Joint module sealing structure and joint module

Abstract

The application discloses a joint module sealing structure and a joint module, and belongs to the technical field of robot joint modules.The joint module sealing structure comprises at least one oil-blocking outer ring and at least one oil-blocking inner ring, the oil-blocking outer ring is in a concave annular structure with an inner ring thinner than an outer ring, the oil-blocking inner ring is in a convex annular structure with an inner ring thicker than an outer ring, and the oil-blocking outer ring and the oil-blocking inner ring are arranged alternately along an axial direction and form a narrow gap between them.In the application, the oil-blocking outer ring and the oil-blocking inner ring are in a clearance fit and do not contact each other, so that non-contact sealing is realized, and the problems of sealing element wear and heating are avoided;the narrow gap formed by the alternately arranged concave structure and convex structure extends in a zigzag manner along a radial direction and an axial direction, the high viscosity of lubricating grease is utilized to make it difficult for the lubricating grease to pass through, the lubricating grease is effectively prevented from flowing from a speed reducer side to a motor side, the structure is simple and compact, and is suitable for narrow sealing spaces, and provides a reliable lubricating grease sealing solution for high-integration robot joint modules.

Description

Technical Field

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

[0002] With the rapid development of robotics and automation, the requirements for the size and integration of transmission joint modules used in robotic arms and automation are becoming smaller and smaller. Joint modules typically integrate core components such as motors, reducers, encoders, brake components, and drivers into a modular assembly along the same axis, forming an integrated joint module.

[0003] The joint module typically contains gear components. During operation, grease needs to be added inside the module to lubricate the gear components. Simultaneously, because the motor rotor and stator at the motor end need to be isolated from the gear end to prevent grease from flowing into the motor rotor and stator, a sealing structure is required between the reducer and the motor.

[0004] However, with the miniaturization of joint modules, their internal space has been drastically compressed. On the one hand, smaller bearings are needed inside the module; on the other hand, to meet the requirements of internal wiring, the internal shaft diameter needs to be increased to accommodate larger wiring holes. These two factors combined result in a significant compression of the radial dimension of the sealing space required at the bearing seal. Traditional sealing methods, such as O-ring seals or lip seals, are difficult to apply to scenarios with limited radial sealing space due to the inherent thickness and width of the seals themselves, as well as the need for installation space and precision machining. Summary of the Invention

[0005] Based on this, the present invention provides a joint module sealing structure and an intelligent robot joint assembly.

[0006] To achieve the above objectives, the present invention provides a joint module sealing structure, comprising: At least one oil-blocking outer ring, the oil-blocking outer ring having a concave annular structure with the inner ring being thinner than the outer ring; At least one oil-blocking inner ring, the oil-blocking inner ring having an inwardly convex annular structure with the inner ring being thicker than the outer ring; The outer and inner oil-blocking rings are arranged alternately along the axial direction, and a narrow gap is formed between the outer and inner oil-blocking rings.

[0007] As a further improvement of the present invention, there are multiple oil-blocking outer rings and multiple oil-blocking inner rings, and the multiple oil-blocking outer rings and multiple oil-blocking inner rings are arranged alternately along the axial direction. There is an axial clearance between adjacent outer and inner oil baffle rings and a radial clearance in the radial direction. The axial clearance is located between the opposite end faces of the adjacent outer and inner oil baffle rings, and the radial clearance is located between the inner wall of the outer oil baffle ring and the outer wall of the inner oil baffle ring. The axial clearance and radial clearance alternately connect along the axial direction, together forming a barrier channel that extends in a tortuous manner along the axial direction.

[0008] To achieve the above objectives, another aspect of the present invention provides a joint module, comprising: Motor housing; The motor is housed inside the motor casing; The motor rotor shaft passes through the motor housing and is connected to the motor's output end; The speed reducer is located at one end of the motor rotor shaft; And as mentioned above, the joint module sealing structure is located between the reducer and the motor.

[0009] As a further improvement of the present invention, the oil-blocking outer ring is fixedly installed on the inner ring wall of the motor housing, and the oil-blocking inner ring is fixedly installed on the outer peripheral wall of the motor rotor shaft.

[0010] As a further improvement of the present invention, the reducer includes a cycloidal wheel, an input shaft and a first bearing. The input shaft has an eccentric shaft portion, and the cycloidal wheel is mounted on the eccentric shaft portion through the first bearing. The input shaft is fixedly connected to the motor rotor shaft.

[0011] As a further improvement of the present invention, the motor includes a motor stator and a motor rotor. The motor rotor is fixedly connected to the motor rotor shaft, and the motor stator is fixedly connected to the motor housing. A fourth bearing is provided between the motor rotor shaft and the motor housing. The inner ring of the fourth bearing is engaged with the motor rotor shaft, and the outer ring is engaged with the motor housing.

