Joint module and joint robot

Abstract

The joint module comprises a motor assembly, the motor assembly comprises a shell, a motor stator and a motor rotor, the shell is provided with a motor installation cavity and an electric control installation cavity which are distributed in the axial direction, the motor stator and the motor rotor are installed in the motor installation cavity, and the motor stator and the motor rotor are installed in the electric control installation cavity; the motor rotor is rotatably mounted 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, close to the motor mounting cavity, of the motor assembly; the 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 the end, away from the motor assembly, of the reducer. The electric control unit is mounted in the electric control mounting cavity; and the aviation connector is arranged on the shell and is electrically connected with the electric control unit. The electrical performance of the aviation connector is higher, the stability of the electric energy and control signal transmission process can be improved, and therefore the operation stability of the joint module 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 received more and more attention and are being used more and more widely. 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, joint modules need to be electrically connected to external electronic control equipment through electrical connectors to obtain electrical energy and control signals, but the electrical performance of ordinary connectors is poor, resulting in poor operating stability of the joint modules. 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 operating stability of the joint module.

[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 housing being provided with a motor installation cavity and an electric control installation cavity arranged along the axial direction, the motor stator and the motor rotor being installed in the motor installation cavity, the motor rotor being rotatably installed on the inner circumference of the motor stator; a mounting boss being convexly provided on the outer circumferential wall of the housing, the mounting boss being used for fixed installation on an external structure;

[0006] A reducer, the reducer is installed at one end of the motor assembly close to the motor installation cavity; the reducer comprises 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] An electric control unit, the electric control unit being installed in the electric control installation cavity;

[0008] An aviation connector is installed on the housing and is electrically connected to the electronic control unit.

[0009] Optionally, the housing is provided with a mounting hole connected to the electric control mounting cavity, and the mounting hole is arranged away from the mounting boss; the aviation connector includes a socket and a plug mating with the socket, and the socket is installed at the mounting hole and is electrically connected to the electric control unit.

[0010] Optionally, a connecting boss is formed on a peripheral wall of the socket, and the connecting boss is connected to an outer wall surface of the shell.

[0011] Optionally, the connecting boss is provided with a through hole, the outer wall surface of the shell is provided with a fixing hole, and the through hole is connected to the fixing hole by a fastener.

[0012] Optionally, a first sealing groove is formed on a side of the connecting boss facing the outer shell, a first sealing ring is embedded in the first sealing groove, and the first sealing ring abuts against the outer shell.

[0013] Optionally, the socket is fixedly inserted into the mounting hole, and a positioning boss is protruded from a peripheral wall of the socket, and the positioning boss abuts against an outer wall surface of the shell.

[0014] Optionally, a second sealing groove is formed on a peripheral wall of the socket, a second sealing ring is embedded in the second sealing groove, and the socket and the mounting hole are sealed and matched via the second sealing ring.

[0015] Optionally, the number of the aviation connectors is at least two, the number of the mounting holes corresponds to the number of the aviation connectors, at least two of the mounting holes are opened on the peripheral wall of the shell and are spaced apart along the width direction of the shell, and the sockets of each aviation connector are respectively installed at each mounting hole.

[0016] Optionally, the socket specifications of the at least two aviation connectors are different.

[0017] The utility model also provides a joint robot, which includes the joint module as described above.

[0018] In the technical solution of the joint module of the utility model, an aviation connector is used to electrically connect to the electronic control unit. The aviation connector can be used for electrical connection to external electronic control equipment to transmit electrical energy and control signals, thereby realizing power supply and control of the joint module by the external electronic control equipment. The aviation connector has higher electrical performance and can improve the stability of the electrical energy and control signal transmission process, thereby improving the operating stability of the joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] Figure 1 This is a structural schematic diagram of an embodiment of the joint module of the utility model;

[0021] Figure 2 This is an exploded schematic diagram of an embodiment of the joint module of the utility model;

[0022] Figure 3 It is a cross-sectional schematic diagram of an embodiment of the joint module of the utility model;

[0023] Figure 4 It is a cross-sectional schematic diagram of another embodiment of the joint module of the utility model;

[0024] Figure 5 This is a schematic structural diagram of an embodiment of a socket in the utility model;

[0025] Figure 6 It is a structural schematic diagram of another embodiment of the socket in the utility model.

