Planetary joint module assembly and robot

Abstract

The application discloses a kind of planetary joint module assembly and robot, including shell, motor assembly, output shaft assembly, planetary reducer assembly, controller assembly and encoder assembly.The shell includes front end cover, intermediate cylinder and rear end cover, and the first cavity accommodating planetary reducer assembly is formed between front end cover and intermediate cylinder;Motor end cover is provided between intermediate cylinder and rear end cover, and motor end cover is partially inserted into motor assembly along axial direction, so that the second cavity accommodating motor assembly is formed between motor end cover and intermediate cylinder;The third cavity is formed between motor end cover and rear end cover, and the second cavity at least partially overlaps in axial direction;Encoder assembly is embedded in motor end cover and located in the overlapping area;Controller assembly is fixed in the third cavity.The application forms three-cavity layout of axial space overlap by motor end cover partially inserting motor assembly, and encoder is embeddedly installed, which greatly shortens axial dimension, improves integration and space utilization.

Description

Technical Field

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

[0002] Robot joint modules are core components that determine a robot's motion performance. Existing planetary joint modules generally suffer from poor operational stability and short lifespan in practical applications.

[0003] In terms of structural layout, existing planetary joint modules typically arrange the motor assembly, reducer assembly, and encoder in series along the axial direction within an intermediate cylinder. For example, Chinese invention patent CN118418183A discloses a planetary joint module in which the motor assembly and reducer assembly are arranged sequentially along the axial direction within the housing, the motor shaft is mounted on a hollow shaft, and the encoder's code disk reading head is located within the electrical compartment formed by the rear end cover. Another example is Chinese invention patent CN121424440A, which discloses a high reduction ratio robot joint module where the motor stator is fixedly connected to a fixed internal gear ring, and the encoder assembly is located between the bearing and the output section of the internal gear ring.

[0004] However, the existing technologies described above have the following shortcomings:

[0005] 1. In the existing module, there is a large area of ​​unutilized axial space between the middle cylinder and the rear end cover. The lack of compact nesting and coordination between the functional units results in a long overall axial dimension of the module, insufficient stiffness of the transmission chain, and easy vibration during operation, which affects the stability of the system.

[0006] 2. In existing technologies, output encoders often require independent installation space, typically located in open areas outside the front cover of the intermediate cylinder or outside the bearing. This results in poor sealing, making them susceptible to dust and moisture intrusion, leading to decreased reliability of the encoder's electronic components and a shortened accuracy retention lifespan. While some solutions can achieve dual-encoder detection, the integration between the encoder assembly and the motor assembly is low, requiring additional brackets or extension shafts for installation, further increasing the axial length.

[0007] 3. The existing planetary joint module's support system design is relatively fragmented. The bearings mainly serve as rotary supports, failing to effectively isolate the reducer assembly's oil chamber from the motor and encoder chambers. Lubricating grease inside the reducer can easily leak along the shaft clearance into the motor or encoder area, causing lubrication failure and contaminating electrical components. Summary of the Invention

[0008] In view of the shortcomings of the prior art described above, the technical problem to be solved by the present invention is to provide a planetary joint module assembly and robot, which effectively improves the space utilization of the internal structure of the module, maintains accuracy and has a long service life.

[0009] This invention provides a planetary joint module assembly, comprising a housing, a motor assembly, an output shaft assembly, a planetary reducer assembly, a controller assembly, and an encoder assembly. The controller assembly is electrically connected to the motor assembly and the encoder assembly. The housing includes a front cover, a middle cylinder, and a rear cover. The front cover and the middle cylinder form a first cavity capable of accommodating the planetary reducer assembly. A motor end cover is disposed between the middle cylinder and the rear cover, and the motor end cover extends axially into the motor assembly, thereby forming a space between the motor end cover and the middle cylinder to accommodate the motor assembly. A second cavity; a third cavity is formed between the motor end cover and the rear end cover, the third cavity at least partially overlapping the second cavity in the axial direction; the encoder assembly is embedded in the motor end cover and located in the region where the third cavity and the second cavity overlap in the axial direction; the controller assembly is fixed in the third cavity; the planetary reducer assembly is coaxially arranged with and drivenly connected to the output end of the motor assembly; the output shaft assembly passes through the first cavity to the third cavity in sequence, its first end is fixedly connected to the output end of the planetary reducer assembly, and its second end is connected to the encoder assembly.