[0012] As a further improvement of the present invention, the reducer includes a pin tooth housing, the joint module also includes an intermediate flange, and the motor housing is fixedly connected to the pin tooth housing through the intermediate flange.

[0013] As a further improvement of the present invention, the reducer also includes an adapter flange, a second bearing, a third bearing, a nut locking ring, a bearing fixing flange, and an output end flange; The adapter flange is fixedly connected to the pin tooth housing. The adapter flange has a shoulder, and the second bearing is set on the shoulder. The nut locking ring fixes the inner ring of the second bearing. The bearing fixing flange is pressed against the outer ring of the second bearing and fixedly connected to the output flange. The input shaft is provided with a bearing mounting part, and the inner ring of the third bearing is mounted on the bearing mounting part; The reducer also includes an output shaft. One end of the output shaft is fixedly connected to the output flange, and the other end of the output shaft is engaged with the outer ring of the third bearing. The output shaft is connected to the cycloidal wheel through a pin. The pin is fixedly set on the output shaft and passes through the pin hole on the cycloidal wheel, with a gap between the pin and the pin hole.

[0014] As a further improvement of the present invention, it also includes an encoder, a brake assembly, and a driver. The moving plate of the encoder is fixedly connected to the motor rotor shaft and rotates synchronously. The stator of the encoder is fixedly connected to the brake assembly. The brake assembly is disposed on the motor housing and close to the motor rotor shaft. The driver is fixed to the brake assembly and is electrically connected to the encoder and the motor stator respectively. The driver is used to receive the signal fed back by the encoder and adjust the current output to the motor stator.

[0015] As a further improvement of the present invention, the reducer, motor stator, motor rotor, motor rotor shaft, encoder, brake assembly and driver are sequentially integrated along the same axis.

[0016] Beneficial effects: The joint module sealing structure of this invention employs an alternating arrangement of a concave outer oil-blocking ring and a convex inner oil-blocking ring along the axial direction. This creates alternating narrow gaps between the outer and inner oil-blocking rings. Utilizing the high viscosity of the grease, the flow resistance increases dramatically as the grease passes through these narrow, tortuous channels, effectively preventing grease from flowing from the reducer side to the motor side. This achieves a non-contact seal, eliminating contact friction between rotating parts, avoiding wear and heat generation issues, significantly extending the service life of the sealing structure, and enabling long-term maintenance-free operation. Furthermore, both the outer and inner oil-blocking rings of this invention use independent single-piece annular designs, resulting in a simple structure that is easy to precision machine. The number, thickness, and outer diameter of the rings can be adjusted to flexibly adapt to different confined spaces, eliminating the need to redesign complex sealing structures for each size. This highly versatile and adaptable design provides a reliable, efficient, and easily implemented grease sealing solution for highly integrated, miniaturized robot joint modules. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of one embodiment of the joint module sealing structure of the present invention.

[0018] Figure 2 This is an exploded view of one embodiment of the joint module sealing structure of the present invention.

[0019] Figure 3 This is a cross-sectional structural diagram of one embodiment of the joint module sealing structure of the present invention.

[0020] Figure 4This is a partial cross-sectional structural diagram of an embodiment of the joint module sealing structure of the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of one embodiment of the joint module of the present invention.

[0022] Figure 6 This is a cross-sectional structural diagram of an embodiment of the joint module of the present invention.

[0023] Figure 7 This is an exploded view of one embodiment of the joint module of the present invention.

[0024] Figure 8 This is a schematic diagram of the input shaft structure of an embodiment of the joint module of the present invention. Detailed Implementation

[0025] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0026] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0028] Figure 1 , Figure 2 , Figure 3 A schematic diagram of one embodiment of the joint module sealing structure is shown. This sealing structure is disposed between the reducer and the motor of the joint module to prevent grease from flowing from the reducer side to the motor side, such as... Figure 1 , Figure 2 and Figure 3 As shown, the joint module sealing structure includes: at least one oil-blocking outer ring 100, which has an inner ring that is thinner than the outer ring; at least one oil-blocking inner ring 200, which has an inner ring that is thicker than the outer ring; the oil-blocking outer ring 100 and the oil-blocking inner ring 200 are arranged alternately along the axial direction, and a narrow gap is formed between the oil-blocking outer ring 100 and the oil-blocking inner ring 200.

