Joint module and joint robot

Abstract

The utility model discloses a joint module and a joint robot, the joint module comprises a motor assembly, the motor assembly comprises a shell, a motor stator and a motor rotor, the motor stator is installed in the shell, and the motor rotor is rotatably installed on the inner circumferential side of the motor stator; an installation boss is arranged on the peripheral wall of the shell in a protruding mode and used for being fixedly installed on an external structure. The speed reducer is mounted at one end of the motor assembly in the axial direction; the speed reducer comprises an input shaft and an output end cover, the input shaft is matched with the motor rotor, and the output end cover is arranged at one end of the speed reducer away from the motor assembly. According to the joint robot, the joint robot does not need to provide a complex structure to be installed with the joint module in a matched mode, so that the connecting process of the joint robot and the joint module can be simplified, the part structure of the joint robot is simplified, and the positioning precision of the joint robot during working is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of drive equipment, in particular to a joint module and a joint robot. Background Art

[0002] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, have been increasingly valued and widely used. In robot-related technologies, the control of robot joints and other moving parts is the most important and critical. Robot joints and other moving parts can be powered by motors, and the motion posture of the robot's motors and joints and other moving parts can be measured by encoders, thereby achieving full closed-loop control of robot joints and other moving parts. In related technologies, when a joint module is applied to a joint robot, the joint robot needs to provide an adaptive base for the installation of the fixed part of the joint module, which makes the joint robot's component structure more complex and affects the positioning accuracy of the joint robot during operation. Utility Model Content

[0003] The main purpose of the utility model is to provide a joint module, aiming to solve the technical problem of how to improve the positioning accuracy of a joint robot.

[0004] To achieve the above objectives, the joint module proposed by the utility model includes:

[0005] A motor assembly, the motor assembly comprising a housing, a motor stator and a motor rotor, the motor stator being installed in the housing, and the motor rotor being rotatably installed on the inner circumference of the motor stator; a mounting boss is convexly provided on the outer circumferential wall of the housing, and the mounting boss is used for fixed installation on an external structure;

[0006] A reducer is installed at one axial end of the motor assembly; the reducer includes an input shaft and an output end cover, the input shaft cooperates with the motor rotor, and the output end cover is arranged at one end of the reducer away from the motor assembly.

[0007] Optionally, the mounting boss is protruding from an end of the outer peripheral wall of the housing away from the reducer.

[0008] Optionally, the mounting boss is provided with a connecting hole, the connecting hole passes through the mounting boss along the axial direction of the joint module, and the connecting hole is used for a fastener to pass through.

[0009] Optionally, there are multiple mounting bosses, and the multiple mounting bosses are arranged at intervals along the circumference of the shell.

[0010] Optionally, a reinforcing rib is protruding from the outer peripheral wall of the shell, one end of the reinforcing rib is connected to the mounting boss, and the other end extends toward an end of the shell away from the mounting boss.

[0011] Optionally, a protruding height of the reinforcing rib on the housing gradually decreases from an end close to the mounting boss toward an end away from the mounting boss.

[0012] Optionally, an electronic control installation cavity is provided in the shell, and the electronic control installation cavity is located on the side of the motor stator away from the reducer. The joint module also includes an electronic control unit, and the electronic control unit is installed in the electronic control installation cavity. The shell is provided with an electrical connection hole connected to the electronic control installation cavity, and the electrical connection hole is used for electrically connecting an external circuit to the electronic control unit.

[0013] Optionally, the motor assembly further comprises a protective cover, and the protective cover is openably disposed to cover the opening of the electric control installation cavity.

[0014] Optionally, the mounting boss and the housing are configured as an integrally formed part.

[0015] The present invention also provides an articulated robot, which comprises the joint module as described above.

[0016] In the technical solution of the joint module of the utility model, a mounting boss is protruded on the outer peripheral wall of the motor assembly housing, so that the mounting boss can be more conveniently connected to the base of the joint robot, and even the housing with the mounting boss itself can be used as the base of the joint robot. Therefore, the joint robot does not need to provide a complex structure for adapting and installing with the joint module, thereby simplifying the connection process between the joint robot and the joint module, and simplifying the component structure of the joint robot itself, which is conducive to improving the positioning accuracy of the joint robot when it is working. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0018] Figure 1 This is a structural schematic diagram of an embodiment of the joint module of the utility model;

[0019] Figure 2 This is an exploded schematic diagram of an embodiment of the joint module of the utility model;

[0020] Figure 3It is a projection diagram of an embodiment of a housing in the utility model;

[0021] Figure 4 It is a cross-sectional schematic diagram of an embodiment of the joint module of the utility model;

[0022] Figure 5 It is a cross-sectional schematic diagram of another embodiment of the joint module of the utility model.

