A robot joint module and a robot

Abstract

The application discloses a kind of robot joint module and robot, it is related to robot joint technical field, including first rotating assembly, second rotating assembly and output unit, it further includes input unit and third rotating assembly, and power input cavity is formed in input unit;First rotating assembly includes rotating support in the end of input unit external rotating member, and first power piece is arranged in power input cavity and drives external rotating member to rotate around main axis;Second rotating assembly includes coaxially nested in the middle rotating member of external rotating member, and second power piece is arranged in power input cavity and drives middle rotating member to rotate around main axis.The application is optimized by transmission architecture system, while giving consideration to multiple freedom degree high integration, transmission stable and reliable, load bearing performance is excellent, and multiple advantages such as operation and maintenance convenient and efficient, can be widely applied to industrial robot, the wrist joint of collaborative robot and end execution scene.

Description

Technical Field

[0001] This invention relates to the field of robot joint technology, specifically to a robot joint module and a robot. Background Technology

[0002] With the development of industrial automation technology, robot operation scenarios are gradually extending to fields such as precision assembly, confined space operations, and complex surface machining, placing higher demands on the structural compactness, degree-of-freedom integration, and dynamic response performance of joint modules. As the core component for robot motion execution, the transmission architecture of the joint module directly determines the overall size, load capacity, and positioning accuracy of the robot. Traditional multi-degree-of-freedom robot joints generally adopt a configuration of single-degree-of-freedom joint units stacked in series, achieving yaw, pitch, and rotation movements sequentially through multi-stage transmission. Although the technology is mature and the control is simple, it suffers from large axial dimensions, long transmission chains, large cumulative errors, and high end-effector inertia, making it difficult to adapt to the application requirements of high integration and high dynamic performance.

[0003] To reduce joint volume and improve space utilization, a search revealed a Chinese patent with publication number CN121848432B that describes a multi-directional joint module for robots. This solution uses a transmission structure with end face gears and side gears meshing, attempting to achieve multi-directional rotation output through the compound motion of a single pair of gears to simplify the structure and improve integration. However, it has unavoidable technical defects in practical engineering applications.

[0004] Specifically, in this design, the mid-end gear and the side gear are mounted on the same rotating base and rotate synchronously around the first axis with the rotating base. There is no relative linear velocity at the meshing contact point, and the gear pair loses its basic transmission function, failing to achieve the expected motion conversion effect. At the same time, there is no effective reversing transmission structure between the orthogonal axes, resulting in discontinuous power transmission paths. When the dual motors drive independently, motion interference and rigid jamming are likely to occur, and the core multi-directional rotation function cannot be stably realized. The claimed load-sharing and torque-increasing effect cannot be achieved, and the load-bearing stiffness and power performance of the joints are limited. The overall core transmission principle is contradictory, making it difficult to implement and achieve stable multi-degree-of-freedom output. Summary of the Invention

[0005] The purpose of this invention is to provide a robot joint module and a robot to solve the problems mentioned in the background art.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: The present invention provides a robot joint module, comprising a first rotating assembly, a second rotating assembly and an output unit, characterized in that it further comprises an input unit and a third rotating assembly, wherein a power input cavity is formed within the input unit; The first rotation includes an external rotating component rotatably supported at the end of the input unit, and a first power component disposed in the power input cavity and driving the external rotating component to rotate around the main axis; The second rotating assembly includes a central rotating component coaxially nested within an outer rotating component, a second power component disposed in a power input cavity and driving the central rotating component to rotate around a main axis, a swing output shaft rotatably supported on the outer rotating component and rotating around an orthogonal main axis, and a positive exchange transmission pair disposed between the swing output shaft and the central rotating component; The third rotating assembly includes a central rotating component coaxially nested within the central rotating component, and a third power component disposed within the power input cavity and driving the central rotating component to rotate around the first axis; The output unit includes a swing frame and an end output disk that are rotatably connected to each other, as well as a universal coupling. The swing frame is fixedly connected to the swing output component, and the end output disk is connected to the central rotating component via the universal coupling.

[0007] Furthermore, the forward exchange transmission pair includes a driving bevel gear and a driven bevel gear that mesh with each other; the driving bevel gear is fixedly sleeved on the end of the central rotating component, and the driven bevel gear is fixedly sleeved on the oscillating output shaft.