[0029] Specifically, the outer oil-blocking ring 100 has a concave annular structure with an inner ring thinner than the outer ring. That is, the radial cross-section of the outer oil-blocking ring 100 is approximately "L"-shaped or stepped, and the axial thickness of its inner ring is less than the axial thickness of its outer ring, resulting in an overall concave shape. The inner oil-blocking ring 200 has a convex annular structure with an inner ring thicker than the outer ring. That is, the radial cross-section of the inner oil-blocking ring 200 is approximately inverted "L"-shaped or reverse stepped, and the axial thickness of its inner ring is greater than the axial thickness of its outer ring, resulting in an overall convex shape. The outer oil-blocking ring 100 is fixedly installed on the inner wall of the motor housing 1 of the joint module and is a stationary component; the inner oil-blocking ring 200 is fixedly installed on the outer peripheral wall of the motor rotor shaft of the joint module and is a rotating component, rotating synchronously with the motor rotor shaft. A narrow gap is formed between the outer oil-blocking ring 100 and the inner oil-blocking ring 200. This narrow gap includes both the radial clearance 400 between the inner wall of the outer oil-blocking ring 100 and the outer wall of the inner oil-blocking ring 200, and the axial clearance 300 between the opposite end faces of adjacent outer oil-blocking rings 100 and 200. Because the outer oil-blocking ring 100 and the inner oil-blocking ring 200 are clearance-fitted and do not contact each other, the motor rotor shaft can rotate freely without being jammed. Simultaneously, because the outer oil-blocking ring 100 has a concave structure and the inner oil-blocking ring 200 has a convex structure, the narrow gap formed by their alternating arrangement extends in a tortuous manner in both the radial and axial directions. Due to its own viscosity, the grease is difficult to flow from the reducer side to the motor side through this tortuous narrow gap, thus achieving a sealing function.

[0030] In this embodiment, the outer oil-blocking ring 100 and the inner oil-blocking ring 200 can be made of metal materials (such as stainless steel, aluminum alloy, etc.) or engineering plastics (such as PEEK, polytetrafluoroethylene, etc.). The outer oil-blocking ring 100 and the inner oil-blocking ring 200 are independent single annular pieces, which can be manufactured by precision machining (such as turning, grinding, etc.) or precision injection molding. The machining accuracy is easy to guarantee and the manufacturing cost is low.

[0031] In this embodiment, the sealing structure is applicable to joint modules with radial sealing space less than 2.5mm and axial sealing space less than 2.5mm. Since both the outer oil-blocking ring 100 and the inner oil-blocking ring 200 are thin-walled annular pieces, their thickness can be controlled within 1mm. By rationally designing the number of ring pieces, multiple sealing gaps can be arranged within a limited axial space to achieve a reliable sealing effect.

[0032] This embodiment employs an alternating arrangement of a concave outer oil-blocking ring 100 and a convex inner oil-blocking ring 200 along the axial direction, forming alternating narrow gaps between them. Utilizing the high viscosity of the grease, the flow resistance increases dramatically as the grease passes through these narrow, tortuous channels, effectively preventing grease from flowing from the reducer side to the motor side. This achieves a non-contact seal, eliminating contact friction between rotating parts, avoiding wear and heat generation issues, significantly extending the service life of the sealing structure, and enabling long-term maintenance-free operation. Furthermore, both the outer oil-blocking ring 100 and the inner oil-blocking ring 200 of this invention adopt an independent single-piece annular design, resulting in a simple structure that is easy to precision machine. The number, thickness, and outer diameter of the rings can be adjusted to flexibly adapt to different confined spaces, eliminating the need to redesign complex sealing structures for each size. This provides a reliable, efficient, and easily implemented grease sealing solution for highly integrated, miniaturized robot joint modules.

[0033] Furthermore, in order to form a better sealing barrier, extend the grease leakage path, increase flow resistance, and thus further improve sealing reliability, based on the above embodiments, in other embodiments, there are multiple oil-blocking outer rings 100 and multiple oil-blocking inner rings 200, which are arranged alternately along the axial direction; adjacent oil-blocking outer rings 100 and oil-blocking inner rings 200 have an axial gap 300 in the axial direction and a radial gap 400 in the radial direction. The axial gap 300 is located between the opposite end faces of adjacent oil-blocking outer rings 100 and oil-blocking inner rings 200, and the radial gap 400 is located between the inner wall of the oil-blocking outer ring 100 and the outer wall of the oil-blocking inner ring 200. The axial gap 300 and the radial gap 400 are alternately connected along the axial direction, together forming a barrier channel that extends in a tortuous manner along the axial direction.

[0034] Specifically, along the axial direction (e.g.) Figure 4 When observed (as shown by arrow A), the inner ring of the outer oil baffle ring overlaps with the outer ring of the inner oil baffle ring, but the outer rings of the outer and inner oil baffle rings do not overlap; in the direction perpendicular to the axis (e.g., ... Figure 4 When observing (as indicated by arrow B), the inner ring of the outer oil baffle ring does not overlap with the outer ring of the inner oil baffle ring; the outer ring of the outer oil baffle ring overlaps with the outer ring of the inner oil baffle ring; and the outer ring of the outer oil baffle ring partially overlaps with the inner ring of the inner oil baffle ring.

