Waterproof planetary joint module

Abstract

This disclosure provides a waterproof planetary joint module, which includes a housing assembly, a planetary reducer, a first dynamic sealing structure, and a second dynamic sealing structure. The planetary reducer includes at least one stage of reduction unit. The first dynamic sealing structure includes a tail cover, an output shaft, and a first waterproof sealing ring. The tail cover is fixedly disposed at the end of the housing assembly and has a first through hole in the middle. The output shaft is rotatably disposed in the middle of the housing assembly and passes through the first through hole. The output shaft is connected to the output end of the last stage reduction unit. The first waterproof sealing ring is disposed in the first through hole and is located between the tail cover and the output shaft. The second dynamic sealing structure includes a pressure cap and a second sealing ring. The pressure cap is fixedly disposed at the end of the housing assembly opposite to the tail cover and has a second through hole for the planetary carrier of the last stage reduction unit to pass through. The second sealing ring is disposed inside the second through hole and is located between the pressure cap and the planetary carrier of the last stage reduction unit.

Description

Technical Field

[0001] This disclosure relates to a waterproof planetary joint module, belonging to the field of robotics technology. Background Technology

[0002] In recent years, with the rise of humanoid robots, more and more manufacturers have begun to develop and deploy humanoid robots. The core structure for humanoid robots to move is the joint module, which is a power structure that integrates motors, reducers, and drivers. Common joint modules can be classified according to the type of reducer into harmonic joint modules, direct-drive joint modules, linear joint modules, and planetary joint modules.

[0003] Traditional planetary joint modules suffer from insufficient waterproofing, particularly at the rotating connection points of the housing components, resulting in low product reliability, which urgently needs to be addressed by those skilled in the art. Utility Model Content

[0004] This disclosure provides a waterproof planetary joint module.

[0005] According to one aspect of this disclosure, a waterproof planetary joint module is provided, comprising: Housing components; A planetary reducer, the planetary reducer comprising at least one reduction unit; The first dynamic sealing structure includes a tail cover, an output shaft, and a first waterproof sealing ring. The tail cover is fixedly disposed at the end of the housing assembly and has a first through hole in the middle. The output shaft is rotatably disposed in the middle of the housing assembly and passes through the first through hole. The output shaft is connected to the output end of the last stage reduction unit. The first waterproof sealing ring is disposed in the first through hole and is located between the tail cover and the output shaft. The second dynamic sealing structure includes a pressure cap and a second sealing ring. The pressure cap is fixedly disposed at one end of the housing assembly away from the tail cap and is provided with a second through hole for the planetary carrier of the final stage reduction unit to pass through. The second sealing ring is disposed inside the second through hole and is located between the pressure cap and the planetary carrier of the final stage reduction unit.

[0006] According to one aspect of the technical solution disclosed herein, this waterproof planetary joint module solves the problem of insufficient waterproof performance of traditional planetary joint modules through a double dynamic sealing structure design. Specifically, the first dynamic sealing structure utilizes a first waterproof sealing ring between the tail cap and the output shaft to form a dynamic seal when the output shaft rotates, effectively preventing water from seeping in from the rotating connection at the end of the housing assembly; the second dynamic sealing structure provides a dynamic seal when the output end of the reduction unit rotates through a second sealing ring between the pressure cap and the final stage reduction unit. This double-end sealing mechanism effectively solves the problem of insufficient sealing at the rotating connection at the end of the housing assembly of existing planetary reducers, significantly improving the overall waterproof reliability of the module.

[0007] According to at least one embodiment of the waterproof planetary joint module of the present disclosure, the housing assembly includes a plurality of components fixedly disposed to each other, and gaps are provided between the components, between the components and the tail cap and / or between the components and the gland, and sealant is disposed in the gaps.

[0008] A waterproof planetary joint module according to at least one embodiment of the present disclosure further includes a motor, the stator of which is fixedly disposed inside the housing assembly, and the mover of which is provided with a motor shaft; each reduction unit includes a sun gear, planet gears, an internal gear ring, and a planet carrier, the internal gear ring being fixedly disposed in the housing, the planet carrier being located inside the internal gear ring, the planet gears being rotatably disposed on the planet carrier and meshing with the internal teeth of the internal gear ring, the sun gear being rotatably disposed between the planet gears and meshing with each of the planet gears, wherein the sun gear of the first-stage reduction unit is rigidly connected to the motor shaft, and in two adjacent reduction units, the planet carrier of the previous-stage reduction unit is rigidly connected to the sun gear of the next-stage reduction unit; the output shaft is fixedly connected to the planet carrier of the last-stage reduction unit; the planet carrier of the last-stage reduction unit passes through the second through hole, and the second sealing ring is located between the pressure cap and the planet carrier of the last-stage reduction unit.