[0010] Preferably, the encoder assembly includes an input encoder rotor, an output encoder rotor, and an encoder stator. The input encoder rotor is fixedly connected to the output end of the motor assembly, and the output encoder rotor is connected to the second end of the output shaft assembly. The input encoder rotor and the output encoder rotor are arranged in a nested manner in the radial direction. The encoder stator is fixed to the motor end cover and cooperates with the input encoder rotor and the output encoder rotor.

[0011] Preferably, the motor assembly includes a motor stator, a motor rotor, and a motor output shaft. The motor stator is fixed to the inner wall of the second cavity, and the motor output shaft is connected to the input end of the planetary reducer assembly. The motor rotor is fixed to the outer circumferential surface of the motor output shaft, and both the motor rotor and the motor output shaft are embedded in the motor stator.

[0012] Preferably, the motor output shaft has a first groove along the axial direction, and a first support seat for mounting the input encoder rotor is fixed in the first groove along the axial direction.

[0013] Preferably, the motor output shaft has a second groove along the axial direction that can accommodate the end of the motor end cover. The second groove is connected to the end of the motor end cover through a second support bearing, and the second groove is coaxially arranged with the first groove.

[0014] Preferably, the output shaft assembly includes an output section, a hollow shaft, and a second support base, which are arranged separately; the output section is fixed to the output end of the planetary reducer assembly; one end of the hollow shaft is interference-fitted to the output section, and the other end of the hollow shaft is transition-fitted to the second support base.

[0015] Preferably, the first support base has a receiving space that can accommodate the second support base, the second support base is coaxially arranged with the first support base, and a gap is left between the first support base and the second support base.

[0016] Preferably, the motor output shaft is connected to the input stage sun gear of the planetary reducer assembly via a circumferential interference fit and a flat planar fit.

[0017] Preferably, the inner surface of the connection between the second support and the hollow shaft is provided with a storage tank for storing the retaining adhesive.

[0018] Preferably, a fourth support bearing with a sealing function is provided on the input stage sun gear of the planetary reducer assembly, and the fourth support bearing is located at the partition between the first cavity and the second cavity.

[0019] In another aspect, the present invention proposes a robot comprising the planetary joint module assembly described in any of the above embodiments.

[0020] As described above, the planetary joint module assembly and robot of the present invention have the following beneficial effects:

[0021] In this invention, the motor end cover extends axially into the motor assembly, such that the second cavity accommodating the motor assembly and the third cavity formed between the motor end cover and the rear end cover at least partially overlap axially. Simultaneously, the encoder assembly is embedded within the motor end cover and located within this axially overlapping area. This structure eliminates the need for additional axial length occupancy in the encoder assembly installation; instead, it utilizes the overlapping area of ​​the second and third cavities for embedded installation. This significantly shortens the overall axial dimension of the module while ensuring the complete configuration of all functional components, eliminating the redundancy of unutilized axial space between the housing and the rear end cover in traditional structures, and effectively improving space utilization.

[0022] This invention achieves a partitioned layout for each functional component by housing the planetary gear reducer assembly in a first cavity, the motor assembly in a second cavity, and the controller assembly and encoder assembly in a third cavity. Specifically, the encoder assembly is embedded within the motor end cover, and the controller assembly is fixed within the third cavity, allowing the motor end cover to simultaneously support the encoder assembly and serve as a partition structure within the cavities. This layout achieves a high degree of integration of the motor, gear reducer, encoder, and controller within a limited space, reducing the number of components and mounting brackets, resulting in a more compact overall structure.

[0023] The encoder assembly of this invention is embedded within the motor end cover and located in the axially overlapping area of ​​the second and third cavities. This allows the encoder assembly to be enclosed by the motor end cover, the intermediate cylinder, and the rear end cover, forming a closed installation environment. Compared to the prior art where the output encoder is placed outside the front cover of the housing or in an open area outside the bearing, this invention effectively prevents dust, moisture, and other impurities from entering the encoder, improving the sealing and cleanliness of the encoder's working environment and helping to maintain its high-precision detection performance over a long period.

[0024] The output shaft assembly of this invention passes sequentially through the first cavity, the second cavity, and the third cavity. The first end of the output shaft assembly is fixedly connected to the output end of the planetary reducer assembly, and the second end is directly connected to the encoder, forming a short transmission chain. This eliminates backlash and elastic deformation errors in the intermediate transmission links, allowing the encoder to directly detect the actual position and rotational speed of the output shaft assembly. Simultaneously, this through-type layout eliminates the need for additional encoder transmission supports or detection gears, reducing the number of parts, improving integration and coaxiality, and optimizing axial space utilization. Attached Figure Description

[0025] Figure 1 This is a front view of a planetary joint module assembly provided in an embodiment of the present invention.

