Joint module and robot

Abstract

The utility model provides a joint module and a robot. The joint module comprises a connecting arm; an output flange; the first motor and the second motor are arranged at intervals in the axial direction of the connecting arm; the swing support comprises a support body and a connecting shaft, the support body is hinged to the connecting arm through the connecting shaft, and the axis of the connecting shaft is perpendicular to the axis of the connecting arm; the first output end of the first bevel gear set is fixedly connected with the connecting shaft; the first transmission shaft is connected with the first motor and the first input end; the second output end of the second bevel gear set is connected with the output flange; the second transmission shaft penetrates through the first motor and the first transmission shaft and is connected with the second motor and the second input end; the swing support is driven by the first motor to swing around the connecting shaft, and the output flange is driven by the second motor to rotate. According to the technical scheme, the size of the tail end joint of the mechanical arm is reduced through the two nested bevel gear sets and the swing driving motor and the rotary driving motor which are coaxially arranged.

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] Robots are widely used in industrial production, aerospace, logistics, medicine and other fields. As an important component of robots, robotic arms have various structural forms, and there are many types of robotic arms on the market for different industries and different work objects.

[0003] Since existing robotic arms have more transmission components and the transmission occupies a larger space, the two joints at the end (the yaw joint and the swivel joint) and the forearm are usually larger in size; in addition, the yaw joint of this type of robotic arm has a larger force arm relative to the connecting flange of the end actuator. When grabbing objects of the same weight, the motor needs to provide a larger torque, which will cause its volume to further increase.

[0004] When the above-mentioned robot arm performs a grasping task in a narrow space, it may not meet the use requirements due to the large size of its end joint. Therefore, it is urgent to provide a miniaturized and flexible robot end joint. Utility Model Content

[0005] The present application provides a joint module and a robot. The following introduces various aspects involved in the embodiments of the present application.

[0006] In the first aspect, a joint module is provided, including: a connecting arm having an inner cavity; an output flange for installing an actuator; a first motor and a second motor, which are arranged in the inner cavity and are spaced apart along the axial direction of the connecting arm; a swing bracket, including a bracket body and a connecting shaft, the bracket body is hinged to the connecting arm through the connecting shaft, and the axis of the connecting shaft is perpendicular to the axis of the connecting arm; a first bevel gear set, having a first input end and a first output end, and the first output end is fixedly connected to the connecting shaft; a first transmission shaft, whose two ends are respectively connected to the first motor and the first input end; a second bevel gear set, having a second input end and a second output end, and the second output end is connected to the output flange; a second transmission shaft, which is inserted into the first motor and the first transmission shaft, and whose two ends are respectively connected to the second motor and the second input end; the swing bracket is used to swing around the connecting shaft under the drive of the first motor, and the output flange is used to rotate under the drive of the second motor, and the rotation axis of the output flange is perpendicular to the axis of the connecting shaft.

[0007] According to the above technical means, two sets of nested bevel gear groups are set in the joint module, and the first motor (swing drive motor) and the second motor (rotation drive motor) are coaxially arranged, which can reduce the size of the end joint of the robot arm.

[0008] Optionally, the first bevel gear set includes a first bevel gear and a second bevel gear; wherein, the first bevel gear is fixedly connected to the first transmission shaft, the second bevel gear is fixedly connected to the connecting shaft, and the first bevel gear and the second bevel gear are meshed with each other to transmit the power of the first transmission shaft to the connecting shaft.

[0009] According to the above technical means, the reversing of the rotary drive is achieved by using the first bevel gear and the second bevel gear that mesh with each other, so that the first motor can be arranged in the inner cavity of the connecting arm, reducing the size of the joint module.

