Joint module and robot

Abstract

The utility model provides a joint module and a robot. The joint module comprises a motor assembly, a planetary reducer and a mounting sleeve. The motor assembly comprises a rotary driving piece and a shell, and the rotary driving piece is located in the shell; the planetary reducer comprises a sun gear, a planet gear, a planet carrier and an inner gear ring, the planet carrier is sleeved with the planet gear, the planet gear is meshed with the inner gear ring, the sun gear and the planet carrier are in transmission connection with the rotary driving part, and the planet carrier is used for outputting power to the stress end of the robot; the mounting sleeve is nested between the inner gear ring and the shell and is in friction contact with the inner gear ring and the shell, and the mounting sleeve is used for keeping the inner gear ring and the shell relatively static through friction force in the state that the planet carrier outputs power to the stress end of the robot; under the state that the external force impact on the stress end of the robot is larger than the friction force, the mounting sleeve allows the inner gear ring to rotate relative to the shell. The joint module is simple in structure, external force impact can be released, and the use reliability of the joint module is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically, to a joint module and a robot. Background Art

[0002] With the popularity of robots, more and more places are beginning to use robots to replace operators to save manpower, such as food delivery robots, cleaning robots, industrial robots, and quadruped transport robots. Among them, quadruped transport robots generally have four mechanical legs, and the transmission of the four mechanical legs can be accurately controlled by motors and reducers to ensure the movement accuracy of the quadruped transport robot. However, the power output end of the reducer in the quadruped transport robot is usually directly connected to the mechanical legs. When the mechanical legs are impacted by external forces, the reducer will be directly subjected to the external force impact, causing the reducer to be damaged, affecting the service life of the reducer, and then affecting the reliability of the robot using the reducer.

[0003] In the related art, the clutch is usually set on the steel wheel of the harmonic reducer. However, the clutch is large in size, which leads to a large size of the joint to which the clutch is applied and a high cost. Moreover, when a planetary reducer is used, the clutch is usually set on the output end of the planetary reducer. However, when the sun gear is used as the output shaft, since the sun gear in the planetary reducer is relatively fragile, setting the clutch directly on the output shaft will cause the sun gear on the planetary reducer to indirectly bear the external force impact when the mechanical leg is impacted by external force, which may cause the sun gear to be damaged or even broken under the action of external force, affecting the service life of the planetary reducer, and further affecting the reliability of the robot using the planetary reducer. Utility Model Content

[0004] To solve the above problems, the present application provides a joint module and a robot, wherein the joint module can discharge external force impact caused by the outside world, thereby ensuring the reliability of the joint module, and the mounting sleeve in the joint module has a simple structure and can ensure the transmission accuracy of the joint module.

[0005] In the first aspect, the present application provides a joint module, including a motor assembly, a planetary reducer and a mounting sleeve; the motor assembly includes a rotating drive member and a shell, and the rotating drive member is located in the shell; the planetary reducer includes a sun gear, a planetary gear, a planetary carrier and an inner ring gear, the planetary gear sleeve is arranged on the planetary carrier, and the planetary gear is meshed with the inner ring gear, the sun gear and the planetary carrier are respectively connected to the rotating drive member by transmission, and the planetary carrier is used to output power to the force-bearing end of the robot; the mounting sleeve is nested between the inner ring gear and the shell, and the mounting sleeve is in frictional contact with the inner ring gear and the shell, when the planetary carrier outputs power to the force-bearing end of the robot, the mounting sleeve is used to keep the inner ring gear and the shell relatively still through friction; when the force-bearing end of the robot is subjected to an external force impact greater than the friction force, the mounting sleeve allows the inner ring gear to rotate relative to the shell.

[0006] In the joint module provided by the embodiment of the present application, when the external force impact borne by the mechanical leg is less than the friction force, at this time, the static friction force borne by the inner gear ring can overcome the reaction force applied to the inner gear ring by the planetary gear, so that the inner gear ring is fixed, the planetary gear rotates and revolves around the sun gear, thereby driving the planetary frame to rotate, so that the planetary frame directly bears the external force impact, avoiding the problem of damage caused by the sun gear in the planetary reducer being subjected to the external force impact, ensuring the rotation reliability of the planetary reducer, that is, ensuring the reliability of the use of the joint module. Moreover, when the external force impact is greater than the friction force, the installation sleeve allows the inner gear ring to rotate relative to the outer shell to discharge the external force impact, avoiding the problem of excessive external force impact borne by the sun gear in the planetary reducer, thereby wearing or malfunctioning, further ensuring the reliability of the use of the joint module, that is, ensuring the reliability of the use of the robot using the joint module. Moreover, the installation sleeve provided by the present application is simple in structure and easy to assemble.