[0026] Figure 2 This is a side view of a planetary joint module assembly provided in an embodiment of the present invention.

[0027] Figure 3 This is a three-dimensional cross-sectional view of the internal structure of a planetary joint module assembly provided in an embodiment of the present invention.

[0028] Figure 4 for Figure 2 Sectional view at DD.

[0029] Figure 5 for Figure 4 A magnified view of section I.

[0030] Figure 6 for Figure 4 A magnified view of section II.

[0031] Figure 7 for Figure 4 A partial view.

[0032] Explanation of reference numerals in the attached figures:

[0033] 100. Housing; 110. Front end cover; 120. Intermediate cylinder; 130. Rear end cover; 140. Motor end cover; 200. Motor assembly; 210. Motor stator; 220. Motor rotor; 230. Motor output shaft; 231. First groove; 232. Second groove; 300. Output shaft assembly; 310. Output section; 320. Hollow shaft; 330. Second support base; 400. Planetary reducer assembly; 410. Input stage sun gear; 500 600. Controller assembly; 610. Encoder assembly; 620. Input encoder rotor; 630. Output encoder rotor; 640. Encoder stator; 641. First support base; 642. Accommodation space; 700. First cavity; 800. Second cavity; 900. Third cavity; 1010. First support bearing; 1020. Second support bearing; 1030. Third support bearing; 1040. Fourth support bearing; 1050. Fifth support bearing. Detailed Implementation

[0034] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0035] It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms used in this specification, such as "upper," "lower," "left," "right," and "middle," are merely for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0036] like Figures 1 to 6As shown, an embodiment of a planetary joint module assembly includes a housing 100, a motor assembly 200, an output shaft assembly 300, a planetary reducer assembly 400, a controller assembly 500, and an encoder assembly 600. The controller assembly 500 is electrically connected to the motor assembly 200 and the encoder assembly 600, and is used to receive detection signals from the encoder assembly 600 and control the operation of the motor assembly 200. The housing 100 includes a front cover 110, an intermediate cylinder 120, and a rear cover 130. It should be noted that the end where the motor assembly 600 is located is the rear end, and the end where the planetary reducer assembly 400 is located is also the rear end. The front cover 110 and the rear cover 130 are respectively fixedly connected to the two axial ends of the intermediate cylinder 120, forming the external protective structure of the module. A first cavity 700 is formed between the front cover 110 and the intermediate cylinder 120, which is used to accommodate the planetary reducer assembly 400. The output end of the planetary reducer assembly 400 faces the front cover 110 and is used to output torque externally. The planetary reducer assembly 400 is coaxially arranged and connected to the output end of the motor assembly 200. The output shaft of the motor assembly 200 is coaxially fixed with the input stage sun gear of the planetary reducer assembly 400, so as to transmit the power of the motor to the planetary reducer assembly 400 for speed reduction and torque increase.

[0037] In this embodiment, a motor end cover 140 is provided between the intermediate cylinder 120 and the rear end cover 130. The motor end cover 140 has a cylindrical or disc-shaped structure and an internal stepped structure. The outer periphery of the motor end cover 140 is sealed to the inner wall of the intermediate cylinder 120. The motor end cover 140 extends axially into the interior of the motor assembly 200. Specifically, the front end of the motor end cover 140 is inserted into a receiving space on the motor assembly 200 that can accommodate the end of the motor end cover 140. Through this insertion structure, a second cavity 800 for accommodating the motor assembly 200 is formed between the motor end cover 140 and the intermediate cylinder 120, and the motor assembly 200 is entirely installed in the second cavity 800. The first cavity 700 and the second cavity 800 are separated by a partition.

[0038] In this embodiment, a third cavity 900 is formed between the motor end cover 140 and the rear end cover 130. The third cavity 900 and the second cavity 800 overlap at least partially in the axial direction, that is, a portion of the axial space of the third cavity 900 coincides with the axial space of the tail of the second cavity 800 in the axial direction. This overlapping arrangement shortens the internal axial length of the housing 100.

[0039] In this embodiment, the encoder assembly 600 is embedded inside the motor end cover 140. As a preferred embodiment, the encoder assembly 600 is embedded in the space overlapping area of ​​the third cavity 900 and the second cavity 800, so that the encoder assembly 600 no longer occupies the extra axial space at the end of the module, thus achieving a high degree of integration.

[0040] The output shaft assembly 300 extends axially, passing sequentially through the first cavity 700, the second cavity 800, and the third cavity 900. The first end (front end) of the output shaft assembly 300 is fixedly connected to the output end of the planetary reducer assembly 400, for example, via a flange or spline connection. The second end (rear end) of the output shaft assembly 300 is connected to the encoder assembly 600.

