear set 211 and the second planetary gear set 212 can be filled with grease respectively. In some embodiments, the internal spaces corresponding to the first planetary gear set 211 and the second planetary gear set 212 can be filled with different greases, which may have different viscosity, consistency, and at least one of the following performance parameters: additives.

[0077] like Figure 2 , Figure 4 and Figure 5 As shown, along the radial direction of the front cover 102, the partition structure 230 includes a first partition 231, a second partition 232 and a third partition 233 distributed sequentially from the inside to the outside, so that the partition structure 230 forms a multi-layer partition structure in the radial direction.

[0078] The first partition 231 and the second partition 232 form an annular stepped structure. The first partition 231 includes a first step structure 2311 and a first riser structure 2312, and the second partition 232 includes a second step structure 2321.

[0079] The first gear ring 221 is fixed to the inner peripheral wall of the second partition 232, and the first gear ring 221 is in contact with and fixed to the second step structure 2321, so that the first gear ring 221 can obtain radial support through the second partition 232, and obtain axial positioning or axial bearing through the second step structure 2321. This structure enables the first gear ring 221 to maintain no relative movement with respect to the partition structure 230.

[0080] Along the axial direction of the front cover 102, the second gear ring 222 and the third partition 233 are arranged sequentially and connected in a manner without relative movement, so that the second gear ring 222 can be fixed in the axial assembly path between the front cover 102 and the third partition 233. This structure enables the second gear ring 222 to remain fixed relative to the front cover 102 and the partition structure 230.

[0081] like Figure 2 As shown, the joint module also includes a first support bearing 251, a second support bearing 252, a third support bearing 253, and a fourth support bearing 254. The first support bearing 251 is disposed between the partition structure 230 and the first planetary carrier 2114. Along the radial direction of the front end cover 102, the first planetary carrier 2114 and the partition structure 230 are respectively supported on the inner and outer sides of the first support bearing 251, allowing the first planetary carrier 2114 to rotate relative to the partition structure 230. The second support bearing 252 is disposed between the partition structure 230 and the second planetary carrier 2124. Along the radial direction of the front end cover 102, the second planetary carrier 2124 and the partition structure 230 are respectively supported on the inner and outer sides of the second support bearing 252, allowing the second planetary carrier 2124 to rotate relative to the partition structure 230. The third support bearing 253 is disposed between the second gear ring 222 and the second planetary carrier 2124. Along the radial direction of the front end cover 102, the second planetary carrier 2124 and the second gear ring 222 are respectively supported on the inner and outer sides of the third support bearing 253, allowing the second planetary carrier 2124 to rotate relative to the second gear ring 222. The fourth support bearing 254, along the radial direction of the front end cover 102, abuts against the rotor seat 103 and the first gear ring 221, respectively.

[0082] like Figure 2 and Figure 6As shown, the joint module also includes a grease sealing structure 240. The grease sealing structure 240 includes a first toothed structure 241 and a second toothed structure 242. The first toothed structure 241 is disposed on the front end cover 102, and the second toothed structure 242 is disposed opposite to and meshes with the first toothed structure 241. A tortuous sealing channel is formed between the first toothed structure 241 and the second toothed structure 242. This tortuous sealing channel is located between the internal space of the joint module and the external environment, and is used to isolate the internal space corresponding to the planetary gear set 210 connected to the output mechanism 300 from the external environment of the joint module.

[0083] like Figure 2 and Figure 5 As shown, in some embodiments, an end-face sealing groove 234 is provided on the end face of the partition structure 230. The end-face sealing groove 234 extends circumferentially along the front end cover 102 and is arranged around the rotation axis of the joint module. The inner rotor 101 is arranged opposite to the end face of the partition structure 230 along the axial end face of the front end cover 102, forming an end-face sealing gap. The end-face sealing groove 234 is located at this end-face sealing gap and is used to restrict the axial flow of grease between the inner rotor 101 and the partition structure 230.

[0084] The following is combined Figure 2 , Figure 3 , Figure 7 and Figure 8 The working process of the joint module is explained.

[0085] When the joint module is in its initial state, the front cover 102, housing 104, stator 105, first gear ring 221, second gear ring 222, and partition structure 230 maintain no relative motion with respect to the stationary base of the joint module. The inner rotor 101 can rotate relative to the stator 105. The output mechanism 300 can rotate relative to the front cover 102, the second gear ring 222, or the partition structure 230.

