Joint module and robot

Abstract

The application provides a joint module and a robot, the joint module comprising: a bracket, a stopper, a first gear shaft assembly, a second gear shaft assembly, a third gear shaft assembly, a first magnet, a second magnet, a first encoder and a second encoder; the bracket and the stopper are oppositely arranged along the axial direction of the joint module, the stopper is fixed relative to the bracket, the second gear shaft assembly is engaged with the first gear shaft assembly, and the third gear shaft assembly is engaged with the first gear shaft assembly; both ends of the first gear shaft assembly, both ends of the second gear shaft assembly and both ends of the third gear shaft assembly are respectively rotatably supported on the bracket and the stopper, and along the axial direction of the joint module, the first gear shaft assembly, the second gear shaft assembly and the third gear shaft assembly are respectively limited between the bracket and the stopper; the first magnet is connected to the second gear shaft assembly, the second magnet is connected to the third gear shaft assembly, the first encoder is opposite to the first magnet, and the second encoder is opposite to the second magnet.

Description

Technical Field

[0001] This application relates to the field of joint module technology, and more particularly to a joint module and a robot. Background Technology

[0002] Humanoid robots and quadruped robots typically have joint modules at their joints. Currently, joint modules generally consist of three sets of coprime gear shaft assemblies, two of which are equipped with magnetic components. Dual encoders detect the rotation angle of the joint module by measuring the magnetic field strength of the magnetic components during the rotation of the gear shaft assemblies.

[0003] Joint modules equipped with dual encoders and coprime gears in related technologies still have significant structural defects. The three gear shaft assemblies generally lack reliable axial restraint structures. Under high-frequency reciprocating rotation of the robot joint, dynamic load switching, and impact loads, each gear shaft assembly may experience axial movement. This axial movement directly leads to relative axial misalignment of the three gear shaft assemblies, disrupting the precise meshing relationship between the gears. Summary of the Invention

[0004] This application provides a joint module and a robot to solve the problem that the three gear shaft assemblies of the coprime gear dual encoder of the joint module may be misaligned.

[0005] In a first aspect, embodiments of this application provide a joint module.

[0006] The joint module provided in this application includes: a bracket, a stopper, a first gear shaft assembly, a second gear shaft assembly, a third gear shaft assembly, a first magnet, a second magnet, a first encoder, and a second encoder; the bracket and the stopper are arranged opposite to each other along the axial direction of the joint module, the stopper is fixed relative to the bracket, the second gear shaft assembly meshes with the first gear shaft assembly, and the third gear shaft assembly meshes with the first gear shaft assembly; both ends of the first gear shaft assembly, both ends of the second gear shaft assembly, and both ends of the third gear shaft assembly are rotatably supported on the bracket and the stopper, respectively, and along the axial direction of the joint module, the first gear shaft assembly, the second gear shaft assembly, and the third gear shaft assembly are all limited between the bracket and the stopper; the first magnet is fixedly connected to the second gear shaft assembly, the second magnet is fixedly connected to the third gear shaft assembly, and both the first encoder and the second encoder are fixed relative to the bracket, with the first encoder opposite to the first magnet and the second encoder opposite to the second magnet.

[0007] Secondly, embodiments of this application provide a robot.

[0008] The robot provided in this application includes any of the joint modules provided in this application.

[0009] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects: In the embodiments of this application, the rotation angle of the second gear shaft assembly relative to the zero position can be determined using a first encoder, and the rotation angle of the third gear shaft assembly relative to the zero position can be determined using a second encoder; furthermore, the rotation angle of the first gear shaft assembly can be determined based on the rotation angles of the second and third gear shaft assemblies. Moreover, in the embodiments of this application, along the axial direction of the joint module, the first, second, and third gear shaft assemblies are all confined between the bracket and the stop member, respectively. This avoids axial movement of the first, second, and third gear shaft assemblies, thus preventing misalignment and improper meshing of the gear shaft assemblies due to axial movement. This also avoids affecting the angle detection accuracy of the joint module due to improper meshing of the gear shaft assemblies. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of a joint module provided in an embodiment of this application; Figure 2 for Figure 1 A schematic diagram of another angle of the joint module shown in the image; Figure 3 for Figure 1 The diagram shows an exploded view of the joint module. Figure 4 for Figure 1 The cross-sectional view of the joint module shown is taken along the axis passing through the first gear shaft assembly. Figure 5 for Figure 4 A partial schematic diagram of region A of the joint module shown in the figure; Figure 6 for Figure 5 A partial schematic diagram of region B of the joint module is shown in the figure; Figure 7 for Figure 1 The cross-sectional view of the joint module shown is taken along the axis passing through the first gear shaft assembly and the axis passing through the second gear shaft assembly. Figure 8 for Figure 7A partial schematic diagram of region C of the joint module is shown in the figure; Figure 9 for Figure 1 The cross-sectional view of the joint module shown is taken along the axis passing through the first gear shaft assembly and the axis passing through the third gear shaft assembly. Figure 10 for Figure 9 A partial schematic diagram of region D of the joint module is shown in the figure; Figure 11 An exploded view of a component including a bracket, a stopper, a first gear shaft assembly, a second gear shaft assembly, and a third gear shaft assembly, provided for an embodiment of this application; Figure 12 A schematic diagram of a component including a first gear shaft assembly, a second gear shaft assembly, and a third gear shaft assembly, provided for an embodiment of this application; Figure 13 A schematic diagram of a component including a first gear shaft assembly, a second gear shaft assembly, a third gear shaft assembly, a rotating component, and an input shaft of a reducer, provided for an embodiment of this application; Figure 14 A schematic diagram of an assembly including a circuit board, a first encoder, and a second encoder, provided for an embodiment of this application; Figure 15 A schematic diagram of a rotating component provided in an embodiment of this application; Figure 16 A schematic diagram of a first gear shaft assembly provided in an embodiment of this application; Figure 17 A schematic diagram of a component including a rotating member and a first gear shaft assembly provided for an embodiment of this application; Figure 18 for Figure 1 The diagram shown in the image conceals the cover of the joint module. Figure 19 A schematic diagram of a cable management socket provided in an embodiment of this application; Figure 20 This is a schematic diagram of an assembly including a circuit board, a cable management socket, and a first cable, provided for an embodiment of this application.

