Joint module and joint robot
By using light guide tape in the joint module to transmit the light of the indicator light to the peripheral wall of the shell, the problem that is difficult to see when the indicator light is covered is solved, and the accurate judgment of the operating status of the joint module and the improvement of the use effect is achieved.
Patent Information
- Application Number
- CN202421171763.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-27
- Publication Date
- 2025-01-14
- Estimated Expiration
- 2034-05-27
AI Technical Summary
The indicator light of the robot joint module usually emits light from the fixed end. When this end is blocked, it is difficult for users to see it, resulting in the inability to accurately judge the operating status of the joint module, affecting the use effect.
The light guide tape is used to transmit the light of the indicator light of the electronic control unit to the peripheral wall surface of the housing, so that the user can see the light emitting state of the indicator light even when the fixed end is covered.
Through the light guide belt, the light of the indicator light is transmitted to the peripheral wall of the shell, and the user can accurately and timely obtain the operating status of the joint module, improving the effectiveness of the joint module.
Smart Images
Figure CN222345625U_ABST
Abstract
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, are 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, the joint module will be equipped with an indicator light to indicate the operating status. The indicator light generally emits light from the fixed end of the joint module, but when the fixed end of the joint module is covered in the application scenario, it is difficult for the user to see the indicator light, resulting in an inability to accurately judge the operating status of the joint module, affecting the use effect of the joint module. 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 use effect 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, an electric control installation cavity and a wiring cavity sequentially arranged along the axial direction, the motor stator and the motor rotor being installed in the motor installation cavity, and the motor rotor being rotatably installed on the inner circumference of the motor stator;
[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 is installed in the electric control installation cavity, and the electric control unit is provided with an indicator light;
[0008] A light guide strip, one end of which is close to the indicator light and the other end of which extends along the wiring cavity to be exposed on the peripheral wall surface of the shell, so as to transmit the light emitted by the indicator light to the peripheral wall surface of the shell.
[0009] Optionally, a light exit hole is formed on a peripheral wall surface of the housing, and one end of the light guide strip away from the indicator light is fixed in the light exit hole.
[0010] Optionally, the light guide belt and the light exit hole are sealed together by a sealant.
[0011] Optionally, the cross-sectional shape of the light guide strip is set to be circular, elliptical or square, and the cross-sectional shape of the light exit hole corresponds to the light guide strip.
[0012] Optionally, the cross-sectional width of the light guide tape is set to 1 mm to 2 mm.
[0013] Optionally, the light guide belt is made of optical fiber.
[0014] Optionally, the electronic control unit includes a circuit board and a mounting cover, the mounting cover is arranged on a side of the circuit board close to the wiring cavity, and the indicator light is arranged on a side of the circuit board facing the mounting cover; the mounting cover is provided with a through hole opposite to the indicator light, and one end of the light guide strip close to the indicator light passes through the through hole.
[0015] Optionally, the motor assembly further comprises a protective cover, and the protective cover is openably arranged to cover the opening of the wiring cavity.
[0016] Optionally, a mounting boss is protruding from the outer peripheral wall of the shell, and the mounting boss is used for fixed installation on an external structure.
[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, the light emitted by the indicator light of the electronic control unit is transmitted to the peripheral wall surface of the shell through the light guide belt. Therefore, even if the fixed end of the joint module is covered in the application scenario, the user can directly see the lighting state of the indicator light from the peripheral wall surface of the shell, so as to accurately and timely obtain the operating status of the joint module, thereby improving the use effect 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 This is an exploded schematic diagram of another embodiment of the joint module of the utility model;
[0024] Figure 5 It is a cross-sectional schematic diagram of an embodiment of an electronic control unit in the utility model.
[0025] Description of Figure Numbers:
[0026] Label name Label name Label name 10 Motor components 11 shell 12 Motor stator 13 Motor rotor 14 Wiring cavity 15 Mounting boss 20 reducer 21 Input shaft 22 Output cover 30 Electronic Control Unit 31 Indicator Lights 40 Light guide tape 16 light hole 32 Circuit Board 33 Mounting hood 17 Protective cover
[0027] 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
[0028] 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.
[0029] 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.
[0030] 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.
[0031] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are 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, the joint module will be equipped with an indicator light to indicate the operating status. The indicator light generally emits light from the fixed end of the joint module, but when the fixed end of the joint module is covered in the application scenario, it is difficult for the user to see the indicator light, resulting in an inability to accurately judge the operating status of the joint module, affecting the use effect of the joint module.
[0032] The utility model provides a joint module, aiming to solve the technical problem of how to improve the use effect of the joint module.
[0033] In the embodiment of the present utility model, Figures 1 to 5 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 This is an exploded schematic diagram of another embodiment of the joint module of the utility model; Figure 5 It is a cross-sectional schematic diagram of an embodiment of the electronic control unit 30 in the present invention.