[0010] Optionally, the second bevel gear set includes a third bevel gear, a fourth bevel gear and a fifth bevel gear; wherein the third bevel gear and the fourth bevel gear are perpendicular, and the fifth bevel gear and the fourth bevel gear are perpendicular; the third bevel gear is fixedly connected to the second transmission shaft, the fourth bevel gear is sleeved on the connecting shaft, and the fifth bevel gear is fixedly connected to the output flange; the third bevel gear and the fourth bevel gear are meshed with each other, and the fourth bevel gear and the fifth bevel gear are meshed with each other, so as to transmit the power of the second transmission shaft to the output flange.

[0011] According to the above technical means, the second bevel gear set is set to be nested with the first bevel gear set, which can reduce the volume of the transmission components of the robotic arm; the second bevel gear set and the first bevel gear set are independently transmitted to decouple the swinging and rotating movements of the robotic arm.

[0012] Optionally, the second motor is further used to: when the first motor drives the swing bracket to swing, drive the output flange to rotate, so as to offset the rotation of the fifth bevel gear generated by the movement of the swing bracket.

[0013] According to the above technical means, when the swing bracket swings, the second motor is used to drive the output flange to actively rotate in the opposite direction, so as to ensure the accurate positioning of the actuator.

[0014] Optionally, the joint module further includes a first bearing and a second bearing; the first bearing is arranged between the first end of the connecting shaft and the connecting arm, and the second bearing is arranged between the second end of the connecting shaft and the connecting arm.

[0015] According to the above technical means, a bearing is provided between the connecting shaft and the connecting arm, which can reduce the rotation resistance and reduce the noise.

[0016] Optionally, the joint module also includes a third bearing, a fourth bearing, an output shaft and a fifth bearing; wherein the third bearing is arranged between the first bevel gear and the third bevel gear; or, the third bearing is arranged between the first bevel gear and the second transmission shaft; or, the third bearing is arranged between the first transmission shaft and the second transmission shaft; or, the third bearing is arranged between the third bevel gear and the first transmission shaft; the fourth bearing is arranged between the fourth bevel gear and the connecting shaft; the output shaft is arranged between the fifth bevel gear and the connecting output flange, and is fixedly connected to the fifth bevel gear and the connecting output flange; the fifth bearing is arranged between the output shaft and the swing bracket.

[0017] According to the above technical means, the third bearing, the fourth bearing and the fifth bearing are provided, so as to reduce the rotational resistance between the rotating parts and reduce the noise when the robot arm moves.

[0018] Optionally, the first motor is a hollow motor, and the first transmission shaft is a hollow shaft.

[0019] According to the above technical means, the first motor and the first transmission shaft are both set as hollow structures, so that the second transmission shaft can pass through them, which can reduce the radial size of the robot arm.

[0020] Optionally, the first bevel gear and the second bevel gear have the same number of teeth.

[0021] According to the above technical means, the number of teeth of the first bevel gear and the second bevel gear is set to be the same, which can reduce the size of the first bevel gear set and facilitate transmission control.

[0022] Optionally, the third bevel gear and the fifth bevel gear have the same number of teeth.

[0023] According to the above technical means, the number of teeth of the third bevel gear and the fifth bevel gear is set to be the same, which can reduce the size of the second bevel gear set and facilitate transmission control.

[0024] In a second aspect, a robot is provided, comprising the joint module as described in the first aspect.

[0025] According to the joint module provided in the embodiment of the present application, the size of the end joint of the robot arm is reduced by utilizing two sets of nested bevel gear sets and a coaxially arranged swing drive motor and a rotation drive motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic structural diagram of a joint module provided in an embodiment of the present application;

[0027] Figure 2 for Figure 1AA section view;

[0028] Figure 3 This is a schematic principle diagram of using the drive of the second motor to offset the rotation of the fifth bevel gear.