[0041] When the module assembly is powered on, the controller assembly 500 receives external control commands and starts the drive motor assembly 200. Under the action of electromagnetic force, the rotor of the motor assembly 200 rotates relative to the stator, and the output end of the motor assembly 200 begins to rotate. The rotational power from the output end of the motor assembly 200 is directly transmitted to the planetary reducer assembly 400. The planetary reducer assembly 400 reduces the input speed in one or more stages through its internal planetary gear system, while simultaneously increasing the input torque. The reduced and increased torque power is output from the output end of the planetary reducer assembly 400, driving the robot's joint movement.

[0042] The output shaft assembly 300 rotates synchronously with the output end of the planetary reducer assembly 400. The output shaft assembly 300 passes sequentially through the first cavity 700, the second cavity 800, and the third cavity 900.

[0043] In one embodiment, such as Figure 3 and Figure 4 As shown, the encoder assembly 600 includes an input encoder rotor 610, an output encoder rotor 620, and an encoder stator 630. The encoder assembly 600 is preferably an inductive encoder, which has the advantages of strong resistance to contamination and high accuracy.

[0044] The input encoder rotor 610 is annular or cylindrical and made of magnetically conductive material. The input encoder rotor 610 is fixedly connected to the output end of the motor assembly 200. Specifically, the motor assembly 200 includes a motor output shaft 210. A mounting step is provided circumferentially at the rear end of the motor output shaft 210 (the end near the rear end cover 130). The input encoder rotor 610 is fixedly mounted on this mounting step by interference fit or adhesive bonding, and rotates synchronously with the motor output shaft 210.

[0045] The output encoder rotor 620 is also annular or cylindrical and is fixedly connected to the second end of the output shaft assembly 300. The second end of the output shaft assembly 300 passes through the motor end cover 140 and extends into the third cavity 900. The second end of the output shaft assembly 300 is provided with another mounting step along the circumference. The output encoder rotor 620 is fixedly mounted on this mounting step by interference fit or adhesive bonding and rotates synchronously with the output shaft assembly 300.

[0046] The input encoder rotor 610 and the output encoder rotor 620 are arranged in a nested configuration in the radial direction. Specifically, in a preferred embodiment, the diameter of the output encoder rotor 620 is smaller than the diameter of the input encoder rotor 610, and the two are coaxially arranged and distributed radially inward and outward. This embodiment preferably adopts a radially nested arrangement to further save axial space.

[0047] The encoder stator 630 is a ring-shaped circuit board or a ring-shaped coil assembly, with an array of induction coils on its inner or outer ring, as is known to those skilled in the art and will not be described in detail here. It should be noted that the encoder stator 630 is fixed to the inner side of the motor end cover 140, and an annular boss or mounting groove is provided in the central area of ​​the inner side of the motor end cover 140. The encoder stator 630 is fixed to this annular boss by screws or adhesive.

[0048] The encoder stator 630 is axially positioned corresponding to the input encoder rotor 610 and the output encoder rotor 620, maintaining a certain gap between them. Specifically, when the input encoder rotor 610 and the output encoder rotor 620 are arranged in a radially nested configuration, the encoder stator 630 is simultaneously fitted outside or inside both rotors, allowing the induction coil of the encoder stator 630 to simultaneously generate electromagnetic coupling with both rotors.

[0049] When the motor assembly 200 is running, the input encoder rotor 610 rotates with the motor output shaft 210, and the output encoder rotor 620 rotates with the output shaft assembly 300. The induction coils on the encoder stator 630 detect the angular displacement and rotational speed of the two rotors respectively, generating motor-end position signals and output-end position signals. These two signals are transmitted to the controller assembly 500 via the signal processing circuit on the encoder stator 630 or through wires. Because the encoder stator 630 is fixed to the motor end cover 140, the mounting reference is stable, and the two rotors rotate synchronously with different rotating components, the encoder assembly 600 can simultaneously and independently detect the motion state of the input and output ends, achieving dual-encoder closed-loop control.

[0050] This embodiment achieves integrated embedded installation of dual encoders. This structure eliminates the need for additional encoder brackets or extension shafts, further reducing the axial dimension, while ensuring coaxiality and air gap uniformity between the encoder stator and the two rotors, thus improving detection accuracy and signal reliability.

