A joint module and robot
By optimizing the placement of magnetic components and chips in the joint module, and combining non-metallic materials and heat dissipation structures, the problem of excessively large joint module size has been solved, achieving a compact design and high-precision detection, and improving service life.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 智元创新(上海)科技股份有限公司
- Filing Date
- 2025-07-03
- Publication Date
- 2026-06-30
Smart Images
Figure CN224425615U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of robotics technology, and in particular relates to a joint module and a robot. Background Technology
[0002] Excessively large joint modules directly limit their application scenarios, making them unsuitable for compact devices such as microrobots, surgical instruments, drone joints, and wearable exoskeletons, where size is extremely critical. Overly large joint modules also lead to bloated overall designs and may even prevent integration.
[0003] Therefore, how to reduce the size of the joint module is a problem that needs to be solved. Utility Model Content
[0004] The purpose of this application is to provide a joint module and a robot.
[0005] According to a first aspect of the embodiments of this application, a joint module is provided, comprising:
[0006] A first housing and a second housing, the first housing being connected to the second housing, the interior of the first housing and the interior of the second housing forming a receiving cavity, and a first mounting groove being provided on the side of the first housing facing the second housing;
[0007] A deceleration assembly is disposed within the receiving cavity. The deceleration assembly includes a planetary carrier, and a second mounting groove is provided at one end of the planetary carrier facing the first housing.
[0008] A first encoding component, comprising a first magnetic element and a first chip, wherein the first chip is disposed in the first mounting slot and the first magnetic element is disposed in the second mounting slot.
[0009] Optionally, the joint module further includes a stator assembly and a rotor assembly, both of which are disposed within the receiving cavity. The stator assembly surrounds the rotor assembly and is connected to the inner wall of the second housing. The rotor assembly surrounds the reduction assembly.
[0010] Optionally, the stator assembly is connected to the inner wall of the second housing via a thermally conductive component.
[0011] Optionally, the joint module further includes a second encoding component, which includes a second magnetic element and a second chip. The second chip is disposed in the first housing, and the second magnetic element is disposed on the side of the rotor assembly facing the first housing.
[0012] Optionally, the rotor assembly has mounting holes;
[0013] The deceleration assembly also includes a sun gear, the input end of which is located in the mounting hole, and the second magnetic component is located in the mounting hole.
[0014] Optionally, the reduction assembly further includes an internal gear ring and a plurality of planetary gears, the plurality of planetary gears being circumferentially spaced around the sun gear, the planetary gears meshing with the sun gear, the internal gear ring being sleeved on the plurality of planetary gears, and the internal gear ring meshing with the planetary gears.
[0015] Optionally, the reduction assembly further includes a plurality of planetary pins, one planetary pin corresponding to one planetary gear, one end of each planetary pin being connected to the planet carrier, and the other end of the planetary pin being located outside the second housing.
[0016] Optionally, the planetary carrier is made of a non-metallic material; and / or
[0017] The sun gear is made of non-metallic material.
[0018] Optionally, the second mounting groove is annular, the first magnetic element is annular, and the first magnetic element is connected to the second mounting groove by adhesive.
[0019] According to a second aspect of the embodiments of this application, a robot is provided, including the joint module described above.
[0020] One technical advantage of this application embodiment is that by placing the first magnetic component in the second mounting groove and the first chip in the first mounting groove, there is no need to increase the axial dimension of the joint module, thereby making the structure of the joint module more compact and reducing the volume of the joint module.
[0021] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description
[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.
[0023] Figure 1 This is a schematic diagram of the joint module in the embodiments of this application;
[0024] Figure 2 This is a schematic diagram of the joint module in the embodiments of this application;
[0025] Figure 3 for Figure 2 The sectional view at point AA.
[0026] Explanation of reference numerals in the attached drawings: Joint module 100; First housing 1; First mounting groove 11; Second housing 2; Receiving cavity 2a; Reduction assembly 3; Planetary carrier 31; Second mounting groove 311; Sun gear 32; Input end 321; Planetary gear 33; Internal gear ring 34; Planetary pin 35; First encoding assembly 4; First magnetic component 41; First chip 42; Rotor assembly 5; Mounting hole 51; Stator assembly 6; Second encoding assembly 7; Second magnetic component 71; Second chip 72; Drive board 8. Detailed Implementation
[0027] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present application.