[0029] Among them, 10-joint module; 101-connecting arm; 102-output flange; 103-first motor; 104-second motor; 105-swing bracket; 106-first bevel gear set; 107-first transmission shaft; 108-second bevel gear set; 109-second transmission shaft; 1051-bracket body; 1052-connecting shaft; 1061-first bevel gear; 1062-second bevel gear; 1081-third bevel gear; 1082-fourth bevel gear; 1083-fifth bevel gear. DETAILED DESCRIPTION

[0030] The embodiments of the present application provide a joint module and a robot. The technical solution of the present application is further specifically described below through the embodiments and in combination with the accompanying drawings. In the specification, the same or similar figure numbers indicate the same or similar parts. The following description of the implementation mode of the present application with reference to the accompanying drawings is intended to explain the overall concept of the present application and should not be construed as a limitation on the present application.

[0031] Before introducing the technical solution provided in the embodiments of the present application, the robotic arm in the related art and the problems existing therein are first described in detail.

[0032] Robots are widely used in industrial production, aerospace, logistics, medicine and other fields. As an important component of robots, robotic arms have various structural forms, and there are many types of robotic arms on the market for different industries and different work objects.

[0033] According to the end solution of the robot arm, current robots can be divided into collaborative robots and industrial robots. In order to reduce transmission and connection, collaborative robots usually adopt a direct connection solution. However, this brings some problems. The two joints (yaw joint and slew joint) at the end of the robot and the size of the forearm are usually large. This is because there are more transmission parts in the existing transmission solution and the space occupied by the transmission is larger. In addition, the yaw joint of this type of robot has a larger force arm than the connection method of the end actuator. When grabbing objects of the same weight, the motor needs to provide a larger torque, which will further increase its volume.

[0034] In some extreme scenarios, such as working in a narrow space, the end joint needs to be smaller in size, and the existing robot arm can no longer meet the application requirements of this scenario. Therefore, it is urgent to provide a miniaturized and flexible robot end joint.

[0035] In view of the above problems, an embodiment of the present application provides a joint module and a robot.

[0036] Figure 1 is a structural diagram of the joint module 10 of an embodiment of the present application, Figure 2 yes Figure 1 AA section view of the . For ease of understanding, Figure 1 Some parts of the joint module have been made transparent or hidden.

[0037] See also Figure 1 and Figure 2 The joint module 10 includes: a connecting arm 101, an output flange 102, a first motor 103, a second motor 104, a swing bracket 105, a first bevel gear set 106, a first transmission shaft 107, a second bevel gear set 108 and a second transmission shaft 109.

[0038] The connecting arm 101 is a hollow structure, and the cavity inside it is used to install the driving mechanism, transmission mechanism and control mechanism in the joint module 10. The connecting arm 101 is usually made of a material with high mechanical strength so as to provide a space for the above mechanisms and play a supporting role at the same time.

[0039] The connecting arm 101 can be made of metal materials such as steel or aluminum alloy, or can be made of non-metallic materials such as carbon fiber, aramid fiber, and glass fiber, which is not specifically limited in the embodiment of the present application.

[0040] The output flange 102 is used to install the actuator, which is used to pick up the object. The actuator can pick up the object by negative pressure adsorption, clamping or magnetic adsorption, which is not limited in the present embodiment.

[0041] The actuator is arranged at one end of the output flange 102 away from the connecting arm 101; the actuator can be directly connected to the output flange 102, or connected through a detachable connecting part, which can be, for example, a bolt, etc., and the embodiment of the present application does not limit its specific form.

[0042] Of course, the connection between the actuator and the output flange 102 can also be achieved by snap connection, bonding, magnetic connection, etc.

[0043] The actuator is arranged to be detachably connected to the output flange 102, so that different actuators can be easily replaced. For example, when different types of objects are to be picked up, different types of actuators can be replaced according to the types of objects; for another example, for objects of the same type but different sizes, actuators of different sizes can be replaced according to the sizes of the objects; this means that when the joint assembly is used for operation, different actuators can be replaced according to different application scenarios, which can expand its application scope and enable it to perform the picking of objects of different types and / or sizes.

