Joint module and robot

Abstract

The embodiment of the application provides a joint module and a robot. The joint module comprises an inner rotor and a front end cover of a motor, and a planetary reducer. At least part of the planetary reducer is located in an inner diameter space of the inner rotor along an axial direction of the front end cover. The planetary reducer comprises a gear ring, an end of the gear ring away from the inner rotor is configured to have no relative motion with the front end cover of the motor, a planetary row having at least two levels, each of which is located in the inner diameter space of the gear ring and is matched with the gear ring, and the inner rotor is in force transmission connection with the first level planetary row. The levels of the planetary row are arranged in sequence along the axial direction of the front end cover, and any two adjacent levels of the planetary row are in force transmission connection; the last level of the planetary row is configured to be in force transmission connection with an output component of the joint module. The planetary reducer is located in the inner diameter space of the inner rotor as a whole, or at least part of the gear ring exceeds the end of the inner rotor along the axial direction of the front end cover. This is helpful to shorten the axial occupation at the joint of the robot.

Description

Technical Field

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

[0002] Joint modules are typically used in the joint drive parts of robots, robotic arms, and other equipment to transmit the torque output by the motor to the joint output end via a reduction mechanism.

[0003] In related technologies, joint modules typically arrange the motor and planetary reducer sequentially along the axial direction. The motor includes a stator and a rotor, with the rotor fixedly connected to the input end of the planetary reducer. When the motor is working, the rotor outputs torque and transmits it to the input end of the planetary reducer. After being reduced in speed by the planetary reducer, the torque is then output to the external actuator through the output end.

[0004] In this type of joint module, the motor and planetary reducer are typically arranged in series along the same axis, with the reducer's gear ring, planetary gear set, and output components concentrated on the axial side of the motor. The axial dimension of the joint module is not less than the sum of the lengths of the motor and the planetary reducer. When the planetary reducer requires multiple planetary gear sets to achieve a large reduction ratio, there is a problem of a large axial footprint, making it difficult to meet the compact structure requirements of robot joint modules. Alternatively, with a limited axial dimension of the joint module, the number of stages of the planetary reducer or the space for the transmission components, or the output capacity, are restricted. Summary of the Invention

[0005] This application addresses the problem in related technologies where the motor and planetary reducer are arranged in series along the front end cover of the motor, causing the axial dimension of the joint module to be affected by the combined length of the motor and planetary reducer. This results in a large axial footprint when setting up multi-stage planetary gear sets, or when the axial dimension of the joint module is limited, the arrangement space for multi-stage planetary gear sets, their gear rings, and inter-stage transmission components is restricted. This application proposes a joint module and a robot.

[0006] The first aspect of this application provides a joint module, the joint module comprising: an inner rotor and a front end cover of a motor, and a planetary reducer; Along the axial direction of the front end cover, at least a portion of the planetary reducer is located within the inner diameter space of the inner rotor; The planetary reducer includes: A gear ring, the end of which is away from the inner rotor is configured to have no relative movement with the front end cover; The planetary gear set has at least two stages, both located within the inner diameter space of the gear ring and both engaging with the gear ring; the inner rotor is connected to the first-stage planetary gear set for force transmission; along the axial direction of the front end cover, each stage of the planetary gear set is arranged sequentially, and any two adjacent stages of the planetary gear set are connected for force transmission; the last stage of the planetary gear set is configured to be connected to the output component of the joint module for force transmission. The planetary reducer is located entirely within the inner diameter space of the inner rotor. Along the axial direction of the front end cover, neither end of the planetary reducer extends beyond the ends of the inner rotor; or, along the axial direction of the front end cover, at least a portion of the gear ring extends beyond the end of the inner rotor, and along the radial direction of the front end cover, the gear ring is located within the ends of the inner rotor.

[0007] In some embodiments, the first-stage 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 gear ring; A first planetary shaft, wherein the first planetary gear is rotatably mounted on the first planetary shaft; The first planetary carrier, on which the first planetary shaft is fixedly mounted.

[0008] When the first sun gear rotates, the first planet gear revolves around the first sun gear and drives the first planet carrier to rotate.

[0009] In some embodiments, the last-stage planetary array is a second-stage planetary array, which includes: The second sun gear is connected to the first planet carrier in a manner without relative motion; The second planetary gear meshes externally with the second sun gear and internally with the gear ring; The second planetary shaft, wherein the second planetary gear is rotatably mounted on the second planetary shaft; The second planetary carrier, the second planetary shaft is fixedly mounted on the second planetary carrier; When the second sun gear rotates, the second planet gear revolves around the second sun gear and drives the second planet carrier to rotate.

[0010] In some embodiments, the first planetary carrier is fixedly connected to or integrally formed with the second sun gear, so that the first planetary carrier drives the second sun gear to rotate synchronously.