[0009] According to at least one embodiment of the waterproof planetary joint module of the present disclosure, a pin shaft is further included. The planetary carrier is provided with two spaced-apart mounting portions, each mounting portion having a pin hole. The two ends of the pin shaft are respectively disposed in the pin holes of the two mounting portions. The planetary gear is disposed between the two mounting portions and connected to the pin shaft.

[0010] According to at least one embodiment of the waterproof planetary joint module of this disclosure, the planetary joint module further includes a rotary bearing and planetary washers; the planetary gear is rotatably mounted on the pin shaft via the rotary bearing, and the planetary washers are respectively abutted on both axial sides of the planetary gear; the planetary washers are fixedly disposed on the pin hole end face of the mounting part so that there is a gap between the planetary gear and the planet carrier; the rotary bearing is a needle roller bearing, a deep groove ball bearing, or a sliding bearing.

[0011] According to at least one embodiment of the waterproof planetary joint module of the present disclosure, the planetary reducer includes two-stage reduction units. The planet carrier of the first-stage reduction unit is provided with first bearings at both ends, and is rotatably engaged with the housing assembly and the planet carrier of the second-stage reduction unit through the first bearings. The planet carrier of the last-stage reduction unit is rotatably engaged with the inner wall of the second through hole through the second bearing.

[0012] According to at least one embodiment of the waterproof planetary joint module of the present disclosure, the sun gear of each reduction unit is a hollow structure, the output shaft is rotatably inserted into the hollow structure of the sun gear of each reduction unit, and is provided with an axially penetrating wiring hole, both ends of which are connected to the outside of the waterproof planetary joint module.

[0013] According to at least one embodiment of the waterproof planetary joint module of the present disclosure, a cable guard sleeve is disposed on the tail cover. The cable guard sleeve is located at the end of the output shaft and is provided with a third through hole. The third through hole is coaxially disposed with the wiring hole and its inner diameter is smaller than that of the wiring hole.

[0014] According to at least one embodiment of the waterproof planetary joint module of the present disclosure, the motor has a hollow structure, and the primary reduction unit is at least partially disposed within the hollow structure of the motor.

[0015] The waterproof planetary joint module according to at least one embodiment of the present disclosure further includes a low-speed side magnetic ring and a high-speed side magnetic ring disposed inside the housing assembly; the high-speed side magnetic ring is disposed on the motor shaft, the low-speed side magnetic ring is disposed on the output shaft, and the housing assembly is fixedly provided with a drive plate for real-time acquisition and processing of the rotational position signals and speed signals of the high-speed side magnetic ring and the low-speed side magnetic ring, so as to detect the rotational position signals and speed signals of the motor shaft, the output shaft, and the planetary carrier of the final stage reduction unit. Attached Figure Description

[0016] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0017] Figure 1 This is a structural schematic diagram of a waterproof planetary joint module according to one embodiment of the present disclosure.

[0018] Figure 2 This is an exploded view of a waterproof planetary joint module according to one embodiment of the present disclosure.

[0019] Figure 3This is a schematic diagram of the structure of a first-stage deceleration unit according to one embodiment of the present disclosure.

[0020] Figure 4 This is a front view of a first-stage deceleration unit according to one embodiment of the present disclosure.

[0021] Figure 5 yes Figure 4 Sectional view of section A.

[0022] Figure 6 This is a schematic diagram of the internal structure of a first-stage deceleration unit according to one embodiment of the present disclosure.

[0023] Figure 7 yes Figure 6 Sectional view of section B.

[0024] Figure 8 This is a schematic diagram of the structure of a two-stage deceleration unit according to one embodiment of the present disclosure.

[0025] Figure 9 This is a front view of a two-stage deceleration unit according to one embodiment of the present disclosure.

[0026] Figure 10 yes Figure 9 Sectional view of section C.