[0012] Explanation of reference numerals in the attached figures: 10-Joint Module; 110 - Bracket; 111 - First receiving hole; 111a - First stop; 112 - Third receiving hole; 112a - Third stop; 113 - Fifth receiving hole; 113a - Fifth stop; 114 - Eighth receiving hole; 114a - Eighth stop; 120 - Stop; 121 - Second receiving hole; 121a - Second stop; 122 - Fourth receiving hole; 122a - Fourth stop; 123 - Sixth receiving hole; 123a - Sixth stop; 124 - Threaded fastener; 130 - First housing; 131 - First side; 132 - Second side; 133 - Opening; 134 - Seventh receiving hole; 134a - Seventh stop; 140 - Second housing; 150 - Cover; 160 - Third housing; 210 - First gear shaft assembly; 211 - First gear; 212 - First rotating shaft; 212a - First abutment surface; 212b - Second abutment surface; 213 - First bearing; 214 - Second bearing; 215 - Recess; 220 - Second gear shaft assembly; 221 - Second gear; 222 - Second rotating shaft; 222a - Third abutment surface; 222b - Fourth abutment surface; 223 - Third bearing; 224 - Fourth bearing; 225 - First mounting hole; 230 - Third gear shaft assembly; 231 - Third gear; 232 - Third rotating shaft; 232a - Fifth abutment surface; 232b - Sixth abutment surface; 233 - Fifth bearing; 234 - Sixth bearing; 235 - Second mounting hole; 310 - First magnet; 320 - Second magnet; 410 - First encoder; 420 - Second encoder; 510-Stator; 520-Rotor; 530-Rotating component; 531-Eighth bearing; 532-Seventh contact surface; 533-Eighth contact surface; 534-Connecting pin; 535-Shim; 536-Protrusion; 537-Ninth stop; 600 - Reducer; 610 - Housing; 620 - Input shaft; 621 - Seventh bearing; 630 - Output section; 700 - Circuit board; 710 - First cable; 711 - First segment; 712 - Second segment; 720 - Cable management base; 721 - Card slot; 800 - Conduit; 810 - Ninth bearing. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0014] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0015] Furthermore, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application specification may have been selected by the applicant at his or her own discretion, and their detailed meanings are explained in the relevant sections of this description.

[0016] Furthermore, this application is required to be understood not only through the actual terms used, but also through the meaning implied by each term.

[0017] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0018] This application provides a joint module. (See reference...) Figures 1 to 20 The joint module 10 provided in this application embodiment includes: a bracket 110, a stopper 120, a first gear shaft assembly 210, a second gear shaft assembly 220, a third gear shaft assembly 230, a first magnet 310, a second magnet 320, a first encoder 410, and a second encoder 420.

[0019] The bracket 110 and the stop 120 are arranged opposite each other along the axial direction of the joint module 10. It should be noted that the axial direction of the joint module 10 refers to the direction parallel to the axis of rotation of the joint module during rotation. Figure 4 Taking the orientation shown as an example, during the rotation of the joint module 10, the output part of the joint module 10 rotates around the central axis extending in the left and right direction. The direction parallel to the central axis is the axial direction of the joint module 10, that is, the axial direction of the joint module 10 is the left and right direction.

[0020] Furthermore, in the embodiments of this application, the stop 120 is fixed relative to the bracket 110, the second gear shaft assembly 220 meshes with the first gear shaft assembly 210, and the third gear shaft assembly 230 meshes with the first gear shaft assembly 210.

[0021] It is worth noting that the second gear shaft assembly 220 and the third gear shaft assembly 230 are each meshed with the first gear shaft assembly 210. Thus, for example, when the first gear shaft assembly 210 is at 0 degrees, the second gear shaft assembly 220 is at 0 degrees, and the third gear shaft assembly 230 is at 0 degrees; when the first gear shaft assembly 210 is at 1 degree, the second gear shaft assembly 220 is at 0.9 degrees, and the third gear shaft assembly 230 is at 0.7 degrees; when the first gear shaft assembly 210 is at 2 degrees, the second gear shaft assembly 220 is at 1.8 degrees, and the third gear shaft assembly 230 is at 1.4 degrees; and so on. Therefore, the angle of the first gear shaft assembly 210 can be determined by detecting the angles of the second gear shaft assembly 220 and the third gear shaft assembly 230.

[0022] It should be noted that if an encoder is only set for the first gear shaft assembly 210 to detect its rotation angle, after the joint module is powered off, although the current angle of the first gear shaft assembly 210 can be determined, the number of rotations of the first gear shaft assembly 210 cannot be determined. For example, although the angle of the first gear shaft assembly 210 is determined to be 30 degrees, it cannot be determined whether the first gear shaft assembly 210 actually rotated 1 rotation plus 30 degrees or 2 rotations plus 30 degrees relative to the zero position.