[0011] In some embodiments, the joint module further includes: The rotor base rotates synchronously with the inner rotor, and the rotor base is connected to the first sun gear of the planetary reducer in a manner without relative motion. A rotor bearing is disposed between the inner peripheral wall of the rotor housing and the gear ring; and / or A reducer support bearing is provided, wherein the gear ring has a first bearing mounting position for mounting the reducer support bearing, the reducer support bearing is disposed in the first bearing mounting position and is used to support the output component to rotate relative to the gear ring.

[0012] In some embodiments, the joint module further includes a fixing member disposed on the side of the rotor bearing and / or the reducer support bearing along the axial direction of the front end cover, for axially limiting the corresponding bearing.

[0013] In some embodiments, the inner rotor and the rotor seat are separately configured and fixedly connected, or the inner rotor and the rotor seat are integrally formed.

[0014] In some embodiments, the joint module further includes a grease sealing structure disposed between the gear ring and the rotor seat, and / or the grease sealing structure disposed between the gear ring and the output component.

[0015] In some embodiments, the grease-sealing structure includes a first bearing having a sealing cap, the first bearing being configured to support rotation of the inner rotor and / or located at one end where the output member is located.

[0016] In some embodiments, the grease sealing structure includes a labyrinth sealing structure, which is formed by a tortuous sealing channel between the gear ring and the rotor seat and / or between the gear ring and the output member.

[0017] This application also provides a robot that includes the joint module described in any of the foregoing embodiments.

[0018] The beneficial technical effects of the technical solutions provided in this application include: In this embodiment, the joint module arranges at least a portion of the planetary reducer within the inner diameter space of the inner rotor, so that the motor and the planetary reducer form a partially overlapping arrangement in the axial direction of the front end cover. As a result, the inner diameter space enclosed by the inner rotor can accommodate at least a portion of the reduction transmission structure, instead of relying solely on the motor and planetary reducer to be arranged along the axial direction of the front end cover. This helps to reduce the axial size of the joint module and provides a more compact joint module for installation scenarios where the axial space of the robot joint is limited.

[0019] Furthermore, each stage of the planetary gearbox in the planetary reducer is set within the inner diameter space of the gear ring and meshes with the same gear ring. The end of the gear ring away from the inner rotor along the axial direction of the front cover has no relative movement with the front cover of the motor. The gear ring can serve as a support component for the transmission of each stage of the planetary gearbox, providing a stable meshing basis for the meshing between the planetary gears and the gear ring. This allows the multi-stage planetary gearboxes to sequentially form a reduction transmission along the axial direction of the front cover within the inner diameter space of the gear ring, thereby helping to achieve a centralized arrangement of multi-stage reduction structures within a limited joint space.

[0020] Furthermore, the inner rotor is connected to the first-stage planetary gear set for power transmission. Each stage of the planetary gear set is arranged sequentially along the axial direction of the front end cover, with power transmission between any two adjacent stages. The last stage of the planetary gear set is connected to the output component for power transmission. The high-speed, low-torque motion output by the inner rotor is first transmitted to the first-stage planetary gear set, then progressively reduced in speed and increased in output torque by subsequent planetary gear sets, and finally output by the output component. Thus, the inner rotor, gear ring, and multi-stage planetary gear sets cooperate spatially, enabling speed reduction and torque amplification while controlling the axial dimensions of the joint module, and facilitating the integrated arrangement of drive units at the robot joints. The inner diameter space of the inner rotor is used to accommodate at least part of the planetary reducer structure. The gear ring meshes with each stage of the planetary gear set, allowing torque to be transmitted from the inner rotor to the first-stage planetary gear set, and then progressively by subsequent planetary gear sets. This helps reduce the required axial length of the motor and planetary reducer and facilitates the formation of multi-stage speed reduction transmission within the inner diameter space of the gear ring.

[0021] With the planetary reducer arranged radially and axially within the space corresponding to the inner rotor of the front end cover, it helps to further reduce the axial outward dimension of the joint module and improve the utilization rate of the inner space of the inner rotor. When the joint module in this embodiment is used in a robot, it helps to reduce the axial thickness at the joint, facilitating the miniaturization of the robot joints.

[0022] The gear ring can extend appropriately along the axial direction of the front end cover while maintaining its radial position inside the inner rotor. This helps to provide axial arrangement space for multi-stage planetary gear sets without increasing the radial profile of the gear ring, thus improving the arrangement adaptability of the planetary reducer and the inner rotor. When the joint module in this embodiment is used in a robot, it helps to arrange the planetary reducer within the joint space where the radial dimension is limited.

[0023] When used in robots, joint modules help reduce the axial footprint at the robot joints and provide a structural basis for achieving a larger reduction ratio at the joints. Embodiments and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description, or may be learned by practice of the application. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the motor structure of the joint module provided in the embodiments of this application; Figure 2 An exploded view of the joint module portion provided in an embodiment of this application; Figure 3 This is a cross-sectional structural diagram of the joint module provided in the embodiments of this application; Figure 4 A schematic diagram of the assembly structure of the inner rotor and rotor seat provided in an embodiment of this application; Figure 5 This is a schematic diagram of the transmission principle of the joint module provided in the embodiments of this application; Figure 6 This is a schematic diagram of the transmission principle of a joint module provided in another embodiment of this application; Figure 7 A schematic diagram of the transmission principle of a joint module with a grease-sealing structure provided in an embodiment of this application.