[0044] The first motor 103 and the second motor 104 are disposed in the inner cavity of the connecting arm 101 and are spaced apart along the axial direction of the connecting arm 101. More specifically, the first motor 103 is disposed at one end of the output shaft close to the second motor 104.

[0045] It should also be noted that the embodiment of the present application does not limit the specific types of the first motor 103 and the second motor 104. The types of the first motor 103 and the second motor 104 can be the same or different, for example, they can be servo motors, stepper motors, synchronous motors or asynchronous motors.

[0046] The swing bracket 105 includes a bracket body 1051 and a connecting shaft 1052 .

[0047] The support body 1051 and the connecting shaft 1052 may be integrally formed or may be a separate structure. As a possible implementation, the swing support 1051 and the connecting shaft 1052 may be connected by welding; or, the swing support 1051 and the connecting shaft 1052 may be connected by interference fit; or, the swing support 1051 and the connecting shaft 1052 may be connected by a threaded fastener.

[0048] It should be understood that the various connection methods mentioned above are only examples, and a suitable connection method can be selected according to actual conditions. The embodiments of the present application do not make specific limitations on this.

[0049] The support body 1051 is hinged to the connecting arm 101 through a connecting shaft 1052, and the axis of the connecting shaft 1052 is perpendicular to the axis of the connecting arm 101. The swing support 105 is arranged at one end of the connecting arm 101 and close to the output end of the second motor 104.

[0050] The first bevel gear set 106 has a first input end and a first output end, and the first output end is fixedly connected to the connecting shaft 1052 .

[0051] In some embodiments of the present application, the first motor 103 and the second motor 104 are fixedly arranged relative to the connecting arm 101 .

[0052] For example, the first motor 103 and the second motor 104 can be fixed in the inner cavity of the connecting arm 101 by interference fit. Taking the first motor 103 as an example, its housing is usually cylindrical, and the inner cavity of the connecting arm 101 has an annular surface, and the first motor 103 can be pressed into the inner cavity of the connecting arm 101, and the outer surface of the housing of the first motor 103 and the inner surface of the inner cavity of the connecting arm 101 cooperate with each other to fix the first motor 103.

[0053] For another example, the first motor 103 and the second motor 104 can also be fixed to the connecting arm 101 by means of threaded cooperation; still taking the first motor 103 as an example, an external thread is set on the outer surface of the shell of the first motor 103, and an internal thread is set on the inner surface of the connecting arm 101, and the first motor 103 is fixed in the inner cavity of the connecting arm 101 through the cooperation between the above-mentioned external thread and internal thread.

[0054] The two ends of the first transmission shaft 107 are respectively connected to the first motor 103 and the first input end of the first bevel gear set 106. The power output by the first motor 103 is transmitted to the swing bracket 105 through the first transmission shaft 107 and the first bevel gear set 106 to drive the swing bracket 105 to swing around the connecting shaft 1052.

[0055] The second bevel gear set 108 has a second input end and a second output end, and the second output end is connected to the output flange 102 .

[0056] The second transmission shaft 109 is inserted through the first motor 103 and the first transmission shaft 107, and its two ends are respectively connected to the second motor 104 and the second input end of the second bevel gear set 108. The power output by the second motor 104 is transmitted to the output flange 102 through the second transmission shaft 109 and the second bevel gear set 108 to drive the output flange 102 to rotate. The rotation axis of the output flange 102 is perpendicular to the axis of the connecting shaft 1052.

[0057] According to the joint module provided in the embodiment of the present application, the size of the end joint of the robotic arm is reduced by utilizing two sets of nested bevel gear sets and a coaxially arranged first motor (i.e., a swing drive motor) and a second motor (i.e., a rotation drive motor).