[0023] The second gear shaft assembly 220 and the third gear shaft assembly 230 are each meshed with the first gear shaft assembly 210. The rotation angles of the second gear shaft assembly 220 and the third gear shaft assembly 230 are used to determine their relative rotation angles. For example, if the first gear shaft assembly 210 rotates 1 revolution plus 30 degrees relative to its zero position, the rotation angle of the second gear shaft assembly 220 is 20.1 degrees, and the rotation angle of the third gear shaft assembly 230 is 27.3 degrees; if the first gear shaft assembly 210 rotates 2 revolutions plus 30 degrees relative to its zero position, the rotation angle of the second gear shaft assembly 220 is 24.3 degrees, and the rotation angle of the third gear shaft assembly 230 is 28.5 degrees. Thus, a corresponding mapping relationship can be established between the rotation angles of the first gear shaft assembly 210, the rotation angles of the second gear shaft assembly 220, and the rotation angles of the third gear shaft assembly 230. Therefore, the rotation angle of the first gear shaft assembly 210 can be determined based on the rotation angles of the second gear shaft assembly 220 and the third gear shaft assembly 230.

[0024] It should also be noted that the rotation angles and their corresponding relationships of the various gear shaft assemblies in the above examples are mainly for those skilled in the art to understand the working principle of the joint module 10 for angle detection. In the process of implementing the solution provided in the embodiments of this application, those skilled in the art can flexibly set the corresponding relationships of the rotation angles of each gear shaft assembly according to actual needs and the working principle of the coprime gear dual encoder, which will not be elaborated here.

[0025] Furthermore, in the embodiments of this application, both ends of the first gear shaft assembly 210, both ends of the second gear shaft assembly 220, and both ends of the third gear shaft assembly 230 are rotatably supported on the bracket 110 and the stop member 120, respectively. Along the axial direction of the joint module 10, the first gear shaft assembly 210, the second gear shaft assembly 220, and the third gear shaft assembly 230 are all confined between the bracket 110 and the stop member 120.

[0026] In other words, one end of the first gear shaft assembly 210 is rotatably supported on the bracket 110, and the other end is rotatably supported on the stop member 120; one end of the second gear shaft assembly 220 is rotatably supported on the bracket 110, and the other end is rotatably supported on the stop member 120; one end of the third gear shaft assembly 230 is rotatably supported on the bracket 110, and the other end is rotatably supported on the stop member 120. The first gear shaft assembly 210 is located between the bracket 110 and the stop member 120 along the axial direction of the joint module 10; the second gear shaft assembly 220 is located between the bracket 110 and the stop member 120 along the axial direction of the joint module 10; and the third gear shaft assembly 230 is located between the bracket 110 and the stop member 120 along the axial direction of the joint module 10.

[0027] Furthermore, the first magnet 310 is fixedly connected to the second gear shaft assembly 220, and the second magnet 320 is fixedly connected to the third gear shaft assembly 230. Both the first encoder 410 and the second encoder 420 are fixed relative to the bracket 110, with the first encoder 410 facing the first magnet 310 and the second encoder 420 facing the second magnet 320.

[0028] It should be noted that during the rotation of the first magnet 310 along with the second gear shaft assembly 220, the magnetic field strength of the first magnet 310 detected by the first encoder 410 changes every certain angle of rotation. Therefore, the rotation angle of the first magnet 310 and the second gear shaft assembly 220 relative to the zero position can be determined by detecting the magnetic field strength of the first magnet 310 using the first encoder 410. Similarly, the rotation angle of the second magnet 320 and the third gear shaft assembly 230 relative to the zero position can be determined by detecting the magnetic field strength of the second magnet 320 using the second encoder 420.

[0029] In this manner, in the embodiments of this application, the rotation angle of the second gear shaft assembly 220 relative to the zero position can be determined using the first encoder 410, and the rotation angle of the third gear shaft assembly 230 relative to the zero position can be determined using the second encoder 420; furthermore, the rotation angle of the first gear shaft assembly 210 can be determined based on the rotation angles of the second gear shaft assembly 220 and the third gear shaft assembly 230. Moreover, in the embodiments of this application, along the axial direction of the joint module 10, the first gear shaft assembly 210, the second gear shaft assembly 220, and the third gear shaft assembly 230 are all respectively confined between the bracket 110 and the stop member 120. This can prevent the first gear shaft assembly 210, the second gear shaft assembly 220, and the third gear shaft assembly 230 from axially moving, thus avoiding the problem of misalignment and incorrect meshing of the gear shaft assemblies due to axial movement of the gear shaft assemblies, and thus avoiding the problem of affecting the angle detection accuracy of the joint module due to incorrect meshing of the gear shaft assemblies.

[0030] refer to Figure 11 In some embodiments, the bracket 110 is provided with a first receiving hole 111, a third receiving hole 112, and a fifth receiving hole 113. The stop member 120 is provided with a second receiving hole 121, a fourth receiving hole 122, and a sixth receiving hole 123. Figures 4 to 10 The first receiving hole 111 and the second receiving hole 121 are opposite to each other along the axial direction of the joint module 10. One end of the first gear shaft assembly 210 is rotatably engaged with the first receiving hole 111, and the other end is rotatably engaged with the second receiving hole 121. The third receiving hole 112 and the fourth receiving hole 122 are opposite to each other along the axial direction of the joint module 10. One end of the second gear shaft assembly 220 is rotatably engaged with the third receiving hole 112, and the other end is rotatably engaged with the fourth receiving hole 122. The fifth receiving hole 113 and the sixth receiving hole 123 are opposite to each other along the axial direction of the joint module 10. One end of the third gear shaft assembly 230 is rotatably engaged with the fifth receiving hole 113, and the other end is rotatably engaged with the sixth receiving hole 123.