[0025] Explanation of reference numerals in the attached figures: 1-Motor; 11-Inner rotor; 12-Front end cover; 13-Stator; 14-Stator housing; 15-Rear end cover; 2- Planetary reducer; 21-Gear ring; 22-First planetary arrangement; 221-First sun wheel; 222-First planetary wheel; 223-First planetary axis; 224-First planetary carrier; 23-Second-stage planetary arrangement; 231-Second-sun wheel; 232-Second-planetary wheel; 233-Second-planetary axis; 234-Second-planetary carrier; 3-Rotor base; 4-Rotor bearing; 5-Reducer support bearing; 6-Factors; 7- Grease-sealing structure; 71-First bearing; 8-Output components. Detailed Implementation

[0026] 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.

[0027] 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."

[0028] 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. 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.

[0029] It should be noted that the force transmission connection described in this application refers to a mating relationship between two or more components capable of transmitting torque, enabling the inner rotor, rotor base, input components of each stage of the planetary gear set, and output components or output ends 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.

[0030] This application provides a joint module, such as... Figures 1 to 7 As shown, the joint module includes: The inner rotor 11 and front end cover 12 of motor 1, and planetary reducer 2; Along the axial direction of the front cover 12, at least a portion of the planetary reducer 2 is located within the inner diameter space of the inner rotor 11; Planetary reducer 2 includes: The gear ring 21, the end of the gear ring 21 away from the inner rotor 11 is configured to have no relative movement with the front end cover 12 of the motor 1; The planetary gear set has at least two stages, both located within the inner diameter space of the gear ring 21 and both engaging with the gear ring 21; the inner rotor 11 is connected to the first-stage planetary gear set 22 for force transmission; along the axial direction of the front end cover 12, the planetary gear sets of each stage are arranged sequentially, and any two adjacent stages of planetary gear sets are connected for force transmission; the last stage of planetary gear set is configured to be connected to the output component 8 of the joint module for force transmission. The planetary reducer 2 is located entirely within the inner diameter space of the inner rotor 11. Along the axial direction of the front cover 12, neither end of the planetary reducer 2 extends beyond the ends of the inner rotor 11; or, along the axial direction of the front cover 12, at least a portion of the gear ring 21 extends beyond the end of the inner rotor 11, and along the radial direction of the front cover 12, the gear ring 21 is located within both ends of the inner rotor 11.

[0031] In this embodiment, the joint module arranges at least a portion of the planetary reducer 2 within the inner diameter space of the inner rotor 11, so that the motor 1 and the planetary reducer 2 form a partially overlapping arrangement in the axial direction of the front end cover 12. As a result, the inner diameter space enclosed by the inner rotor 11 can accommodate at least a portion of the reduction transmission structure, instead of relying solely on the arrangement of the motor 1 and the planetary reducer 2 along the axial direction of the front end cover 12. This helps to reduce the axial size of the joint module and provides a more compact joint module for installation scenarios where the axial space of the robot joint is limited.

[0032] Furthermore, each stage of the planetary gear set in the planetary reducer 2 is set within the inner diameter space of the gear ring 21 and meshes with the same gear ring 21. The end of the gear ring 21 away from the inner rotor 11 along the axial direction of the front cover 12 has no relative movement with the front cover 12 of the motor 1. The gear ring 21 can serve as a support component for the transmission of each stage of the planetary gear set, providing a stable meshing basis for the meshing between the planetary gear and the gear ring 21. This allows the multi-stage planetary gear set to form a speed reduction transmission sequentially along the axial direction of the front cover 12 within the inner diameter space of the gear ring 21, thereby helping to achieve a centralized arrangement of the multi-stage speed reduction structure within a limited joint space.

[0033] Furthermore, the inner rotor 11 is connected to the first-stage planetary gear set 22 for power transmission. Each stage of the planetary gear set is arranged sequentially along the axial direction of the front end cover 12. Any two adjacent stages of the planetary gear set are connected for power transmission, and the last stage of the planetary gear set is connected to the output component 8 for power transmission. The high-speed, low-torque motion output by the inner rotor 11 can first be transmitted to the first-stage planetary gear set 22, and then progressively reduced in speed and increased in output torque by subsequent planetary gear sets, finally output by the output component 8. Thus, the inner rotor 11, the gear ring 21, and the multi-stage planetary gear sets cooperate in spatial arrangement, enabling speed reduction and torque increase while controlling the axial dimensions of the joint module, and facilitating the integrated arrangement of drive units at the robot joints. The inner diameter space of the inner rotor 11 is used to accommodate at least part of the structure of the planetary reducer 2. The gear ring 21 meshes with each stage of the planetary gear set, and torque can be transmitted from the inner rotor 11 to the first-stage planetary gear set 22, and then progressively by subsequent planetary gear sets. This helps reduce the required axial length of the motor 1 and the planetary reducer 2, and facilitates the formation of a multi-stage speed reduction transmission within the inner diameter space of the gear ring 21.