[0027] Figure 11 This is a schematic diagram of the internal structure of a two-stage deceleration unit according to one embodiment of the present disclosure.

[0028] Figure 12 yes Figure 11 A sectional view of section D.

[0029] Figure 13 yes Figure 1 Enlarged schematic diagram of region I in the middle.

[0030] The specific labels in the attached figures are as follows: 100 Housing Components 110 Casing 120 Mounting Plate 130 driver board 140 Low-speed side magnetic ring 150 High-speed side magnetic ring 160 Inner Pressure Cap 200 motor 210 motor shaft 300 planetary gear reducer 310 First-stage reduction unit 311 First-order sun gear 312 First-level planetary gears 313 First-stage internal gear ring 314 First-stage planetary support 314A pin hole 315 pin 316 Rotary Bearing 317 Planetary Washer 318 First Bearing 320 Two-stage reduction unit 321 Second-stage sun gear 322 Second-stage planetary gear 323 Secondary Internal Gear Ring 324 Second-stage planetary support 325 Second Bearing 400 tail cover 410 First through hole 420 cable sheath 421 Third Through Hole 500 Output Shaft 510 Wiring Hole 600 First Waterproof Sealing Ring 700 cap 710 Second Through Hole 800 Second sealing ring Detailed Implementation The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0031] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0033] The use of crosshairs and / or shading in the accompanying drawings is generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of crosshairs or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the illustrated components, or any other characteristics, properties, etc., of the components. Furthermore, in the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0034] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0035] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0036] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0037] Traditional planetary joint modules suffer from insufficient waterproofing, especially at the rotating joints at the ends of the housing components, resulting in low product reliability, which urgently needs to be addressed by those skilled in the art.

[0038] To address the aforementioned technical issues, this embodiment provides a waterproof planetary joint module.

[0039] Figure 1 This is a structural schematic diagram of a waterproof planetary joint module according to one embodiment of the present disclosure. Figure 2 This is an exploded view of a waterproof planetary joint module according to one embodiment of the present disclosure.

[0040] See Figure 1 and Figure 2 As shown, the waterproof planetary joint module provided in this embodiment includes a housing assembly 100, a motor 200, a planetary reducer 300, a tail cover 400, an output shaft 500, a first waterproof sealing ring 600, a pressure cover 700, and a second sealing ring 800.

[0041] The motor 200 is used to provide driving force, its stator is fixedly disposed inside the housing assembly 100, and its mover is provided with a motor shaft 210.

[0042] The planetary reducer 300 includes at least one reduction unit; this embodiment uses a two-stage reduction unit as an example. The planetary reducer 300 includes a first-stage reduction unit 310 and a second-stage reduction unit 320.

[0043] Figure 3 This is a schematic diagram of the structure of a first-stage deceleration unit according to one embodiment of the present disclosure. Figure 4 This is a front view of a first-stage reduction unit according to one embodiment of the present disclosure. Figure 5 yes Figure 4 Sectional view of section A in the middle. Figure 6This is a schematic diagram of the internal structure of a first-stage deceleration unit according to one embodiment of the present disclosure. Figure 7 yes Figure 6 Sectional view of section B.

[0044] See Figures 3 to 7 As shown, the first-stage reduction unit 310 includes a first-stage sun gear 311, a first-stage planet gear 312, a first-stage internal gear ring 313, and a first-stage planet carrier 314. The first-stage internal gear ring 313 is fixedly disposed inside the housing assembly 100. The first-stage planet carrier 314 is located inside the first-stage internal gear ring 313 and is configured as the output end of the first-stage reduction unit 310. The first-stage planet gear 312 is rotatably disposed on the first-stage planet carrier 314 and meshes with the internal teeth of the first-stage internal gear ring. The first-stage sun gear 311 is rotatably disposed between the first-stage planet gears 312 and meshes with each of the first-stage planet gears 312.

[0045] Figure 8 This is a schematic diagram of the structure of a two-stage deceleration unit according to one embodiment of the present disclosure. Figure 9 This is a front view of a two-stage deceleration unit according to one embodiment of the present disclosure. Figure 10 yes Figure 9 Sectional view of section C. Figure 11 This is a schematic diagram of the internal structure of a two-stage deceleration unit according to one embodiment of the present disclosure. Figure 12 yes Figure 11 A sectional view of section D.