[0058] Hollow joint modules are commonly used components in collaborative robots, and bevel gears are commonly used components in industrial robots. The technical solution of this application combines the advantages of the two types of robot core components and provides a better solution for the robot's end joints. Compared with the industrial robot solution, the maximum size of the wrist joint can be reduced by more than 50%; compared with the collaborative robot, the maximum size of the wrist joint can be reduced by more than 70%.

[0059] In some embodiments, the first bevel gear set 106 includes a first bevel gear 1061 and a second bevel gear 1062. The first bevel gear 1061 is fixedly connected to the first transmission shaft 107, and the second bevel gear 1062 is fixedly connected to the connecting shaft 1052. The first bevel gear 1061 and the second bevel gear 1062 are meshed with each other to transmit the power of the first transmission shaft 107 to the connecting shaft 1052.

[0060] There are many ways to fix the connection between the first bevel gear 1061 and the first transmission shaft 107 and between the second bevel gear 1062 and the connecting shaft 1052. Taking the first bevel gear 1061 and the first transmission shaft 107 as an example, a key connection can be adopted therebetween. Specifically, keyways are respectively provided on the first bevel gear 1061 and the first transmission shaft 107, and keys are provided in the keyways. When the first transmission shaft 107 rotates, the key between the first transmission shaft 107 and the first bevel gear 1061 bears shear force. When the shear force is less than its shear strength, the torque of the first transmission shaft 107 is transmitted to the first bevel gear.

[0061] As a possible implementation manner, the first bevel gear 1061 and the first transmission shaft 107 may also be connected by interference fit or welding.

[0062] The connection mode between the second bevel gear 1062 and the connecting shaft 1052 may be the same as or different from the connection mode between the first bevel gear 1061 and the first transmission shaft 107 , and this embodiment of the present application does not specifically limit this.

[0063] According to the above technical solution, the commutation of the rotary drive is achieved by using the first bevel gear 1061 and the second bevel gear 1062 that mesh with each other, so that the first motor can be arranged in the inner cavity of the connecting arm 101, thereby reducing the size of the joint module 10.

[0064] In some embodiments, the second bevel gear set 108 includes a third bevel gear 1081 , a fourth bevel gear 1082 , and a fifth bevel gear 1083 .

[0065] The third bevel gear 1081 and the fourth bevel gear 1082 are perpendicular to each other, and the fifth bevel gear 1083 and the fourth bevel gear 1082 are perpendicular to each other. The third bevel gear 1081 is fixedly connected to the second transmission shaft 109, the fourth bevel gear 1082 is sleeved on the connecting shaft 1052 and can rotate freely relative to the connecting shaft 1052, and the fifth bevel gear 1083 is fixedly connected to the output flange 102.

[0066] The third bevel gear 1081 and the fourth bevel gear 1082 are meshed with each other, and the fourth bevel gear 1082 and the fifth bevel gear 1083 are meshed with each other. The power generated by the second motor 104 is transmitted to the third bevel gear 1081 through the second transmission shaft 109, and then the third bevel gear 1081 drives the fourth bevel gear 1082 to rotate, and then transmits the power to the fifth bevel gear 1083, so that the fifth bevel gear 1083 drives the output flange 102 to rotate.

[0067] According to the above technical means, the second bevel gear set is set to be nested with the first bevel gear set, which can reduce the volume of the transmission components of the robotic arm; the second bevel gear set and the first bevel gear set are independently transmitted to decouple the swinging and rotating movements of the robotic arm.

[0068] It can also be understood that in the embodiment of the present application, the output flange 102 is arranged at one end of the swing bracket 105 away from the connecting arm 101, and the swing bracket 105 swings, which drives the output flange 102 to swing synchronously. The output flange 102 is connected to the fifth bevel gear 1083, and when the output flange 102 swings, the fifth bevel gear 1083 will generate a rotational motion, which will cause the output flange 102 to generate a rotational motion around its own axis while swinging, and at this time, it will drive the actuator to rotate synchronously.