[0008] Furthermore, the swing output shaft is provided in two, symmetrically arranged on both radial sides of the external rotating component; one of the swing output shafts is provided with a driven bevel gear.

[0009] Furthermore, the universal coupling is a constant velocity universal coupling.

[0010] Furthermore, support bearings are provided between the external rotating component and the input unit, between the middle rotating component and the external rotating component, and between the central rotating component and the middle rotating component.

[0011] Furthermore, the first power component, the second power component, and the third power component all include a drive motor and a reduction mechanism, and the output end of each reduction mechanism is connected to the external rotating component, the middle rotating component, and the central rotating component for transmission.

[0012] Furthermore, within the power input cavity, the length of the outer rotating component is less than the length of the middle rotating component, which is less than the length of the central rotating component. The first and second power components are respectively axially staggered on both sides of the power input cavity, and the third power component is located at the center of the power input cavity.

[0013] Furthermore, it also includes a first angle detection element for the rotation angle of the outer rotating component, a second angle detection element for the rotation angle of the middle rotating component, and a third angle detection element for the rotation angle of the center rotating component. The first angle detection element is signal-connected to the first power element, the second angle detection element is signal-connected to the second power element, and the third angle detection element is signal-connected to the third power element.

[0014] Furthermore, the external rotating component is provided with a clearance notch, which is used to avoid the movement trajectory of the swing frame during swinging.

[0015] The present invention provides a robot comprising the aforementioned robot joint module.

[0016] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects: 1. This invention adopts a three-layer coaxial nested independent transmission structure, which realizes the power reversal between orthogonal axes through positive exchange transmission pairs. The power transmission path is continuous. Its three degrees of freedom of yaw, pitch, and end rotation can be controlled independently or combined for output. The joint operation is relatively stable and controllable.

[0017] 2. This invention adopts a rear-mounted power layout, with both drive and deceleration components concentrated in the rear power input chamber. The front end retains only the transmission and support structures, resulting in a more compact radial dimension. Compared to traditional multi-degree-of-freedom joints stacked in series, it has a shorter axial length and improved dynamic response. The three sets of power components are driven separately by a side helical gear set and are arranged radially staggered, improving structural integration and adapting to space-constrained operating scenarios.

[0018] 3. The symmetrically arranged swing output shafts of this invention form a dual-support structure, which greatly improves the overturning load capacity and motion stability of the joint; through the differential speed control of the first power component and the second power component, the torque superposition output in the pitch direction can also be realized, which enhances the load capacity of the joint without increasing the rated power of the single power component, and is suitable for short-term heavy-load working conditions.

[0019] In summary, this invention, through systematic optimization of the transmission architecture, takes into account multiple advantages such as high integration of multiple degrees of freedom, stable and reliable transmission, excellent load-bearing performance, and convenient and efficient operation and maintenance. It can be widely used in the wrist joints and end effector scenarios of industrial robots and collaborative robots, and has outstanding practical value and promotion significance.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0021] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a top view of the structure of the present invention; Figure 3 yes Figure 2 A schematic diagram of the AA-direction structure; Figure 4 This is a schematic diagram of the structure of the present invention after the output unit is hidden; Figure 5 This is a schematic diagram of the three-axis oscillation structure under the pitch angle of the present invention; Figure 6 This is a schematic diagram of the external rotating component structure of the present invention; Figure 7 This is a schematic diagram of the central rotating component structure of the present invention; Figure 8 This is a schematic diagram of the central rotating component structure of the present invention.

[0023] In the picture: 1-Input unit; 11-Power input cavity; 2-First rotating assembly; 21-External rotating component; 22-First power component; 3-Second rotating assembly; 31-Middle rotating component; 32-Second power component; 33-Oscillating output shaft; 34-Forward reversible transmission pair; 341-Driving bevel gear; 342-Driven bevel gear; 4-Third rotating assembly; 41-Central rotating component; 42-Third power component; 5-Output unit; 51-Oscillating frame; 52-End output disc; 53-Universal coupling. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] Please see Figures 1-8 This invention provides a robot joint module that can be applied to industrial robot wrists, collaborative robot end effectors, and special robotic arm joints. The robot joint module includes an input unit 1, a first rotation assembly 2, a second rotation assembly 3, a third rotation assembly 4, and an output unit 5.