[0034] With the planetary reducer 2 arranged radially and axially within the space corresponding to the inner rotor 11 of the front end cover 12, it helps to further reduce the axial outward dimension of the joint module and improve the utilization rate of the inner space of the inner rotor 11. When the joint module in this embodiment is used in a robot, it helps to reduce the axial thickness at the joint, facilitating the miniaturization of the robot joints.

[0035] The gear ring 21 can extend appropriately along the axial direction of the front end cover 12 while maintaining its radial position inside the inner rotor 11. This helps to provide axial arrangement space for the multi-stage planetary gear set without increasing the radial outer profile of the gear ring 21, thus improving the arrangement adaptability of the planetary reducer 2 and the inner rotor 11. When the joint module in this embodiment is used in a robot, it helps to arrange the planetary reducer 2 within the joint space with limited radial dimensions.

[0036] When used in robots, joint modules help reduce the axial footprint at the robot joints and provide a structural basis for achieving a larger reduction ratio at the joints.

[0037] In some embodiments, the central axis of the front cover 12 coincides with the rotation axis of the inner rotor 11 and the central axis of the planetary reducer 2.

[0038] In some embodiments, such as Figure 2 , Figure 3 , Figures 5 to 7 As shown, the first-order planetary arrangement 22 includes: The first sun gear 221 is connected to the inner rotor 11 in a manner without relative motion; The first planetary gear 222 meshes externally with the first sun gear 221 and internally with the gear ring 21; The first planetary shaft 223 and the first planetary gear 222 are rotatably mounted on the first planetary shaft 223; The first planetary carrier 224 and the first planetary shaft 223 are fixedly mounted on the first planetary carrier 224; When the first sun gear 221 rotates, the first planet gear 222, under the constraint of meshing with the first sun gear 221 and the ring gear 21, can rotate around the first planet shaft 223 and revolve around the first sun gear 221. The first planet shaft 223 is fixedly mounted on the first planet carrier 224. The revolving motion of the first planet gear 222 is transmitted to the first planet carrier 224 through the first planet shaft 223 to drive the first planet carrier 224 to rotate.

[0039] The torque of the inner rotor 11 can be transmitted to the first sun gear 221. The first sun gear 221 drives the first planet gear 222 to revolve around the first sun gear 221 while rotating on its own axis. The revolving motion of the first planet gear 222 acts on the first planet carrier 224 through the first planet shaft 223, thereby forming the reduction output of the first-stage planetary gear set 22 and providing input torque for the next-stage planetary gear set. This helps to convert the high-speed rotation of the inner rotor 11 into the reduction output of the first-stage planetary gear set 22 and provide input torque for the next-stage planetary gear set.

[0040] In some embodiments, such as Figure 2 , Figure 3 , Figures 5 to 7 As shown, the last level of planetary arrangement is the second-level planetary arrangement 23, which includes: The second sun gear 231 is connected to the first planet carrier 224 in a manner without relative motion; the second planet gear 232 externally meshes with the second sun gear 231 and internally meshes with the gear ring 21; The second planetary axis 233 and the second planetary gear 232 are rotatably mounted on the second planetary axis 233; The second planetary carrier 234 and the second planetary shaft 233 are fixedly mounted on the second planetary carrier 234; When the second sun gear 231 rotates, the second planet gear 232, under the constraint of meshing with the second sun gear 231 and the ring gear 21, can rotate around the second planet axis 233 and revolve around the second sun gear 231. The second planet axis 233 is fixedly mounted on the second planet carrier 234. The revolving motion of the second planet gear 232 is transmitted to the second planet carrier 234 through the second planet axis 233, so as to drive the second planet carrier 234 to rotate.

[0041] The output torque of the first planetary carrier 224 can be directly transmitted to the second sun gear 231. The second sun gear 231 drives the second planetary gear 232 to revolve around the second sun gear 231 while rotating on its own axis. The revolving motion of the second planetary gear 232 acts on the second planetary carrier 234 through the second planetary shaft 233, thereby realizing continuous deceleration transmission between the first-stage planetary gear set 22 and the second-stage planetary gear set 23, and further reducing the speed and increasing the output torque through the second-stage planetary gear set 23.

[0042] In some embodiments, the first planetary carrier 224 is fixedly connected to or integrally formed with the second sun gear 231, so that the first planetary carrier 224 drives the second sun gear 231 to rotate synchronously.

[0043] By fixing or integrally molding the first planetary carrier 224 with the second sun gear 231, it helps to reduce intermediate transmission components and connection gaps between the first-stage planetary set 22 and the second-stage planetary set 23, and improves the stability of interstage power transmission. Maintaining relative stillness between the first planetary carrier 224 and the second sun gear 231 reduces interstage loosening and impact.