[0035] In a specific embodiment of the present invention, there are 3 outer oil-blocking rings 100 and 3 inner oil-blocking rings 200. The 3 outer oil-blocking rings 100 and 3 inner oil-blocking rings 200 are arranged alternately along the axial direction, that is, in the order of "outer oil-blocking ring 100 - inner oil-blocking ring 200 - outer oil-blocking ring 100 - inner oil-blocking ring 200 - outer oil-blocking ring 100 - inner oil-blocking ring 200". There is a certain distance in the axial direction between the end face of the outer oil-blocking ring 100 facing the inner oil-blocking ring 200 and the end face of the inner oil-blocking ring 200 facing the outer oil-blocking ring 100. There is a certain distance in the radial direction between the inner wall of the inner ring of the outer oil-blocking ring 100 and the outer wall of the outer ring of the inner oil-blocking ring 200. When the grease leaks from the reducer 4 side to the motor 2 side, it first encounters the radial gap 400 between the first oil-blocking outer ring 100 and the oil-blocking inner ring 200, then enters the axial gap 300, and then encounters the next radial gap 400 between the oil-blocking outer ring 100 and the oil-blocking inner ring 200. This process repeats itself. This tortuous blocking channel greatly prolongs the leakage path of the grease, increases the flow resistance of the grease, and makes it difficult for the grease to pass through due to its own viscosity.

[0036] This embodiment forms multiple sealing lines by alternating the arrangement of multiple outer oil-blocking rings 100 and inner oil-blocking rings 200, resulting in a significantly better sealing effect than a single-line sealing structure. Furthermore, by adjusting the number of outer oil-blocking rings 100 and inner oil-blocking rings 200, the total axial thickness of the sealing structure can be flexibly adjusted to meet different axial space requirements. Additionally, by adjusting the radial dimensions of the outer oil-blocking rings 100 and inner oil-blocking rings 200, the radial clearance 400 of the sealing structure can be flexibly adjusted to meet different radial space requirements. In this embodiment, the number of outer oil-blocking rings 100 and inner oil-blocking rings 200 can be adjusted according to actual sealing needs; for example, it can be 2, 3, 4, or more rings. This invention does not impose a specific limitation on this.

[0037] Figure 5 , Figure 6 and Figure 7 A schematic diagram of one embodiment of the joint module is shown. Figure 5 , Figure 6 and Figure 7 As shown, the joint module includes: a motor housing 1, a motor 2, a motor rotor shaft 3, a reducer 4, and a joint module sealing structure 5 as described in Embodiment 1 or Embodiment 2.

[0038] The motor 2 is housed within the motor housing 1. The motor rotor shaft 3 passes through the motor housing 1 and is connected to the output end of the motor 2. The motor rotor shaft 3 serves as the output end of the motor 2, transmitting the rotational power generated by the motor 2 to the reducer 4. The motor 2 includes a motor stator 21 and a motor rotor 22. The motor rotor 22 is fixedly connected to the motor rotor shaft 3, and the motor stator 21 is fixedly installed within the motor housing 1. The reducer 4 is located at one end of the motor rotor shaft 3. In this embodiment, the reducer 4 is a cycloidal reducer, including a pin tooth housing, a cycloidal wheel, an input shaft, and other components. The input shaft of the reducer 4 is fixedly connected to the motor rotor shaft 3. The rotational power of the motor rotor shaft 3 is transmitted to the cycloidal wheel through the input shaft, and after cycloidal reduction, it is output through the output shaft 411. The joint module sealing structure 5 is located between the reducer 4 and the motor 2. The joint module sealing structure 5 is located between the gear side of the reducer 4 and the stator / rotor side of the motor 2, and is used to prevent grease from the reducer 4 side from flowing to the motor 2 side. The oil-blocking outer ring 100 of the joint module sealing structure 5 is installed on the inner ring wall of the motor housing 1, and the oil-blocking inner ring 200 is installed on the outer peripheral wall of the motor rotor shaft 3. The oil-blocking outer ring 100 and the oil-blocking inner ring 200 are arranged alternately along the axial direction.

[0039] In this embodiment, by placing the joint module sealing structure 5 between the reducer 4 and the motor 2, the grease on the reducer 4 side is effectively prevented from flowing to the motor 2 side, thus avoiding contamination and damage to the motor by the grease and ensuring the long-term stable operation of the joint module.

[0040] Furthermore, in order to ensure that the oil-blocking outer ring 100 and the oil-blocking inner ring 200 are reliably installed on the stationary part and the rotating part respectively and form a stable dynamic sealing fit, based on the above embodiment, in other embodiments, the oil-blocking outer ring 100 is fixedly installed on the inner ring wall of the motor housing 1, and the oil-blocking inner ring 200 is fixedly installed on the outer peripheral wall of the motor rotor shaft 3.