[0046] The same, such as Figures 8 to 12 As shown, the secondary reduction unit 320 includes a secondary sun gear 321, a secondary planetary gear 322, a secondary internal gear ring 323, and a secondary planetary carrier 324. The secondary internal gear ring 323 is fixedly disposed inside the housing assembly 100. The secondary planetary carrier 324 is located inside the secondary internal gear ring 323 and is configured as the output end of the secondary reduction unit 320. The secondary planetary gear 322 is rotatably disposed on the secondary planetary carrier 324 and meshes with the internal teeth of the secondary internal gear ring 323. The secondary sun gear 321 is rotatably disposed between the secondary planetary gears 322 and meshes with each of the secondary planetary gears 322.

[0047] In this unit, the first-stage sun gear 311 of the first-stage reduction unit 310 is rigidly connected to the motor shaft 210 by means of key connection or other means; the first-stage planetary carrier 314 of the first-stage reduction unit 310 is rigidly connected to the second-stage sun gear 321 of the second-stage reduction unit 320; and the output shaft 500 is fixedly connected to the second-stage planetary carrier 324 of the second-stage reduction unit 320.

[0048] like Figure 1As shown, the second-stage planetary carrier 324 of the second-stage reduction unit 320 passes through the second through hole 710, and the second sealing ring 800 is located between the pressure cap 700 and the second-stage planetary carrier 324 of the second-stage reduction unit 320.

[0049] The planetary reducer 300 adopts a multi-stage planetary gear transmission structure, which achieves the speed reduction function through the meshing of the sun gear, planet gears, internal gear ring and planet carrier.

[0050] Figure 13 yes Figure 1 Enlarged schematic diagram of region I in the middle.

[0051] like Figure 1 and Figure 13 As shown, the tail cover 400, the output shaft 500 and the first waterproof sealing ring 600 form a first dynamic sealing structure. The tail cover 400 is fixedly installed at the end of the housing assembly 100 and has a first through hole 410 in the middle. The output shaft 500 is rotatably installed in the middle of the housing assembly 100 and passes through the first through hole 410. The output shaft 500 is connected to the second-stage planetary carrier 324 of the second-stage reduction unit 320. The first waterproof sealing ring 600 is installed in the first through hole 410 and is located between the tail cover 400 and the output shaft 500.

[0052] like Figure 1 As shown, the pressure cap 700 and the second sealing ring 800 form a second dynamic sealing structure. The pressure cap 700 is fixedly installed on the end of the housing assembly 100 away from the tail cap 400, and is provided with a second through hole 710 for the secondary planetary carrier 324 of the second-stage reduction unit 320 to pass through. The second sealing ring 800 is disposed inside the second through hole 710 and is located between the pressure cap 700 and the secondary planetary carrier 324. The second dynamic sealing structure directly acts on the rotating part of the secondary planetary carrier 324 of the second-stage reduction unit 320, ensuring the sealing continuity of the output end during the movement process. While ensuring efficient deceleration, it makes the fit between the second sealing ring 800 and the planetary carrier tighter, effectively preventing moisture from seeping in from the output end of the reduction unit. This avoids the weak sealing points caused by the exposure of the reduction unit in the traditional structure, and improves the reliability and environmental adaptability of the module.

[0053] The waterproof planetary joint module solves the problem of insufficient waterproof performance in traditional planetary joint modules through the aforementioned dual-dynamic sealing structure design. Specifically, the first dynamic sealing structure utilizes the first waterproof sealing ring 600 between the tail cap 400 and the output shaft 500 to form a dynamic seal when the output shaft 500 rotates, effectively preventing water from seeping in from the rotating connection at the end of the housing assembly 100. The second dynamic sealing structure provides a dynamic seal when the output end of the reduction unit rotates through the second sealing ring 800 between the pressure cap 700 and the second-stage reduction unit 320. This dual-end sealing mechanism effectively solves the problem of insufficient sealing at the rotating connection at the end of the housing assembly 100 of the existing planetary reducer 300, significantly improving the overall waterproof reliability of the module.