[0007] In a possible design, the mounting sleeve includes a base and a plurality of elastic protrusions arranged on the base at intervals.

[0008] Based on the above optional methods, the joint module can release the external impact force through the installation sleeve, without adding additional elastic parts and friction parts, with a simple structure and easy assembly. The installation sleeve has a compensation tolerance, which reduces the processing accuracy of the installation sleeve and reduces a certain degree of processing difficulty. The installation sleeve also has the function of compensating for thermal expansion, avoiding the problem that the joint module cannot release force due to failure of the installation sleeve, thereby ensuring the reliability of the joint module.

[0009] In a possible design, a plurality of elastic protrusions are arranged at intervals on the outer surface of the base body and abut against the outer shell; or a plurality of elastic protrusions are arranged at intervals on the inner surface of the base body and abut against the inner gear ring.

[0010] Based on the above optional method, multiple elastic protrusions abut against the inner gear ring. During use, the installation sleeve generates radial force but does not generate axial force on the inner gear ring, thus avoiding large axial force causing deformation of some parts in the planetary reducer, thereby affecting the transmission accuracy of the planetary reducer and causing the transmission stability of the planetary reducer to be poor. In this way, the joint module achieves the release of external impact force through the installation sleeve, while also ensuring the transmission accuracy and transmission stability of the planetary reducer in the joint module, thereby ensuring the transmission reliability of the joint module.

[0011] In a possible design, a portion of the elastic protrusions are spaced apart on the inner surface of the base and abut against the inner gear ring, and another portion of the elastic protrusions are spaced apart on the outer surface of the base and abut against the outer shell.

[0012] In a possible design, the base body is provided with a notch.

[0013] Based on the above optional manner, the base is provided with a notch to facilitate installation and disassembly.

[0014] In one possible design, the mounting sleeve comprises a tolerance ring.

[0015] In a possible design, the joint module also includes a front cover, which is fixedly connected to the shell to form a accommodating cavity.

[0016] Based on the above optional method, the joint module is provided with a front cover, and the outer shell and the front cover form a closed containing cavity to prevent water vapor and other debris from entering the joint module and affecting the rotation effect of the internal components of the joint module (such as the rotor of the motor assembly, the planetary gear of the planetary reducer and the planetary carrier, etc.), thereby ensuring the reliability of the joint module.

[0017] In a possible design, a through hole is provided on a side of the housing facing the force-bearing end of the robot, and the front cover covers the through hole.

[0018] Based on the above optional method, the planetary reducer can be stored in the through hole, and the outer shell plays a protective storage role for the planetary reducer, preventing moisture and other debris from entering the planetary reducer and affecting the rotation effect of the planetary wheels and planetary carriers in the planetary reducer, thereby ensuring the reliability of the joint module.

[0019] In a possible design, the joint module also includes a first encoder; the first encoder is arranged on the shell.

[0020] Based on the above optional method, the first encoder can detect the actual torque of the planetary reducer in real time. When the actual torque does not meet the usage requirements, corresponding adjustments can be made through the motor assembly, thereby ensuring the accuracy of the joint module controlling the force end of the robot.

[0021] In a possible design, the joint module also includes an annular ring; the annular ring is located between the planetary reducer and the mounting sleeve, and is used to limit the grease in the planetary reducer.

[0022] Based on the above optional method, the annular ring is located between the planetary reducer and the mounting sleeve, which can limit the grease in the planetary reducer to avoid the problem that the grease in the planetary reducer flows into the mounting sleeve and affects the use, thereby ensuring the reliability of the use of the planetary reducer and the mounting sleeve, and further ensuring the rotation reliability of the joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of the structure of the robot provided in an embodiment of the present application;

[0024] Figure 2 This is a schematic diagram of the structure of the joint module provided in the embodiment of the present application. Figure 1 ;

[0025] Figure 3 This is a schematic diagram of the structure of the motor assembly provided in the embodiment of the present application. Figure 1 ;

[0026] Figure 4 The schematic diagram of the decomposition structure of the planetary reducer and motor assembly in the joint module provided in the embodiment of the present application is Figure 1 ;

[0027] Figure 5 The schematic diagram of the decomposition structure of the planetary reducer and motor assembly in the joint module provided in the embodiment of the present application is Figure 2 ;

[0028] Figure 6 This is a schematic diagram of the cross-sectional structure of the joint module provided in the embodiment of the present application. Figure 1 ;

[0029] Figure 7 This is a schematic diagram of the decomposition structure of the joint module provided in the embodiment of the present application. Figure 1 ;

[0030] Figure 8 This is a schematic diagram of the decomposition structure of the joint module provided in the embodiment of the present application. Figure 2 ;

[0031] Fig. 9 This is a schematic diagram of the cross-sectional structure of the joint module provided in the embodiment of the present application. Figure 2 ;

[0032] Fig.10 It is a schematic diagram of the structure of the installation sleeve provided in an embodiment of the present application.