[0051] In one embodiment, such as Figure 3 and Figure 4As shown, the motor assembly 200 includes a motor stator 210, a motor rotor 220, and a motor output shaft 230. The motor stator 210 is cylindrical, and its outer peripheral wall is fixed to the inner wall of the second cavity 800. Specifically, it can be press-fitted into the intermediate cylinder 120 by thermoforming or interference fit. The motor output shaft 230 extends axially, with its front end connected to the input end of the planetary reducer assembly 400, and its rear end extending rearward for mounting the input encoder rotor 610. The motor rotor 220 is cylindrical and is fixedly fitted onto the outer peripheral surface of the motor output shaft 230.

[0052] After the motor rotor 220 is fixed to the outer circumferential surface of the motor output shaft 230, the two are integrally embedded in the internal space of the motor stator 210. Specifically, after the motor output shaft 230 and the motor rotor 220 are combined, they pass through the central through hole of the motor stator 210. A uniform air gap is maintained between the outer circumferential surface of the motor rotor 220 and the inner circumferential surface of the motor stator 210, so that the motor rotor 220 can rotate freely without contact within the motor stator 210.

[0053] This embodiment enables the motor rotor 220 and the motor output shaft 230 to be fully accommodated within the radial range of the motor stator 210, so that the motor assembly 200 does not need to occupy additional length in the axial direction, resulting in a compact overall structure and providing a spatial basis for the axial overlap of the second cavity 800 and the third cavity 900.

[0054] Furthermore, the outer surface of the motor output shaft 230 connected to the motor rotor 220 is provided with a glue storage tank for storing retaining glue and increasing the bonding capacity.

[0055] In one embodiment, such as Figure 4 and Figure 7 As shown, the motor output shaft 230 has a first groove 231 along its axial direction. The first groove 231 is located at the rear end of the motor output shaft 230 (near the end of the rear cover 130), and it has a cylindrical or annular concave structure. The first groove 231 is coaxially arranged with the motor output shaft 230.

[0056] A first support base 640 is fixedly disposed axially within the first groove 231. The first support base 640 is cylindrical or stepped shaft-shaped, with its front end extending axially into the first groove 231 and fixedly connected to the inner wall of the first groove 231 by interference fit, threaded connection, or adhesive bonding. The rear end of the first support base 640 extends out of the first groove 231 for mounting the input encoder rotor 610.

[0057] The input encoder rotor 610 is annular and is fixedly mounted on the outer circumference of the rear end of the first support 640, rotating synchronously with the motor output shaft 230 and the first support 640. Through the above structure, the input encoder rotor 610 obtains a stable and reliable mounting reference and maintains precise coaxiality with the motor output shaft 230, ensuring uniformity of the gap between it and the encoder stator 630.

[0058] In one embodiment, such as Figure 4 and Figure 7 As shown, the motor output shaft 230 also has a second groove 232 along its axial direction. The second groove 232 is located at the rear end of the motor output shaft 230 and surrounds the outer periphery of the first groove 231, forming an annular concave structure. The second groove 232 and the first groove 231 are coaxially arranged, and together they form the matching groove structure at the rear end of the motor output shaft 230.

[0059] The opening of the second groove 232 faces rearward (i.e., towards the rear end cover 130), and its radial dimension is larger than that of the first groove 231, for accommodating the end of the motor end cover 140. Specifically, the front end of the motor end cover 140 (the end near the motor output shaft 230) is provided with an annular boss, which extends axially into the second groove 232.

[0060] The second groove 232 is connected to the end of the motor end cover 140 via a second support bearing 1020. The inner ring of the second support bearing 1020 is fixed to the inner peripheral wall of the second groove 232 of the motor output shaft 230, and the outer ring of the second support bearing 1020 is fixed to the inner peripheral wall of the annular boss of the motor end cover 140. Through this second support bearing 1020, the rear end of the motor output shaft 230 obtains stable radial support and axial positioning, and can rotate freely relative to the motor end cover 140.

[0061] In this embodiment, the first groove 231 and the second groove 232 are coaxially arranged, which ensures the rotational accuracy of the motor output shaft 230, and also ensures the uniformity of the gap between the input encoder rotor 610 and the encoder stator 630 fixed on the motor end cover 140.

[0062] Furthermore, a glue storage groove is provided on the inner surface of the motor output shaft 230 where it connects to the input encoder rotor 610, for storing retaining glue and enhancing bonding ability.

