Thin joint module

Abstract

The application relates to a thin joint module, which comprises a shell assembly, a motor assembly, a speed reduction assembly and a control assembly, wherein the shell assembly encloses an internal space for mounting the motor assembly and the speed reduction assembly; the motor assembly comprises a stator and a rotor, the stator and the rotor are arranged axially to form an axial magnetic field, the stator is fixedly connected with the shell assembly, and the stator drives the rotor to rotate; the speed reduction assembly comprises an input part and an output part, the input part is fixedly connected with the rotor, power generated by the motor assembly is input by the input part and is output by the output part after being reduced; and the control assembly controls the rotation and power output of the motor assembly. The joint module provided by the application has a more compact structure.

Description

Technical Field

[0001] This application relates to the field of robot joints, and more particularly to a thin joint module. Background Technology

[0002] As a compact modular product integrating key components such as motors, reducers, encoders, and drivers, joint modules are widely used in many fields such as robotics and medical equipment due to their high integration and flexible adaptability, and their application scenarios are constantly expanding and deepening.

[0003] In the field of humanoid robots, joint modules are the core components enabling flexible movement and precise manipulation. Because humanoid robots often need to perform complex movements and operations within limited space, there are strict requirements on the external dimensions of joint modules. However, there is still significant room for improvement in the overall structural dimensions of joint modules currently on the market. Larger joint modules make installation in space-constrained joint areas extremely difficult, hindering the achievement of compact design requirements. Utility Model Content

[0004] To make the structure of the robot joint module more compact, this application provides a thin joint module.

[0005] This application provides a thin joint module, which adopts the following technical solution:

[0006] A thin joint module includes a housing assembly, a motor assembly, a reduction gear assembly, and a control assembly. The housing assembly encloses an internal space for mounting the motor assembly and the reduction gear assembly. The motor assembly includes a stator and a rotor, which are axially spaced to form an axial magnetic field. The stator is fixedly connected to the housing assembly and drives the rotor to rotate. The reduction gear assembly includes an input section and an output section. The input section is fixedly connected to the rotor. The power generated by the motor assembly is input through the input section and decelerated and output through the output section. The control assembly controls the rotation and power output of the motor assembly.

[0007] In some embodiments, the reduction assembly includes a sun gear, planet gears, a ring gear, and a planet carrier. The sun gear is fixedly connected to the rotor, the planet gears are meshed with the sun gear and the ring gear respectively, the ring gear is fixedly connected to the housing assembly, and the output part of the reduction assembly is the planet carrier.

[0008] In some embodiments, the stator specifically includes a stator body, which is a printed circuit board on which windings are etched; the rotor specifically includes a plurality of rotor magnets, which are arranged symmetrically about the central axis of the motor assembly.

[0009] In some embodiments, the rotor further includes a rotor core, which abuts against the side of the rotor magnet away from the stator.

[0010] In some embodiments, the housing assembly includes a housing, a first cover plate, and a second cover plate, the first cover plate and the second cover plate being detachably connected to both ends of the housing, and a partition is provided inside the housing to divide the internal space into a first space and a second space. The first cover plate is used to close the first space, and the second cover plate is used to close the second space.

[0011] In some embodiments, the control component includes a controller and an encoder, the controller being mounted in a first space, the encoder being mounted in a second space, the motor assembly and the reduction gear assembly being mounted in the second space, and the stator being disposed at one end near the first space.

[0012] In some embodiments, the stator further includes a stator disk, the stator body is fixedly mounted in the stator disk, and the stator disk is directly or indirectly fixedly connected to the housing assembly.

[0013] In some embodiments, the rotor further includes a rotor disk, the rotor magnets are fixedly connected in the rotor disk, and the rotor disk is fixedly connected to the input section of the reduction assembly.

[0014] This application discloses a thin joint module that employs a motor assembly based on the axial flux principle, thereby reducing the radial dimension of the motor assembly. Simultaneously, the use of a printed circuit board stator further reduces the axial length. This significantly reduces the size of the motor assembly, which constitutes the largest volume component of the joint module, resulting in a thinner and lighter overall joint module. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a cross-sectional view of the overall structure of a thin joint module in an embodiment of this application.

[0017] Figure 2 This is an exploded view of the overall structure of a thin joint module in an embodiment of this application.

[0018] Figure 3 This is a cross-sectional view of the overall structure of a thin joint module in an embodiment of this application.

[0019] Figure 4This is a schematic diagram of the stator body in a thin joint module according to an embodiment of this application.