[0034] The joint module comprises: a motor assembly 10, wherein the motor assembly 10 comprises a housing 11, a motor stator 12 and a motor rotor 13, wherein the housing 11 is provided with a motor installation cavity, an electric control installation cavity and a wiring cavity 14 which are sequentially arranged along the axial direction, wherein the motor stator 12 and the motor rotor 13 are installed in the motor installation cavity, and the motor rotor 13 is rotatably installed on the inner circumference of the motor stator 12; a reducer 20, wherein the reducer 20 is installed at one end of the motor assembly 10 close to the motor installation cavity; and the reducer 20 comprises 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 electronic control unit 30, wherein the electronic control unit 30 is installed in the electronic control installation cavity, and the electronic control unit 30 is provided with an indicator light 31; a light guide belt 40, wherein one end of the light guide belt 40 is close to the indicator light 31, and the other end extends along the wiring cavity 14 to the peripheral wall surface exposed on the outer shell 11, so as to transmit the light emitted by the indicator light 31 to the peripheral wall surface of the outer shell 11.
[0035] 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.
[0036] The electric control unit 30 can transmit electric energy and control signals to the motor assembly 10 and the reducer 20. The indicator light 31 is used to indicate the operating status of the joint module, such as the power-on status and the working status of the communication interface. The light guide 40 is flexible and can be bent arbitrarily. The light guide 40 can transmit the light of the indicator light 31 to the peripheral wall surface of the housing 11, so that the user can obtain the corresponding operating status of the joint module by checking the light status on the housing 11.
[0037] The light emitted by the indicator light 31 of the electronic control unit 30 is transmitted to the peripheral wall surface of the outer shell 11 through the light guide belt 40. Therefore, even if the fixed end of the joint module is covered in the application scenario, the user can directly see the lighting state of the indicator light 31 from the peripheral wall surface of the outer shell 11, so as to accurately and timely obtain the operating status of the joint module, thereby improving the use effect of the joint module.
[0038] The end of the light guide strip 40 away from the indicator light 31 may pass through the peripheral wall surface of the housing 11 , or may be embedded in the peripheral wall of the housing 11 , which is not limited here.
[0039] Specifically, Figures 1 to 4 As shown, a light exit hole 16 is formed on the peripheral wall surface of the housing 11, and one end of the light guide belt 40 away from the indicator light 31 is fixed in the light exit hole 16. In this way, the light guide belt 40 can be more clearly seen through the light exit hole 16, and the light guide belt 40 can also be protected.
[0040] The light guide strip 40 and the light exit hole 16 may be fixedly matched or fixed by other means.
[0041] In practical applications, the light guide belt 40 is sealed with the light outlet hole 16 by a sealant. In this way, the light guide belt 40 can be fixedly bonded to the wall of the light outlet hole 16, and the gap between the light guide belt 40 and the wall of the light outlet hole 16 can be sealed to prevent external dust or moisture from entering the joint module through the light outlet hole 16, so as to improve the dustproof and waterproof effect of the joint module.
[0042] The transverse surface of the light guide belt 40 may be circular, square, triangular or other shapes.
[0043] Exemplarily, the cross-sectional shape of the light guide belt 40 is set to be circular, elliptical or square, and the cross-sectional shape of the light exit hole 16 corresponds to the light guide belt 40. Setting the cross-sectional shape of the light guide belt 40 to be circular, elliptical or square can make the cross-sectional shape of the light guide belt 40 more regular, that is, the length and width of the cross section are close to or equal, so that the light exit area of the light guide belt 40 on the peripheral wall of the housing 11 is more concentrated to improve the light exit effect.
[0044] Specifically, the cross-sectional width of the light guide belt 40 is set to 1 mm to 2 mm, for example, 1 mm, 1.2 mm, 1.4 mm, 1.6 mm, 1.8 mm or 2 mm, etc. In this way, the light guide belt 40 can have a sufficient light emitting area on the peripheral wall of the housing 11 to facilitate the user to see; and the occupation of the internal space of the joint module by the light guide belt 40 can be reasonably controlled to make the internal structure of the joint module more compact.
[0045] In practical applications, the light guide belt 40 is made of optical fiber. The basic structure of optical fiber is a cylindrical thin filament with a diameter between 1 and 100 microns. The most commonly used material for making optical fiber is silicon dioxide (quartz), and multi-component glass or organic glass is also used. Optical fiber can slow down the attenuation rate of light during the transmission process, thereby improving the light output effect after the light is transmitted.