[0033] Among them, the reference numerals in the figure are:

[0034] 1. Joint module; 11. Motor assembly; 111. Rotary drive member; 1111. Rotor; 1111A. First groove; 1112. Stator; 112. Housing; 112A. Through hole; 12. Planetary reducer; 121. Sun gear; 121A. Second groove; 122. Planetary gear; 123. Planet carrier; 124. Internal gear ring; 125. Second rolling bearing; 13. Mounting sleeve; 14. Front cover; 15. First encoder; 16. Annular ring; 17. First rolling bearing; 18. Magnetic ring; 19. Fixed key;

[0035] 2. Mechanical legs;

[0036] 3. Body. DETAILED DESCRIPTION

[0037] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, and circuits are omitted to prevent unnecessary details from obstructing the description of the present application.

[0038] With the popularity of robots, more and more places are beginning to use robots, such as food delivery robots, cleaning robots, industrial robots, and quadruped transport robots, etc., to replace operators and save manpower. Among them, the quadruped transport robot generally has four mechanical legs, and the transmission of the four mechanical legs can be accurately controlled by the motor and the reducer to ensure the movement accuracy of the quadruped transport robot. Here, it is worth noting that the role of the motor is to convert electrical energy into mechanical energy to provide power and motion control for the robot. In order to ensure the accuracy of the robot's movement, it is necessary to match the reducer to ensure that the robot can reliably complete the process task while reducing the speed and increasing the torque, and ensure the reliability of the robot. For example, the robot can realize the transmission of the mechanical leg through a frameless motor with a planetary reducer, wherein the frameless motor is connected to the planetary reducer, and the power output end of the planetary reducer is usually directly connected to the mechanical leg. The frameless motor can drive the planetary reducer to rotate to drive the mechanical leg connected to it to rotate, and the rotation position of the mechanical leg can be adjusted by adjusting the torque of the frameless motor.

[0039] In order to avoid the robot falling or losing control, which may cause impact on the planetary reducer and damage to the planetary reducer, the related art usually increases the thickness and number of teeth of the gear ring, sun gear and planetary carrier in the planetary reducer, thereby increasing the volume of the planetary reducer, making the strength of the planetary reducer higher, and thus resisting the impact of external forces. However, this method leads to a larger size and volume of the planetary reducer while improving the strength of the planetary reducer, so that the joint size of the planetary reducer is larger and the cost is higher. In the related art, a clutch is also set to discharge the impact of external forces, such as a clutch composed of a disc spring, a friction plate and a clutch structure, so as to achieve the discharge of the impact of external forces. However, this type of clutch has a large number of parts and a complex structure, and the disc spring will produce a large preload force on the steel wheel, generate a large axial force, and cause some parts in the reducer to deform, thereby affecting the transmission accuracy of the reducer, and then causing the transmission stability of the reducer to be poor.

[0040] Moreover, in the related art, the clutch is usually set on the steel wheel of the harmonic reducer. However, the clutch is large in size, which leads to a large size of the joint to which the clutch is applied, and the cost is high. Moreover, when a planetary reducer is used, the clutch is usually set on the output end of the planetary reducer. However, when the sun gear is used as the output shaft, since the sun gear in the planetary reducer is relatively fragile, setting the clutch directly on the output shaft will cause the sun gear on the planetary reducer to indirectly bear the external force impact when the robot leg is impacted by external force, which may cause the sun gear to be damaged or even broken under the action of external force, affecting the service life of the planetary reducer, and further affecting the reliability of the robot to which the planetary reducer is applied.

[0041] To this end, the present application provides a joint module, which is applied to a robot. The joint module can release external force impact caused by the outside world, thereby ensuring the reliability of the joint module. The mounting sleeve in the joint module has a simple structure and can ensure the transmission accuracy and transmission stability of the joint module.

[0042] The joint module and robot provided in this application are exemplarily introduced below with reference to the accompanying drawings.

[0043] like Figure 1 As shown, an embodiment of the present application provides a robot, including a joint module 1, a mechanical leg 2 and a body 3. The mechanical leg 2 is connected to the body 3 through the joint module 1, so that the joint module 1 can drive the mechanical leg 2 to move relative to the body 3, so that the robot can achieve effects such as walking and rotating, and the joint module 1 can release the external force impact borne by the mechanical leg 2, thereby ensuring the reliability of the robot.