[0069] In order to eliminate the influence of the rotation of the above-mentioned output flange 102 on the actuator, in some embodiments of the present application, the above-mentioned second motor 104 is also used to: when the first motor 103 drives the swing bracket 105 to swing, drive the output flange 102 to rotate to offset the rotation of the fifth bevel gear 1083 generated by the movement of the swing bracket 105.

[0070] Figure 3 A schematic principle diagram of using the drive of the second motor 104 to offset the rotation of the fifth bevel gear 1083 is shown, and the arrows in each component in the figure indicate the rotation direction thereof.

[0071] like Figure 3 As shown in the figure, the first motor 103 drives the swing bracket 105 to swing in a direction perpendicular to the paper surface inward through the first bevel gear 1061 and the second bevel gear 1062, and the fifth bevel gear 1083 swings accordingly. When the second motor 104 does not intervene in the work, the third bevel gear 1081 and the fourth bevel gear 1802 remain fixed. When the fifth bevel gear 1083 swings in a direction perpendicular to the paper surface inward with the swing bracket 105, under the meshing action with the fourth bevel gear 1802, the following is generated Figure 3 Rotational movement in the first direction shown in .

[0072] The rotation of the fifth bevel gear 1083 along the first direction will drive the output flange 102 and the actuator mounted on the output flange 102 to rotate synchronously, which will change the angle between the actuator and the object to be grasped, resulting in inaccurate positioning.

[0073] In order to solve this problem, in the technical solution provided in the embodiment of the present application, when the swing bracket 105 swings, the second motor 104 can be used to drive the third bevel gear 1081 to rotate in the direction indicated by the dotted arrow in the figure, and the fourth bevel gear 1082 is meshed with the third bevel gear 1081 and rotates in the direction indicated by the dotted arrow in the figure. The rotational motion acts on the fifth bevel gear 1083, which offsets the motion of the fifth bevel gear 1083 in the first direction caused by the swinging, so that the fifth bevel gear 1083 does not rotate while swinging, thereby ensuring that the phase of the output flange 102 remains unchanged, so that the actuator can be accurately positioned.

[0074] In some embodiments, the joint module 10 further includes a first bearing and a second bearing, wherein the first bearing is disposed between the first end of the connecting shaft 1052 and the connecting arm 101, and the second bearing is disposed between the second end of the connecting shaft 1052 and the connecting arm 101. This means that the first bearing and the second bearing are used to support the movable connection between the connecting shaft 1052 and the connecting arm 101. Since the connecting shaft 1052 is fixedly connected to the bracket body 1051, the swing bracket 105 and the connecting arm 101 are also movably connected.

[0075] The first bearing and the second bearing are radial bearings, which may be radial sliding bearings or radial rolling bearings. Taking the radial rolling bearing as an example, the first bearing and the second bearing may be radial ball bearings, radial roller bearings or radial needle bearings, etc., and the specific forms thereof are not limited in the embodiments of the present application.

[0076] According to the above technical means, a bearing is provided between the connecting shaft and the connecting arm, which can reduce the rotation resistance and reduce the noise.

[0077] In one embodiment, the joint module 10 further includes a third bearing, a fourth bearing, an output shaft and a fifth bearing. The third bearing is used to ensure that the first bevel gear 1061 and the third bevel gear 1081 can rotate concentrically, the fourth bearing is used to ensure that the fourth bevel gear 1082 can rotate freely relative to the connecting shaft 1052, and the connecting shaft 1052 is decoupled from the movement of the fourth bevel gear 1082, and the fifth bearing is used to ensure that the output flange 102 can rotate around its own axis.

[0078] The third bearing, the fourth bearing and the fifth bearing are similar to the first bearing and the second bearing mentioned above, and can be any one of a radial ball bearing, a roller bearing, a needle bearing and a sliding bearing, etc. The embodiment of the present application does not limit its specific type.