[0044] In some embodiments, the output component 8 may be an output flange, output disc, output end cover, output shaft, output connector, or output adapter. The output component 8 is provided with a mounting portion for connection to the external actuator, link, or load end of the robot joint. The mounting portion may include bolt holes, positioning holes, positioning stops, positioning bosses, splines, or keyways arranged circumferentially along the front end cover 12. The second planetary carrier 234 may be fixedly connected to the output component 8, integrally formed, splined, keyed, face-toothed, or clamped together with fasteners, so that the output torque of the second-stage planetary gear set 23 is transmitted to the output component 8 via the second planetary carrier 234, and output from the output component 8 to the external actuator of the joint module.

[0045] In some embodiments, the joint module includes multiple planetary gear sets arranged sequentially along the axial direction of the front end cover 12, such as two, three, or four planetary gear sets. The sun gears, planet gears, and planet carriers of all planetary gear sets except the last stage are located within the inner diameter space of the inner rotor 11. Along the axial direction of the front end cover 12, a portion of the last stage planetary gear set is positioned outside the inner diameter space of the inner rotor 11, and a portion of the gear ring is also positioned outside the inner diameter space of the inner rotor 11.

[0046] In some embodiments, such as Figure 3 and Figure 4 As shown, the joint module also includes: Rotor base 3 rotates synchronously with inner rotor 11, and rotor base 3 is connected to the first sun gear 221 of planetary reducer 2 in a manner without relative motion. Rotor bearing 4 is disposed between the inner peripheral wall of the rotor housing 3 and the gear ring 21; and / or The reducer support bearing 5 has a bearing mounting position inside the gear ring 21 for mounting the reducer support bearing 5. The reducer support bearing 5 is used to support the rotating parts in the planetary reducer 2.

[0047] The supporting force of the inner rotor 11 and rotor seat 3 can be transmitted to the gear ring 21 through the rotor bearing 4. The rotating parts in the planetary reducer 2 can be supported by the reducer support bearing 5, which helps to maintain the coaxial rotation relationship of the inner rotor 11, rotor seat 3 and planetary reducer 2, and helps to improve the rotational stability of the joint module under repeated start-stop and load conditions.

[0048] In some embodiments, the rotor seat 3 has a disc-shaped structure. The outer periphery of the rotor seat 3 mates with the inner periphery of the inner rotor 11, and the central portion of the rotor seat 3 is fitted onto the outside of the first sun gear 221 of the first-stage planetary gear set 22. The outer periphery of the rotor seat 3 can be kept relatively stationary with the inner rotor 11 by means of fasteners, interference fit, welding, riveting, or bonding. The central portion of the rotor seat 3 can be kept relatively stationary with the first sun gear 221 by means of key connection, spline connection, fastener clamping, or interference fit. Thus, when the inner rotor 11 rotates, it can drive the rotor seat 3 to rotate synchronously, and the rotor seat 3 further drives the first sun gear 221 to rotate, thereby inputting the torque of the inner rotor 11 to the first-stage planetary gear set 22.

[0049] In some embodiments, such as Figure 3 As shown, the joint module also includes a fixing member 6. Along the axial direction of the front end cover 12, the fixing member 6 is disposed on the side of the rotor bearing 4 and / or the reducer support bearing 5, and is used to axially limit the corresponding bearing.

[0050] The fixing member 6 can axially limit the rotor bearing 4 and / or reducer support bearing 5, which helps to reduce the risk of axial movement of the rotor bearing 4 and / or reducer support bearing 5 during operation and helps to maintain the stability of the support position.

[0051] In some embodiments, such as Figures 2 to 4 As shown, the inner rotor 11 and the rotor seat 3 are separately set and fixedly connected, or the inner rotor 11 and the rotor seat 3 are integrally formed.

[0052] The separate design facilitates the separate processing of the inner rotor 11 and the rotor seat 3, while the one-piece molding reduces the connection interface between the inner rotor 11 and the rotor seat 3, which helps to select different rotor structure forms according to manufacturing processes, assembly requirements, or structural compactness. One-piece molding also helps to improve the coaxial consistency between the inner rotor 11 and the rotor seat 3. This allows the robot to select appropriate manufacturing and assembly schemes according to different joint specifications.

[0053] In some embodiments, the rotor ring in the inner rotor 11 can be combined with the rotor seat 3 to form a rotor frame, and the rotor magnet is disposed on the radially outer side of the rotor frame to form an integrated rotor assembly in which the inner rotor 11 and the rotor seat 3 have no relative movement.

[0054] In some embodiments, the rotor seat 3 is integrally formed with the inner rotor 11, and the rotor seat 3 is formed by extending radially inward from the inner peripheral wall or end of the inner rotor 11. A mounting hole is provided in the central part of the rotor seat 3, and one end of the first sun gear 221 passes through the mounting hole and is kept relatively stationary with the rotor seat 3 by splines, keys, fasteners, interference fits or end face gear fits.