[0020] Explanation of reference numerals in the attached drawings: 100, housing assembly; 110, housing; 111, partition; 120, first cover plate; 130, second cover plate; 140, central shaft; 101, first space; 102, second space; 200, motor assembly; 211, stator body; 212, stator disk; 221, rotor magnet; 222, rotor core; 223, rotor disk; 300, reduction gear assembly; 310, sun gear; 320, planetary gears; 330, gear ring; 340, planetary carrier; 400, control assembly; 410, controller; 420, encoder. Detailed Implementation

[0021] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0022] This application discloses a thin joint module.

[0023] Reference Figure 1 A thin joint module includes a housing assembly 100, a motor assembly 200, a reduction gear assembly 300, and a control assembly 400. The housing assembly 100 encloses an internal space for accommodating the motor assembly 200, the reduction gear assembly 300, and the control assembly 400. The control assembly 400 drives the motor assembly 200 to generate rotational force. This rotational force is input from the input section of the reduction gear assembly 300, reduced by the reduction gear assembly, and output from the output section of the reduction gear assembly 300.

[0024] Reference Figure 2 and Figure 3 In some embodiments, the housing assembly 100 includes a housing 110, a first cover plate 120, and a second cover plate 130. The housing 110 has a hollow cylindrical structure, and the first cover plate 120 and the second cover plate 130 respectively close the openings at both ends of the housing 110. The first cover plate 120 is fixedly connected to the housing 110 by screws, and similarly, the second cover plate 130 is fixedly connected to the housing 110 by screws. The housing 110, the first cover plate 120, and the second cover plate 130 enclose an internal space.

[0025] Reference Figure 2 and Figure 3The motor assembly 200 includes a stator and a rotor, which are coaxially mounted and spaced apart along the axial direction to form a three-dimensional magnetic field containing axial magnetic lines of force. The stator is fixedly connected to the housing assembly 100, and the rotor is rotatably connected to the housing assembly 100. In some embodiments, the stator includes a stator body 211 and a stator disk 212. The stator disk 212 is generally disc-shaped with a rim on its outer periphery. The stator body 211 is fitted to the inner end face of the stator disk 212 and the inner periphery of the rim. In other embodiments, a stator core may also be fixedly disposed between the stator body 211 and the stator disk 212. (Refer to...) Figure 4 The stator body 211 is made of a printed circuit board with windings etched on it. The printed circuit board can have a multi-layer structure, with windings on each layer. The windings between different layers can be connected through vias. In some embodiments, the rotor includes rotor magnets 221, rotor cores 222, and rotor disks 223. Multiple rotor magnets 221 are provided, arranged symmetrically around the central axis of the motor assembly 200, and are approximately fan-shaped. The rotor core 222 is ring-shaped, and the rotor magnets 221 are bonded to the rotor core 222 with adhesive. The rotor core 222 is located on the end face of the rotor magnets 221 away from the stator. In some embodiments, the rotor disk 223 is ring-shaped with an outer rim. The rotor core 222 is bonded to the inner end face of the rotor disk 223, and the rotor magnets 221 and rotor core 222 are bonded to the inner circumferential side of the rim of the rotor disk 223. A central shaft 140 is fixedly connected to the stator disk 212, and is coaxially arranged with the stator and rotor. The central shaft 140 is a cylindrical stepped shaft, and the rotor disk 223 is rotatably connected to the central shaft 140 through bearings.

[0026] The motor assembly 200 in this application adopts the principle of axial magnetic flux, and the stator and rotor are arranged axially, which makes the outer diameter of the stator and rotor basically the same. At the same time, the stator is printed circuit board, which reduces the axial thickness of the stator and greatly reduces the overall axial length of the motor assembly 200, making the entire joint module lighter and thinner.

[0027] Reference Figure 2 and Figure 3The reduction gear assembly 300 includes a sun gear 310, planet gears 320, a ring gear 330, and a planet carrier 340. In this embodiment, the sun gear 310 serves as the input of the reduction gear assembly 300, and the planet carrier 340 serves as the output. The sun gear 310 is fixedly connected to the rotor disk 223. In some embodiments, a connecting plate is integrally formed at one end of the sun gear 310, and the connecting plate is fixed to the rotor disk 223 by bolts to achieve synchronous rotation of the sun gear 310 and the rotor. Multiple planet gears 320 are provided. In some embodiments, three planet gears 320 are provided, and all three planet gears 320 are meshed with the sun gear 310. A fixed step is provided on the inner circumference of the housing 110, and the ring gear 330 is clamped onto the fixed step to achieve a fixed connection with the housing 110. The ring gear 330 is meshed with the planet gears 320. The planetary gear 320 is linked to the planetary carrier 340. One end face of the planetary carrier 340 is provided with three connecting posts protruding from the end face. The connecting posts extend into the planetary gear 320 and are rotatably connected to the planetary gear 320 through bearings. The other end face of the planetary carrier 340 is provided with a boss protruding from the end face. The boss extends to the outside of the second cover plate 130 for connection with other components.