[0041] Specifically, the inner wall of the motor housing 1 has a mounting groove or mounting step for installing the oil-blocking outer ring 100. The outer ring of the oil-blocking outer ring 100 is embedded in the mounting groove or abuts against the mounting step and is fixed to the motor housing 1 by interference fit, bonding, or screws. After installation, the oil-blocking outer ring 100 remains stationary and does not rotate with the motor rotor shaft 3. The outer wall of the motor rotor shaft 3 has a mounting groove or mounting step for installing the oil-blocking inner ring 200. The inner ring of the oil-blocking inner ring 200 is embedded in the mounting groove or abuts against the mounting step and is fixed to the motor rotor shaft 3 by interference fit, bonding, or screws. After installation, the oil-blocking inner ring 200 rotates synchronously with the motor rotor shaft 3.

[0042] The outer oil-blocking ring 100 is fixed to the stationary motor housing 1, and the inner oil-blocking ring 200 is fixed to the rotating motor rotor shaft 3, forming a dynamic seal between them. A certain radial clearance 400 is maintained between the inner wall of the outer oil-blocking ring 100 and the outer wall of the inner oil-blocking ring 200 to ensure that the motor rotor shaft 3 can rotate freely without being jammed. The size of this radial clearance 400 can be adjusted according to the viscosity of the grease and the sealing requirements, and is generally controlled between 0.05mm and 0.5mm.

[0043] In this embodiment, the installation method of the outer oil-blocking ring 100 and the inner oil-blocking ring 200 is simple and reliable, easy to assemble and disassemble, and beneficial to the maintenance and replacement of the joint module sealing structure 5.

[0044] Furthermore, in order to apply the joint module sealing structure 5 to the grease seal between the cycloidal reducer 4 and the motor 2, and to solve the problem of grease leakage on the side of the cycloidal reducer 4, based on the above embodiments, in other embodiments, such as Figure 6 and Figure 7 As shown, the reducer 4 is a cycloidal reducer, which includes a cycloidal wheel 401, an input shaft 402, and a first bearing 403. The input shaft 402 is provided with an eccentric shaft portion 4021 (see [reference]). Figure 8 The cycloidal wheel 401 is mounted on the eccentric shaft 4021 via the first bearing 403, and the input shaft 402 is fixedly connected to the motor rotor shaft 3.

[0045] Specifically, the input shaft 402 and the motor rotor shaft 3 can be fixedly connected by means of key connection, spline connection, or screw connection to ensure synchronous rotation of both. The input shaft 402 is provided with an eccentric shaft portion 4021, the axis of which has a certain eccentricity with the rotation axis of the input shaft 402. The inner ring of the first bearing 403 is mounted on the eccentric shaft portion 4021 of the input shaft 402, and the outer ring of the first bearing 403 mates with the inner hole of the cycloidal wheel 401. When the input shaft 402 rotates, the eccentric shaft portion 4021 drives the first bearing 403 and the cycloidal wheel 401 to perform eccentric motion. The external teeth of the cycloidal wheel 401 mesh with the needle teeth on the inner side of the needle tooth housing 404, achieving deceleration.

[0046] In this embodiment, the first bearing 403 bears the radial load and part of the axial load generated by the cycloidal wheel 401 during its movement, ensuring the smoothness of the movement and the transmission accuracy of the cycloidal wheel 401.

[0047] Furthermore, to clarify the support structure of the motor stator 21, motor rotor 22, and motor rotor shaft 3, and to ensure the efficient operation and stable support of the motor 2, based on the above embodiments, other embodiments, such as... Figure 6 and Figure 7As shown, the motor 2 includes a motor stator 21 and a motor rotor 22. The motor rotor 22 is fixedly connected to the motor rotor shaft 3, and the motor stator 21 is fixedly connected to the motor housing 1. A fourth bearing 31 is provided between the motor rotor shaft 3 and the motor housing 1. The inner ring of the fourth bearing 31 is engaged with the motor rotor shaft 3, and the outer ring is engaged with the motor housing 1.

[0048] Specifically, the motor stator 21 can be fixed to the inner wall of the motor housing 1 by means of interference fit, screw connection or adhesive bonding. The motor stator 21 includes a stator core and a stator winding wound on the stator core. When the stator winding is energized, it generates a rotating magnetic field.

[0049] The motor rotor 22 is fixedly connected to the motor rotor shaft 3. Specifically, the motor rotor 22 is fixedly installed on the outer peripheral wall of the motor rotor shaft 3 and rotates synchronously with the motor rotor shaft 3. The motor rotor 22 includes a rotor core and permanent magnets or rotor windings disposed on the rotor core. Under the action of the rotating magnetic field generated by the stator windings, the motor rotor 22 drives the motor rotor shaft 3 to rotate.