[0023] Description of Figure Numbers:

[0024] Label name Label name Label name 10 Motor components 11 shell 12 Motor stator 13 Motor rotor 14 Mounting boss 20 reducer 21 Input shaft 22 Output cover 141 Connection hole 15 Reinforcement 111 Electronic control installation cavity 30 Electronic Control Unit 112 Electrical connection hole 16 Protective cover

[0025] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions, taking "A and / or B as an example", including solution A, or solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0029] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, have been increasingly valued and widely used. In robot-related technologies, the control of robot joints and other moving parts is the most important and critical. Robot joints and other moving parts can be powered by motors, and the motion posture of the robot's motors and joints and other moving parts can be measured by encoders, thereby achieving full closed-loop control of robot joints and other moving parts. In related technologies, when a joint module is applied to a joint robot, the joint robot needs to provide an adaptive base for the installation of the fixed part of the joint module, which makes the joint robot's component structure more complex and affects the positioning accuracy of the joint robot during operation.

[0030] The utility model provides a joint module, aiming to solve the technical problem of how to improve the positioning accuracy of a joint robot.

[0031] In the embodiment of the present utility model, Figures 1 to 4 As shown, Figure 1 This is a structural schematic diagram of an embodiment of the joint module of the utility model; Figure 2 This is an exploded schematic diagram of an embodiment of the joint module of the utility model; Figure 3 It is a projection diagram of an embodiment of the housing 11 of the present utility model; Figure 4 It is a cross-sectional schematic diagram of an embodiment of the joint module of the present utility model.

[0032] The joint module includes: a motor assembly 10, wherein the motor assembly 10 includes a housing 11, a motor stator 12 and a motor rotor 13, wherein the motor stator 12 is installed in the housing 11, and the motor rotor 13 can be rotatably installed on the inner circumference of the motor stator 12; a mounting boss 14 is convexly provided on the outer circumferential wall of the housing 11, and the mounting boss 14 is used for fixed installation on an external structure; a reducer 20, wherein the reducer 20 is installed at one axial end of the motor assembly 10; the reducer 20 includes an input shaft 21 and an output end cover 22, wherein the input shaft 21 cooperates with the motor rotor 13, and the output end cover 22 is arranged at one end of the reducer 20 away from the motor assembly 10.

[0033] In this embodiment, the motor stator 12 is fixedly mounted in the housing 11, and the motor rotor 13 can be rotatably matched with the housing 11 through a bearing, so that the motor rotor 13 can rotate relative to the motor stator 12 through electromagnetic induction. The reducer 20 is used to adjust the motor rotor 13 to a preset speed before outputting work. Specifically, the input shaft 21 is fixedly matched with the motor rotor 13 and differentially matched with the output end cover 22, so that the speed of the output end cover 22 can be controlled at a preset value to meet the output requirements. The input shaft 21 is plugged into the motor rotor 13 to rotate synchronously with the motor rotor 13.

[0034] When the joint module is applied to the joint robot, the mounting boss 14 can be fixed on the machine directly as the base or fixed seat of the joint robot to achieve the fixed installation of the first joint of the joint robot; of course, the mounting boss 14 can also be installed on the base provided by the joint robot to achieve the fixed installation of the joint module and the base. Since the shell 11 has accommodated the main components of the motor assembly 10, the base provided by the joint robot only needs to be fixedly connected to the mounting boss 14, and there is no need to consider hiding and protecting the main components of the motor assembly 10, thereby simplifying the base structure provided by the joint robot. In summary, whether the shell 11 is directly fixed on the machine as the base or fixed seat of the joint robot through the mounting boss 14, or the shell 11 is fixed on the base provided by the joint robot through the mounting boss 14, the structure of the joint robot and the connection method with the joint module can be simplified, thereby avoiding the possibility of increased operation errors due to the complex structure of the joint robot, and improving the positioning accuracy of the joint robot during operation.

[0035] The mounting boss 14 may be disposed at an end of the housing 11 close to the reducer 20 , or may be disposed at an end of the housing 11 away from the reducer 20 , which is not limited here.