[0026] The input unit 1 is the fixed support base of the entire joint module and is fixedly connected to the front arm of the robotic arm through a flange structure. The input unit 1 has a sealed power input cavity 11 inside, and all power drive components are integrated and installed inside the power input cavity 11 to form a rear-mounted power layout.

[0027] This design concentrates heavy components such as motors and reduction gears at the joint root, significantly reducing the weight at the joint end, thereby reducing the motion inertia at the end and significantly improving the dynamic response speed and motion stability of the joint; at the same time, the front actuator only retains the transmission and support structure, which is compact and suitable for operation in confined spaces.

[0028] The inner wall of the power input cavity 11 can be equipped with auxiliary structures such as wiring grooves and sealing rings (not shown) as needed to ensure the neat wiring and dust protection performance of the electrical components inside the cavity.

[0029] The first rotating assembly 2 includes an external rotating component 21 and a first power component 22. The external rotating component 21 is a hollow rotating shell structure, with its rear end extending into the input unit 1. It is rotatably engaged with the front end face of the input unit 1 through a rotating support structure, and can rotate around the main axis L by a radius less than a full circle.

[0030] The first power component 22 is fixedly installed in the internal space of the power input cavity 11. Its output end is connected to the rear end face of the external rotating component 21 for transmission, and is used to output rotational torque to drive the external rotating component 21 to complete the rotation action around the main axis L. The front end of the external rotating component 21 extends out of the input unit 1 and serves as a front-stage support carrier, supporting the second rotating assembly 3 and the output unit 5.

[0031] The second rotating assembly 3 includes a central rotating component 31, a second power component 32, a swing output shaft 33, and a forward exchange transmission pair 34. The central rotating component 31 is a hollow rotating body structure, coaxially nested in the internal cavity of the outer rotating component 21, with their rotation axes coinciding. The central rotating component 31 can rotate independently around the main axis L relative to the outer rotating component 21.

[0032] The second power component 32 is fixedly installed inside the power input cavity 11, and its output end is connected to the rear end of the central rotating component 31 for driving the central rotating component 31 to complete the rotation action around the main axis L.

[0033] The swing output shaft 33 is rotatably supported by the external rotating component 21, and its axis is orthogonal to the main axis L, and can rotate around its own axis. The positive exchange transmission pair 34 is set between the front end of the middle rotating component 31 and the inner end of the swing output shaft 33. As a power conversion component between orthogonal axes, it can convert the rotational motion of the middle rotating component 31 around the main axis L into the swinging motion of the swing output shaft 33 around its axis.

[0034] The third rotating assembly 4 includes a central rotating component 41 and a third power component 42. The central rotating component 41 is a solid or hollow rotating shaft, coaxially nested in the internal cavity of the central rotating component 31, and is arranged to coincide with the main axis L. It can rotate independently around the main axis L relative to the central rotating component 31 and the outer rotating component 21. A gap is reserved between the central rotating component 41 and the central rotating component 31.

[0035] The third power component 42 is fixedly installed inside the power input cavity 11, and its output end is connected to the rear end of the central rotating component 41 for transmission, so as to independently drive the central rotating component 41 to complete the rotation action around the main axis L.

[0036] The output unit 5 includes a swing frame 51, an end output disk 52, and a universal coupling 53. The swing frame 51 and the end output disk 52 are rotatably connected by a hinge structure, allowing them to rotate relative to each other. The side of the swing frame 51 is fixedly connected to the outer end of the swing output shaft 33, and can rotate around its axis with the swing output shaft 33, thereby realizing the swing of the output unit 5 and driving the entire output unit 5 to complete the pitch angle adjustment.

[0037] The universal coupling 53 is disposed between the front end face of the central rotating component 41 and the inner end face of the end output disk 52. The two ends of the universal coupling 53 are respectively connected to the central rotating component 41 and the end output disk 52 for transmission. When the swing frame 51 drives the end output disk 52 to generate a pitch angle, a variable angle is formed between the axis of the end output disk 52 and the main axis L. The universal coupling 53 can adaptively adapt to the change of the angle and continuously and stably transmit the rotational torque of the central rotating component 41 to the end output disk 52, driving the end output disk 52 to complete the rotational motion around its own axis. Moreover, the rotational motion is not affected by the change of pitch angle and can continuously output under any pitch attitude.

