Joint module and robot

Abstract

The application provides a joint module and a robot, comprising a stator assembly and a rotor assembly, the rotor assembly rotates relative to the stator assembly, the rotor assembly comprises a flange plate, an outer periphery of the flange plate is connected with a replaceable limiting block through a threaded structure, the limiting block is connected with the stator assembly through a rotation-stopping structure, the limiting block can only move along an axial direction of the flange plate relative to the stator assembly under the action of the rotation-stopping structure, the joint module is further provided with a first limiting part and a second limiting part, the limiting block can move along the threaded structure between the first limiting part and the second limiting part, the range of joint rotation can be improved and the safety of joint rotation limiting can be improved.

Description

Technical Field

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

[0002] Robot joint limiting is often achieved by adding limiting columns or blocks to the robotic arm components. The limiting logic based on rigid blocking not only forces the joint's range of motion to converge to ±180°, but also lacks mechanical limiting links when facing complex working conditions that require full rotation or significantly exceed ±180°.

[0003] In the prior art, in order to increase the range of motion of the joint, the robot joint limiting scheme achieves soft braking by integrating an electrical signal control mechanism. However, such a logic closed loop that relies on a continuous power supply will cause the protection mechanism to fail instantly when encountering a sudden power outage or power interruption, thereby causing the joint to exceed the preset limit position due to inertia or external load, resulting in uncontrollable movement risks.

[0004] Improving the range of joint rotation and enhancing the safety of joint rotation limit are pressing technical problems that need to be solved. Summary of the Invention

[0005] Therefore, the present invention provides a joint module and robot that can increase the range of joint rotation and improve the safety of joint rotation limit.

[0006] On one hand, the present invention provides a joint module, including a stator assembly and a rotor assembly, wherein the rotor assembly rotates relative to the stator assembly, the rotor assembly includes a flange, and a replaceable limiting block is connected to the outer periphery of the flange via a threaded structure. The limiting block is connected to the stator assembly via an anti-rotation structure, and the limiting block can only move relative to the stator assembly along the axial direction of the flange under the action of the anti-rotation structure. The joint module is also provided with a first limiting part and a second limiting part, and the limiting block can move between the first limiting part and the second limiting part along the threaded structure.

[0007] In some embodiments, the anti-rotation structure includes a sliding hole disposed on one of the limiting block and the stator assembly, and the anti-rotation structure further includes a guide rod disposed on the other of the limiting block and the stator assembly, the guide rod extending along the axial direction of the flange and inserted into the sliding hole.

[0008] In some embodiments, the sliding hole is disposed on the limiting block and passes through the limiting block along the axial direction of the flange, and the guide rod is disposed on the stator assembly.

[0009] In some embodiments, the sliding hole is disposed on the stator assembly, and the guide rod is disposed on the limiting block and inserted into the sliding hole along the axial direction of the flange.

[0010] In some embodiments, the stator assembly includes a first plane, the guide rod is fixed on the first plane and perpendicular to the first plane, the first limiting portion includes the first plane; the outer peripheral surface of the flange is provided with a stepped structure, the step includes an annular surface surrounding the axis of the flange, the step also includes a second plane intersecting the annular surface and facing the stator assembly, the annular surface is provided with an external thread that mates with the limiting block, the external thread extends to the second plane, and the second limiting portion includes the second plane.

[0011] In some embodiments, the first limiting portion further includes a first pressure sensor, and / or the second limiting portion further includes a second pressure sensor.

[0012] In some embodiments, the first limiting part further includes a first distance sensor for detecting the distance between the limiting block and the first plane, and the second limiting part further includes a second distance sensor for detecting the distance between the limiting block and the second plane.

[0013] In some embodiments, the distance between the limiting block and the first plane is L1, the distance between the limiting block and the second plane is L2, the pitch of the thread structure between the limiting block and the flange is P, and L1+L2≥2P.

[0014] In some embodiments, the limiting block is annular, and there are at least two anti-rotation structures evenly arranged around the axis of the flange.

[0015] On the other hand, the present invention also provides a robot including the aforementioned joint module.