[0079] The types of the above-mentioned multiple bearings can be the same or different. For example, in order to facilitate production and assembly, multiple bearings can be set to be exactly the same; or, the specific types of the above-mentioned multiple bearings can be set according to their specific circumstances. For example, when the gap between the two shafts is small, a needle bearing can be used. In scenarios where it is necessary to withstand large axial forces, tapered roller bearings or angular contact bearings can be used; in scenarios where it is necessary to withstand large radial forces, deep groove ball bearings or cylindrical roller bearings can be used. The embodiments of the present application do not specifically limit the types of the multiple bearings therein, and the appropriate bearing type can be selected according to actual conditions.

[0080] The third bearing can be arranged between the first bevel gear 1061 and the third bevel gear 1081 , wherein the inner ring of the third bearing cooperates with the outer circumference of the hub of the third bevel gear 1081 , and the outer ring of the third bearing cooperates with the inner circumference of the hub of the first bevel gear 1061 .

[0081] Alternatively, the third bearing may also be disposed between the first bevel gear 1061 and the second transmission shaft 109. As described above, one end of the second transmission shaft 109 is connected to the third bevel gear 1081, one end of the first transmission shaft 107 is connected to the first bevel gear 1061, and the second transmission shaft 109 is sleeved in the first transmission shaft 107, and the third bearing is disposed between the first bevel gear 1061 and the second transmission shaft 109, which can also ensure that the third shaft gear and the first bevel gear 1061 are concentric and rotate independently of each other.

[0082] Alternatively, the third bearing may also be disposed between the first transmission shaft 107 and the second transmission shaft 109 , with its inner ring matching with the outer circumference of the second transmission shaft 109 and its outer ring matching with the inner circumference of the first transmission shaft 107 .

[0083] Alternatively, the third bearing may also be disposed between the third bevel gear 1081 and the first transmission shaft 107 , with its inner ring matching the outer circumference of the first transmission shaft 107 and its outer ring matching the inner circumference of the hub of the third bevel gear 1081 .

[0084] The fourth bearing is arranged between the fourth bevel gear 1082 and the connecting shaft 1052 , and its inner ring is sleeved on the outer circumference of the connecting shaft 1052 , and the outer ring is matched with the inner circumference of the hub of the fourth bevel gear 1082 .

[0085] The output shaft is disposed between the fifth bevel gear 1083 and the output flange 102 , and is fixedly connected to the fifth bevel gear 1083 and the output flange 102 , so as to enable the fifth bevel gear 1083 to rotate synchronously with the output flange 102 .

[0086] The fifth bearing is disposed between the output shaft and the swing bracket 105 so that the output shaft can freely rotate relative to the swing bracket 105 and can also swing synchronously with the swing bracket.

[0087] According to the above technical means, the third bearing, the fourth bearing and the fifth bearing are provided, so as to reduce the rotational resistance between the rotating parts and reduce the noise when the robot arm moves.

[0088] In some embodiments, the first motor 103 is a hollow motor, and the first transmission shaft 107 is a hollow shaft.

[0089] According to the above technical means, the first motor and the first transmission shaft are both configured as hollow structures, so that the second transmission shaft can pass therethrough, thereby reducing the radial dimension of the robot arm.

[0090] In some embodiments, the first bevel gear 1061 and the second bevel gear 1062 have the same number of teeth; or, as a possible implementation, the number of teeth of the first bevel gear 1061 is smaller than the number of teeth of the second bevel gear 1062 to reduce the swing speed of the swing bracket 105 .

[0091] According to the above technical means, the number of teeth of the first bevel gear and the second bevel gear is set to be the same, which can reduce the size of the first bevel gear set and facilitate transmission control.

[0092] In some embodiments, the third bevel gear 1081 and the fifth bevel gear 1083 have the same number of teeth.

[0093] According to the above technical means, the number of teeth of the third bevel gear and the fifth bevel gear is set to be the same, which can reduce the size of the second bevel gear set and facilitate transmission control.