[0028] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.
[0029] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.
[0030] In all the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.
[0031] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.
[0032] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0033] In the description of this invention, it should be understood that if the terms "axial", "radial", etc., are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.
[0034] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0035] like Figures 1-3 As shown, according to a first aspect of the embodiments of this application, a joint module 100 is provided, including a first housing 1, a second housing 2, a deceleration assembly 3, and a first encoding assembly 4; the first housing 1 is connected to the second housing 2, and the interior of the first housing 1 and the interior of the second housing 2 form a receiving cavity 2a, and a first mounting groove 11 is provided on the side of the first housing 1 facing the second housing 2; the deceleration assembly 3 is disposed in the receiving cavity 2a, and the deceleration assembly 3 includes a planetary carrier 31, and a second mounting groove 311 is provided at the end of the planetary carrier 31 facing the first housing 1; the first encoding assembly 4 includes a first magnetic element 41 and a first chip 42, the first chip 42 is disposed in the first mounting groove 11, and the first magnetic element 41 is disposed in the second mounting groove 311.
[0036] like Figure 3 As shown, the joint module 100 includes a first housing 1, a second housing 2, a deceleration assembly 3, and a first encoding assembly 4; the first housing 1 and the second housing 2 are detachably connected, and a receiving cavity 2a is formed inside the first housing 1 and the second housing 2, at least a portion of the deceleration assembly 3 is located in the receiving cavity 2a, and the first encoding assembly 4 is located in the receiving cavity 2a; wherein, a first mounting groove 11 is provided on the side of the first housing 1 facing the second housing 2, and the depth direction of the first mounting groove 11 is the axial direction of the joint module 100.
[0037] Specifically, the deceleration assembly 3 includes a planetary carrier 31 located within the receiving cavity 2a. The planetary carrier 31 has a second mounting groove 311 on the side facing the first housing 1, and the depth direction of the second mounting groove 311 is the axial direction of the joint module 100. The first encoding assembly 4 includes a first magnetic element 41 and a first chip 42. The first chip 42 is disposed in the first mounting groove 11, and the first magnetic element 41 is disposed in the second mounting groove 311. The first magnetic element 41 rotates with the planetary carrier 31. Since the first housing 1 does not rotate, the first chip 42 also does not rotate. Therefore, when the first magnetic element 41 rotates with the planetary carrier 31, its position can be detected by the first magnetic element 41 and the first chip 42, thereby detecting the rotation angle of the joint module 100.
[0038] In this embodiment, the first magnetic element 41 is disposed in the second mounting groove 311 and the first chip 42 is disposed in the first mounting groove 11. Therefore, there is no need to increase the axial dimension of the joint module 100, which makes the structure of the joint module 100 more compact and reduces the volume of the joint module 100.
[0039] like Figure 3 As shown, in an optional embodiment, the joint module 100 further includes a stator assembly 6 and a rotor assembly 5. Both the stator assembly 6 and the rotor assembly 5 are disposed within the receiving cavity 2a. The stator assembly 6 surrounds the rotor assembly 5 and is connected to the inner wall of the second housing 2. The rotor assembly 5 surrounds the reduction gear 3. Specifically, the connection between the stator assembly 6 and the inner wall of the second housing 2 allows for heat dissipation through the second housing 2, thereby improving the heat dissipation effect of the joint module 100. The rotor assembly 5 is positioned inside the stator assembly 6, and is coaxial with the stator assembly 6, allowing it to rotate relative to the stator assembly 6. The rotor assembly 5 is positioned around the reduction gear assembly 3, meaning the reduction gear assembly 3 is located inside the rotor assembly 5. In this embodiment, the arrangement of the stator assembly 6, rotor assembly 5, and reduction gear assembly 3 increases the space utilization of the receiving cavity 2a and significantly reduces the axial dimension of the joint module 100, thereby making the structure of the joint module 100 more compact and reducing its volume.
[0040] The rotor assembly 5 is connected to the first housing 1 via the first bearing, and the rotor assembly 5 is able to rotate around its own axis; the first housing 1 can provide support for the rotor assembly 5 to improve the installation stability of the rotor assembly 5.