[0016] This application utilizes a limiting block, which is connected to the flange of the rotor assembly via a threaded structure. The rotation of the rotor assembly is converted into linear motion of the limiting block. The first and second limiting portions on both sides of the limiting block effectively limit the rotation angle of the rotor assembly, indirectly restricting and protecting it. The rotation angle of the rotor assembly depends on the distance between the limiting block and the first and second limiting portions, as well as the pitch of the threaded structure between the flange and the limiting block. Compared to traditional methods that directly act on a robotic arm or control the rotation angle via circuitry, this application uses a limiting block for indirect limiting and control. This not only restricts a wider range of rotation angles for the rotating assembly but also provides protection in the event of a sudden power outage, making it safer. Attached Figure Description

[0017] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0018] Figure 1 This is an exploded view of the joint module according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the joint module assembly according to an embodiment of the present invention;

[0020] Figure 3 This is an embodiment of the present invention. Figure 2 Enlarged view of point A in the middle;

[0021] Figure 4 This is a schematic diagram of the stator assembly according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the limiting block according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the flange according to an embodiment of the present invention;

[0024] The attached figures are labeled as follows:

[0025] 1. Rotor assembly; 101. Flange; 1011. External thread; 2. Stator assembly; 3. Anti-rotation structure; 301. Sliding hole; 302. Guide rod; 4. Limiting block; 5. Robotic arm; 6. Articulated arm; 701. First limiting part; 702. Second limiting part; 801. Outer cover; 802. Rubber protective coil; 803. Wire fixing plate. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0028] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0029] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0030] Robot joint limiting is often achieved by adding limiting columns or blocks to the robotic arm components. The limiting logic based on rigid blocking not only forces the joint's range of motion to converge to ±180°, but also lacks mechanical limiting links when facing complex working conditions that require full rotation or significantly exceed ±180°.

[0031] In the prior art, in order to increase the range of motion of the joint, the robot joint limiting scheme achieves soft braking by integrating an electrical signal control mechanism. However, such a logic closed loop that relies on a continuous power supply will cause the protection mechanism to fail instantly when encountering a sudden power outage or power interruption, thereby causing the joint to exceed the preset limit position due to inertia or external load, resulting in uncontrollable movement risks.

[0032] Improving the range of joint rotation and enhancing the safety of joint rotation limit are pressing technical problems that need to be solved.

[0033] See also Figure 1-6 As shown, the present invention provides a joint module, including a stator assembly 2 and a rotor assembly 1. The rotor assembly 1 rotates relative to the stator assembly 2. The rotor assembly 1 includes a flange 101. A replaceable limiting block 4 is connected to the outer periphery of the flange 101 via a threaded structure. The limiting block 4 is connected to the stator assembly 2 via an anti-rotation structure 3. Under the action of the anti-rotation structure 3, the limiting block 4 can only move relative to the stator assembly 2 along the axial direction of the flange 101. The joint module is also provided with a first limiting part 701 and a second limiting part 702. The limiting block 4 can move between the first limiting part 701 and the second limiting part 702 along the threaded structure.

[0034] When the joint module is working, the stator assembly 2 remains stationary (generally, the stator assembly 2 is connected to the base), while the rotor assembly 1 rotates relative to the stator assembly 2. Due to the anti-rotation structure 3, the limiting block 4 can only move closer to or further away from the stator assembly 2, and cannot rotate with the flange 101. At this time, the flange 101 drives the limiting block 4 to move closer to or further away from the stator assembly 2 via a threaded structure. When the limiting block 4 contacts the first limiting part 701 or the second limiting part 702, the limiting block 4 stops moving. Since the limiting block 4 is bolted to the flange 101, the flange 101 can no longer drive the limiting block 4 to move. Conversely, the limiting block 4 restricts the rotation of the flange 101, thus limiting the rotation angle of the flange 101. Compared with existing technologies, this application converts the rotation angle of the rotor assembly 1 into the linear movement of the limiting block 4 (moving closer to or further away from the stator assembly 2). The magnitude of the rotation angle of the rotor assembly 1 depends on the pitch of the threaded structure and the distance between the limiting structure and the first limiting part 701 and the second limiting part 702. This greatly increases the rotation angle of the rotor assembly 1. For example, a 360° rotation of the rotor assembly 1 is equivalent to the limiting block 4 moving by one thread pitch. If needed, the rotor assembly 1 can rotate at a larger angle, such as 720°. Existing technologies cannot achieve such a large angle of rotation by physically blocking the robotic arm 5 mounted on the rotor assembly 1. Controlling the rotation angle of the rotor assembly 1 via electrical signals is unsafe in the event of a sudden power outage. The movement limit of the limiting block 4 in this application is a physical form. It can both expand the limiting angle of the rotor assembly 1's rotation and is unaffected by power outages, improving the applicability and safety of the shutdown module.