[0055] In some embodiments, such as Figure 3 and Figure 7 As shown, the joint module also includes a grease sealing structure 7, which is disposed between the gear ring 21 and the rotor seat 3, and / or between the gear ring 21 and the output component 8.

[0056] In some embodiments, the grease seal structure 7 located between the gear ring 21 and the rotor seat 3 can be disposed on the axial side of the rotor bearing 4, for example, on the side of the rotor bearing 4 near the internal space of the planetary reducer 2, or on the side of the rotor bearing 4 near the outside. The grease seal structure 7 located between the gear ring 21 and the output member 8 can be disposed on the axial side of the reducer support bearing 5, for example, on the side of the reducer support bearing 5 near the internal space of the planetary reducer 2, or on the side of the reducer support bearing 5 near the outside. The grease seal structure 7 may include a sealing ring, an oil seal, a labyrinth seal structure, a bearing with a sealing cap, or other seals capable of preventing grease leakage.

[0057] The grease sealing structure 7 can block the leakage path of the lubricating grease inside the planetary reducer 2. The lubricating grease can act on the meshing and rotating parts of the planetary gear set, which helps to maintain the lubrication state inside the planetary reducer 2 and reduce the risk of lubricating grease leakage from the relative moving position or bearing connection position.

[0058] In some embodiments, such as Figure 3 As shown, the grease sealing structure 7 includes a first bearing 71 with a sealing cap, and the first bearing 71 is configured to support the rotation of the inner rotor 11 and / or is located at one end of the output member 8.

[0059] The first bearing 71 can serve both a supporting and sealing function, or seal the external connection at the end where the output component 8 is located. This helps reduce the structural space required for a separate seal and facilitates the formation of a grease barrier at the support position of the inner rotor 11 or at the end where the output component 8 is located.

[0060] In some embodiments, the grease sealing structure 7 includes a labyrinth sealing structure, which is formed by a tortuous sealing channel between the gear ring 21 and the rotor seat 3 and / or between the gear ring 21 and the output member 8.

[0061] The rotor seat 3 can rotate relative to the gear ring 21. The labyrinth seal structure is set between the gear ring 21 and the rotor seat 3, which helps to form a grease barrier structure on the side of the planetary reducer 2 near the inner rotor 11, increasing the path resistance of grease leakage from this side, thereby reducing the risk of grease leakage from the inside of the planetary reducer 2.

[0062] The labyrinth sealing structures are respectively disposed between the gear ring 21 and the rotor seat 3, and between the gear ring 21 and the output component 8. This allows grease-blocking structures to be formed on both the input and output sides of the planetary reducer 2, thereby improving the retention capacity of the lubricating grease inside the planetary reducer 2 and facilitating a more reliable sealing effect for the joint module within a compact space. This application also provides a robot, which includes the joint module described in the foregoing embodiments.

[0063] When the robot adopts the above-mentioned joint module, the nested arrangement of the inner rotor 11 of the motor 1 and the planetary reducer 2 can form a more compact reduction drive structure in the joint space, which helps to reduce the occupation of the joint module on the axial space of the robot joint and facilitates the integration of drive units at the robot joint.

[0064] In some embodiments, such as Figure 1 and Figure 3 As shown, the motor 1 also includes a stator housing 14 and a rear cover 15. The stator housing 14 and the rear cover 15 are integrally formed or fixedly connected, and the stator 13 is fixedly disposed inside the stator housing 14.

[0065] The embodiments of this application will now be described with reference to the accompanying drawings. It should be understood that the following embodiments are only used to illustrate the technical solutions of this application and are not intended to limit the scope of protection of this application.

[0066] like Figures 1 to 7 As shown, this application embodiment provides a joint module, which includes a motor 1 and a planetary reducer 2. The motor 1 includes an inner rotor 11, a front end cover 12, a stator 13, a stator housing 14, and a rear end cover 15. The stator 13 is disposed radially outside the inner rotor 11, and the inner rotor 11 is rotatable relative to the stator 13 about the axis of the joint module. The inner rotor 11 includes a rotor ring and a plurality of rotor magnets disposed on the rotor ring. The inner rotor 11 and the rotor base 3 are separately disposed and fixedly connected to form a rotor assembly with no relative motion; the inner rotor 11 and the rotor base 3 can also be an integrally formed structure. The front end cover 12, the stator housing 14, and the rear end cover 15 are fixedly connected.

[0067] The planetary reducer 2 is arranged coaxially with the inner rotor 11. Along the axial direction of the front end cover 12, at least a portion of the structure of the planetary reducer 2 is located within the inner diameter space of the inner rotor 11.

[0068] like Figure 2 , Figure 3 , Figures 5 to 7As shown, the planetary reducer 2 includes a gear ring 21 and at least two stages of planetary gear sets disposed within the inner diameter space of the gear ring 21. In this embodiment, the at least two stages of planetary gear sets include a first-stage planetary gear set 22 and a second-stage planetary gear set 23. The gear ring 21 extends axially along the front end cover 12, and the end of the gear ring 21 away from the inner rotor 11 is connected to the front end cover 12 of the motor 1 and is configured to have no relative movement with the front end cover 12. The first-stage planetary gear set 22 and the second-stage planetary gear set 23 are arranged sequentially along the axial direction of the front end cover 12 and both cooperate with the gear ring 21.