[0031] In this way, by providing corresponding receiving holes at both ends of each gear shaft assembly to provide rotational support for each gear shaft assembly, compared with the method of supporting each gear shaft assembly on one side in related technologies, the support effect of each gear shaft assembly can be improved and the running stability of each gear shaft assembly can be improved.

[0032] Combination Figures 4 to 11In some embodiments, the first gear shaft assembly 210 includes a first gear 211 and a first rotating shaft 212 coaxially connected. A first bearing 213 and a second bearing 214 are respectively fitted at both ends of the first rotating shaft 212. The first bearing 213 is supported on the wall of the first receiving hole 111, and the second bearing 214 is supported on the wall of the second receiving hole 121. The second gear shaft assembly 220 includes a second gear 221 and a second rotating shaft 222 coaxially connected. A third bearing 223 and a fourth bearing 224 are respectively fitted at both ends of the second rotating shaft 222. The third bearing 223 is supported on the wall of the third receiving hole 112, and the fourth bearing 224 is supported on the wall of the fourth receiving hole 122. The third gear shaft assembly 230 includes a third gear 231 and a third rotating shaft 232 coaxially connected. The third rotating shaft 232 is fitted with a fifth bearing 233 and a sixth bearing 234 at its two ends respectively. The fifth bearing 233 is supported on the wall of the fifth receiving hole 113, and the sixth bearing 234 is supported on the wall of the sixth receiving hole 123.

[0033] In this way, by setting bearings at both ends of each gear shaft assembly, the resistance of the gear shaft assembly during rotation relative to the support and the stop 120 can be reduced, thereby improving the smoothness of rotation of each gear shaft assembly relative to the support and the stop 120.

[0034] It should be noted that the first gear 211 and the first rotating shaft 212 can be connected as a single unit, or they can be separate components that can be fixedly connected by screws, glue, or welding. Furthermore, the connection methods of the second gear 221 and the second rotating shaft 222, and the connection methods of the third gear 231 and the third rotating shaft 232, can refer to the connection method of the first gear 211 and the first rotating shaft 212, and will not be elaborated further here.

[0035] refer to Figure 4 , Figure 6 , Figure 11 and Figure 12 The first rotating shaft 212 includes a first abutment surface 212a and a second abutment surface 212b that are opposite to each other along the axial direction of the joint module 10. Along the axial direction of the joint module 10, a first bearing 213 is sandwiched between the bracket 110 and the first abutment surface 212a, and a second bearing 214 is sandwiched between the second abutment surface 212b and the stop member 120. Thus, the stop member 120 and the bracket 110 respectively clamp the first rotating shaft 212 of the first gear shaft assembly 210 via the second bearing 214 and the first bearing 213, thereby preventing axial movement of the first gear shaft assembly 210.

[0036] refer to Figure 6For example, the first receiving hole 111 has a first stop portion 111a on its wall. The first stop portion 111a is located on the side of the first bearing 213 opposite to the first abutment surface 212a. The first bearing 213 is sandwiched between the first stop portion 111a and the first abutment surface 212a along the axial direction of the joint module 10. The second receiving hole 121 has a second stop portion 121a on its wall. The second stop portion 121a is located on the side of the second bearing 214 opposite to the second abutment surface 212b. The second bearing 214 is sandwiched between the second abutment surface 212b and the second stop portion 121a along the axial direction of the joint module 10.

[0037] refer to Figure 7 , Figure 8 , Figure 11 and Figure 12 The second rotating shaft 222 includes a third abutment surface 222a and a fourth abutment surface 222b that are opposite to each other along the axial direction of the joint module 10. Along the axial direction of the joint module, a third bearing 223 is sandwiched between the bracket 110 and the third abutment surface 222a, and a fourth bearing 224 is sandwiched between the fourth abutment surface 222b and the stop member 120. Thus, the stop member 120 and the bracket 110 respectively clamp the second rotating shaft 222 of the second gear shaft assembly 220 via the fourth bearing 224 and the third bearing 223, thereby preventing axial movement of the second gear shaft assembly 220.

[0038] refer to Figure 8 For example, the wall of the third receiving hole 112 is provided with a third stop portion 112a, which is located on the side of the third bearing 223 opposite to the third abutment surface 222a. The third bearing 223 is sandwiched between the third stop portion 112a and the third abutment surface 222a along the axial direction of the joint module 10. The wall of the fourth receiving hole 122 is provided with a fourth stop portion 122a, which is located on the side of the fourth bearing 224 opposite to the fourth abutment surface 222b. The fourth bearing 224 is sandwiched between the fourth abutment surface 222b and the fourth stop portion 122a along the axial direction of the joint module 10.

[0039] refer to Figure 9 , Figure 10 , Figure 11 and Figure 12 The third rotating shaft 232 includes a fifth abutment surface 232a and a sixth abutment surface 232b that are opposite to each other along the axial direction of the joint module 10. Along the axial direction of the joint module, a fifth bearing 233 is sandwiched between the bracket 110 and the fifth abutment surface 232a, and a sixth bearing 234 is sandwiched between the sixth abutment surface 232b and the stop member 120. Thus, the stop member 120 and the bracket 110 clamp the third rotating shaft 232 of the third gear shaft assembly 230 via the sixth bearing 234 and the fifth bearing 233, respectively, thereby preventing axial movement of the third gear shaft assembly 230.