[0063] In one embodiment, such as Figure 4As shown, the output shaft assembly 300 includes an output section 310, a hollow shaft 320, and a second support base 330, all three being separately configured. The output section 310 is a flange structure, made of metal materials (such as steel or aluminum alloy). The output section 310 is fixedly mounted on the output end of the planetary reducer assembly 400. Compared to the existing technology where the flange and hollow shaft are integrated, this embodiment uses a separate configuration for the output flange and hollow shaft, reducing the difficulty of parts processing, improving processing efficiency and yield, reducing parts material and processing costs, and reducing tooling investment; it also reduces the risk of deformation and damage during parts transportation and storage.

[0064] Specifically, the output planetary carrier (or output flange) of the planetary reducer assembly 400 is provided with bolt holes, and the output part 310 is fixedly connected to the output planetary carrier by bolts, or the output part 310 is connected to the output planetary carrier by spline or welding, and rotates synchronously with the output end of the planetary reducer assembly 400. The output part 310 has a through hole in the center for the hollow shaft 320 to pass through.

[0065] The hollow shaft 320 is a slender cylindrical shape with a relatively long axial length, a small outer diameter, and a thin wall thickness. The hollow channel inside the hollow shaft 320 is used to thread cables, enabling the module's hollow cable routing function. One end (front end) of the hollow shaft 320 is interference-fitted to the output section 310. Specifically, the inner diameter of the through-hole in the output section 310 is slightly smaller than the outer diameter of the hollow shaft 320. The hollow shaft 320 is press-fitted into the through-hole of the output section 310 using hot or cold pressing to form an interference fit, ensuring no relative rotation between the two and reliable torque transmission.

[0066] The other end (rear end) of the hollow shaft 320 is connected to the second support 330 via a transition fit. The transition fit means that there is a small gap or slight interference between the outer diameter of the rear end of the hollow shaft 320 and the inner hole of the second support 330, ensuring smooth assembly while maintaining appropriate coaxiality and positioning accuracy after assembly. The second support 330 is used to mount the output encoder rotor 620.

[0067] Furthermore, it should be noted that before installing the first support 640, the height difference between its mounting position and the mounting position of the encoder stator 630 on the motor end cover 140 needs to be measured. The required shim thickness to ensure a suitable gap between the input encoder rotor 610 and the encoder stator 630 is calculated. Before installing the second support 330, the height difference between its mounting position on the hollow shaft and the plane of the input encoder rotor 610 needs to be measured, and the required shim thickness to ensure that the plane of the output encoder rotor 620 is at the same height as the plane of the input encoder rotor 610 is calculated. Based on the measurements and relying on digital control, the installation of the encoder stator and rotor is guided to ensure that the air gap between the encoder stator and rotor remains within the optimal range, ensuring electromagnetic coupling efficiency and signal stability, thereby guaranteeing the high-precision detection performance of the encoder.

[0068] In one embodiment, such as Figure 4 and Figure 5 As shown, the first support 640 has an internal receiving space 641. This receiving space 641 is a cylindrical cavity that extends axially through the first support 640, and is coaxially arranged with the first support 640. The second support 330 is at least partially received within the receiving space 641. The second support 330 is coaxial with the first support 640, with a predetermined gap between them to ensure that the second support 330 does not contact or interfere with the first support 640 when rotating with the hollow shaft 320.

[0069] Through the above nested structure, the input encoder rotor 610 and the output encoder rotor 620 are arranged in an inner and outer nested arrangement in the radial direction, and the air gap between them is guaranteed by the coaxiality and gap accuracy between the first support 640 and the second support 330, which is conducive to the miniaturization and high-precision detection of the encoder assembly 600.

[0070] In one embodiment, such as Figure 4 As shown, the motor output shaft 230 and the input stage sun gear 410 of the planetary reducer assembly 400 are connected by a dual transmission method of circumferential interference fit and flat planar fit.

[0071] Specifically, the front end of the motor output shaft 230 is provided with a connecting shaft section, the outer circumferential surface of which is machined with at least one flat plane parallel to the axis (i.e., milled flat structure). The inner wall of the center hole of the input stage sun gear 410 is machined with a plane that matches the flat plane. During assembly, the front end of the motor output shaft 230 is press-fitted into the center hole of the input stage sun gear 410, forming a circumferential interference fit between the two to ensure coaxiality and tightness; at the same time, the flat plane on the motor output shaft 230 is aligned and fitted with the plane on the inner wall of the input stage sun gear 410, forming a flat plane fit, which plays a role in preventing rotation.

[0072] Through the above dual cooperation, the motor output shaft 230 and the input stage sun gear 410 not only ensure reliable torque transmission capability, but also avoid the additional keyway machining required by key connection. The structure is compact and suitable for the internal layout of joint modules with limited space.