[0041] In one alternative embodiment, the stator assembly 6 is connected to the inner wall of the second housing 2 via a heat-conducting component; the heat-conducting component can improve the connection stability between the stator assembly 6 and the second housing 2, and also improve the heat dissipation effect.
[0042] The thermal conductive components can be made of thermal adhesive or thermal pads.
[0043] like Figure 3As shown, in an optional embodiment, the joint module 100 further includes a second encoding component 7. The second encoding component 7 includes a second magnetic element 71 and a second chip 72. The second chip 72 is disposed on the first housing 1, and the second magnetic element 71 is disposed on the side of the rotor assembly 5 facing the first housing 1. Specifically, the second encoding component 7 includes a second magnetic element 71 and a second chip 72. The second chip 72 is disposed on the first housing 1, and the second magnetic element 71 is disposed on the rotor assembly 5. The second magnetic element 71 rotates with the rotor assembly 5. Since the first housing 1 does not rotate, the second chip 72 does not rotate either. Therefore, when the second magnetic element 71 rotates with the rotor assembly 5, its rotation angle can be detected by the second chip 72 and the second magnetic element 71, thereby detecting the rotation angle of the joint module 100. In this embodiment, the rotation angle of the joint module 100 is detected by the joint component 4 and the second encoding component 7 working together, and the detection accuracy is high. Furthermore, by setting the first encoding component 4 and the second encoding component 7, even if the joint module 100 stops and restarts, the first encoding component 4 and the second encoding component 7 can complement each other to ensure that the accurate position can be restored without resetting to zero after restarting.
[0044] like Figure 3 As shown, in an optional embodiment, the rotor assembly 5 has a mounting hole 51, the axial direction of which is the same as the axial direction of the joint module 100; the reduction assembly 3 also includes a sun gear 32, the input end 321 of which is disposed in the mounting hole 51, and the second magnetic element 71 is disposed in the mounting hole 51; specifically, the second magnetic element 71 is closer to the first housing 1 than the input end 321 of the sun gear 32, that is, along the axial direction of the mounting hole 51, the second magnetic element 71 and the input end 321 of the sun gear 32 are spaced apart, the second magnetic element 71 is close to the first housing 1, the second chip 72 is disposed in the first housing 1, and the input end 321 of the sun gear 32 is farther away from the first housing 1 than the second magnetic element 71; in this embodiment, the second magnetic element 71 is disposed in the mounting hole 51, so that it is not necessary to increase the axial dimension of the joint module 100, making the structure of the joint module 100 more compact and reducing the volume of the joint module 100.
[0045] like Figure 3 As shown, in an optional embodiment, the joint module 100 further includes a drive plate 8 located within the receiving cavity 2a. The drive plate 8 is disposed on the side of the first housing 1 facing the second housing 2. The second magnetic element 71 is electrically connected to the drive plate 8, and the first magnetic element 41 is electrically connected to the drive plate 8.
[0046] like Figure 3As shown, in one optional embodiment, the reduction assembly 3 further includes an internal gear ring 34 and a plurality of planetary gears 33. The plurality of planetary gears 33 are circumferentially spaced around the sun gear 32, and the planetary gears 33 mesh with the sun gear 32. The internal gear ring 34 is fitted onto the plurality of planetary gears 33, and the internal gear ring 34 meshes with the planetary gears 33. Specifically, when the rotor assembly 5 rotates, the sun gear 32 rotates synchronously, and the planetary gears 33 rotate relative to the sun gear 32. The internal gear ring 34 is fitted onto the plurality of planetary gears 33, and when the planetary gears 33 rotate, they also rotate relative to the internal gear ring 34. In this embodiment, when the internal gear ring 34 and the planetary gear 33 rotate, they mesh and generate iron powder. The iron powder will affect the lifespan of the internal gear ring 34 and the planetary gear 33. By setting the first magnetic element 41 on the planetary carrier 31, the iron powder generated by the meshing of the internal gear ring 34 and the planetary gear 33 will be gradually attracted to the side of the first magnetic element 41 away from the first housing 1, thereby avoiding the iron powder from affecting the internal gear ring 34 and the planetary gear 33 and increasing the lifespan of the reduction assembly 3. Furthermore, the generated iron powder is attracted to the side of the first magnetic element 41 away from the first housing 1, so it will not affect the use of the first encoding assembly 4.