[0050] A fourth bearing 31 is provided between the motor rotor shaft 3 and the motor housing 1. The inner ring of the fourth bearing 31 mates with the motor rotor shaft 3, and the outer ring of the fourth bearing 31 mates with the motor housing 1. The fourth bearing 31 is used to support the rotation of the motor rotor shaft 3 and bear the radial load of the motor rotor 22 and the motor rotor shaft 3, as well as part of the axial load.

[0051] In this embodiment, motor 2 is a frameless torque motor, which features small size and high torque density, making it suitable for robot joint modules with strict space requirements. The axial and radial arrangement of the motor stator 21 and motor rotor 22 ensures the efficient operation of motor 2.

[0052] Furthermore, to ensure the coaxiality and connection reliability between the motor housing 1 and the pin tooth housing 404, thereby ensuring the dimensional accuracy and transmission accuracy of the space where the joint module sealing structure 5 is located, based on the above embodiments, other embodiments, such as... Figure 6 and Figure 7 As shown, the reducer 4 includes a pin tooth housing 404, and the joint module also includes an intermediate flange 6. The motor housing 1 is fixedly connected to the pin tooth housing 404 through the intermediate flange 6.

[0053] Specifically, the pin tooth housing 404 is the outer casing of the cycloidal reducer 4, and its inner side is provided with multiple pin teeth for meshing with the external teeth of the cycloidal wheel 401. One end of the intermediate flange 6 is fixedly connected to the motor housing 1 by screws, and the other end of the intermediate flange 6 is fixedly connected to the pin tooth housing 404 by screws. The intermediate flange 6 ensures the coaxiality between the motor housing 1 and the pin tooth housing 404, and ensures the alignment accuracy between the motor rotor shaft 3 and the input shaft 402 of the reducer 4.

[0054] In this embodiment, the intermediate flange 6 also serves as an axial positioning element, determining the axial relative position between the motor housing 1 and the pin tooth housing 404, thus ensuring the dimensional accuracy of the space where the joint module sealing structure 5 is located.

[0055] Furthermore, in order to achieve stable support and rotational accuracy at the output end of the reducer 4, and to ensure dual support for the output shaft 411 at both the input and output ends, based on the above embodiments, other embodiments, such as... Figure 6 and Figure 7 As shown, the reducer 4 also includes an adapter flange 405, a second bearing 406, a third bearing 407, a nut locking ring 408, a bearing fixing flange 409, and an output flange 410; the adapter flange 405 is fixedly connected to the pin housing 404, the adapter flange 405 has a shoulder, the second bearing 406 is disposed on the shoulder, the nut locking ring 408 fixes the inner ring of the second bearing 406, the bearing fixing flange 409 is pressed against the outer ring of the second bearing 406 and fixedly connected to the output flange 410; the input shaft 402 has a bearing mounting part 4022 (see [reference]). Figure 8 The inner ring of the third bearing 407 is mounted on the bearing mounting part 4022; the reducer 4 also includes an output shaft 411, one end of which is fixedly connected to the output end flange 410, and the other end of which is engaged with the outer ring of the third bearing 407. The output shaft 411 is connected to the cycloidal wheel through a pin 4111. The pin 4111 is fixedly set on the output shaft 411 and passes through the pin hole 4011 on the cycloidal wheel 401. A gap is left between the pin 4111 and the pin hole 4011.

[0056] Specifically, the adapter flange 405 is fixed to the end face of the pin housing 404 by screws, and the adapter flange 405 serves as a support component for the output end of the reducer 4. The adapter flange 405 has a shoulder that extends radially inward for mounting the second bearing 406. The outer ring of the second bearing 406 mates with the shoulder of the adapter flange 405, and the inner ring of the second bearing 406 is fitted onto the outer peripheral wall of the output flange 410. The locking nut 408 secures the inner ring of the second bearing 406, that is, the locking nut 408 is screwed onto the external thread of the output flange 410, pressing the inner ring of the second bearing 406 against the shoulder of the output flange 410. The bearing fixing flange 409 is fixedly connected to the output flange 410 by screws, and the bearing fixing flange 409 presses the outer ring of the second bearing 406 against the shoulder of the adapter flange 405. The input shaft 402 is provided with a bearing mounting portion 4022, which is a cylindrical surface on the input shaft 402 for mounting a third bearing 407. The inner ring of the third bearing 407 is interference-fitted with the bearing mounting portion 4022 of the input shaft 402 and rotates synchronously with the input shaft 402. The left end of the output shaft 411 is fixedly connected to the output end flange 410 by screws to a pre-reserved stop position, and the output end flange 410 rotates synchronously with the output shaft 411. The right end of the output shaft 411 is provided with a hole for mating with the outer ring of the third bearing 407, and the outer ring of the third bearing 407 is installed in the hole, allowing the output shaft 411 to rotate freely relative to the input shaft 402. Multiple circumferentially distributed pins 4111 are fixedly mounted on the output shaft 411. The pins 4111 pass through corresponding pin holes 4011 on the cycloidal wheel 401, with a gap between the pins 4111 and the pin holes 4011. This gap is used to absorb the revolution component generated when the cycloidal wheel 401 performs planetary motion. When the cycloidal wheel 401 performs planetary motion, its rotational motion is transmitted to the output shaft 411 through the pins 4111, causing the output shaft 411 to rotate synchronously, thereby realizing the power output after deceleration.