[0040] refer to Figure 10 For example, the fifth receiving hole 113 has a fifth stop 113a on its wall. The fifth stop 113a is located on the side of the fifth bearing 233 opposite to the fifth abutment surface 232a. The fifth bearing 233 is sandwiched between the fifth stop 113a and the fifth abutment surface 232a along the axial direction of the joint module 10. The sixth receiving hole 123 has a sixth stop 123a on its wall. The sixth stop 123a is located on the side of the sixth bearing 234 opposite to the sixth abutment surface 232b. The sixth bearing 234 is sandwiched between the sixth abutment surface 232b and the sixth stop 123a along the axial direction of the joint module 10.

[0041] refer to Figure 11 The stop member 120 can be fixedly connected to the bracket 110 by a threaded fastener 124. Alternatively, the stop member 120 can be glued to the bracket 110. Alternatively, the stop member 120 can be snapped to the bracket 110. This application embodiment does not limit the connection method between the stop member 120 and the bracket 110.

[0042] refer to Figures 1 to 5 In some embodiments, the joint module 10 further includes a first housing 130, a stator 510, a rotor 520, a rotating component 530, and a reducer 600.

[0043] The stator 510 and rotor 520 are housed within the first housing 130, with the stator 510 fixedly connected to the first housing 130. The rotor 520 is fixedly connected to the rotating component 530, and the stator 510 is located on the outer periphery of the rotor 520. Exemplarily, the stator 510 is an electromagnetic coil, and the rotor 520 is a permanent magnet. When the electromagnetic coil is energized, it drives the permanent magnet to rotate. It should be noted that the structure and working principle of the stator 510 and rotor 520 are similar to those of the stator and rotor of a motor, and their structure and working principle will not be described further here.

[0044] Furthermore, the reducer 600 includes a housing 610 and an input shaft 620. The housing 610 is fixedly connected to the first housing 130, and the input shaft 620 is rotatably connected to the housing 610. A rotating component 530 is coaxially arranged with the input shaft 620, and the rotating component 530 is circumferentially limited in its connection with the input shaft 620. Because the rotating component 530 is circumferentially limited in its connection with the input shaft 620, during the synchronous rotation of the rotor 520 driving the rotating component 530, the rotating component 530 can drive the input shaft 620 of the reducer 600 to rotate, thereby transmitting the rotational driving force generated during the operation of the stator 510 and the rotor 520 to the input shaft 620 of the reducer 600. Consequently, the output section 630 of the reducer 600 can output power. For example, the first housing 130 of the joint module 10 is fixed relative to the upper arm of the robot, and the input shaft 620 of the reducer 600 is connected to the lower arm of the robot. During the operation of the joint module 10, the joint module 10 can drive the lower arm to rotate relative to the upper arm.

[0045] The rotating component 530 is also coaxially arranged with the first gear shaft assembly 210, and the rotating component 530 and the first gear shaft assembly 210 are circumferentially limited and connected. Because the rotating component 530 and the first gear shaft assembly 210 are circumferentially limited and connected, the rotating component 530 will drive the first gear shaft assembly 210 to rotate when the rotor 520 drives the rotating component 530 to rotate synchronously. In this way, during the operation of the joint module 10, not only can the joint arm be driven to rotate relative to each other, but the power of the rotating component 530 can also be transmitted to the first gear shaft assembly 210, thereby using the first gear shaft assembly 210 to drive the second gear shaft assembly 220 and the third gear shaft assembly 230 to rotate respectively. Thus, the rotation angle of the joint arm is determined by the coprime gear dual encoder formed by the first gear shaft assembly 210, the second gear shaft assembly 220 and the third gear shaft assembly 230.

[0046] refer to Figure 12 and Figure 16 The first gear shaft assembly 210 has a recess 215, for reference. Figure 15 The rotating component 530 is provided with a protrusion 536. (Combined) Figure 13 and Figure 17The protrusion 536 engages with the recess 215, thereby achieving a circumferential limiting fit connection between the rotating component 530 and the first gear shaft assembly 210. Of course, the rotating component 530 and the first gear shaft assembly 210 can also achieve a circumferential limiting fit connection in other ways. For example, the first gear shaft assembly 210 and the rotating component 530 can be connected via a spline connection. Alternatively, the first gear shaft assembly 210 and the rotating component 530 can be connected via a standard flat key connection. It should be noted that this embodiment does not limit the connection method between the first gear shaft assembly 210 and the rotating component 530, as long as the rotating component 530 can drive the first gear shaft assembly 210 to rotate together during rotation.

[0047] refer to Figures 3 to 5 In some embodiments, the first housing 130 has a first side portion 131 and a second side portion 132 on both sides along the axial direction of the joint module 10, and the first side portion 131 is provided with an opening 133. It should be noted that the opening 133 can be used to allow the stator 510, rotor 520 and rotating component 530 to be disposed in the first housing 130 through the opening 133 during the assembly process.

[0048] The bracket 110 is fixedly connected to the first housing 130, and at least a portion of the bracket 110 is located at the opening 133. After the stator 510, rotor 520 and rotating component 530 are installed in the first housing 130 through the opening 133, the bracket 110 can be used to seal the opening 133 of the first housing 130.