[0035] Since the limit block 4 can be replaced, quick maintenance can be performed by replacing the limit block 4. Alternatively, the distance between the limit block 4 and the first limit part 701 and the second limit part 702 can be adjusted by changing the size of the limit block 4, thereby adjusting the rotation angle of the rotor assembly 1.

[0036] Preferred, such as Figure 2 and Figure 3 As shown, the anti-rotation structure 3 includes a sliding hole 301 disposed on one of the limiting block 4 and the stator assembly 2, and the anti-rotation structure 3 also includes a guide rod 302 disposed on the other of the limiting block 4 and the stator assembly 2. The guide rod 302 extends along the axial direction of the flange 101 and is inserted into the sliding hole 301.

[0037] When the rotor assembly 1 rotates, the limiting block 4 moves closer to or further away from the stator assembly 2 (moving along the axial direction of the flange 101) with the cooperation of the guide rod 302 and the sliding hole 301. The structure is simple and conducive to improving safety, reliability and subsequent maintainability. It occupies little space, which is conducive to the miniaturization of the joint module and improves the applicability of the joint module.

[0038] Specifically, the guide rod 302 and the sliding hole 301 are fitted with a clearance, allowing the guide rod 302 to slide smoothly relative to the sliding hole 301.

[0039] Preferred, such as Figures 2-6 As shown, the sliding hole 301 is disposed on the limiting block 4 and passes through the limiting block 4 along the axial direction of the flange 101, and the guide rod 302 is disposed on the stator assembly 2.

[0040] By setting the slider on the limiting block 4 and the guide rod 302 on the stator assembly 2, the structure of the moving part limiting block 4 is relatively simple and easy to replace.

[0041] Preferred, such as Figures 2-6 As shown, the sliding hole 301 is disposed on the stator assembly 2, and the guide rod 302 is disposed on the limiting block 4 and inserted into the sliding hole along the axial direction of the flange 101.

[0042] By setting the guide rod 302 on the limiting block 4 and the sliding hole 301 on the stator assembly 2, the processing of the stator assembly 2 is facilitated, which helps to reduce costs.

[0043] Preferred, such as Figures 2-6 As shown, the stator assembly 2 includes a first plane, the guide rod 302 is fixed on the first plane and perpendicular to the first plane, the first limiting part 701 includes the first plane; the outer peripheral surface of the flange 101 is provided with a stepped structure, the step includes an annular surface surrounding the axis of the flange 101, the step also includes a second plane intersecting the annular surface and facing the stator assembly 2, the annular surface is provided with an external thread 1011 that cooperates with the limiting block 4, the external thread 1011 extends to the second plane, and the second limiting part 702 includes the second plane.

[0044] The second plane is set on the stepped structure on the outer circumference of the flange 101, and the external thread 1011 is directly machined on the annular surface of the stepped structure. In this way, the flange 101 can be equivalent to a stud, which is convenient for machining. The machining of the external thread 1011 and the machining of the first and second planes are all based on the same datum (the machining of the stepped structure and the external thread 1011 does not require changing the clamping and positioning of the flange 101 on the machine tool), resulting in higher machining accuracy and less resistance from the limiting block 4 when the rotor assembly 1 rotates.

[0045] Preferred, such as Figures 2-6 As shown, the first limiting part 701 further includes a first pressure sensor, and / or the second limiting part 702 further includes a second pressure sensor.

[0046] By incorporating a pressure sensor, when the limiting block 4 moves to the first or second plane, it acts on the pressure sensor, sending a signal. Based on this signal, the rotor is stopped or reversed. Thus, the first limiting part 701 and the second limiting part 702 not only physically limit the limiting block 4, thereby restricting the rotation angle of the rotor assembly 1, but also control the rotor's rotation based on the position of the limiting block 4 using the pressure sensor. This prevents the rotor from exceeding its rotation range and damaging the joint module, thus avoiding production safety issues.