[0057] In this embodiment, the second bearing 406 supports the rotation of the output flange 410, and the third bearing 407 supports the rotation of the output shaft 411 relative to the input shaft 402. One end of the output shaft 411 is connected to the second bearing 406 via the output flange 410, and the other end is connected to the input shaft 402 via the third bearing 407, thus achieving dual support for the output shaft 411 at both the input and output ends, ensuring the rotational accuracy and load-bearing capacity of the output shaft 411.

[0058] Furthermore, in order to achieve closed-loop precise control and safe braking of the joint module, based on the above embodiments, other embodiments, such as... Figure 6 and Figure 7As shown, the joint module also includes an encoder 7, a brake assembly 8, and a driver 9. The moving plate of the encoder 7 is fixedly connected to the motor rotor shaft 3 and rotates synchronously. The stator of the encoder 7 is fixedly connected to the brake assembly 8. The brake assembly 8 is disposed on the motor housing 1 and close to the motor rotor shaft 3. The driver 9 is fixed on the brake assembly 8 and is electrically connected to the encoder 7 and the motor stator 21 respectively. The driver 9 is used to receive the signal fed back by the encoder 7 and adjust the current output to the motor stator 21.

[0059] Specifically, the moving disc of encoder 7 is locked to the motor rotor shaft 3 with screws and rotates synchronously with the motor rotor shaft 3 to detect the rotation angle and speed of the motor rotor shaft 3. The stator of encoder 7 is fixedly connected to brake assembly 8. Specifically, the stator of encoder 7 is fixed to the end face of brake assembly 8 with screws and remains stationary. Brake assembly 8 is fixed to the end face of motor housing 1 with screws, and the brake disc of brake assembly 8 is fixedly connected to the motor rotor shaft 3 and rotates synchronously. Brake assembly 8 is used to selectively brake motor rotor shaft 3, holding motor rotor shaft 3 tightly when power is off to prevent the joint module from moving unexpectedly under gravity. Driver 9 is fixed to the right end face of brake assembly 8 with screws. Driver 9 is electrically connected to the stator of encoder 7 through wires or a flexible circuit board and receives the position and speed signals of motor rotor shaft 3 detected by encoder 7. Driver 9 is also electrically connected to the stator winding of motor stator 21 through a power line to apply drive current to the stator winding. Based on the instructions from the upper controller and the actual position / speed signal fed back by the encoder 7, the driver 9 calculates the required drive current through a closed-loop control algorithm, and adjusts the magnitude and direction of the current output to the motor stator 21 in real time, thereby realizing precise position and speed control of the motor rotor shaft 3.

[0060] In this embodiment, the encoder 7, brake assembly 8, and driver 9 are arranged sequentially along the axial direction, resulting in a compact structure and high space utilization. The electrical connection between the encoder 7 and the driver 9 forms a closed-loop control system, ensuring the motion accuracy and stability of the joint module.

[0061] Furthermore, in order to minimize the radial dimension of the joint module, improve integration and power density, and make it suitable for collaborative robots and humanoid robots and other applications with strict space requirements, other embodiments, such as those described above, are also included. Figure 7 As shown, the reducer 4, motor stator 21, motor rotor 22, motor rotor shaft 3, encoder 7, brake assembly 8 and driver 9 are sequentially integrated along the same axis.

[0062] Specifically, from one end of the joint module to the other, the core components are arranged along the same axis in the following order: reducer 4 (including pin gear housing 404, cycloidal wheel 401, input shaft 402, output shaft 411, etc.) — motor 2 (including motor stator 21, motor rotor 22, motor rotor shaft 3) — encoder 7 — brake assembly 8 — driver 9. Each component uses the same axis as its rotation center or mounting reference, ensuring coaxiality between components and improving transmission accuracy and assembly efficiency.

[0063] The output shaft 411 of the reducer 4 is coaxially arranged with the motor rotor shaft 3. The output shaft 411 is a hollow structure, sleeved around the input shaft 402, achieving a compact connection between the reducer 4 and the motor 2. The moving disc of the encoder 7 is mounted on the end of the motor rotor shaft 3 and rotates coaxially with it. The brake disc of the brake assembly 8 is also coaxially arranged with the motor rotor shaft 3. The driver 9 is fixed on the end face of the brake assembly 8, and its central axis coincides with the axis of the motor rotor shaft 3.