[0054] like Figure 1 As shown, to further improve the sealing performance of the waterproof planetary joint module, the housing assembly 100 includes several components fixedly disposed to each other. Gaps are provided between the components, between the components and the tail cap 400, and / or between the components and the pressure cap 700, and sealant is disposed in the gaps. For example, the housing assembly 100 includes a housing 110 and a mounting plate 120 fixedly connected to the housing 110, the mounting plate 120 being used to mount a printed circuit board assembly (PCBA). The gaps between the housing 110 and the mounting plate 120, between the housing 110 and the pressure cap 700, and between the mounting plate 120 and the tail cap 400 are filled with sealant to prevent water from entering the module interior through the gaps. By filling the joint gaps between the components of the housing assembly 100 with sealant, potential static water seepage channels are blocked, further strengthening the overall sealing performance of the housing assembly 100, preventing moisture from seeping into the interior from the component joints. This, in conjunction with the double-action sealing structure, improves the waterproof performance of the module in complex environments and avoids sealing failure caused by assembly gaps.

[0055] like Figure 4 , Figure 5 and Figure 7 As shown, to enhance the load-bearing capacity of the first-stage reduction unit 310, the waterproof planetary joint module also includes a pin 315. The first-stage planetary carrier 314 has two spaced-apart mounting portions, each with a pin hole 314A. Both ends of the pin 315 are respectively positioned within the pin holes 314A of the two mounting portions. The planetary gears are positioned between the two mounting portions and connected to the pin 315, forming a cage-like structure in the first-stage reduction unit 310. The pins 315 of the first-stage planetary gears 312 are supported on both sides, improving impact resistance. The number of planetary gears can be four. The pin 315, serving as the rotational support shaft for the planetary gears, is fixed within the pin holes 314A of the planetary carrier's mounting portions, ensuring stable mounting of the planetary gears between the two mounting portions. This reduces vibration and misalignment during operation, preventing stress concentration or wear of the sealing structure due to planetary gear wobble, and indirectly maintaining the integrity of the first and second dynamic sealing structures.

[0056] Furthermore, such as Figure 7 As shown, the planetary joint module also includes a rotary bearing 316 and planetary washers 317. The first-stage planetary gear 312 is rotatably mounted on the pin 315 via the rotary bearing 316, and planetary washers 317 abut against both sides of the first-stage planetary gear 312 along its axial direction. The planetary washers 317 are fixedly disposed on the end face of the pin hole 314A of the mounting part, so that there is a gap between the first-stage planetary gear 312 and the first-stage planetary carrier 314. The rotary bearing 316 is a needle roller bearing, a deep groove ball bearing, or a sliding bearing. The rotary bearing 316 reduces the rotational friction between the planetary gear and the pin 315, while the planetary washers 317 provide a preset gap in the axial direction to prevent the planetary gear from directly contacting the planetary carrier, thereby reducing the frictional resistance during planetary gear operation and extending the service life of the reducer. At the same time, the stable rotational state prevents vibration from being transmitted to the sealing structure, which helps to maintain the sealing effect of the first waterproof sealing ring 600 and the second sealing ring 800, ensuring the durability of the waterproof performance.

[0057] like Figure 10 , Figure 11 and Figure 12 As shown, in order to improve the load-bearing capacity of the secondary reduction unit 320, the secondary reduction unit 320 can be equipped with a structure such as a pin 315, a mounting part, a rotating bearing 316 and a planetary washer 317, which are similar to those of the primary reduction unit 310. These details will not be elaborated here.

[0058] like Figure 5 As shown, in some embodiments, the planetary carrier of the first-stage reduction unit 310 is provided with first bearings 318 at both ends, and these bearings 318 are rotatably engaged with the housing assembly 100 and the first-stage planetary carrier 314 of the second-stage reduction unit 320, respectively. The second-stage planetary carrier 324 of the second-stage reduction unit 320 is rotatably engaged with the inner wall of the second through hole 710 via a second bearing 325. The first bearings 318 and the second bearings 325 can be deep groove ball bearings. The bearing structure provides uniform rotational support, reduces radial runout and axial displacement during planetary carrier operation, and improves the coaxiality and operational stability of the planetary carrier.

[0059] Furthermore, such as Figure 1 As shown, the housing assembly 100 also includes an inner pressure cover 160, which is fixedly connected to the pressure cover, such as by an internal hex bolt, and the outer ring of the second bearing 325 is fixed inside the pressure cover.