[0049] The second side portion 132 is provided with a seventh receiving hole 134, and the bracket 110 is provided with an eighth receiving hole 114. The seventh receiving hole 134 and the eighth receiving hole 114 are opposite each other along the axial direction of the joint module 10. The input shaft 620 is fitted with a seventh bearing 621, which is supported by the wall of the seventh receiving hole 134. In this way, the seventh bearing 621 can be used to provide rotational support for the input shaft 620 of the reducer 600, thereby improving the rotational smoothness of the input shaft 620 of the reducer 600 during the operation of the joint module 10.

[0050] Furthermore, the rotating component 530 is provided with an eighth bearing 531, which is supported by the wall of the eighth receiving hole 114. In this way, the eighth bearing 531 can be used to provide rotational support for the rotating component 530, thereby improving the rotational stability of the rotating component 530 during the operation of the joint module 10.

[0051] refer to Figures 3 to 5In some embodiments, the input shaft 620 of the reducer 600 passes through the rotating member 530 at its end facing the rotating member 530. In this way, the input shaft 620 of the reducer 600 can be used to support the rotating member 530, thereby further improving the rotational smoothness of the rotating member 530 during the operation of the joint module 10.

[0052] For example, the input shaft 620 and the rotating component 530 of the reducer 600 can be connected by a spline to achieve a circumferential limiting fit. Alternatively, the input shaft 620 and the rotating component 530 can be connected by a common flat key to achieve a circumferential limiting fit. Alternatively, a pin hole is provided at the joint between the input shaft 620 and the rotating component 530 of the reducer 600, with half of the pin hole located on the input shaft 620 and half on the rotating component 530; further refer to... Figure 5 The circumferential limiting connection between the input shaft 620 and the rotating component 530 can be achieved by setting a connecting pin 534 in the pin hole. It should be noted that this embodiment does not restrict the connection method between the input shaft 620 of the reducer 600 and the rotating component 530, as long as the rotating component 530 can drive the input shaft 620 of the reducer 600 to rotate together during the rotation of the reducer 600.

[0053] Furthermore, the rotating component 530 includes a seventh abutment surface 532 and an eighth abutment surface 533 that are opposite to each other along the axial direction of the joint module 10. Along the axial direction of the joint module, a seventh bearing 621 is clamped between the seventh abutment surface 532 and the second side portion 132, and an eighth bearing 531 is clamped between the eighth abutment surface 533 and the bracket 110. In this way, the rotating component 530 can be prevented from axially shifting by being clamped between the bracket 110 and the second side portion 132 of the first housing 130 via the eighth bearing 531 and the seventh bearing 621.

[0054] refer to Figure 5 For example, the wall of the seventh receiving hole 134 is provided with a seventh stop portion 134a, which is located on the side of the seventh bearing 621 opposite to the seventh abutment surface 532. The seventh bearing 621 is sandwiched between the seventh stop portion 134a and the seventh abutment surface 532 along the axial direction of the joint module 10. The wall of the eighth receiving hole 114 is provided with an eighth stop portion 114a, which is located on the side of the eighth bearing 531 opposite to the eighth abutment surface 533. The eighth bearing 531 is sandwiched between the eighth abutment surface 533 and the eighth stop portion 114a along the axial direction of the joint module 10.

[0055] In some embodiments, a shim 535 is provided on the side of the eighth bearing 531 opposite to the eighth abutment surface 533, so that if there is a gap between the eighth bearing 531 and the bracket 110 along the axial direction of the joint module 10, the shim 535 can be used to eliminate the gap. Exemplarily, the shim 535 can be an elastic pad.

[0056] refer to Figures 7 to 10 and Figure 14 In some embodiments, the joint module 10 further includes a circuit board 700, which is fixedly connected to the bracket 110. Both the first encoder 410 and the second encoder 420 are disposed on the circuit board 700. Exemplarily, the first encoder 410 is a first encoder, and the second encoder 420 is a second encoder. The first encoder can be fixed and electrically connected to the circuit board 700 by a surface mount technology (SMT) or an adhesive bonding process, and the second encoder can be fixed and electrically connected to the circuit board 700 by a surface mount technology (SMT) or an adhesive bonding process.

[0057] refer to Figure 11 In some embodiments, the second gear shaft assembly 220 has a first mounting hole 225 on the side opposite to the bracket 110. Figure 8 A first magnet 310 is disposed in a first mounting hole 225. For example, the first magnet 310 can be snapped into the first mounting hole 225, or it can be glued to the first mounting hole 225. Similarly, refer to... Figure 11 The third gear shaft assembly 230 has a second mounting hole 235 on the side opposite to the bracket 110. (Combined) Figure 11 The second magnet 320 is disposed in the second mounting hole 235. For example, the second magnet 320 can be snapped into the second mounting hole 235, or it can be glued to the second mounting hole 235.

[0058] refer to Figures 18 to 20 The circuit board 700 is connected to the first cable 710. The joint module 10 also includes a cable management holder 720, which is located on the side of the circuit board 700 opposite to the stop member 120. A portion of the first cable 710 is confined to the side of the cable management holder 720 opposite to the circuit board 700. For example, a slot 721 is provided on the side of the first cable 710 opposite to the circuit board 700, which can confine the first cable 710 within the slot 721.