[0038] This joint module, through the independent control and differential coordination of three sets of power components, can achieve multiple motion output modes to adapt to the load and attitude requirements of different working conditions. Specifically, this joint module has the following modes: pure end-rotation mode, pure pitch oscillation mode, pitch oscillation and end-rotation coordinated mode, pitch differential torque enhancement mode, pure yaw rotation mode, and three-axis full composite motion mode.

[0039] Specifically, in the end-effector pure rotation mode, independent end-effector rotation output can be achieved when the axis of the end-effector output disk 52 is collinear with the main axis L, or when it is in any pitch attitude. In this mode, the first power component 22 and the second power component 32 remain locked, and the external rotating component 21 and the central rotating component 31 are stationary relative to the input unit 1; only the third power component 42 independently outputs torque, driving the central rotating component 41 to rotate uniformly around the main axis L. The torque is stably transmitted to the end-effector output disk 52 through the universal coupling 53, causing the end-effector output disk 52 to complete continuous rotation around its own axis. Since the universal coupling 53 can adaptively adapt to the pitch angle of the end-effector output disk 52, this rotational motion can be stably executed at any pitch angle, and the output speed and the control speed of the third power component 42 have a constant transmission ratio, unaffected by changes in pitch attitude.

[0040] Specifically, in the pure pitch oscillation mode, only pitch attitude adjustment is output, with no relative rotation at the end point, and the yaw position remains fixed. The first power component 22 locks the external rotating component 21, keeping the overall yaw angle of the joint constant; the third power component 42 synchronously locks the central rotating component 41, keeping the end output disk 52 and the swing frame 51 relatively stationary. The second power component 32 independently outputs torque, driving the central rotating component 31 to rotate around the main axis L. After reversing transmission through the positive reversing transmission pair 34, the rotational motion around the main axis L is converted into the swing output shaft 33 oscillating around its axis, thereby driving the swing frame 51 and the output unit 5 to complete the pitch angle adjustment as a whole. In this mode, the output unit 5 only realizes pitch attitude adjustment in a single dimension, with a clear motion link and simple control logic, making it suitable for fixed-point attitude calibration conditions.

[0041] Specifically, in the pitch oscillation and end-rotation coordinated mode, during the dynamic adjustment of the pitch angle, the continuous rotation of the end-rotation output disk 52 can be maintained simultaneously, achieving a dual-degree-of-freedom composite output. The second power component 32 continuously drives the central rotating component 31 to rotate, causing the oscillating frame 51 to complete the pitch action. Simultaneously, the third power component 42 synchronously and independently outputs torque, driving the central rotating component 41 to rotate around the main axis L. The universal coupling 53, during the synchronous deflection with the oscillating frame 51, can adaptively compensate for changes in the included axis angle, continuously transmitting the rotational torque of the central rotating component 41 to the end-rotation output disk 52, achieving coordinated output of dynamic pitch attitude adjustment and continuous end-rotation. In this mode, the two movements are independent of each other, and changes in the pitch angle do not interfere with the stability of the rotation speed.

[0042] Specifically, in the pitch differential torque boosting mode, for short-term heavy-load pitch conditions, the pitch torque can be superimposed and output through the differential coordination of the first power component 22 and the second power component 32, without increasing the rated power of a single motor.

[0043] The principle is as follows: the output torque of the forward reciprocating transmission pair 34 is determined by the relative speed difference between the driving and driven gears. While the second power component 32 drives the central rotating component 31 to rotate in a preset direction, the first power component 22 drives the external rotating component 21 to rotate in the opposite direction. This reverse speed difference effectively amplifies the relative input torque of the bevel gear pair, significantly increasing the output torque of the oscillating output shaft 33. For example, when the end output disc 52 needs to tilt clockwise, the second power component 32 drives the central rotating component 31 to rotate forward, providing the basic torque. Simultaneously, the first power component 22 drives the external rotating component 21 to rotate in the opposite direction. Through the superposition of the output torque by the relative motion of the meshing pairs, the single-machine load of the second power component 32 can be reduced accordingly, increasing the peak tilt load capacity of the joint.