[0047] Preferred, such as Figures 2-6 As shown, the first limiting part 701 further includes a first distance sensor for detecting the distance between the limiting block 4 and the first plane, and the second limiting part 702 further includes a second distance sensor for detecting the distance between the limiting block 4 and the second plane.

[0048] By setting a distance sensor, the distance between the limit block 4 and the first and second planes, as well as the trend of distance changes, can be detected. This allows for control of the rotation of the joint assembly. For example, if the distance from the first plane is less than a preset value and continues to decrease, the rotation speed of the rotor assembly 1 can be slowed down to prevent safety accidents caused by inertia. It also avoids or reduces the squeezing force and wear between the limit block 4 and the two planes, which helps ensure the service life and working accuracy of the joint module.

[0049] The first plane, the second plane, two pressure sensors, and two distance sensors work together to improve the service life of the joint module. For example, the rotation limit of rotor assembly 1 is controlled by the distance sensors. That is, the distance sensors detect the distance the limit block 4 moves. When the designed position is reached, the distance sensors first send a signal to change the rotation state of rotor assembly 1. When the distance sensor fails, or other reasons prevent the rotor assembly 1 from rotating, the limit block 4 continues to move and presses against the pressure sensor. The pressure sensor then sends a signal to control the operation of rotor assembly 1. When the pressure sensor also fails to send a corresponding signal, the limit block 4 makes direct physical contact with one of the two planes, thus preventing the limit block 4 from moving and preventing the rotor assembly 1 from rotating. Of course, after the distance sensor fails, the distance by which the limit block 4 moves and triggers the pressure sensor can be adjusted according to actual needs, and is generally small, such as 0.1mm. Similarly, the distance by which the limit block 4 moves to contact the plane after the pressure sensor fails can also be adjusted, and is generally small, such as 0.1mm.

[0050] Preferred, such as Figures 2-6 As shown, the distance between the limiting block 4 and the first plane is L1, the distance between the limiting block 4 and the second plane is L2, and the pitch of the thread structure between the limiting block 4 and the flange 101 is P, where L1+L2≥2P.

[0051] Rotor assembly 1 rotates, causing limiting block 4 to move closer to or further away from the first plane along the external thread 1011 on flange 101. The rotation angle of rotor assembly 1 depends on the distance between the limiting block and the two planes, and the pitch of the external thread 1011. By ensuring that L1+L2≥2P, when the initial position of limiting block 4 is located at the midpoint between the first and second planes, rotor assembly 1 can rotate at least 360° in both directions, effectively increasing the applicability of the joint module and enhancing its market competitiveness.

[0052] Preferred, such as Figures 2-6 As shown, the limiting block 4 is annular, and there are at least two anti-rotation structures 3 evenly arranged around the axis of the flange 101.

[0053] By setting the limiting block 4 as a ring, the limiting block 4 is equivalent to a threaded sleeve on the flange 101. At this time, the fit between the limiting block 4 and the flange 101 is tighter and more precise, and there will be no separation from the flange 101. Since there are at least two anti-rotation structures 3 and they are evenly arranged around the axis of the flange 101, the force on the limiting ring is more even, which is conducive to the smooth operation of the joint module.

[0054] like Figure 2As shown, the joint module also includes an outer cover 801, a rubber coil guard 802, a wire fixing plate 803, screws, a joint arm 6, a robotic arm 5, etc.

[0055] The stator assembly 2 is connected to the articulated arm 6 by screws, and the rotor assembly 1 is connected to the robotic arm 5 by screws.

[0056] The present invention also provides a robot including the aforementioned joint module.

[0057] The robot also includes a robotic arm 5, which is connected to the rotor assembly 1. Since the rotation angle of the rotor assembly 1 depends on the moving distance of the limit block 4 and the pitch of the external thread 1011, the robotic arm 5 of the robot in this application has a large rotation angle range, which improves the applicability and safety of the robot's operation.