[0028] Reference Figure 2 and Figure 3 The control component 400 includes a controller 410 and an encoder 420. The encoder 420 is mounted on the central shaft 140 and is used to monitor the rotational speed and feed the monitoring results back to the controller 410. The controller 410 controls the rotation of the motor assembly 200.

[0029] In some embodiments, the outer periphery of the stator disk 212 is clamped and fixed to the inner periphery of the housing 110, and the controller 410 is also clamped and fixed to the inner periphery of the housing 110. The controller 410 is located near the first cover plate 120 for easy maintenance.

[0030] In some embodiments, a partition 111 is fixedly connected to the inner circumference of the housing 110. In this embodiment, the partition 111 is integrally formed with the housing 110 and is a ring plate. In other embodiments, the partition 111 may also be a circular plate with a connecting through hole, which may be irregular in shape. The partition 111 divides the internal space into a first space 101 and a second space 102. The first space 101 and the second space 102 are interconnected. The first space 101 is located near the first cover plate 120, which closes the first space 101. The second space 102 is located near the second cover plate 130, which closes the second space 102. The controller 410 is located in the first space 101. In addition, in some embodiments, the central shaft 140 may be hollow to facilitate the electrical connection between the controller 410 and the encoder 420.

[0031] Since the printed circuit board itself has limited strength, the stator body 211 is fixed on the stator disk 212. The stator and the housing assembly 100 are fixed by fixing the stator disk 212 to the inner wall of the housing 110 or the partition 111.

[0032] By setting the separator 111, the controller 410 and the motor assembly 200 are separated to a certain extent. When the first cover 120 is opened to inspect the controller 410, the impact on the motor assembly 200 can be reduced.

[0033] The descriptions such as "parallel" used in this application allow for tolerances within a reasonable range. In this application, the term "axial" refers to the direction of the cylinder's central axis of rotation, i.e., the direction common to the central axis; "radial" is perpendicular to the "axial" direction, i.e., the direction of the radius or diameter of the cylinder's end face circle; "circumferential" refers to the "circumferential direction," i.e., the direction around the cylinder's axis, which, together with "axial" and "radial," constitute the three orthogonal directions in cylindrical coordinates. The end face is a plane composed of multiple radial directions.

[0034] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A thin joint module, characterized in that: It includes housing components, motor components, reduction gear components, and control components, among which The housing assembly encloses an internal space for mounting the motor assembly and the reduction gear assembly; The motor assembly includes a stator and a rotor, which are axially spaced to form an axial magnetic field. The stator is fixedly connected to the housing assembly and drives the rotor to rotate. The deceleration assembly includes an input section and an output section. The input section is fixedly connected to the rotor. The power generated by the motor assembly is input through the input section and decelerated and output through the output section. The control component controls the rotation and power output of the motor assembly.

2. The thin joint module according to claim 1, characterized in that: The reduction gear assembly includes a sun gear, planet gears, a ring gear, and a planet carrier. The sun gear is fixedly connected to the rotor. The planet gears are meshed with the sun gear and the ring gear, respectively. The ring gear is fixedly connected to the housing assembly. The output part of the reduction gear assembly is the planet carrier.

3. A thin joint module according to claim 1, characterized in that: The stator specifically includes a stator body, which is a printed circuit board on which windings are etched; the rotor specifically includes multiple rotor magnets, which are arranged symmetrically around the central axis of the motor assembly.

4. A thin joint module according to claim 3, characterized in that: The rotor specifically includes a rotor core, which abuts against the side of the rotor magnet away from the stator.

5. A thin joint module according to claim 1, characterized in that: The outer casing assembly includes a casing, a first cover plate, and a second cover plate. The first cover plate and the second cover plate are detachably connected to both ends of the casing. A partition is provided inside the casing to divide the internal space into a first space and a second space. The first cover plate is used to close the first space, and the second cover plate is used to close the second space.

6. A thin joint module according to claim 5, characterized in that: The control components include a controller and an encoder. The controller is installed in a first space, the encoder is installed in a second space, the motor assembly and the reduction assembly are installed in the second space, and the stator is located at one end closer to the first space.

7. A thin joint module according to claim 3, characterized in that: The stator also includes a stator disk, the stator body is fixedly installed in the stator disk, and the stator disk is directly or indirectly fixedly connected to the housing assembly.

8. A thin joint module according to claim 3 or 4, characterized in that: The rotor also includes a rotor disk, the rotor magnets are fixedly connected in the rotor disk, and the rotor disk is fixedly connected to the input part of the reduction assembly.

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