[0036] For example, Figure 1 and Figure 4 As shown, the mounting boss 14 is convexly arranged on the outer peripheral wall of the housing 11 away from the reducer 20. In this way, the distance between the mounting boss 14 and the output end cover 22 can be increased, so that the distance between the components driven by the output end cover 22 and the base of the joint robot can be increased, so as to avoid the base of the joint robot hindering the movement of the components driven by the output end cover 22, thereby improving the use effect of the joint module. The end face of the mounting boss 14 can be flush with the end face of the housing 11, so as to increase the support area of ​​the housing 11 or the contact area with the robot base, so as to improve the installation stability of the joint module.

[0037] The connection method between the mounting boss 14 and the machine platform or the articulated robot base can be an embedding connection or a clamping connection, which is not limited here.

[0038] Specifically, Figure 2 and Figure 4 As shown, the mounting boss 14 is provided with a connecting hole 141, and the connecting hole 141 penetrates the mounting boss 14 along the axial direction of the joint module, and the connecting hole 141 is used for fasteners to penetrate. The two ends of the connecting hole 141 penetrate the opposite end faces of the mounting boss 14 along the axial direction of the joint module. When the mounting boss 14 is fixed to an external structure, the connecting hole 141 can be connected to the fixing hole on the external structure through a fastener, thereby simplifying the fixing connection process between the mounting boss 14 and the external structure.

[0039] The number of the mounting bosses 14 may be one or more, which is not limited here.

[0040] In practical applications, such as Figure 3 As shown, there are multiple mounting bosses 14, and the multiple mounting bosses 14 are arranged at intervals along the circumference of the housing 11. In this way, the connection area between the housing 11 and the external structure can be increased to further improve the installation stability of the joint module.

[0041] For example, Figure 2 and Figure 4 As shown, the outer peripheral wall of the housing 11 is also provided with a reinforcing rib 15, one end of which is connected to the mounting boss 14, and the other end extends toward the end of the housing 11 away from the mounting boss 14. The reinforcing rib 15 can improve the connection strength between the mounting boss 14 and the housing 11, so as to improve the structural stability of the mounting boss 14, prevent the mounting boss 14 from being easily deformed or damaged after being stressed, thereby improving the overall working life of the joint module.

[0042] The protruding height of the reinforcing rib 15 on the housing 11 can be consistent at all locations or can be gradually changed, which is not limited here.

[0043] For example, Figure 2 and Figure 4 As shown, the protruding height of the reinforcing rib 15 on the housing 11 gradually decreases from the end close to the mounting boss 14 to the end away from the mounting boss 14. In this way, the connection strength between the mounting boss 14 and the housing 11 can be ensured, and the radial dimensions of the joint module at other parts can be reasonably controlled, thereby reducing the occupied space of the joint module, so that the installation structure of the joint module in the joint robot is more compact.

[0044] The mounting boss 14 and the housing 11 may be formed separately and then connected, or may be integrally formed, which is not limited here.

[0045] In practical applications, the mounting boss 14 and the housing 11 are configured as an integrally formed part. The mounting boss 14 and the housing 11 can be integrally formed by a casting process or an injection molding process, thereby simplifying the processing and connection method of the mounting boss 14 and the housing 11, and improving the overall structural strength of the housing 11 and the mounting boss 14. Correspondingly, the reinforcing rib 15, the housing 11, and the mounting boss 14 can also be configured as an integrally formed part, thereby further simplifying the processing and connection method of the reinforcing rib 15, the mounting boss 14, and the housing 11, and improving the overall structural strength of the housing 11 and the mounting boss 14.

[0046] For example, Figure 4 and Figure 5 As shown, Figure 5It is a cross-sectional schematic diagram of another embodiment of the joint module of the utility model. The housing 11 is provided with an electric control installation cavity 111, and the electric control installation cavity 111 is located on the side of the motor stator 12 away from the reducer 20. The joint module also includes an electric control unit 30, and the electric control unit 30 is installed in the electric control installation cavity 111; the housing 11 is provided with an electric connection hole 112 connected to the electric control installation cavity 111, and the electric connection hole 112 is used for an external circuit to be electrically connected to the electric control unit 30.