[0044] In one example, the robot may include multiple joint modules 1 and multiple mechanical legs 2, and the multiple mechanical legs 2 may be connected through the joint module 1, that is, the joint module 1 may drive the mechanical leg 2 to move relative to the mechanical leg 2 connected thereto, so as to achieve more movement effects. It is worth noting here that the number and position of the mechanical legs 2 and the joint modules 1 may be set according to actual needs, and this application does not make any specific restrictions on this.

[0045] In order to prevent the power output end of the joint module 1 from directly contacting the mechanical leg 2, causing it to be directly subjected to external force impact and damaged, thereby affecting the service life and reliability of the joint module 1, in an example, Figure 2 As shown, the joint module 1 provided in the embodiment of the present application may include a motor assembly 11, a planetary reducer 12 and a mounting sleeve 13, the mechanical leg 2 is connected to the planetary reducer 12, and the mounting sleeve 13 is connected to the planetary reducer 12, so that when the mechanical leg 2 is impacted by an external force applied from the outside, the external force impact will be output to the mounting sleeve 13 through the power output end of the planetary reducer 12, thereby discharging, thereby ensuring the reliability of the use of the joint module 1. Here, it is worth noting that the power output end of the joint module 1 is connected to the mechanical leg 2, where the mechanical leg 2 refers to the force-bearing end of the robot, and the mounting sleeve 13 provided in the embodiment of the present application may also be connected to other force-bearing ends of the robot, such as a mechanical arm, a mechanical claw, etc., and this application does not make specific restrictions on this. Below, only the mechanical leg 2 is used as the force-bearing end of the robot, and the power output end of the joint module 1 is connected to the mechanical leg 2 to start an exemplary description.

[0046] In one example, if Figure 3 As shown, the motor assembly 11 provided in the embodiment of the present application may include a rotating drive member 111. Optionally, the rotating drive member 111 may include a rotor 1111 and a stator 1112. The stator 1112 is sleeved on the rotor 1111. The rotor 1111 is partially protruding to be connected to the planetary reducer 12. Exemplarily, after the motor assembly 11 is powered on, the driving motor will drive the rotor 1111 to rotate, so that the planetary reducer 12 connected to the rotor 1111 rotates, and drives the mechanical leg 2 to respond accordingly, so that the robot can achieve walking, rotation and other effects.

[0047] It is worth noting that the output torque of the motor assembly 11 can be controlled so that the mechanical leg 2 rotates to different positions to achieve different functions. Optionally, the motor assembly 11 provided in the embodiment of the present application may also include a drive motor, which is fixed in the housing 112 and can drive the rotor 1111 to rotate and limit the torque of the rotor 1111. The specific setting position of the drive motor can be set according to actual needs, and this application does not make specific restrictions on this.

[0048] In one example, if Figure 4 As shown, the planetary reducer 12 may include a sun gear 121, a planetary gear 122, a planetary carrier 123 and an inner gear ring 124, wherein the planetary gear 122 is sleeved on the planetary carrier 123, and the planetary gear 122 is meshed with the inner gear ring 124, and the sun gear 121 and the planetary carrier 123 are respectively connected to the rotor 1111 in the rotating drive member 111, so that the planetary gear 122 can not only rotate on its own, but also revolve around the sun gear 121, and the planetary carrier 123 can output power to the robot's mechanical leg 2 under the drive of the rotating drive member 111, thereby driving the mechanical leg 2 to move.

[0049] In one example, the mounting sleeve 13 is nested between the inner gear ring 124 and the outer shell 112, that is, the mounting sleeve is arranged on the outer side of the inner gear ring 124 and located on the inner side of the outer shell 112, and the mounting sleeve 13 is in friction contact with both the inner gear ring 124 and the outer shell 112. When the planetary carrier 123 outputs power to the force-bearing end of the robot, the mounting sleeve 13 keeps the inner gear ring 124 and the outer shell 112 relatively still through friction, that is, the inner gear ring 124 and the outer shell 112 will not rotate relative to each other; when the force-bearing end of the robot is subjected to an external force impact greater than the friction force, the mounting sleeve 13 allows the inner gear ring 124 to rotate relative to the outer shell 112, thereby dissipating the external force impact, avoiding the sun gear 121 in the planetary reducer 12 from being damaged by the external force impact, that is, avoiding the problem of wear or failure of the joint module 1 due to excessive external force impact, further ensuring the reliability of the joint module 1 and the reliability of the robot using the joint module 1.

[0050] At the same time, when the force-bearing end of the robot is impacted by an external force less than or equal to the friction force, the friction between the mounting sleeve 13 and the inner gear ring 124 and the outer shell 112 keeps the inner gear ring 124 and the outer shell 112 relatively still, that is, the inner gear ring 124 and the outer shell 112 will not rotate relative to each other, and the planetary carrier 123 normally outputs power to the force-bearing end of the robot.