[0026] Description of Figure Numbers:

[0027] Label name Label name Label name 10 Motor components 11 shell 12 Motor stator 13 Motor rotor 14 Electronic control installation cavity 15 Mounting boss 20 reducer 21 Input shaft 22 Output cover 30 Electronic Control Unit 40 Aviation connector 111 Mounting holes 41 socket 42 plug 411 Connection boss 412 Vias 112 Fixing holes 413 First sealing ring 414 Positioning boss 415 Second sealing ring

[0028] 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

[0029] 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.

[0030] 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.

[0031] 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.

[0032] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, have received more and more attention and are being used more and more widely. 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, joint modules need to be electrically connected to external electronic control equipment through electrical connectors to obtain electrical energy and control signals, but the electrical performance of ordinary connectors is poor, resulting in poor operating stability of the joint modules.

[0033] The utility model provides a joint module, aiming to solve the technical problem of how to improve the operating stability of the joint module.

[0034] 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 cross-sectional schematic diagram of an embodiment of the joint module of the utility model; Figure 4 It is a cross-sectional schematic diagram of another embodiment of the joint module of the utility model.

[0035] 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 housing 11 is provided with a motor mounting cavity and an electric control mounting cavity 14 arranged along the axial direction, wherein the motor stator 12 and the motor rotor 13 are mounted in the motor mounting cavity, and the motor rotor 13 is rotatably mounted on the inner circumference of the motor stator 12; a mounting boss 15 is convexly provided on the outer circumferential wall of the housing 11, and the mounting boss 15 is used for fixedly mounting on an external structure; a reducer 20, wherein the reducer 20 is mounted on one end of the motor assembly 10 close to the motor mounting cavity; 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; an electric control unit 30, wherein the electric control unit 30 is mounted in the electric control mounting cavity 14; and an aviation connector 40, wherein the aviation connector 40 is mounted on the housing 11 and is electrically connected to the electric control unit 30.

[0036] 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.

[0037] When the joint module is applied to the joint robot, the mounting boss 15 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 15 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 15, 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 15, or the shell 11 is fixed on the base provided by the joint robot through the mounting boss 15, 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.

[0038] The mounting boss 15 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.

[0039] The mounting boss 15 is protruding from the outer peripheral wall of the housing 11 at one end away from the reducer 20. In this way, the distance between the mounting boss 15 and the output end cover 22 can be increased, thereby increasing the distance between the components driven by the output end cover 22 and the base of the joint robot, 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 15 can be flush with the end face of the housing 11, thereby increasing 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.

[0040] The connection method between the mounting boss 15 and the machine platform or the articulated robot base can be an embedding connection or a clamping connection, which is not limited here.

[0041] The mounting boss 15 is provided with a connecting hole, which penetrates the mounting boss 15 along the axial direction of the joint module, and is used for fasteners to penetrate. The two ends of the connecting hole penetrate the opposite end faces of the mounting boss 15 along the axial direction of the joint module. When the mounting boss 15 is fixed to an external structure, the connecting hole can be connected to the fixing hole 112 on the external structure through a fastener, thereby simplifying the fixing connection process of the mounting boss 15 and the external structure.

[0042] The number of the mounting bosses 15 may be one or more, which is not limited here.

[0043] There are multiple mounting bosses 15, and the multiple mounting bosses 15 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.

[0044] The outer peripheral wall of the housing 11 is also provided with a reinforcing rib, one end of which is connected to the mounting boss 15, and the other end of which extends toward an end of the housing 11 away from the mounting boss 15. The reinforcing rib can improve the connection strength between the mounting boss 15 and the housing 11, so as to improve the structural stability of the mounting boss 15, prevent the mounting boss 15 from being easily deformed or damaged after being stressed, and thus improve the overall service life of the joint module.

[0045] The protruding height of the reinforcing ribs on the housing 11 can be consistent at all locations or can be gradually changed, which is not limited here.

[0046] The protruding height of the reinforcing rib on the housing 11 gradually decreases from the end close to the mounting boss 15 to the end away from the mounting boss 15. In this way, the connection strength between the mounting boss 15 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.

[0047] The mounting boss 15 and the housing 11 may be formed separately and then connected, or may be integrally formed, which is not limited here.