[0047] A motor installation cavity may also be provided in the housing 11. The motor installation cavity and the electric control installation cavity 111 are distributed along the axial direction of the housing 11. The motor stator 12 and the motor rotor 13 are installed in the motor installation cavity. The electric control unit 30 can provide electrical energy to the motor assembly 10 and the reducer 20 and transmit control signals. The external circuit can be electrically connected to the electric control unit 30 through the power connection hole 112. The power connection hole 112 can be opened at one end of the housing 11 away from the reducer 20 and is arranged away from the mounting boss 14, thereby preventing the external circuit from obstructing the components driven by the output end cover 22 and preventing the power connection hole 112 from affecting the structural strength of the mounting boss 14, so as to improve the use effect and structural stability of the joint module.

[0048] Specifically, Figure 5 As shown, Figure 5 It is a cross-sectional schematic diagram of another embodiment of the joint module of the utility model. The motor assembly 10 also includes a protective cover 16, and the protective cover 16 is openably covered on the opening of the electric control installation cavity 111. The electric control installation cavity 111 is close to the opening of the end of the housing 11 away from the reducer 20. The protective cover 16 can seal and protect the electric control unit 30 to prevent the electric control unit 30 from being affected by external moisture or dust, thereby improving the working stability of the electric control unit 30. The protective cover 16 can be movably connected to the housing 11, or detachably connected to the housing 11, and there is no limitation here. It is only necessary that the protective cover 16 can open the opening of the electric control installation cavity 111. When the electric control unit 30 needs to be inspected and maintained, the protective cover 16 can be opened to expose the electric control unit 30, so as to facilitate the user to inspect and maintain the electric control unit 30.

[0049] The utility model also proposes an articulated robot, which includes a joint module. The specific structure of the joint module refers to the above-mentioned embodiment. Since the articulated robot adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0050] In the technical solution of the joint module of the present utility model, a mounting boss 14 is protruded on the outer peripheral wall of the housing 11 of the motor assembly 10, so that the mounting boss 14 can be more conveniently connected to the base of the joint robot, and even the housing 11 itself with the mounting boss 14 can be used as the base of the joint robot. Therefore, the joint robot does not need to provide a complex structure for adapting and installing with the joint module, thereby simplifying the connection process between the joint robot and the joint module, and simplifying the component structure of the joint robot itself, which is conducive to improving the positioning accuracy of the joint robot when it is working.

[0051] The above description is only an optional embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A joint module, characterized in that: include: A motor assembly, the motor assembly comprising a housing, a motor stator and a motor rotor, the motor stator being installed in the housing, and the motor rotor being rotatably installed on the inner circumference of the motor stator; a mounting boss is convexly provided on the outer circumferential wall of the housing, and the mounting boss is used for fixed installation on an external structure; A reducer is installed at one axial end of the motor assembly; the reducer includes an input shaft and an output end cover, the input shaft cooperates with the motor rotor, and the output end cover is arranged at one end of the reducer away from the motor assembly.

2. The joint module according to claim 1, characterized in that: The mounting boss is protrudingly arranged on an end of the outer peripheral wall of the housing away from the reducer.

3. The joint module according to claim 2, characterized in that: The mounting boss is provided with a connecting hole, and the connecting hole penetrates the mounting boss along the axial direction of the joint module, and the connecting hole is used for a fastener to pass through.

4. The joint module according to claim 2, characterized in that: There are multiple mounting bosses, and the multiple mounting bosses are arranged at intervals along the circumference of the shell.

5. The joint module according to claim 2, characterized in that: The outer peripheral wall of the shell is also protruded with a reinforcing rib, one end of the reinforcing rib is connected to the mounting boss, and the other end extends toward an end of the shell away from the mounting boss.

6. The joint module according to claim 5, characterized in that: The protruding height of the reinforcing rib on the housing gradually decreases from an end close to the mounting boss toward an end away from the mounting boss.

7. The joint module according to claim 1, characterized in that: An electric control installation cavity is provided in the shell, and the electric control installation cavity is located on the side of the motor stator away from the reducer. The joint module also includes an electric control unit, and the electric control unit is installed in the electric control installation cavity. The shell is provided with an electrical connection hole connected to the electric control installation cavity, and the electrical connection hole is used for electrically connecting an external circuit to the electric control unit.

8. The joint module according to claim 7, characterized in that: The motor assembly further comprises a protective cover, which is openably arranged to cover the opening of the electric control installation cavity.

9. The joint module according to any one of claims 1 to 8, characterized in that: The mounting boss and the housing are configured as an integrally formed part.

10. An articulated robot, characterized in that: Comprising a joint module as described in any one of claims 1 to 9.

Images