[0086] When the motor 100 is working, the stator 105 interacts with the inner rotor 101, causing the inner rotor 101 to rotate around the rotation axis of the joint module. The inner rotor 101 drives the rotor base 103 to rotate synchronously, and the rotor base 103 transmits torque to the first sun gear 2111. If the first sun gear 2111 has no relative motion with the inner rotor 101, then the inner rotor 101 directly drives the first sun gear 2111 to rotate.

[0087] After the first sun gear 2111 rotates, it drives the first planet gear 2112 to rotate through external meshing. The first planet gear 2112 also meshes internally with the first gear ring 221. Since the first gear ring 221 has no relative movement with respect to the front end cover 102, the first planet gear 2112 revolves around the first sun gear 2111 while rotating on its own axis. The revolution motion of the first planet gear 2112 is transmitted to the first planet carrier 2114 via the first planet shaft 2113, causing the first planet carrier 2114 to rotate around the rotation axis of the joint module.

[0088] The first planetary carrier 2114 and the second sun gear 2121 are connected without relative motion. When the first planetary carrier 2114 rotates, the second sun gear 2121 rotates synchronously. The second sun gear 2121 drives the second planetary gear 2122 to rotate through external meshing. The second planetary gear 2122 also meshes internally with the second gear ring 222. Since the second gear ring 222 has no relative motion with respect to the front end cover 102, the second planetary gear 2122 revolves around the second sun gear 2121 while rotating on its own axis. The revolving motion of the second planetary gear 2122 is transmitted to the second planetary carrier 2124, causing the second planetary carrier 2124 to rotate around the rotation axis of the joint module. The second planetary carrier 2124, as the output component of the second planetary gear set 212, transmits torque to the output mechanism 300.

[0089] During the aforementioned force transmission process, the first support bearing 251 supports the first planetary carrier 2114 to rotate relative to the partition structure 230, the second support bearing 252 supports the second planetary carrier 2124 to rotate relative to the partition structure 230, and the third support bearing 253 supports the second planetary carrier 2124 to rotate relative to the second gear ring 222. The partition structure 230 remains stationary between the first planetary gear set 211 and the second planetary gear set 212, isolating the internal spaces corresponding to the first planetary gear set 211 and the second planetary gear set 212. The grease sealing structure 240 forms a tortuous sealing channel through the first toothed structure 241 and the second toothed structure 242, isolating the internal space near the output mechanism 300 from the external environment. The end face sealing groove 234 forms an end face sealing gap with the opposite end face, restricting the axial grease flow path between the inner rotor 101 and the partition structure 230.

[0090] exist Figure 7 In the illustrated embodiment, the second planetary gear set 212 and the second gear ring 222 may be at least partially located axially outside the inner diameter space of the inner rotor 101, while the second planetary gear set 212 and the second gear ring 222 remain radially within the envelope defined by the inner diameter space of the inner rotor 101. Figure 8 In the embodiment shown, the second planetary gear 212 may be located outside the inner diameter space of the inner rotor 101, and the second gear ring 222 may have a radial dimension larger than the radius of the inner rotor 101. Figure 7 and Figure 8 The force transmission process in the structure shown is the same as in the previous embodiment, in which the inner rotor 101 drives the first planetary gear 211, the first planetary gear 211 drives the second planetary gear 212, and the second planetary gear 212 drives the output mechanism 300.

[0091] This application also provides a robot, which includes the joint module from any of the above embodiments. The joint module can be disposed at the joints of the robot, and the output mechanism 300 is used to connect with the components in the robot that need to be driven. When the motor 100 is working, the joint module transmits the torque output by the inner rotor 101 to the output mechanism 300 through the planetary reducer 200, and the output mechanism 300 drives the robot components connected to it to move.

[0092] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and not to limit them; although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this application or equivalent substitutions can be made to some technical features, all of which should be covered within the scope of the technical solutions claimed in this application.