[0048] The mounting boss 15 and the housing 11 are provided as an integrally formed part. The mounting boss 15 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 15 and the housing 11, and improving the overall structural strength of the housing 11 and the mounting boss 15. Correspondingly, the reinforcing rib, the housing 11 and the mounting boss 15 can also be provided as an integrally formed part, thereby further simplifying the processing and connection method of the reinforcing rib, the mounting boss 15 and the housing 11, and improving the overall structural strength of the housing 11 and the mounting boss 15.

[0049] The electric control unit 30 can provide electric energy and transmit control signals to the motor assembly 10 and the reducer 20. The electric control unit 30 is electrically connected through the aviation connector 40, which can be electrically connected to external electric control equipment to transmit electric energy and control signals, so as to realize the power supply and control of the joint module by the external electric control equipment; the electrical performance of the aviation connector 40 is higher, which can improve the stability of the electric energy and control signal transmission process, thereby improving the operation stability of the joint module.

[0050] Specifically, Figure 2 and Figure 4 As shown, the housing 11 is provided with a mounting hole 111 communicating with the electric control mounting cavity 14, and the mounting hole 111 is arranged away from the mounting boss 15; the aviation connector 40 includes a socket 41 and a plug 42 plugged with the socket 41, and the socket 41 is installed at the mounting hole 111 and electrically connected to the electric control unit 30. By providing the mounting hole 111 on the housing 11 for installing the socket 41 of the aviation connector 40, the installation process of the socket 41 can be simplified to improve the installation efficiency.

[0051] For example, Figure 5 As shown, Figure 5 Schematic diagram of the structure of an embodiment of the socket 41 in the utility model. The peripheral wall of the socket 41 is provided with a connecting boss 411, and the connecting boss 411 is connected to the outer wall surface of the shell 11. The connecting boss 411 can extend along the circumference of the socket 41 to increase the contact area with the shell 11, thereby improving the connection stability between the socket 41 and the shell 11.

[0052] The connecting boss 411 and the housing 11 may be fixed by bonding or by other means.

[0053] Specifically, Figure 5 As shown, the connecting boss 411 is provided with a through hole 412, and the outer wall surface of the housing 11 is provided with a fixing hole 112, and the through hole 412 is connected to the fixing hole 112 by a fastener. The fixing hole 112 can be set as a screw hole, and the fastener can be set as a screw, so that the fastener and the fixing hole 112 can be threadedly matched to simplify the connection process between the connecting boss 411 and the housing 11. Combined with the above-mentioned embodiment in which the connecting boss 411 extends along the circumference of the socket 41, the number of the through holes 412 can be set to be multiple, and the multiple through holes 412 are arranged at intervals along the circumference of the socket 41, and the number and position of the fixing holes 112 correspond to the through holes 412, so that the fixed connection parts between the connecting boss 411 and the housing 11 can be increased to improve the installation stability of the socket 41 at the mounting hole 111.

[0054] In practical applications, such as Figure 5 As shown, the connecting boss 411 is provided with a first sealing groove on one side facing the housing 11, and a first sealing ring 413 is embedded in the first sealing groove, and the first sealing ring 413 abuts against the housing 11. The first sealing ring 413 may be a rubber ring, and the first sealing ring 413 may block the gap between the connecting boss 411 and the housing 11, and prevent external moisture or dust from entering the electric control installation cavity 14 through the installation hole 111 to affect the electric control unit 30, thereby improving the operating stability of the joint module. The first sealing groove may improve the installation stability of the first sealing ring 413.

[0055] For example, Figure 6 As shown, Figure 6 1 is a schematic diagram of the structure of another embodiment of the socket 41 in the present invention. The socket 41 is fixedly plugged into the mounting hole 111, and a positioning boss 414 is convexly provided on the peripheral wall of the socket 41, and the positioning boss 414 abuts against the outer wall surface of the housing 11. The socket 41 can be fixedly matched with the mounting hole 111 to simplify the installation process of the socket 41. The positioning boss 414 can limit the insertion depth of the socket 41 and the mounting hole 111 to improve the installation convenience of the socket 41.