[0073] In one embodiment, such as Figure 5 As shown, the inner surface of the connection between the second support 330 and the hollow shaft 320 is provided with a glue storage groove 331. The glue storage groove 331 is an annular groove or multiple arc-shaped grooves distributed circumferentially, used to store retaining glue.

[0074] In one embodiment, such as Figure 6 As shown, a fourth support bearing 1040 is provided on the input stage sun gear 410 of the planetary reducer assembly 400. This fourth support bearing 1040 has a sealing function, for example, it is a deep groove ball bearing or angular contact ball bearing with sealing rings, and it has rubber sealing rings on both sides to effectively prevent lubricating grease leakage. The fourth support bearing 1040 is located at the partition between the first cavity 700 and the second cavity 800.

[0075] Specifically, the intermediate cylinder 120 has a radially inwardly extending annular partition that axially separates the first cavity 700 from the second cavity 800. The outer ring of the fourth support bearing 1040 is fixed to the inner wall of the central hole of the partition, and the inner ring of the fourth support bearing 1040 is fixedly fitted onto the outer circumferential surface of the input stage sun gear 410.

[0076] Through the above arrangement, the fourth support bearing 1040 not only provides radial support for the input stage sun gear 410, but also, through its own sealing structure and the cooperation of the partition, completely isolates and seals the first cavity 700 (which houses the planetary reducer assembly 400 and its lubricating grease) from the second cavity 800 (which houses the motor assembly 200), thus eliminating the risk of lubricating grease in the reducer cavity leaking into the motor assembly area along the shaft clearance of the input stage sun gear 410.

[0077] It should be noted that, as Figure 4As shown, this embodiment provides multiple bearings. The first support bearing 1010 is preferably a crossed roller bearing. Its outer ring is connected to the front end cover and the internal gear ring of the reducer assembly, and its inner ring is connected to the output planetary carrier and output section 310 (e.g., a flange) of the reducer assembly. The outer ring of the second support bearing 1020 is connected to the motor end cover 140, and its inner ring is connected to the motor output shaft 230. The outer ring of the third support bearing 1030 is connected to the output planetary carrier of the reducer assembly, and its inner ring is connected to the first-stage sun gear 140 of the reducer assembly. The fourth support bearing is detailed above and will not be repeated here. The outer ring of the fifth support bearing 1050 is connected to the rear end cover 130, and its inner ring is connected to the second support seat 330.

[0078] The first support bearing 1010, the third support bearing 1030, and the fourth support bearing 1040 completely isolate and seal the oil chamber of the reducer assembly, preventing oil leakage. The first support bearing 1010, the fifth support bearing 1050, and the silicone protective sleeve on the cable inlet of the rear cover 130 isolate the internal area of ​​the module from the outside, achieving a sealing rating of IP60.

[0079] In one embodiment, the controller assembly 500 is disposed between the motor end cover 140 and the rear end cover 130, i.e., within the third cavity 900. The controller assembly 500 is fixedly connected to the motor end cover 140, specifically by screws to the rear end face of the motor end cover 140. The controller assembly 500 is electrically connected to the encoder stator 630 of the encoder assembly 600 via a wiring harness, receives encoder detection signals, and outputs drive control signals to the motor assembly 200.

[0080] The controller component 500 is equipped with status indicator lights, including a power indicator, a running indicator, and a communication indicator. The power indicator is red and indicates the power status: it remains on when the module is powered on and turns off when not powered on. The running indicator is green and indicates the operating status: it remains on when the module is operating normally and turns off when not in operation; when a module malfunctions, the running indicator flashes in a preset pattern—for example, flashing N times, pausing, then flashing N times again, and so on. The communication indicator is blue and indicates the communication status: it flashes when the module is communicating normally and turns off when there is no communication.

[0081] Three light guide pillars are correspondingly installed on the rear cover 130. Specifically, the rear cover 130 has three through holes, each containing a light guide pillar. The positions of the three light guide pillars correspond one-to-one with the three status indicator lights on the controller assembly 500. The light guide pillars are made of transparent or semi-transparent material, which guides the light from the indicator lights to the outer surface of the rear cover 130, allowing operators to observe the module's power supply, operation, and communication status in real time from the outside and promptly detect any abnormalities.

[0082] During assembly, before installing the rear cover 130, thermally conductive gel is applied to the MOSFET power devices of the controller assembly 500. The thermally conductive gel has high thermal conductivity and good filling properties, allowing it to accommodate assembly tolerances. Then, the rear cover 130 is installed, ensuring the thermally conductive gel contacts both the MOSFETs and the inner wall of the rear cover 130. After curing, the thermally conductive gel forms a thermally conductive channel, rapidly transferring the heat generated by the MOSFETs during operation to the rear cover 130, from which it dissipates outwards. This prevents heat accumulation inside the module, thereby reducing temperature rise and protecting electrical components.