[0046] For example, Figure 5 As shown, the electric control unit 30 includes a circuit board 32 and a mounting cover 33. The mounting cover 33 is disposed on a side of the circuit board 32 close to the wiring cavity 14, and the indicator light 31 is disposed on a side of the circuit board 32 facing the mounting cover. The mounting cover 33 is provided with a through hole opposite to the indicator light 31, and one end of the light guide 40 close to the indicator light 31 passes through the through hole. The light guide 40 can be fixedly matched with the through hole, so that one end of the light guide 40 can be fixedly suspended at a position in contact with or close to the indicator light 31, so as to simplify the fixed installation method of the light guide 40.
[0047] Specifically, Figure 3 and Figure 4As shown, the motor assembly 10 further includes a protective cover 17, which is openably covered on the opening of the wiring cavity 14. The wiring cavity 14 is close to the opening of the end of the housing 11 away from the reducer 20, and the protective cover 17 can seal and protect the electric control unit 30 and the light guide belt 40, preventing the electric control unit 30 and the light guide belt 40 from being affected by external moisture or dust, thereby improving the working stability of the electric control unit 30 and the light guide belt 40. The protective cover 17 can be movably connected to the housing 11, or can be detachably connected to the housing 11, and there is no limitation here, as long as the protective cover 17 can open the opening of the wiring cavity 14. When it is necessary to inspect and maintain the electric control unit 30 or the light guide belt 40, the protective cover 17 can be opened to expose the electric control unit 30 and the light guide belt 40, so as to facilitate the user to inspect and maintain the electric control unit 30 and the light guide belt 40.
[0048] For example, Figures 1 to 3 As shown, a mounting boss 15 is convexly provided on the outer peripheral wall of the housing 11, and the mounting boss 15 is used for fixed installation on an external structure.
[0049] 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.
[0050] 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.
[0051] 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.
[0052] 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.
[0053] The mounting boss 15 is provided with a connection 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 connection 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 connection hole can be connected to the fixing hole on the external structure through a fastener, thereby simplifying the fixing connection process of the mounting boss 15 and the external structure.
[0054] The number of the mounting bosses 15 may be one or more, which is not limited here.
[0055] 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.
[0056] 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.
[0057] 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.
[0058] 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.
[0059] 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.
[0060] 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.
[0061] 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.
[0062] In the technical solution of the joint module of the utility model, the light emitted by the indicator light 31 of the electronic control unit 30 is transmitted to the peripheral wall surface of the shell 11 through the light guide belt 40. Therefore, even if the fixed end of the joint module is covered in the application scenario, the user can directly see the lighting state of the indicator light 31 from the peripheral wall surface of the shell 11, so as to accurately and timely obtain the operating status of the joint module, thereby improving the use effect of the joint module.
[0063] 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, an electric control installation cavity and a wiring cavity sequentially arranged along the axial direction, the motor stator and the motor rotor being installed in the motor installation cavity, and the motor rotor being rotatably installed on the inner circumference of the motor stator; 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 is installed in the electric control installation cavity, and the electric control unit is provided with an indicator light; A light guide strip, one end of which is close to the indicator light and the other end of which extends along the wiring cavity to be exposed on the peripheral wall surface of the shell, so as to transmit the light emitted by the indicator light to the peripheral wall surface of the shell.
2. The joint module according to claim 1, characterized in that: A light exit hole is formed on the peripheral wall surface of the shell, and one end of the light guide belt away from the indicator light is fixed in the light exit hole.
3. The joint module according to claim 2, characterized in that: The light guide belt and the light exit hole are sealed together by a sealant.
4. The joint module according to claim 2, characterized in that: The cross-sectional shape of the light guide strip is set to be circular, elliptical or square, and the cross-sectional shape of the light exit hole corresponds to the light guide strip.
5. The joint module according to claim 4, characterized in that: The cross-sectional width of the light guide tape is set to be 1 mm to 2 mm.
6. The joint module according to any one of claims 1 to 5, characterized in that: The light guide belt is made of optical fiber.
7. The joint module according to any one of claims 1 to 5, characterized in that: The electronic control unit includes a circuit board and a mounting cover, wherein the mounting cover is arranged on a side of the circuit board close to the wiring cavity, and the indicator light is arranged on a side of the circuit board facing the mounting cover; the mounting cover is provided with a through hole opposite to the indicator light, and one end of the light guide strip close to the indicator light passes through the through hole.
8. The joint module according to any one of claims 1 to 5, characterized in that: The motor assembly further comprises a protective cover which is openably arranged to cover the opening of the wiring cavity.
9. The joint module according to any one of claims 1 to 5, characterized in that: The outer peripheral wall of the shell is convexly provided with a mounting boss, and the mounting boss is used for fixedly mounting on an external structure.
10. An articulated robot, characterized in that: Comprising a joint module as described in any one of claims 1 to 9.