[0058] When the limiting block 4 of this application is in direct physical contact with the first plane and the second plane, the limiting block 4 stops moving directly. Even if the power is cut off, the limiting block 4 still effectively limits the rotation of the robotic arm 5, which improves the safety of the robot's operation.

[0059] When the robot is working, the initial position of the limiting block 4 is at the midpoint between the first and second planes. The rotor assembly 1 drives the robotic arm 5. The flange 101 of the rotor assembly 1 rotates clockwise, causing the limiting block 4 to move towards the first plane via a threaded structure. When the limiting block 4 contacts the first plane, it has physically reached its limit and cannot move further. At this point, the rotor assembly 1 has rotated to its maximum angle in the forward direction, such as 360°. Thus, the limiting block 4 limits the robotic arm 5 in the forward direction. If, starting from the initial position, the rotor assembly 1 reverses direction, the flange 101, through the threaded structure, drives the limiting block 4 towards the second plane. When the limiting block 4 contacts the second plane, it has physically reached its limit and cannot move further. At this point, the rotor assembly 1 has reversed to its maximum angle, such as 360°. Thus, the limiting block 4 limits the robotic arm 5 in the reverse direction. It is readily understood by those skilled in the art that, without conflict, the advantageous technical features of the above-described methods can be freely combined and superimposed.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention. The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the protection scope of the present invention.

Claims

1. A joint module comprising a stator assembly (2) and a rotor assembly (1), the rotor assembly (1) rotating relative to the stator assembly (2), characterized in that, The rotor assembly (1) includes a flange (101), and a replaceable limiting block (4) is connected to the outer periphery of the flange (101) via a threaded structure. The limiting block (4) is connected to the stator assembly (2) via an anti-rotation structure (3). Under the action of the anti-rotation structure (3), the limiting block (4) can only move relative to the stator assembly (2) along the axial direction of the flange (101). The joint module is also provided with a first limiting part (701) and a second limiting part (702). The limiting block (4) can move between the first limiting part (701) and the second limiting part (702) along the threaded structure.

2. The joint module according to claim 1, characterized in that, The anti-rotation structure (3) includes a sliding hole (301) disposed on one of the limiting block (4) and the stator assembly (2), and the anti-rotation structure (3) also includes a guide rod (302) disposed on the other of the limiting block (4) and the stator assembly (2), the guide rod (302) extending along the axial direction of the flange (101) and inserted into the sliding hole (301).

3. The joint module according to claim 2, characterized in that, The sliding hole (301) is provided on the limiting block (4) and passes through the limiting block (4) along the axial direction of the flange (101), and the guide rod (302) is provided on the stator assembly (2).

4. The joint module according to claim 2, characterized in that, The sliding hole (301) is provided on the stator assembly (2), and the guide rod (302) is provided on the limiting block (4) and inserted into the sliding hole (301) along the axial direction of the flange (101).

5. The joint module according to claim 3, characterized in that, The stator assembly (2) includes a first plane, the guide rod (302) is fixed on the first plane and perpendicular to the first plane, the first limiting part (701) includes the first plane; the outer peripheral surface of the flange (101) is provided with a stepped structure, the step includes an annular surface surrounding the axis of the flange (101), the step also includes a second plane intersecting the annular surface and facing the stator assembly (2), the annular surface is provided with an external thread (1011) that cooperates with the limiting block (4), the external thread (1011) extends to the second plane, the second limiting part (702) includes the second plane.

6. The joint module according to claim 5, characterized in that, The first limiting part (701) further includes a first pressure sensor, and / or the second limiting part (702) further includes a second pressure sensor.

7. The joint module according to claim 5, characterized in that, The first limiting part (701) further includes a first distance sensor for detecting the distance between the limiting block (4) and the first plane, and the second limiting part (702) further includes a second distance sensor for detecting the distance between the limiting block (4) and the second plane.

8. The joint module according to claim 5, characterized in that, The distance between the limiting block (4) and the first plane is L1, the distance between the limiting block (4) and the second plane is L2, the pitch of the thread structure between the limiting block (4) and the flange (101) is P, and L1+L2≥2P.

9. The joint module according to claim 1, characterized in that, The limiting block (4) is annular, and the anti-rotation structure (3) has at least two and is evenly arranged around the axis of the flange (101).

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

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