[0060] like Figure 1As shown, in a waterproof planetary joint module according to at least one embodiment of this disclosure, the sun gear of each reduction unit has a hollow structure, and the output shaft 500 is rotatably inserted into the hollow structure of the sun gear of each reduction unit. An axially penetrating wiring hole 510 is provided, with both ends of the wiring hole 510 communicating with the outside of the waterproof planetary joint module. The wiring hole 510 inside the output shaft 500 allows cables to pass through the module axially, facilitating the integrated arrangement of internal cables and meeting the signal transmission requirements of the humanoid robot joint. The axially penetrating structure of the wiring hole 510 does not damage the external seal, because the first waterproof sealing ring 600 effectively isolates the rotating part of the output shaft 500 from the external environment, preventing moisture from seeping into the interior through the wiring hole 510.

[0061] like Figure 1 and Figure 13 As shown, the waterproof planetary joint module further includes a cable protector 420 disposed on the tail cover 400. The cable protector 420 is located at the end of the output shaft 500 and has a third through hole 421. The third through hole 421 is coaxially arranged with the wiring hole 510, and its inner diameter is smaller than that of the wiring hole 510. As an additional protective component at the end of the output shaft 500, the cable protector 420 uses its third through hole 421 to limit and guide the cable. The cable protector 420 reduces the friction of the output shaft 500 on the cable during rotation, which helps to improve the cable life.

[0062] For example, such as Figure 1 As shown, the motor 200 has a hollow structure, and the first-stage reduction unit 310 is at least partially housed within the hollow structure of the motor 200. The hollow design of the motor 200 accommodates part of the first-stage reduction unit 310, achieving efficient space utilization, significantly reducing the overall size of the module, and improving the module's integration, making it more suitable for scenarios with high compactness requirements, such as humanoid robots.

[0063] like Figure 1 and Figure 2 As shown, in some embodiments, the waterproof planetary joint module further includes a low-speed side magnetic ring 140 and a high-speed side magnetic ring 150 disposed inside the housing assembly 100. The high-speed side magnetic ring 150 is disposed on the motor shaft 210, and the low-speed side magnetic ring 140 is disposed on the output shaft 500. A drive plate 130 is fixedly disposed on the housing assembly 100 for real-time acquisition and processing of the rotational position and speed signals of the high-speed side magnetic ring 150 and the low-speed side magnetic ring 140, so as to detect the rotational position and speed signals of the motor shaft 210, the output shaft 500, and the planetary carrier of the final reduction unit. This design achieves precise speed feedback of the joint module, facilitating real-time adjustment of motion parameters by the control system.

[0064] When the waterproof planetary joint module of the above technical solution is in operation, after the motor is powered on, its motor shaft rotates, driving the sun gear of the first-stage reduction unit. The sun gear drives multiple planet gears to rotate around their own axes. At the same time, the planet gears mesh with the internal gear ring fixed to the outer casing assembly, driving the planet carrier as the output end of that stage of the reduction unit to rotate. For multi-stage reduction structures (such as two-stage reduction units), the planet carrier of the first-stage reduction unit drives the sun gear of the next-stage reduction unit through a rigid connection, and so on, until the final stage reduction unit. The planet carrier of the final stage reduction unit is fixedly connected to the output shaft, transmitting the reduced power to the output shaft to achieve low-speed, high-torque output.

[0065] Regarding improvements in waterproofing performance, the waterproof planetary joint module based on the above technical solutions systematically solves the waterproofing deficiencies of traditional planetary joint modules by covering key rotating interfaces with a dual-dynamic sealing structure, providing coordinated protection through dynamic and static seals, and ensuring sealing durability through rotational stability design. Its innovation lies not in improving a single component, but in deeply integrating the sealing mechanism into the overall module architecture: designing the sealing interface specifically for the dynamic characteristics of rotational motion, and eliminating indirect failure factors through auxiliary structures (such as bearings, gaskets, and sealants). This significantly improves reliability and service life in complex environments while ensuring high precision and high torque output of the joint module.

[0066] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0067] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0068] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A waterproof planetary joint module, characterized in that, include: Housing components; A planetary reducer, the planetary reducer comprising at least one reduction unit; The first dynamic sealing structure includes a tail cover, an output shaft, and a first waterproof sealing ring. The tail cover is fixedly disposed at the end of the housing assembly and has a first through hole in the middle. The output shaft is rotatably disposed in the middle of the housing assembly and passes through the first through hole. The output shaft is connected to the output end of the last stage reduction unit. The first waterproof sealing ring is disposed in the first through hole and is located between the tail cover and the output shaft. The second dynamic sealing structure includes a pressure cap and a second sealing ring. The pressure cap is fixedly disposed at one end of the housing assembly away from the tail cap and is provided with a second through hole for the planetary carrier of the final stage reduction unit to pass through. The second sealing ring is disposed inside the second through hole and is located between the pressure cap and the planetary carrier of the final stage reduction unit.