[0059] In this way, by extending the first cable 710 to the side of the cable holder 720 away from the circuit board 700 and limiting the first cable 710 to the side of the cable holder 720 away from the circuit board 700, the first cable 710 is prevented from coming into contact with the heat source of the circuit board 700, thus avoiding damage to the part of the first cable 710 that comes into contact with the heat source of the circuit board 700; it also avoids damage to the circuit board 700 caused by the first cable 710 scraping the circuit board 700 due to vibration during the movement of the robot equipped with the joint module 10.

[0060] refer to Figure 20 In some embodiments, the first cable 710 includes a first segment 711 and a second segment 712. The first segment 711 is a sub-segment of the first cable 710 extending from the circuit board 700 to the cable management holder 720 on the side facing away from the circuit board 700. The second segment 712 is a sub-segment of the first cable 710 located on the side of the cable management holder 720 facing away from the circuit board 700. The length of the second segment 712 is greater than the length of the first segment 711, and the length of the first segment 711 is less than 100 mm. This allows the first segment 711 of the first cable 710 located between the cable management holder 720 and the circuit board 700 to be shorter, thereby avoiding contact between the first segment 711 of the first cable 710 and the circuit board 700. This also avoids contact between the first cable 710 and the heat source of the circuit board 700, preventing damage to the portion of the first cable 710 in contact with the heat source of the circuit board 700, and also preventing damage to the circuit board 700 due to scratching between the first cable 710 and the circuit board 700.

[0061] In some embodiments, the stator 510 is an electromagnetic coil. The electromagnetic coil is connected to a second cable for supplying power to the electromagnetic coil. The second cable passes sequentially through the bracket 110 and the circuit board 700, extending to the side of the cable management holder 720 opposite to the circuit board 700. The cable management holder 720 may also limit the portion of the second cable extending to the side of the cable management holder 720 opposite to the circuit board 700.

[0062] refer to Figures 1 to 4 and Figure 18 In some embodiments, the joint module 10 further includes a second housing 140 and a cover 150. The bracket 110, the second housing 140, and the cover 150 form a receiving cavity. The stop 120, the first gear shaft assembly 210, the second gear shaft assembly 220, the third gear shaft assembly 230, the circuit board 700, and the cable management seat 720 are disposed within the receiving cavity.

[0063] refer to Figures 1 to 3 In some embodiments, the joint module 10 further includes a third housing 160. The third housing 160 is located outside the reducer 600.

[0064] refer to Figures 1 to 5In some embodiments, the joint module 10 further includes a conduit 800. The conduit 800 extends along the axial direction of the joint module 10, and its centerline coincides with the axial direction of the joint module 10. In other words, the conduit 800 is located at the exact center of the joint module 10. This facilitates the passage of cables for the robot fitted with the joint module 10 through the conduit 800 from one side of the joint module 10 to the other. The joint module 10 also includes a ninth bearing 810. The conduit 800 passes through the central hole of the rotating member 530, and the ninth bearing 810 is sleeved on the outside of the conduit 800, with its outer peripheral surface abutting against the wall of the central hole of the rotating member 530. Along the axial direction of the joint module 10, the ninth bearing 810 is sandwiched between the input shaft 620 of the reducer 600 and the ninth stop portion 537 of the rotating member 530. One end of the conduit 800 can be connected to the output part 630 of the reducer 600.

[0065] This application provides a robot. The robot provided in this application includes any type of joint module 10 provided in this application. Exemplarily, the robot can be a humanoid robot or a quadruped robot, etc., and this application does not limit the specific type of robot.

[0066] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0067] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the embodiments of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A joint module, characterized in that, include: The bracket (110), the stop (120), the first gear shaft assembly (210), the second gear shaft assembly (220), the third gear shaft assembly (230), the first magnet (310), the second magnet (320), the first encoder (410), and the second encoder (420); The bracket (110) and the stop (120) are arranged opposite to each other along the axial direction of the joint module. The stop (120) is fixed relative to the bracket (110). The second gear shaft assembly (220) meshes with the first gear shaft assembly (210). The third gear shaft assembly (230) meshes with the first gear shaft assembly (210). Both ends of the first gear shaft assembly (210), both ends of the second gear shaft assembly (220), and both ends of the third gear shaft assembly (230) are rotatably supported on the bracket (110) and the stop (120), respectively. Along the axial direction of the joint module, the first gear shaft assembly (210), the second gear shaft assembly (220), and the third gear shaft assembly (230) are all limited between the bracket (110) and the stop (120). The first magnet (310) is fixedly connected to the second gear shaft assembly (220), the second magnet (320) is fixedly connected to the third gear shaft assembly (230), the first encoder (410) and the second encoder (420) are both fixed relative to the bracket (110), the first encoder (410) is opposite to the first magnet (310), and the second encoder (420) is opposite to the second magnet (320).

2. The joint module according to claim 1, characterized in that, The bracket (110) is provided with a first receiving hole (111), a third receiving hole (112) and a fifth receiving hole (113), and the stop (120) is provided with a second receiving hole (121), a fourth receiving hole (122) and a sixth receiving hole (123). The first receiving hole (111) and the second receiving hole (121) are opposite each other along the axial direction of the joint module. One end of the first gear shaft assembly (210) is rotatably engaged with the first receiving hole (111), and the other end is rotatably engaged with the second receiving hole (121). The third receiving hole (112) and the fourth receiving hole (122) are opposite each other along the axial direction of the joint module. One end of the second gear shaft assembly (220) is rotatably engaged with the third receiving hole (112), and the other end is rotatably engaged with the fourth receiving hole (122). The fifth receiving hole (113) and the sixth receiving hole (123) are opposite each other along the axial direction of the joint module. One end of the third gear shaft assembly (230) is rotatably engaged with the fifth receiving hole (113), and the other end is rotatably engaged with the sixth receiving hole (123).