[0069] The first-stage planetary gear set 22 includes a first sun gear 221, first planet gears 222, a first planetary shaft 223, and a first planetary carrier 224. The first sun gear 221 is located at the center of the first-stage planetary gear set 222 and is fixedly connected to the inner rotor 11 via the rotor seat 3. The first planet gears 222 mesh externally with the first sun gear 221 and internally with the gear ring 21. The first planet gears 222 are rotatably mounted on the first planetary shaft 223, and the first planetary shaft 223 is fixedly mounted on the first planetary carrier 224. Thus, the first planet gears 222 can rotate relative to the first planetary shaft 223 and can revolve around the first sun gear 221 with the first planetary carrier 224.

[0070] The second-stage planetary gear set 23 includes a second sun gear 231, second planet gears 232, a second planetary shaft 233, and a second planetary carrier 234. The second sun gear 231 constitutes the input component of the second-stage planetary gear set 23. The first planetary carrier 224 is fixedly connected to the second sun gear 231, so that when the first planetary carrier 224 rotates, it can drive the second sun gear 231 to rotate synchronously. The second planet gears 232 externally mesh with the second sun gear 231 and internally mesh with the ring gear 21. The second planet gears 232 are rotatably sleeved on the second planetary shaft 233, and the second planetary shaft 233 is fixedly mounted on the second planetary carrier 234.

[0071] like Figure 3 As shown, the joint module also includes a rotor base 3. The inner rotor 11 is fixed to the outer peripheral wall of the rotor base 3, and the central portion of the rotor base 3 is fixedly connected to the first sun gear 221. Specifically, the rotor base 3 can rotate synchronously with the inner rotor 11 and transmit the torque of the inner rotor 11 to the first sun gear 221. A rotor bearing 4 is disposed between the inner peripheral wall of the rotor base 3 and the gear ring 21, enabling the rotor base 3 to rotate coaxially relative to the gear ring 21. The gear ring 21 also has a bearing mounting position for installing a reducer support bearing 5, which is disposed within this bearing mounting position and serves to support the rotation of the output component 8 relative to the gear ring 21.

[0072] like Figure 3As shown, the joint module may also include a fixing member 6. Along the axial direction of the front end cover 12, the fixing member 6 is disposed on the side of the rotor bearing 4 and the reducer support bearing 5, and is used to axially limit the corresponding bearings so that the rotor bearing 4 and the reducer support bearing 5 are held in the predetermined installation position.

[0073] like Figure 5 As shown, in one embodiment, the planetary reducer 2 is located entirely within the inner diameter space of the inner rotor 11, and along the axial direction of the front end cover 12, neither end of the planetary reducer 2 extends beyond the ends of the inner rotor 11.

[0074] like Figure 6 As shown, in another embodiment, at least a portion of the gear ring 21 extends beyond the end of the inner rotor 11 along the axial direction of the front end cover 12. The gear ring 21 is located within both ends of the inner rotor 11 along the radial direction of the front end cover 12.

[0075] like Figure 3 and Figure 7 As shown, the joint module also includes a grease seal structure 7. The grease seal structure 7 is disposed between the relatively moving parts at at least one of the axial ends of the front end cover 12, and at a position where the bearing communicates with the outside. The planetary reducer 2 is filled with grease, which is used to lubricate the meshing and rotating parts of the first-stage planetary gear set 22 and the second-stage planetary gear set 23. In some embodiments, the grease seal structure 7 includes a first bearing 71 with a sealing cap, the first bearing 71 can be configured to support the rotation of the inner rotor 11, and is disposed at the end where the output member 8 is located. In other embodiments, the grease seal structure 7 may include a labyrinth seal structure, which is disposed on the communication path between the internal space of the planetary reducer 2 and the outside.

[0076] The working process of this embodiment is described below. After assembly, the gear ring 21 and the front end cover 12 maintain no relative movement. The first-stage planetary gear set 22 and the second-stage planetary gear set 23 are disposed within the inner diameter space of the gear ring 21. The inner rotor 11 is fixed to the rotor seat 3, and the rotor seat 3 is supported on the gear ring 21 by the rotor bearing 4. The output component 8 rotates relative to the gear ring 21 by the reducer support bearing 5.

[0077] When motor 1 is working, the inner rotor 11 rotates around the axis of the joint module, driving the rotor seat 3 to rotate synchronously. The rotor seat 3 transmits torque to the first sun gear 221. When the first sun gear 221 rotates, it meshes with the first planet gear 222, which in turn meshes with the gear ring 21. Since the gear ring 21 has no relative movement with respect to the front end cover 12, the first planet gear 222 rotates around the first planetary axis 223 while revolving around the first sun gear 221. The first planetary axis 223 is fixedly mounted on the first planetary carrier 224 and moves with the first planetary carrier 224 around the axis of the joint module. The revolution of the first planet gear 222 is transmitted to the first planetary carrier 224 via the first planetary axis 223, thereby driving the first planetary carrier 224 to rotate.