[0047] like Figures 1-3 As shown, in an optional embodiment, the reduction assembly 3 further includes a plurality of planetary pins 35, one planetary pin 35 corresponding to one planetary gear 33. One end of each planetary pin 35 is connected to the planet carrier 31, and the other end of the planetary pin 35 is located outside the second housing 2. Specifically, one end of the planetary pin 35 is connected to the planet carrier 31, and the planetary pin 35 passes through the hollow hole of the planetary gear 33. The planetary pin 35 extends from the inside of the receiving cavity 2a to the outside of the second housing 2, so the other end of the planetary pin 35 is located outside the second housing 2. The planetary pin 35 extends outside the second housing 2 to be used as the output end of the joint module 100. That is to say, the planetary pin 35 serves as both the drive shaft of the planetary gear 33 and the output shaft of the joint module 100. The joint module 100 no longer needs to be provided with an additional output shaft, thereby making the structure of the joint module 100 more compact.
[0048] In an alternative embodiment, the planetary carrier 31 is made of a material and / or the sun gear 32 is made of a non-metallic material or a plastic material; for example, polyetheretherketone or polyoxymethylene is used to reduce the overall weight and cost of the joint module 100.
[0049] In one alternative embodiment, the second mounting groove 311 is annular, the first magnetic element 41 is annular, and the first magnetic element 41 is connected to the second mounting groove 311 by adhesive. This can be understood as the second mounting groove 311 being an annular groove, the first magnetic element 41 being a magnetic ring, and the magnetic ring being disposed within the annular groove.
[0050] According to a second aspect of the embodiments of this application, a robot is provided, including the joint module 100 described above.
[0051] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.
Claims
1. An articulating module, comprising: include: A first housing and a second housing, the first housing being connected to the second housing, the interior of the first housing and the interior of the second housing forming a receiving cavity, and a first mounting groove being provided on the side of the first housing facing the second housing; A deceleration assembly is disposed within the receiving cavity. The deceleration assembly includes a planetary carrier, and a second mounting groove is provided at one end of the planetary carrier facing the first housing. A first encoding component, comprising a first magnetic element and a first chip, wherein the first chip is disposed in the first mounting slot and the first magnetic element is disposed in the second mounting slot.
2. The joint module according to claim 1, characterized in that The joint module further includes a stator assembly and a rotor assembly, both of which are disposed within the receiving cavity. The stator assembly surrounds the rotor assembly and is connected to the inner wall of the second housing. The rotor assembly surrounds the reduction assembly.
3. The joint module according to claim 2, characterized in that, The stator assembly is connected to the inner wall of the second housing via a thermally conductive component.
4. The joint module according to claim 1, characterized in that, The joint module further includes a second encoding component, which includes a second magnetic element and a second chip. The second chip is disposed in the first housing, and the second magnetic element is disposed on the side of the rotor assembly facing the first housing.
5. The joint module according to claim 4, characterized in that, The rotor assembly has mounting holes; The deceleration assembly also includes a sun gear, the input end of which is located in the mounting hole, and the second magnetic component is located in the mounting hole.
6. The joint module according to claim 5, characterized in that, The reduction gear assembly also includes an internal gear ring and a plurality of planetary gears. The plurality of planetary gears are circumferentially spaced around the sun gear and mesh with the sun gear. The internal gear ring is sleeved on the plurality of planetary gears and meshes with the planetary gears.
7. The joint module according to claim 6, characterized in that, The deceleration assembly also includes a plurality of planetary pins, one planetary pin being connected to one planetary gear, one end of each planetary pin being connected to the planet carrier, and the other end of the planetary pin being located outside the second housing.
8. The joint module according to claim 6, characterized in that, The planetary carrier is made of non-metallic material; and / or The sun gear is made of non-metallic material.
9. The joint module according to claim 1, characterized in that, The second mounting groove is annular, the first magnetic component is annular, and the first magnetic component is connected to the second mounting groove by adhesive.
10. A robot, characterized in that, Includes the joint module as described in any one of claims 1-9.