[0044] Specifically, in pure yaw mode, the output unit 5 completes the overall yaw rotation only around the main axis L, and the pitch attitude and end-rotation state remain constant. The first power component 22 independently outputs torque to drive the external rotating component 21 to rotate uniformly around the main axis L, synchronously driving the second rotating assembly 3, the third rotating assembly 4, and the output unit 5 mounted on the external rotating component 21 to revolve around the main axis L. To avoid passive pitch attitude yaw during yaw, the second power component 32 needs to output a compensating speed synchronously to drive the middle rotating component 31 to rotate synchronously with the external rotating component 21, so that there is no relative speed between the middle rotating component 31 and the external rotating component 21. At this time, the driving and driven wheels of the forward reversing transmission pair 34 have no relative movement, the oscillating output shaft 33 will not generate passive rotation, and the pitch angle of the oscillating frame 51 and the end-output disk 52 remains constant, ultimately realizing the independent yaw rotation of the output unit 5 around the main axis L. During this process, the third power component 42 can be locked or driven independently, corresponding to the two states of end-rotation lock or continuous rotation during yaw.

[0045] Specifically, in the three-axis fully composite motion mode, the control system performs coordinated calculation and closed-loop control of the rotational speeds of the first power component 22, the second power component 32, and the third power component 42. This enables the simultaneous realization of arbitrary composite motions with three degrees of freedom: yaw, pitch, and end effector rotation, allowing the end effector output disk 52 to reach any position within the workspace. The control system establishes a kinematic calculation model based on the constant transmission ratio of the forward reciprocating transmission pair 34 and the transmission characteristics of the universal coupling 53. It calculates the target rotational speeds of the three power components in real time according to the end effector's target position and completes closed-loop correction through feedback signals from the angle detection component, achieving precise control of the end effector's position and meeting the motion requirements of complex trajectory operations.

[0046] Furthermore, in one specific embodiment, the forward reciprocating transmission pair 34 includes a driving bevel gear 341 and a driven bevel gear 342 that mesh with each other. The driving bevel gear 341 is fixedly sleeved on the front end of the central rotating member 31 by means of a key connection and interference fit, and rotates synchronously with the central rotating member 31 around the main axis L; the driven bevel gear 342 is correspondingly fixedly sleeved on the inner end of the oscillating output shaft 33, and rotates synchronously with the oscillating output shaft 33 around the orthogonal axis; the axes of the driving bevel gear 341 and the driven bevel gear 342 are arranged orthogonally, forming an orthogonal shaft transmission pair with a fixed transmission ratio.

[0047] In this embodiment, both the driving bevel gear 341 and the driven bevel gear 342 are made of carburized and quenched alloy steel, which has high tooth surface hardness and excellent wear resistance, and can meet the working conditions of long-term high-frequency reciprocating oscillation of the joint.

[0048] Furthermore, in one specific embodiment, two swing output shafts 33 are provided, symmetrically arranged on both radial sides of the external rotating member 21 along the main axis L, with their axes collinear and orthogonal to the main axis L. One swing output shaft 33 has a driven bevel gear 342 fixedly mounted on its inner end, meshing with the driving bevel gear 341 to output pitch torque on the active side; the other swing output shaft 33 is rotatably supported on the opposite side wall of the external rotating member 21, serving as the driven side and only providing support and positioning, without participating in power transmission. The outer ends of the two swing output shafts 33 are fixedly connected to the two side walls of the swing frame 51, forming a symmetrical double-sided support structure. This effectively improves the load-bearing stiffness of the swing frame 51, significantly enhances the joint's ability to withstand overturning moments, improves the smoothness of the swing process, reduces vibration and noise, and extends the service life of the joint.

[0049] Furthermore, in one specific embodiment, the universal joint 53 is a constant velocity universal joint 53 (not shown in the figure). The constant velocity universal joint 53 ensures that the input speed of the end output disc 52 and the output speed of the central rotating component 41 remain consistent at any pitch angle, eliminating speed fluctuations and effectively improving the smoothness of the end rotation and angular positioning accuracy, thus meeting the needs of high-precision operations such as precision assembly, surface grinding, and visual inspection. In specific selection, a ball cage type constant velocity universal joint 53 or a double cross shaft type constant velocity universal joint 53 can be selected based on the rated torque and maximum pitch angle of the joint, balancing load-bearing capacity and transmission accuracy.