[0078] After the first planetary carrier 224 rotates, it drives the second sun gear 231 to rotate synchronously. The second sun gear 231 meshes with the second planet gear 232, and the second planet gear 232 simultaneously meshes with the ring gear 21. The second planet gear 232 rotates on its own axis around the second planetary shaft 233 while revolving around the second sun gear 231. The second planetary shaft 233 is fixedly mounted on the second planetary carrier 234 and moves with the second planetary carrier 234 around the axis of the joint module. The revolution motion of the second planet gear 232 is transmitted to the second planetary carrier 234 through the second planetary shaft 233, thereby driving the second planetary carrier 234 to rotate. The rotation of the second planetary carrier 234, as the output motion of the second-stage planetary gear set 23, is directly transmitted to the output component 8, and the output component 8 then transmits torque to the external actuator of the joint module.

[0079] During the above operation, the rotor bearing 4 supports the rotor seat 3 to rotate coaxially with respect to the gear ring 21, the reducer support bearing 5 supports the output component 8 to rotate with respect to the gear ring 21, and the fixing component 6 provides axial restraint for the corresponding bearing. The grease inside the planetary reducer 2 lubricates the meshing and rotating parts of the first-stage planetary gear set 22 and the second-stage planetary gear set 23.

[0080] 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.

[0081] 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, as well as the planetary reducer; Along the axial direction of the front end cover, at least a portion of the planetary reducer is located within the inner diameter space of the inner rotor; The planetary reducer includes: A gear ring, the end of which is away from the inner rotor is configured to have no relative movement with the front end cover; The planetary gear set has at least two stages, both located within the inner diameter space of the gear ring and both engaging with the gear ring; The inner rotor is connected to the first-stage planetary gear set for force transmission; along the axial direction of the front end cover, the planetary gear sets of each stage are arranged sequentially, and any two adjacent stages of the planetary gear sets are connected for force transmission; the last stage of the planetary gear set is configured to be connected to the output component of the joint module for force transmission. The planetary reducer is located entirely within the inner diameter space of the inner rotor. Along the axial direction of the front end cover, neither end of the planetary reducer extends beyond the ends of the inner rotor; or, along the axial direction of the front end cover, at least a portion of the gear ring extends beyond the end of the inner rotor, and along the radial direction of the front end cover, the gear ring is located within the ends of the inner rotor.

2. The joint module according to claim 1, characterized in that, The first-order planetary arrangement 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 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, The last-level planetary arrangement is a second-level planetary arrangement, which includes: The second sun gear is connected to the first planet carrier in a manner without relative motion; the second planet gear meshes externally with the second sun gear and internally with the gear ring. The second planetary shaft, wherein the second planetary gear is rotatably mounted on the second planetary shaft; The second planetary carrier, the second planetary shaft is fixedly mounted on the second planetary carrier; When the second sun gear rotates, the second planet gear revolves around the second sun gear and drives the second planet carrier to rotate.

4. The joint module according to claim 3, characterized in that, The first planetary carrier is fixedly connected to or integrally formed with the second sun gear, so that the first planetary carrier drives the second sun gear to rotate synchronously.

5. The joint module according to claim 1, characterized in that, Also includes: The rotor base rotates synchronously with the inner rotor, and the rotor base is connected to the first sun gear of the planetary reducer in a manner without relative motion. A rotor bearing is disposed between the inner peripheral wall of the rotor housing and the gear ring; and / or A reducer support bearing is provided, wherein the gear ring has a first bearing mounting position for mounting the reducer support bearing, the reducer support bearing is disposed in the first bearing mounting position and is used to support the output component to rotate relative to the gear ring.

6. The joint module according to claim 5, characterized in that, It also includes a fixing member, which is located on the side of the rotor bearing and / or the reducer support bearing along the axial direction of the front end cover, and is used to axially limit the corresponding bearing.

7. The joint module according to claim 5, characterized in that, The inner rotor and the rotor base are either separately configured and fixedly connected, or the inner rotor and the rotor base are integrally formed.

8. The joint module according to claim 5, characterized in that, It also includes a grease sealing structure, which is disposed between the gear ring and the rotor seat, and / or the grease sealing structure is disposed between the gear ring and the output component.

9. The joint module according to claim 8, characterized in that, The grease sealing structure includes a first bearing having a sealing cap, the first bearing being configured to support the rotation of the inner rotor and / or located at one end of the output member.

10. The joint module according to claim 8, characterized in that, The grease sealing structure includes a labyrinth sealing structure, which is formed by a tortuous sealing channel between the gear ring and the rotor seat and / or between the gear ring and the output component.

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

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