3. The joint module according to claim 2, characterized in that, The first gear shaft assembly (210) includes a first gear (211) and a first rotating shaft (212) coaxially connected. The two ends of the first rotating shaft (212) are respectively fitted with a first bearing (213) and a second bearing (214). The first bearing (213) is supported on the wall of the first receiving hole (111), and the second bearing (214) is supported on the wall of the second receiving hole (121). The second gear shaft assembly (220) includes a second gear (221) and a second shaft (222) coaxially connected. The two ends of the second shaft (222) are respectively fitted with a third bearing (223) and a fourth bearing (224). The third bearing (223) is supported on the wall of the third receiving hole (112), and the fourth bearing (224) is supported on the wall of the fourth receiving hole (122). The third gear shaft assembly (230) includes a third gear (231) and a third rotating shaft (232) connected coaxially. The two ends of the third rotating shaft (232) are respectively fitted with a fifth bearing (233) and a sixth bearing (234). The fifth bearing (233) is supported on the wall of the fifth receiving hole (113), and the sixth bearing (234) is supported on the wall of the sixth receiving hole (123).

4. The joint module according to claim 3, characterized in that, The first rotating shaft (212) includes a first abutting surface (212a) and a second abutting surface (212b) that are opposite to each other along the axial direction of the joint module. Along the axial direction of the joint module, the first bearing (213) is sandwiched between the bracket (110) and the first abutting surface (212a), and the second bearing (214) is sandwiched between the second abutting surface (212b) and the stopper (120). The second rotating shaft (222) includes a third abutment surface (222a) and a fourth abutment surface (222b) that are opposite to each other along the axial direction of the joint module. Along the axial direction of the joint module, the third bearing (223) is sandwiched between the bracket (110) and the third abutment surface (222a), and the fourth bearing (224) is sandwiched between the fourth abutment surface (222b) and the stopper (120). The third rotating shaft (232) includes a fifth abutment surface (232a) and a sixth abutment surface (232b) that are opposite to each other along the axial direction of the joint module. Along the axial direction of the joint module, the fifth bearing (233) is sandwiched between the bracket (110) and the fifth abutment surface (232a), and the sixth bearing (234) is sandwiched between the sixth abutment surface (232b) and the stopper (120).

5. The joint module according to claim 1, characterized in that, The joint module also includes a first housing (130), a stator (510), a rotor (520), a rotating component (530), and a reducer (600). The stator (510) and the rotor (520) are disposed inside the first housing (130). The stator (510) is fixedly connected to the first housing (130), and the rotor (520) is fixedly connected to the rotating component (530). The stator (510) is located on the outer periphery of the rotor (520). The reducer (600) includes a housing (610) and an input shaft (620). The housing (610) is fixedly connected to the first housing (130), and the input shaft (620) is rotatably connected to the housing (610). The rotating component (530) is coaxially arranged with the input shaft (620), and the rotating component (530) and the input shaft (620) are circumferentially limited and connected; The rotating component (530) is also coaxially arranged with the first gear shaft assembly (210), and the rotating component (530) is circumferentially limited and connected to the first gear shaft assembly (210).

6. The joint module according to claim 5, characterized in that, The first housing (130) has a first side (131) and a second side (132) on both sides along the axial direction of the joint module. The first side (131) is provided with an opening (133). The bracket (110) is fixedly connected to the first housing (130), and at least a portion of the bracket (110) is located at the opening (133). The second side (132) is provided with a seventh receiving hole (134), the bracket (110) is provided with an eighth receiving hole (114), the seventh receiving hole (134) and the eighth receiving hole (114) are opposite to each other along the axial direction of the joint module, the input shaft (620) is fitted with a seventh bearing (621), the seventh bearing (621) is supported on the hole wall of the seventh receiving hole (134), the rotating part (530) is provided with an eighth bearing (531), the eighth bearing (531) is supported on the hole wall of the eighth receiving hole (114).

7. The joint module according to claim 6, characterized in that, The end of the input shaft (620) facing the rotating member (530) passes through the rotating member (530). The rotating component (530) includes a seventh abutment surface (532) and an eighth abutment surface (533) that are opposite to each other along the axial direction of the joint module. Along the axial direction of the joint module, the seventh bearing (621) is sandwiched between the seventh abutment surface (532) and the second side (132), and the eighth bearing (531) is sandwiched between the eighth abutment surface (533) and the bracket (110).

8. The joint module according to claim 1, characterized in that, The joint module also includes a circuit board (700), which is fixedly connected to the bracket (110); the first encoder (410) and the second encoder (420) are both disposed on the circuit board (700); the circuit board (700) is connected to the first cable (710); The joint module also includes a cable management base (720), which is located on the side of the circuit board (700) away from the stop member (120), and a portion of the first cable (710) is located on the side of the cable management base (720) away from the circuit board (700).

9. The joint module according to claim 8, characterized in that, The first cable (710) includes a first segment (711) and a second segment (712). The first segment (711) is a sub-segment of the first cable (710) extending from the circuit board (700) to the side of the cable management socket (720) away from the circuit board (700). The second segment (712) is a sub-segment of the first cable (710) located on the side of the cable management socket (720) away from the circuit board (700). The length of the second segment (712) is greater than the length of the first segment (711), and the length of the first segment (711) is less than 100 mm.

10. A robot, characterized in that, include: The joint module according to any one of claims 1 to 9.

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