[0050] Furthermore, in one specific embodiment, support bearings are provided between the external rotating component 21 and the input unit 1, between the middle rotating component 31 and the external rotating component 21, and between the central rotating component 41 and the middle rotating component 31.

[0051] Specifically, the support bearing between the external rotating component 21 and the input unit 1 can be a crossed roller bearing, which can simultaneously bear radial load, axial load and overturning moment, thereby improving the load-bearing capacity of the joint root; the bearing between the middle rotating component 31 and the external rotating component 21, and the bearing between the center rotating component 41 and the middle rotating component 31 can be a deep groove ball bearing or an angular contact ball bearing, which can bear radial and axial loads while ensuring smooth rotation.

[0052] Furthermore, in one specific embodiment, the first power component 22, the second power component 32, and the third power component 42 each include a drive motor and a reduction mechanism. The drive motor is a high-precision servo motor, characterized by fast response speed, precise speed control, and stable output torque, which can accurately match the motion control requirements of the joint. The reduction mechanism uses a precision harmonic reducer or a planetary reducer, with its input end rigidly connected to the output shaft of the drive motor, and its output end correspondingly connected to the rear end of the external rotating component 21, the middle rotating component 31, and the central rotating component 41. In practical applications, the reduction ratio can be flexibly selected according to the rated load and speed requirements of the joint to adapt to different application scenarios.

[0053] Specifically, the output ends of the reduction mechanisms of the first power component 22 and the second power component 32 are connected to the external rotating component 21 and the central rotating component 31 respectively through helical gear sets, and the two helical gear sets are located on the radial side of the corresponding rotating components.

[0054] Furthermore, in one specific embodiment, in the axial direction of the power input cavity 11, the length of the outer rotating member 21 is less than the length of the middle rotating member 31, and the length of the middle rotating member 31 is less than the length of the central rotating member 41, forming a three-layer axial layout with a stepped rear end. Correspondingly, the first power member 22 and the second power member 32 are respectively radially staggered on the inner walls of both sides of the power input cavity 11; the third power member 42 is located at the center of the power input cavity 11, and its output shaft is directly connected to the rear end of the central rotating member 41. This stepped layout improves the structural integration; at the same time, the three sets of power members are radially symmetrically distributed, which can optimize the center of gravity distribution of the joint, making the center of gravity closer to the root of the joint, reducing the end moment of inertia, and improving the dynamic response performance of the joint.

[0055] Furthermore, a detachable maintenance cover is provided on the side wall of the input unit 1 at the installation positions of the first power component 22, the second power component 32, and the third power component 42. The maintenance cover is detachably connected to the side wall of the input unit 1 by multiple sets of fastening bolts, and an oil-resistant and wear-resistant sealing gasket is embedded between the contact surfaces of the cover and the side wall of the input unit 1.

[0056] Furthermore, in one specific embodiment, the robot joint module further includes a first angle detection component, a second angle detection component, and a third angle detection component. The first angle detection component is signal-connected to the first power component 22 and is used to detect the rotation angle of the external rotating component 21 in real time; the second angle detection component is signal-connected to the second power component 32 and is used to detect the rotation angle of the central rotating component 31 in real time; the third angle detection component is signal-connected to the third power component 42 and is used to detect the rotation angle of the central rotating component 41 in real time.

[0057] Specifically, each angle detection component can employ a high-precision photoelectric encoder or magnetoelectric encoder. The real-time angle signals of each rotating component are fed back to the robot control system, forming a closed-loop control circuit to achieve precise closed-loop control of joint movements. Through independent feedback from the three angle detections, the control system can accurately calculate the spatial pose of the end effector 52, and, in conjunction with the motion control algorithm, achieve three-axis coordinated trajectory planning, ensuring the positioning accuracy and smoothness of the joints in complex motion states.

[0058] Furthermore, in one specific embodiment, the front end face of the external rotating member 21 is provided with a clearance notch. The clearance notch is opened along the swing direction of the swing frame 51, and its outline is adapted to the swing motion trajectory of the swing frame 51. When the swing frame 51 swings at a large angle around the orthogonal axis, the clearance notch can accommodate the side and bottom structures of the swing frame 51, avoiding rigid collision interference between the swing frame 51 and the end face of the external rotating member 21, effectively expanding the range of pitch swing angle of the joint, and improving the working motion space of the end effector.