[0051] Here, it is worth mentioning that after the rotor 1111 rotates, it drives the sun gear 121 connected to it to rotate, and the sun gear 121 drives the planetary gear 122 to rotate. At this time, the inner ring gear 124 is fixed, so the planetary gear 122 rotates and revolves around the sun gear 121 to drive the planetary carrier 123 to rotate. At this time, the planetary carrier 123, as the power output end of the planetary reducer 12, can directly output power to the mechanical leg 2, so that the robot can achieve walking, rotation and other effects. At this time, the dynamic response capability of the mechanical leg 2 is relatively high, and the transient response speed is relatively fast, which ensures the reliability of the robot. Moreover, at this time, the inner gear ring 124 meshes with the planetary gear 122. When the mechanical leg 2 is subjected to an excessive external force impact, the planetary frame 123 will transmit the external force impact to the inner gear ring 124 through the planetary gear 122, and the external force impact is released by rotating the inner gear ring 124 relative to the housing 112, thereby avoiding the sun gear 121 in the planetary reducer 12 from being damaged by the external force impact, that is, avoiding the problem of the joint module 1 being subjected to excessive external force impact and thus being worn or malfunctioning, further ensuring the reliability of the joint module 1, that is, ensuring the reliability of the robot using the joint module 1. Moreover, the mounting sleeve 13 provided in the present application is simple in structure and easy to assemble.

[0052] It can be understood that the mounting sleeve 13 keeps the inner gear ring 124 and the outer shell 112 relatively still through friction, and the magnitude of the friction force can be flexibly adjusted according to actual use needs. For example, the magnitude of the friction force can be adjusted by adjusting the magnitude of the force applied by the mounting sleeve 13 to the inner gear ring 124 and the outer shell 112 in the radial direction, or by adjusting the magnitude of the friction coefficient between the inner gear ring 124 and the outer shell 112 and the mounting sleeve 13.

[0053] In order to ensure the transmission reliability between the rotor 1111 and the sun gear 121 in the planetary reducer 12, it is optional, such as Figure 5 As shown, a first groove (such as Figure 5 As shown in 1111A), the sun gear 121 is provided with a second groove (as shown in Figure 5121A), when the sun gear 121 is sleeved on the protruding structure of the rotor 1111, the first groove 1111A and the second groove 121A are arranged opposite to each other, and then fixedly connected by the fixing key 19, so as to ensure the connection firmness between the rotor 1111 and the sun gear 121, that is, to ensure the rotation reliability of the sun gear 121. Here, it is worth noting that the number and setting position of the first groove 1111A and the second groove 121A can be set according to different requirements. For example, if the firmness between the rotor 1111 and the sun gear 121 is desired to be stronger, a plurality of first grooves 1111A and second grooves 121A can be correspondingly arranged, and then fixed by the fixing key 19 accordingly to further improve the firmness. This application does not make any specific restrictions.

[0054] Optionally, the fixed key 19 may be a flat key.

[0055] In order to improve the rotation reliability between the planet carrier 123 and the rotor 1111, it is optional, such as Figure 6 As shown, the planetary reducer 12 provided in the embodiment of the present application may further include a second rolling bearing 125, and the planet carrier 123 and the rotor 1111 may rotate relative to each other via the second rolling bearing 125, thereby ensuring the positioning accuracy of the rotation of the planet carrier 123 and the rotor 1111, thereby ensuring the reliability of the joint module 1.

[0056] In one example, if Figure 7 As shown, the rotor 1111, the stator 1112, the planetary reducer 12 and the mounting sleeve 13 are all located in the housing 112. The mounting sleeve 13 is nested between the inner gear ring 124 and the housing 112, and is in friction contact with both the inner gear ring 124 and the housing 112.

[0057] In the initial state, that is, when the driving motor outputs power to the mechanical leg, the mounting sleeve 13 is used to keep the inner gear ring 124 and the outer shell 112 relatively still through friction. When the force-bearing end of the robot is subjected to an external force impact greater than the friction force, the mounting sleeve 13 allows the inner gear ring 124 to rotate relative to the outer shell 112. Here, it is worth noting that the initial state refers to the state when the external force impact borne by the mechanical leg 2 is less than or equal to the friction force. At this time, the static friction force borne by the inner gear ring 124 can overcome the reaction force applied to the inner gear ring 124 by the planetary gear 122, so that the inner gear ring 124 is stationary relative to the outer shell 112, and the planetary gear 122 rotates and revolves around the sun gear 121, thereby driving the planet carrier 123 to rotate, so that the planet carrier 123 directly bears the external force impact, avoiding the problem of damage caused by the sun gear 121 in the planetary reducer 12 being subjected to the external force impact, ensuring the rotation reliability of the planetary reducer 12, that is, ensuring the reliability of the joint module 1. Furthermore, when the external force impact is greater than the friction force, the mounting sleeve 13 allows the inner gear ring 124 and the housing 112 to rotate relative to each other to release the external force impact, thereby avoiding the problem that the sun gear 121 in the planetary reducer 12 is subjected to excessive external force impact and thus wears or fails, further ensuring the reliability of the joint module 1, that is, ensuring the reliability of the robot using the joint module 1. Moreover, the mounting sleeve 13 provided by the present application is simple in structure and easy to assemble.