[0064] This embodiment greatly shortens the radial dimension of the joint module by sequentially integrating the core components along the same axis, thereby improving the integration and power density of the joint module. This makes the joint module suitable for collaborative robots and humanoid robots with strict space requirements.

[0065] It should be noted that, in the above embodiments, the first bearing 403, the second bearing 406, the third bearing 407, and the fourth bearing 21 are preferably deep groove ball bearings.

[0066] The above embodiments merely illustrate preferred implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention should be determined by the appended claims.

Claims

1. A joint module sealing structure, characterized in that, include: At least one oil-blocking outer ring, wherein the oil-blocking outer ring has a concave annular structure in which the inner ring is thinner than the outer ring; At least one oil-blocking inner ring, wherein the oil-blocking inner ring has an inwardly convex annular structure in which the inner ring is thicker than the outer ring; The outer oil-blocking ring and the inner oil-blocking ring are arranged alternately along the axial direction, and a narrow gap is formed between the outer oil-blocking ring and the inner oil-blocking ring.

2. The joint module sealing structure according to claim 1, characterized in that, The number of the oil-blocking outer ring and the oil-blocking inner ring are both multiple, and the multiple oil-blocking outer rings and multiple oil-blocking inner rings are arranged alternately along the axial direction; The adjacent outer oil-blocking ring and the inner oil-blocking ring have an axial gap in the axial direction and a radial gap in the radial direction. The axial gap is located between the opposite end faces of the adjacent outer oil-blocking ring and the inner oil-blocking ring, and the radial gap is located between the inner wall of the outer oil-blocking ring and the outer wall of the inner oil-blocking ring. The axial gap and the radial gap are alternately connected along the axial direction, together forming a barrier channel that extends in a tortuous manner along the axial direction.

3. A joint module, characterized in that, include: Motor housing; The motor is housed within the motor housing; The motor rotor shaft passes through the motor housing and is connected to the output end of the motor; The speed reducer is located at one end of the motor rotor shaft; And the joint module sealing structure as described in claim 1 or 2, wherein the sealing structure is disposed between the reducer and the motor.

4. The joint module according to claim 3, characterized in that, The outer oil baffle ring is fixedly installed on the inner ring wall of the motor housing, and the inner oil baffle ring is fixedly installed on the outer peripheral wall of the motor rotor shaft.

5. The joint module according to claim 3, characterized in that, The reducer includes a cycloidal wheel, an input shaft, and a first bearing. The input shaft has an eccentric shaft portion, and the cycloidal wheel is mounted on the eccentric shaft portion via the first bearing. The input shaft is fixedly connected to the motor rotor shaft.

6. The joint module according to claim 5, characterized in that, The motor includes a motor stator and a motor rotor. The motor rotor is fixedly connected to the motor rotor shaft, and the motor stator is fixedly connected to the motor housing. A fourth bearing is provided between the motor rotor shaft and the motor housing. The inner ring of the fourth bearing mates with the motor rotor shaft, and the outer ring mates with the motor housing.

7. The joint module according to claim 6, characterized in that, The reducer includes a pin tooth housing, and the joint module also includes an intermediate flange. The motor housing is fixedly connected to the pin tooth housing through the intermediate flange.

8. The joint module according to claim 7, characterized in that, The reducer also includes an adapter flange, a second bearing, a third bearing, a nut locking ring, a bearing fixing flange, and an output end flange; The adapter flange is fixedly connected to the pin tooth shell. The adapter flange is provided with a shoulder. The second bearing is disposed on the shoulder. The nut locking ring fixes the inner ring of the second bearing. The bearing fixing flange is pressed against the outer ring of the second bearing and fixedly connected to the output end flange. The input shaft is provided with a bearing mounting part, and the inner ring of the third bearing is mounted on the bearing mounting part; The reducer also includes an output shaft, one end of which is fixedly connected to the output flange, and the other end of which is engaged with the outer ring of the third bearing. The output shaft is connected to the cycloidal wheel via a pin, the pin being fixedly mounted on the output shaft and passing through a pin hole on the cycloidal wheel, with a gap between the pin and the pin hole.

9. The joint module according to claim 6, characterized in that, It also includes an encoder, a brake assembly, and a driver. The moving plate of the encoder is fixedly connected to the rotor shaft of the motor and rotates synchronously. The stator of the encoder is fixedly connected to the brake assembly. The brake assembly is disposed on the motor housing and close to the rotor shaft of the motor. The driver is fixed to the brake assembly and is electrically connected to the encoder and the stator of the motor respectively. The driver is used to receive the signal fed back by the encoder and adjust the current output to the stator of the motor.

10. The joint module according to claim 9, characterized in that, The reducer, motor stator, motor rotor, motor rotor shaft, encoder, brake assembly and driver are arranged sequentially along the same axis.

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