[0059] The present invention also provides a robot, wherein at least one of the above-mentioned robot joint modules is configured on the robotic arm body. In practical engineering applications, the robot joint module can be used as a wrist joint, elbow joint, or lumbar rotation joint, and integrated and installed between corresponding segments of the robotic arm.

[0060] Specifically, when the robot joint module is used as a wrist joint, the rear end of the input unit 1 is rigidly connected to the forearm of the robotic arm via a flange structure, and the end output disk 52 of the output unit 5 is fixedly docked with the end effector (such as a gripper, welding torch, grinding head, detection probe, etc.). Through independent adjustment and compound motion of three degrees of freedom—yaw, pitch, and end rotation—the joint module can drive the end effector to complete arbitrary spatial posture adjustments, adapting to various industrial operation scenarios such as complex surface machining, precision parts assembly, irregular material sorting, and weld seam tracking.

[0061] The robot using the robot joint module of this invention benefits from the three-layer coaxial nested integrated layout with the power source located at the rear. The heavier drive and deceleration components are concentrated at the root of the joint, resulting in low rotational inertia at the joint end, fast dynamic response speed, and high repeatability. At the same time, the joint structure is compact and the radial dimension is small, which can complete the work in confined spaces such as inside equipment and in narrow compartments, effectively expanding the applicable working conditions of the robot.

[0062] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robot joint module, comprising a first rotating assembly, a second rotating assembly, and an output unit, characterized in that, It also includes an input unit and a third rotating assembly, wherein a power input cavity is formed within the input unit; The first rotating assembly includes an external rotating member rotatably supported at the end of the input unit, and a first power member disposed in the power input cavity and driving the external rotating member to rotate around the main axis; The second rotating assembly includes a central rotating component coaxially nested within an outer rotating component, a second power component disposed in a power input cavity and driving the central rotating component to rotate around a main axis, a swing output shaft rotatably supported on the outer rotating component and rotating around an orthogonal main axis, and a positive exchange transmission pair disposed between the swing output shaft and the central rotating component; The third rotating assembly includes a central rotating component coaxially nested within the central rotating component, and a third power component disposed within the power input cavity and driving the central rotating component to rotate around the first axis; The output unit includes a swing frame and an end output disk that are rotatably connected to each other, as well as a universal coupling. The swing frame is fixedly connected to the swing output component, and the end output disk is connected to the central rotating component via the universal coupling.

2. The robot joint module according to claim 1, characterized in that, The forward exchange transmission pair includes a driving bevel gear and a driven bevel gear that mesh with each other; the driving bevel gear is fixedly sleeved on the end of the central rotating component, and the driven bevel gear is fixedly sleeved on the oscillating output shaft.

3. The robot joint module according to claim 2, characterized in that, Two swing output shafts are provided, symmetrically arranged on both radial sides of the external rotating component; one of the swing output shafts is equipped with a driven bevel gear.

4. The robot joint module according to claim 1, characterized in that, The universal coupling is a constant velocity universal coupling.

5. The robot joint module according to claim 1, characterized in that, Support bearings are provided between the external rotating component and the input unit, between the middle rotating component and the external rotating component, and between the central rotating component and the middle rotating component.

6. The robot joint module according to claim 1, characterized in that, The first power component, the second power component, and the third power component all include a drive motor and a reduction mechanism. The output end of each reduction mechanism is connected to the external rotating component, the middle rotating component, and the central rotating component for transmission.

7. The robot joint module according to claim 6, characterized in that, Within the power input cavity, the length of the outer rotating component is less than the length of the middle rotating component, which is less than the length of the central rotating component. The first and second power components are respectively axially staggered on both sides of the power input cavity, and the third power component is located at the center of the power input cavity.

8. The robot joint module according to claim 1, characterized in that, It also includes a first angle detection component for the rotation angle of the outer rotating component, a second angle detection component for the rotation angle of the middle rotating component, and a third angle detection component for the rotation angle of the center rotating component; wherein the first angle detection component is signal-connected to the first power component, the second angle detection component is signal-connected to the second power component, and the third angle detection component is signal-connected to the third power component.

9. The robot joint module according to claim 1, characterized in that, The external rotating component is provided with a clearance notch, which is used to avoid the movement trajectory of the swing frame when it swings.

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

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