[0058] like Figure 7 As shown, a through hole 112A is provided on the side of the shell 112 facing the mechanical leg, and the planetary reducer 12 can be accommodated in the through hole 112A. The shell 112 plays a role of protecting and accommodating the planetary reducer 12, preventing moisture and other debris from entering the planetary reducer 12 and affecting the rotation effect of the planetary gear 122 and the planetary carrier 123 in the planetary reducer 12, thereby ensuring the reliability of the joint module 1.

[0059] In one example, if Figure 8 As shown, the joint module 1 can also include a front cover 14, which is fixedly connected to the outer shell 112 to form a accommodating cavity, that is, the front cover 14 covers the through hole 112A. At this time, the outer shell 112 and the front cover 14 form a closed accommodating cavity to prevent water vapor and other debris from entering the joint module 1 and affecting the rotation effect of the internal components of the joint module 1 (such as the rotor 1111 of the motor assembly 11, the planetary gear 122 of the planetary reducer 12, and the planetary carrier 123, etc.), thereby ensuring the reliability of the joint module 1.

[0060] In order to further improve the connection firmness between the front cover 14 and the outer shell 112, the front cover 14 and the outer shell 112 can also be fixedly connected by fasteners such as screws and bolts, so that disassembly and assembly are convenient.

[0061] In order to ensure the rotation reliability of the front cover 14 and the planet carrier 123, in one example, Fig. 9 As shown, the joint module 1 may further include a first rolling bearing 17 , through which the front cover 14 and the planetary carrier 123 rotate relative to each other, so as to ensure the positioning accuracy of the rotation of the front cover 14 and the planetary carrier 123 , that is, to ensure the reliability of the joint module 1 .

[0062] In order to detect the actual torque of the joint module 1 in real time, in one example, Fig. 9 As shown, the joint module 1 may also include a first encoder 15 and a magnetic ring 18. The first encoder 15 may be arranged on the housing 112, the magnetic ring 18 is connected to the first encoder 15, and the magnetic ring 18 is fixedly connected to the planet carrier 123. Since the first encoder 15 is fixedly arranged on the housing 112, in actual use, the housing 112 is fixed, and the magnetic ring 18 is fixedly connected to the planet carrier 123, that is, the magnetic ring 18 rotates with the planet carrier 123. Therefore, the first encoder 15 can detect various positions of the rotating planetary reducer 12 through the magnetic ring 18, that is, the first encoder 15 can detect the actual torque of the planetary reducer 12 in real time, thereby ensuring the detection accuracy of the first encoder 15. The first encoder 15 also sends the detection information to the motor assembly 11. When the actual torque of the planetary reducer 12 does not meet the preset requirements, the motor assembly 11 can adjust the output torque according to the detection information until the actual torque detected by the first encoder 15 meets the preset requirements. For example, assuming that the actual output torque of the planetary reducer 12 detected by the first encoder 15 is 15N (Newton), and the detection information corresponding to 15N is sent to the motor assembly 11, however, the torque is 17N before the mechanical leg 2 can meet the preset rotation requirement. At this time, the motor assembly 11 will increase the output torque until the detection information sent by the first encoder 15 is information corresponding to 17N. At this time, the actual torque is 17N, which meets the use requirements. The present application can detect the actual torque of the planetary reducer 12 in real time through the first encoder 15. When the actual torque does not meet the use requirements, the motor assembly 11 can make corresponding adjustments, thereby ensuring the accuracy of the joint module 1 controlling the mechanical leg 2.

[0063] In one example, in order to detect the actual output torque of the motor assembly 11, the joint module 1 may also include a second encoder to detect the rotor 1111. The setting position of the second encoder can be set according to actual needs. For example, the second encoder can be connected to the rotor 1111, or can be connected to a position on the housing 112 close to the motor assembly 11. This application does not make any specific restrictions on this.

[0064] The mounting sleeve 14 may be in the form of a tolerance ring, which is convenient for production.