[0083] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A planetary joint module assembly, comprising a housing (100), a motor assembly (200), an output shaft assembly (300), a planetary reducer assembly (400), a controller assembly (500), and an encoder assembly (600), wherein the controller assembly (500) is electrically connected to the motor assembly (200) and the encoder assembly (600), and the housing (100) comprises a front cover (110), an intermediate cylinder (120), and a rear cover (130); characterized in that, The front end cover (110) and the intermediate cylinder (120) form a first cavity (700) capable of accommodating the planetary reducer assembly (400); a motor end cover (140) is provided between the intermediate cylinder (120) and the rear end cover (130), and the motor end cover (140) extends axially into the motor assembly (200), so that a second cavity (800) accommodating the motor assembly (200) is formed between the motor end cover (140) and the intermediate cylinder (120); a third cavity (900) is formed between the motor end cover (140) and the rear end cover (130), and the third cavity (900) is connected to the... The second cavity (800) overlaps at least partially in the axial direction; the encoder assembly (600) is embedded in the motor end cover (140) and located in the area where the third cavity (900) and the second cavity (800) overlap in the axial direction; the controller assembly (500) is fixed in the third cavity (900); the planetary reducer assembly (400) is coaxially arranged and drivenly connected to the output end of the motor assembly; the output shaft assembly (300) passes through the first cavity to the third cavity (900) in sequence, with its first end fixedly connected to the output end of the planetary reducer assembly and its second end connected to the encoder assembly (600).

2. The planetary joint module assembly according to claim 1, characterized in that, The encoder assembly (600) includes an input encoder rotor (610), an output encoder rotor (620), and an encoder stator (630). The input encoder rotor (610) is fixedly connected to the output end of the motor assembly, and the output encoder rotor (620) is connected to the second end of the output shaft assembly. The input encoder rotor (610) and the output encoder rotor (620) are arranged in a nested manner in the radial direction. The encoder stator (630) is fixed on the motor end cover (140) and cooperates with the input encoder rotor (610) and the output encoder rotor (620).

3. The planetary joint module assembly according to claim 2, characterized in that, The motor assembly (200) includes a motor stator (210), a motor rotor (220), and a motor output shaft (230). The motor stator (210) is fixed to the inner wall of the second cavity, and the motor output shaft (230) is connected to the input end of the planetary reducer assembly (400). The motor rotor (220) is fixed to the outer circumferential surface of the motor output shaft (230), and both the motor rotor (220) and the motor output shaft (230) are embedded in the motor stator (210).

4. The planetary joint module assembly according to claim 3, characterized in that, The motor output shaft (230) has a first groove (231) along the axial direction, and a first support seat (640) for mounting the input encoder rotor is fixed in the first groove (231) along the axial direction.

5. The planetary joint module assembly according to claim 4, characterized in that, The motor output shaft (230) has a second groove (232) along the axial direction that can accommodate the end of the motor end cover (140). The second groove (232) is connected to the end of the motor end cover (140) through a second support bearing (1020). The second groove (232) is coaxially arranged with the first groove (231).

6. The planetary joint module assembly according to claim 3 or 5, characterized in that, The output shaft assembly (300) includes an output section (310), a hollow shaft (320), and a second support base (330), which are arranged separately. The output section (310) is fixed to the output end of the planetary reducer assembly (400). One end of the hollow shaft (320) is interference-fitted with the output section (310), and the other end of the hollow shaft (320) is transition-fitted with the second support base (330).

7. The planetary joint module assembly according to claim 6, characterized in that, The first support (640) is provided with a receiving space (641) that can accommodate the second support (330). The second support (330) is coaxially arranged with the first support (640), and a gap is left between the first support (640) and the second support (330).

8. The planetary joint module assembly according to claim 3 or 4, characterized in that, The motor output shaft (230) and the input stage sun gear (410) of the planetary reducer assembly are connected by a circumferential interference fit and a flat planar fit.

9. The planetary joint module assembly according to claim 6, characterized in that, The inner surface of the second support (330) at the connection with the hollow shaft is provided with a storage tank for storing the retaining adhesive.

10. The planetary joint module assembly according to claim 8, characterized in that, A fourth support bearing with a sealing function is provided on the input stage sun gear (410) of the planetary gear reducer assembly, the fourth support bearing (1040) being located at the partition between the first cavity (700) and the second cavity (800).

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

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