2. The waterproof planetary joint module according to claim 1, characterized in that, The housing assembly includes several components that are fixedly arranged with each other. Gaps are provided between the components, between the components and the tail cap, and / or between the components and the pressure cap. Sealant is provided in the gaps.

3. The waterproof planetary joint module according to claim 1, characterized in that, It also includes a motor, the stator of which is fixedly disposed inside the housing assembly, and the mover of which is provided with a motor shaft; Each reduction unit includes a sun gear, planet gears, an internal gear ring, and a planet carrier. The internal gear ring is fixedly mounted on the outer casing. The planet carrier is located inside the internal gear ring. The planet gears are rotatably mounted on the planet carrier and mesh with the internal teeth of the internal gear ring. The sun gear is rotatably mounted between the planet gears and meshes with each of the planet gears. The sun gear of the first-stage reduction unit is rigidly connected to the motor shaft. In two adjacent reduction units, the planet carrier of the previous-stage reduction unit is rigidly connected to the sun gear of the next-stage reduction unit. The output shaft is fixedly connected to the planetary carrier of the final stage reduction unit; the planetary carrier of the final stage reduction unit passes through the second through hole, and the second sealing ring is located between the pressure cover and the planetary carrier of the final stage reduction unit.

4. The waterproof planetary joint module according to claim 3, characterized in that, It also includes a pin shaft. The planetary carrier is provided with two spaced-apart mounting parts. Each mounting part is provided with a pin hole. The two ends of the pin shaft are respectively disposed in the pin holes of the two mounting parts. The planetary gear is disposed between the two mounting parts and connected to the pin.

5. The waterproof planetary joint module according to claim 4, characterized in that, The planetary joint module also includes a rotary bearing and planetary washers; the planetary gear is rotatably mounted on the pin shaft via the rotary bearing, and the planetary washers are respectively abutted on both axial sides of the planetary gear; the planetary washers are fixedly disposed on the pin hole end face of the mounting part so that there is a gap between the planetary gear and the planet carrier; the rotary bearing is a needle roller bearing, a deep groove ball bearing, or a sliding bearing.

6. The waterproof planetary joint module according to claim 5, characterized in that, The planetary reducer includes two-stage reduction units. The planet carrier of the first-stage reduction unit is provided with first bearings at both ends, and the first bearings are rotatably engaged with the outer housing assembly and the planet carrier of the second-stage reduction unit, respectively. The planet carrier of the last-stage reduction unit is rotatably engaged with the inner wall of the second through hole through a second bearing.

7. The waterproof planetary joint module according to claim 3, characterized in that, The motor has a hollow structure, and the primary reduction unit is at least partially disposed within the hollow structure of the motor.

8. The waterproof planetary joint module according to claim 3, characterized in that, It also includes a low-speed side magnetic ring and a high-speed side magnetic ring disposed inside the housing assembly; the high-speed side magnetic ring is disposed on the motor shaft, and the low-speed side magnetic ring is disposed on the output shaft. The housing assembly is fixedly provided with a drive plate for real-time acquisition and processing of the rotational position signals and speed signals of the high-speed side magnetic ring and the low-speed side magnetic ring, so as to detect the rotational position signals and speed signals of the motor shaft, the output shaft, and the planetary carrier of the final stage reduction unit.

9. The waterproof planetary joint module according to claim 1, characterized in that, The sun gear of each reduction unit has a hollow structure, and the output shaft is rotatably inserted into the hollow structure of the sun gear of each reduction unit. It is provided with an axially penetrating wiring hole, and both ends of the wiring hole are connected to the outside of the waterproof planetary joint module.

10. The waterproof planetary joint module according to claim 9, characterized in that, It also includes a cable protector sleeve disposed on the tail cover. The cable protector sleeve is located at the end of the output shaft and is provided with a third through hole. The third through hole is coaxially disposed with the wiring hole and its inner diameter is smaller than that of the wiring hole.

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