[0065] In one example, if Fig.10 As shown, the mounting sleeve 13 may include a base 131 and a plurality of elastic protrusions 132 spaced apart on the base 131. The elastic protrusions 132 may abut against the outer shell 112, may abut against the inner gear ring 124, or may abut against both the outer shell 112 and the inner gear ring 124 at the same time.

[0066] Specifically, when a plurality of elastic protrusions 132 are arranged at intervals on the outer surface of the base 131, the elastic protrusions 132 abut against the outer shell 112; when a plurality of elastic protrusions 132 are arranged at intervals on the inner surface of the base 131, the elastic protrusions 132 abut against the inner gear ring 124. When a portion of the elastic protrusions 132 are arranged at intervals on the outer surface of the base 131, the portion of the elastic protrusions 132 abut against the outer shell 112, and when another portion of the elastic protrusions 132 are arranged at intervals on the inner surface of the base 131, the other portion of the elastic protrusions 132 abut against the inner gear ring 124. The specific configuration can be based on actual needs, and this application does not impose specific restrictions on this.

[0067] When the elastic protrusion 132 abuts against the inner gear ring 124, that is, when the installation sleeve 13 is nested on the inner gear ring 124, the elastic protrusion 132 abuts against the inner gear ring 124, and the elastic protrusion 132 is pressed down by the inner gear ring 124 to frictionally connect the installation sleeve 13 with the inner gear ring 124. Alternatively, after the installation sleeve 13 is nested with the outer shell 112, the elastic protrusion 132 abuts against the outer shell 112, and the elastic protrusion 132 is pressed down by the outer shell 112 to frictionally connect the installation sleeve 13 with the outer shell 112. Alternatively, when the mounting sleeve 13 is nested on the inner gear ring 124, a portion of the elastic protrusion 132 abuts against the inner gear ring 124, and the portion of the elastic protrusion 132 is pressed down by the inner gear ring 124 to frictionally connect the mounting sleeve 13 with the inner gear ring 124, and another portion of the elastic protrusion 132 abuts against the outer shell 112, and the portion of the elastic protrusion 132 is pressed down by the outer shell 112 to frictionally connect the mounting sleeve 13 with the outer shell 112. Here, it can be understood that the above-mentioned friction force can refer to the force generated when the elastic protrusion 132 on the mounting sleeve 13 expands outward or contracts inward, and the force frictionally connects the mounting sleeve 13 with the inner gear ring 124 and the outer shell 112 respectively.

[0068] The elastic protrusion 132 may be in the shape of an arch bridge or other structure with elastic deformation capability, and it only needs to provide friction force between the inner gear ring 12 and the outer shell 112 .

[0069] When the planetary carrier 123 outputs power to the force-bearing end of the robot, the static friction force borne by the inner ring 124 can overcome the reaction force applied to the inner ring 124 by the planetary wheel 122, and the mounting sleeve 13, the inner ring 124 and the outer shell 112 remain relatively still. When the external force impact is greater than the friction force, the inner ring 124 and the outer shell 112 slip and release the force, that is, the inner ring 124 rotates relative to the outer shell 112. Here, it is worth noting that when the mounting sleeve 13 is nested on the inner gear ring 124, the mounting sleeve 13 is in frictional contact with the inner gear ring 124 and the outer shell 112. Since the diameter of the outer shell 112 is usually larger than the diameter of the inner gear ring 124, that is, the torque of the outer shell 112 is larger than the torque of the inner gear ring 124, when the external force impact is greater than the friction force, the mounting sleeve 13 and the inner gear ring 124 usually slip and lose force. Some rough structures can also be set on the mounting sleeve 13 to make the friction force relatively change, so that when the external force impact is greater than the friction force, the outer shell 112 and the mounting sleeve 13 slip and lose force. This application does not make specific restrictions on this.

[0070] Optionally, the elastic protrusion 132 and the base 131 are arranged in an annular manner to form an integrated mounting sleeve 13. It is worth noting that the elastic protrusion 132 can be arranged in an annular manner on the outer surface of the base 131, or on the inner surface of the base 131, or on both the inner surface and the outer surface of the base 131, and this application does not make any specific limitation on this.

[0071] Optionally, the base 131 of the mounting sleeve 13 may be Fig.10 As shown, a notch is provided to facilitate disassembly and installation, and the base 131 may also be a closed loop, to which the present application does not impose any specific limitation.