[0094] The embodiment of the present application further provides a robot, comprising the joint module 10 described in any of the above embodiments. The robot may be a collaborative robot, an industrial robot or a humanoid robot, which is not limited here.

[0095] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0096] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0097] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0098] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0099] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0100] The above is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A joint module, characterized in that: include: a connecting arm having an inner cavity; Output flange, used to install the actuator; A first motor and a second motor are arranged in the inner cavity and spaced apart along the axial direction of the connecting arm; A swing bracket comprises a bracket body and a connecting shaft, wherein the bracket body is hinged to the connecting arm through the connecting shaft, and the axis of the connecting shaft is perpendicular to the axis of the connecting arm; A first bevel gear set, having a first input end and a first output end, wherein the first output end is fixedly connected to the connecting shaft; A first transmission shaft, two ends of which are respectively connected to the first motor and the first input end; A second bevel gear set, having a second input end and a second output end, wherein the second output end is connected to the output flange; A second transmission shaft is passed through the first motor and the first transmission shaft, and two ends are connected to the second motor and the second input end respectively; The swing bracket is used to swing around the connecting shaft under the drive of the first motor, and the output flange is used to rotate under the drive of the second motor. The rotation axis of the output flange is perpendicular to the axis of the connecting shaft.

2. The joint module according to claim 1, characterized in that: The first bevel gear set includes a first bevel gear and a second bevel gear; The first bevel gear is fixedly connected to the first transmission shaft, the second bevel gear is fixedly connected to the connecting shaft, and the first bevel gear and the second bevel gear are meshed with each other to transmit the power of the first transmission shaft to the connecting shaft.

3. The joint module according to claim 1, characterized in that: The second bevel gear set includes a third bevel gear, a fourth bevel gear and a fifth bevel gear; Wherein, the third bevel gear is perpendicular to the fourth bevel gear, and the fifth bevel gear is perpendicular to the fourth bevel gear; The third bevel gear is fixedly connected to the second transmission shaft, the fourth bevel gear is sleeved on the connecting shaft, and the fifth bevel gear is fixedly connected to the output flange; The third bevel gear and the fourth bevel gear are meshed with each other, and the fourth bevel gear and the fifth bevel gear are meshed with each other, so as to transmit the power of the second transmission shaft to the output flange.

4. The joint module according to claim 3, characterized in that: The second motor is further used for driving the output flange to rotate when the first motor drives the swing bracket to swing, so as to offset the rotation of the fifth bevel gear generated along with the movement of the swing bracket.

5. The joint module according to any one of claims 1 to 4, characterized in that: The joint module also includes a first bearing and a second bearing; The first bearing is arranged between the first end of the connecting shaft and the connecting arm, and the second bearing is arranged between the second end of the connecting shaft and the connecting arm.

6. The joint module according to claim 3, characterized in that: The joint module also includes a third bearing, a fourth bearing, an output shaft and a fifth bearing; Wherein, the third bearing is arranged between the first bevel gear and the third bevel gear; or, the third bearing is arranged between the first bevel gear and the second transmission shaft; or, the third bearing is arranged between the first transmission shaft and the second transmission shaft; or, the third bearing is arranged between the third bevel gear and the first transmission shaft; The fourth bearing is arranged between the fourth bevel gear and the connecting shaft; The output shaft is disposed between the fifth bevel gear and the output flange, and is fixedly connected to the fifth bevel gear and the output flange; The fifth bearing is disposed between the output shaft and the swing bracket.

7. The joint module according to claim 6, characterized in that: The first motor is a hollow motor, and the first transmission shaft is a hollow shaft.

8. The joint module according to any one of claims 2 to 4, characterized in that: The first bevel gear and the second bevel gear have the same number of teeth.

9. The joint module according to claim 3 or 4, characterized in that: The third bevel gear and the fifth bevel gear have the same number of teeth.

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

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