Claims

1. A joint module, characterized in that, include: The inner rotor and front cover of the motor; A planetary gear reducer includes at least two planetary gear sets and at least two ring gears, the ring gears being configured to have no relative motion with respect to a front end cover; the planetary gear sets include at least a first planetary gear set and a second planetary gear set, and the ring gears include at least a first ring gear and a second ring gear; along the axial direction of the front end cover, the first ring gear is located within the inner diameter space of the inner rotor, and the first planetary gear set is located within the inner diameter space of the first ring gear; along the axial direction of the front end cover, the first ring gear and the second ring gear are spaced apart, and the second planetary gear set is located within the inner diameter space of the second ring gear. At least two stages of the planetary gear set are arranged sequentially along the axial direction of the front end cover, and adjacent two stages of the planetary gear set are connected in sequence to transmit force. The inner rotor is connected to the first stage of the planetary gear set to transmit force, and the last stage of the planetary gear set is connected to the output mechanism of the joint module to transmit force. At least a portion of the last stage of the planetary gear set and the corresponding gear ring are located outside the inner diameter space of the inner rotor. A partition structure is provided between two adjacent planetary gear sets and between two adjacent gear rings, with no relative movement between the partition structure and the two adjacent gear rings; along the radial direction of the front end cover, the partition structure includes a first partition, a second partition, and a third partition distributed sequentially from the inside to the outside; the first partition and the second partition form an annular stepped structure, and the second partition includes a second step structure; the first gear ring is fixed to the inner peripheral wall of the second partition, and the first gear ring is in contact and fixed with the second step structure; along the axial direction of the front end cover, the front end cover, the second gear ring, and the third partition are arranged sequentially and connected in a manner without relative movement.

2. The joint module according to claim 1, characterized in that, The first planetary array includes: The first sun gear is connected to the inner rotor in a manner without relative motion; The first planetary gear meshes externally with the first sun gear and internally with the first gear ring; The first planetary shaft, wherein the first planetary gear is rotatably sleeved on the periphery of the first planetary shaft; The first planetary carrier, the first planetary shaft is fixedly mounted on the first planetary carrier; When the first sun gear rotates, the first planet gear revolves around the first sun gear and drives the first planet carrier to rotate.

3. The joint module according to claim 2, characterized in that, Along the axial direction of the front end cover, the second planetary gear set is located outside the inner diameter space of the inner rotor, and the radius of the second gear ring is larger than the radius of the inner rotor.

4. The joint module according to claim 2, characterized in that, The radius of the second planetary set is smaller than the radius of the inner rotor; Along the axial direction of the front end cover, at least a portion of the second planetary gear set is located outside the inner diameter space of the inner rotor.

5. The joint module according to claim 4, characterized in that, The radius of the second gear ring is smaller than the radius of the inner rotor, and at least a portion of the second gear ring is located axially outside the inner diameter space of the inner rotor.

6. The joint module according to claim 1, characterized in that, The first planetary gear set includes a first planet carrier, and the second planetary gear set includes a second sun gear and a second planet carrier. The first planet carrier and the second sun gear are connected in a manner without relative motion. The joint module further includes: A first support bearing is disposed between the partition structure and the first planetary carrier. Along the radial direction of the front end cover, the first planetary carrier is supported on the inner side of the first support bearing, and the partition structure is supported on the outer side of the first support bearing. The second support bearing is disposed between the partition structure and the second planetary carrier, along the radial direction of the front end cover. The second planetary carrier is supported on the inner side of the second support bearing, and the partition structure is supported on the outer side of the second support bearing. The third support bearing is disposed between the second gear ring and the second planetary carrier, along the radial direction of the front end cover. The second planetary carrier is supported on the inner side of the third support bearing, and the second gear ring is supported on the outer side of the third support bearing.

7. The joint module according to claim 1, characterized in that, The end face of the partition structure is provided with an end face sealing groove, which extends circumferentially along the front end cover and is arranged around the rotation axis of the joint module; the axial end face of the inner rotor along the front end cover is arranged opposite to the end face of the partition structure to form an end face sealing gap, so as to restrict the axial flow of grease between the inner rotor and the partition structure.

8. The joint module according to claim 1, characterized in that, The at least two-stage planetary gear set includes a first planetary gear set and a second planetary gear set. The internal space corresponding to the first planetary gear set and the internal space corresponding to the second planetary gear set are isolated from each other by the partition structure and filled with different greases respectively.

9. The joint module according to claim 8, characterized in that, Different greases have different performance parameters, including at least one of viscosity, consistency and additives.

10. The joint module according to claim 1, characterized in that, It also includes a grease-sealing structure, the grease-sealing structure comprising: A first toothed structure is provided on the front end cover; The second toothed structure is disposed opposite to the first toothed structure and interlocks with it; A tortuous sealed channel is formed between the first toothed structure and the second toothed structure to isolate the internal space of the joint module corresponding to the planetary gear that is connected to the output mechanism from the external environment of the joint module.

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

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