[0072] Grease is generally provided in the planetary reducer 12. In order to prevent the grease in the planetary reducer 12 from flowing out and affecting the use, in one example, Fig.10 As shown, the joint module 1 in the embodiment of the present application may further include an annular ring 16, which may be located between the planetary reducer 12 and the mounting sleeve 13, and may limit the grease in the planetary reducer 12 to avoid the grease in the planetary reducer 12 flowing into the mounting sleeve 13 and thus affecting the use, thereby ensuring the reliability of the use of the planetary reducer 12 and the mounting sleeve 13, and further ensuring the rotation reliability of the joint module 1.

[0073] In this way, the joint module 1 can be released from the external impact force through the installation sleeve 13, without the need to add additional elastic parts and friction parts, with a simple structure and easy assembly. The installation sleeve 13 has a compensation tolerance, which reduces the processing accuracy of the installation sleeve 13 and reduces a certain processing difficulty. The installation sleeve 13 also has the function of compensating for thermal expansion, avoiding the failure of the installation sleeve 13, which causes the joint module 1 to be unable to release force, and ensures the reliability of the joint module 1. At the same time, the installation sleeve 13 in the embodiment of the present application is sleeved on the inner gear ring 124. During use, the installation sleeve 13 generates a radial force, that is, it does not generate an axial force on the inner gear ring 124, avoiding the large axial force causing some parts in the planetary reducer 12 to deform, thereby affecting the transmission accuracy of the planetary reducer 12, resulting in the problem of poor transmission stability of the planetary reducer 12. In this way, the joint module 1 provided in the embodiment of the present application realizes the release of external impact force through the mounting sleeve 13, while also ensuring the transmission accuracy and transmission stability of the planetary reducer 12 in the joint module 1, thereby ensuring the transmission reliability of the joint module 1.

[0074] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0075] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0076] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0077] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0078] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A joint module (1), applied to a robot, characterized in that: The joint module (1) comprises: A motor assembly (11) comprises a rotary drive member (111) and a housing (112), wherein the rotary drive member (111) is located inside the housing (112); A planetary reducer (12), comprising a sun gear (121), a planet gear (122), a planet carrier (123) and an inner gear ring (124), wherein the planet gear (122) is sleeved on the planet carrier (123), and the planet gear (122) is meshed with the inner gear ring (124), the sun gear (121) and the planet carrier (123) are respectively connected to the rotating drive member (111), and the planet carrier (123) is used to output power to the force-bearing end of the robot; and A mounting sleeve (13) is nested between the inner gear ring (124) and the outer shell (112), and the mounting sleeve (13) is in frictional contact with the inner gear ring (124) and the outer shell (112). When the planet carrier (123) outputs power to the force-bearing end of the robot, the mounting sleeve (13) is used to keep the inner gear ring (124) and the outer shell (112) relatively still by means of friction; When the force-bearing end of the robot is subjected to an external force greater than the friction force, the mounting sleeve (13) allows the inner gear ring (124) to rotate relative to the outer shell (112).

2. The joint module (1) according to claim 1, characterized in that: The mounting sleeve (13) comprises a base (131) and a plurality of elastic protrusions (132) arranged at intervals on the base (131).

3. The joint module (1) according to claim 2, characterized in that: A plurality of the elastic protrusions (132) are arranged at intervals on the outer surface of the base (131) and abut against the outer shell (112); or a plurality of the elastic protrusions (132) are arranged at intervals on the inner surface of the base (131) and abut against the inner gear ring (124).

4. The joint module (1) according to claim 2, characterized in that: A portion of the elastic protrusions (132) are arranged at intervals on the inner surface of the base (131) and abut against the inner gear ring (124), and another portion of the elastic protrusions (132) are arranged at intervals on the outer surface of the base (131) and abut against the outer shell (112).

5. The joint module (1) according to claim 2, characterized in that: The base (131) is provided with a notch (131A).

6. The joint module (1) according to claim 1, characterized in that: The mounting sleeve (13) comprises a tolerance ring.

7. The joint module (1) according to any one of claims 1 to 6, characterized in that: The joint module (1) further comprises a front cover (14), wherein the front cover (14) is fixedly connected to the outer shell (112) to form a containing cavity.

8. The joint module (1) according to claim 7, characterized in that: A through hole (112A) is provided on one side of the housing (112) facing the force-bearing end of the robot, and the front cover (14) covers the through hole (112A).

9. The joint module (1) according to claim 7, characterized in that: The joint module (1) further comprises an annular ring (16); The annular ring (16) is located between the planetary reducer (12) and the mounting sleeve (13) and is used to limit the grease in the planetary reducer (12).

10. A robot, characterized in that: It comprises at least one joint module (1) as described in any one of claims 1 to 9, a mechanical leg (2) and a fuselage (3), wherein the mechanical leg (2) is connected to the planetary frame (123), and the fuselage (3) is connected to the mechanical leg (2) via the joint module (1).

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