[0056] Specifically, Figure 6As shown, the peripheral wall of the socket 41 is provided with a second sealing groove, and the second sealing groove is embedded with a second sealing ring 415, and the socket 41 and the mounting hole 111 are sealed and matched through the second sealing ring 415. The second sealing ring 415 can prevent external moisture or dust from entering the electric control mounting cavity 14 through the mounting hole 111 and affecting the electric control unit 30, thereby improving the operating stability of the joint module. The second sealing groove can improve the installation stability of the second sealing ring 415, thereby improving the sealing stability.

[0057] For example, Figure 1 and Figure 2 As shown, the number of the aviation connectors 40 is at least two, the number of the mounting holes 111 corresponds to the number of the aviation connectors 40, at least two of the mounting holes 111 are opened on the peripheral wall of the shell 11 and are spaced apart along the width direction of the shell 11, and the sockets 41 of each aviation connector 40 are respectively installed at each mounting hole 111. Multiple aviation connectors 40 can be connected to multiple functional cables to achieve different control functions of the joint module. Multiple aviation connectors 40 can be installed on the same side wall of the shell 11, so that the distribution of the aviation connectors 40 can be more concentrated to reduce the overall occupied space of the joint module.

[0058] Specifically, the sockets 41 of the at least two aviation connectors 40 have different specifications. Sockets 41 of different specifications can only be effectively connected to plugs 42 of corresponding specifications, and plugs 42 of different specifications have different specific functions. In this way, it can prevent mistakes in the connection process of multiple aviation connectors 40, thereby improving the ease of use of the joint module.

[0059] 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.

[0060] In the technical solution of the joint module of the utility model, the electrical connection with the electronic control unit 30 is achieved through the aviation connector 40. The aviation connector 40 can be electrically connected to the external electronic control equipment to transmit electrical energy and control signals, thereby realizing the power supply and control of the joint module by the external electronic control equipment. The aviation connector 40 has higher electrical performance, which can improve the stability of the electrical energy and control signal transmission process, thereby improving the operating stability of the joint module.

[0061] 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 housing being provided with a motor installation cavity and an electric control installation cavity arranged along the axial direction, the motor stator and the motor rotor being installed in the motor installation cavity, the motor rotor being rotatably installed on the inner circumference of the motor stator; a mounting boss being convexly provided on the outer circumferential wall of the housing, the mounting boss being used for fixed installation on an external structure; A reducer, the reducer is installed at one end of the motor assembly close to the motor installation cavity; the reducer comprises 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; An electric control unit, the electric control unit being installed in the electric control installation cavity; An aviation connector is installed on the housing and is electrically connected to the electronic control unit.

2. The joint module according to claim 1, characterized in that: The shell is provided with a mounting hole connected to the electric control mounting cavity, and the mounting hole is arranged away from the mounting boss; the aviation connector includes a socket and a plug mated with the socket, and the socket is installed at the mounting hole and electrically connected to the electric control unit.

3. The joint module according to claim 2, characterized in that: A connecting boss is formed on the peripheral wall of the socket, and the connecting boss is connected to the outer wall surface of the shell.

4. The joint module according to claim 3, characterized in that: The connecting boss is provided with a through hole, the outer wall surface of the shell is provided with a fixing hole, and the through hole and the fixing hole are connected by a fastener.

5. The joint module according to claim 3, characterized in that: A first sealing groove is formed on a side of the connecting boss facing the outer shell, a first sealing ring is embedded in the first sealing groove, and the first sealing ring abuts against the outer shell.

6. The joint module according to claim 2, characterized in that: The socket is fixedly inserted into the mounting hole, and a positioning boss is convexly provided on the peripheral wall of the socket, and the positioning boss abuts against the outer wall surface of the shell.

7. The joint module according to claim 6, characterized in that: A second sealing groove is formed on the peripheral wall of the socket, a second sealing ring is embedded in the second sealing groove, and the socket and the mounting hole are sealed and matched through the second sealing ring.

8. The joint module according to any one of claims 2 to 7, characterized in that: The number of the aviation connectors is at least two, the number of the mounting holes corresponds to the number of the aviation connectors, at least two of the mounting holes are opened on the peripheral wall of the shell and are spaced apart along the width direction of the shell, and the sockets of the aviation connectors are respectively installed at the mounting holes.

9. The joint module according to claim 8, characterized in that: The socket specifications of the at least two aviation connectors are different.

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

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