Joint module and charging robot arm

Abstract

The application provides a joint module and a charging robot arm. The joint module is applied to the charging robot arm. The charging robot arm comprises a first sub-arm and a second sub-arm. The joint module is arranged on the first sub-arm and can drive the second sub-arm to rotate relative to the first sub-arm. The joint module comprises a motor assembly and an output assembly. The motor assembly has an output part, and the motor assembly is arranged in the first sub-arm. At least part of the output assembly is arranged in the first sub-arm and located on one side of the motor assembly along a first direction. The output assembly has a wire passing channel penetrating along a second direction. Part of the output assembly is in transmission cooperation with the output part. The output part can drive the output assembly to rotate, and the other part of the output assembly is connected with the second sub-arm. The first direction intersects with the second direction. The first direction intersects with the axial direction of the motor assembly. The joint module provided by the application can improve the situation that the charging cable is easily worn out due to exposure, and improve the overall aesthetics of the charging robot arm.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a joint module and a rechargeable robotic arm. Background Technology

[0002] In related technologies, the end effector of a charging robotic arm is usually integrated with a charging gun. The charging gun is used to connect and cooperate with the object being charged to achieve high-power charging. In the charging robotic arm, the joint module is usually used to connect two adjacent sub-arms and drive one sub-arm to rotate relative to the other sub-arm. The charging cable used to connect the charging gun is usually exposed on the outside of the joint module and the charging robotic arm, which makes the charging cable easy to wear and also affects the overall aesthetics of the charging robotic arm. Utility Model Content

[0003] In view of this, the embodiments of this application aim to provide a joint module and a charging robotic arm to improve the situation where charging cables are easily worn and affect the overall aesthetics.

[0004] To achieve the above objectives, one aspect of this application provides a joint module applied to a charging robotic arm. The charging robotic arm includes a first sub-arm and a second sub-arm. The joint module is disposed on the first sub-arm and is capable of driving the second sub-arm to rotate relative to the first sub-arm. The joint module includes:

[0005] A motor assembly having an output section is disposed within the first sub-arm;

[0006] The output component is at least partially disposed within the first sub-arm and located on one side of the motor assembly along the first direction;

[0007] The output component has a through-path along the second direction. A portion of the output component is driven to the output part, which is capable of driving the output component to rotate. Another portion of the output component is connected to the second sub-arm. The first direction intersects the second direction, and the first direction intersects the axial direction of the motor assembly.

[0008] In some embodiments, the axial direction of the motor assembly is parallel to the rotation center axis of the output assembly and parallel to the second direction.

[0009] In some embodiments, the joint module further includes a housing, in which the motor assembly and at least a portion of the output assembly are disposed, the output assembly being rotatably connected to the housing, the motor assembly being fixed to the inner wall of the housing, the housing having a first opening, a portion of the output assembly being exposed through the first opening and connected to the second sub-arm.

[0010] In some embodiments, the motor assembly includes a motor, a reducer, and a brake, the reducer being disposed at one end of the motor along the axial direction, the brake being disposed at one end of the motor away from the reducer along the axial direction, the motor having an output shaft, the reducer having an input portion and the output portion, and the output shaft being connected to the input portion.

[0011] In some embodiments, the reducer is a planetary reducer, which includes a sun gear, planet gears, a planet carrier, and a ring gear. The ring gear has internal and external teeth. The planet carrier rotates with the planet gears and is fixed to the housing of the motor. The output shaft is connected to the sun gear, and the sun gear meshes with the planet gears. The internal teeth mesh with the planet gears, and the external teeth mesh with the gear tooth structure formed on the outer periphery of the output component.

[0012] In some embodiments, the output component includes a connecting shaft and a connecting disk, the outer periphery of the connecting shaft having the gear tooth structure, the connecting shaft and the connecting disk being connected along the second direction, the wire passage passing through the connecting shaft and the connecting disk in sequence, and the connecting disk being used to connect to the second sub-arm.

[0013] In some embodiments, the motor assembly further includes a housing having a third opening, the motor, the reducer, and the brake all being disposed within the housing, and the output portion being exposed through the third opening and engaging in transmission with the output assembly.

[0014] In some embodiments, the charging robotic arm further includes a charging gun, and the motor assembly further includes a controller that is signal-connected to both the motor and the brake, the brake being configured to brake at least when the charging gun is inserted.

[0015] In some embodiments, the motor assembly further includes an encoder and a mounting bracket, the encoder including a rotation unit and a sensing unit, the mounting bracket being connected to the sun gear, the rotation unit being fixed to the mounting bracket, and the sensing unit being connected to the controller.

[0016] In some embodiments, the output shaft, the mounting component, and the sun gear are integrally formed.

[0017] Another aspect of this application provides a charging robotic arm, including at least two sub-arms, a wiring harness, and the aforementioned joint module. The joint module is disposed in any of the sub-arms and connected to the adjacent sub-arm via the output component. The wiring harness passes from any of the sub-arms to the adjacent sub-arm via the wiring channel.

[0018] The joint module provided in this application embodiment, by having an output component located on one side of the motor assembly along the first direction and a cable passage extending along the second direction, can, on the one hand, reduce the axial size of the joint module; on the other hand, charging cables and / or drive cables can pass through only the output component, eliminating the need for complex structural designs in the motor assembly to accommodate the cable passage, resulting in a simpler motor assembly structure and improved compactness. Furthermore, the charging cable can pass through the joint module and the charging robotic arm, mitigating the wear and tear caused by exposed charging cables and enhancing the overall aesthetics of the charging robotic arm. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the joint module provided in this application.

[0020] 10. Joint module; 11. Motor assembly; 111. Motor; 112. Reducer; 112a. Output section; 113. Brake; 114. Housing; 114a. Third opening; 115. Controller; 12. Output assembly; 12a. Cable guide; 121. Connecting shaft; 121a. Gear tooth structure; 122. Connecting disc; 13. Housing; 13a. First opening; 13b. Second opening; 14. Bearing; 20. Drive cable; 30. Charging cable. Detailed Implementation

[0021] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0022] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "axial," "radial," and "circumferential" refer to the axial, radial, and circumferential directions of the motor or motor assembly, respectively. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0023] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application 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. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection" and "connection" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0025] In related technologies, the end effector of a charging robotic arm is usually integrated with a charging gun. The charging gun is used to connect and cooperate with the object being charged to achieve high-power charging. In the charging robotic arm, the joint module is usually used to connect two adjacent sub-arms and drive one sub-arm to rotate relative to the other sub-arm. The charging cable used to connect the charging gun is usually exposed on the outside of the joint module and the charging robotic arm, which makes the charging cable easy to wear and also affects the overall aesthetics of the charging robotic arm.

[0026] Based on the above, a first aspect of this application provides a joint module 10. The joint module 10 is applied to a charging robotic arm. The charging robotic arm includes a first sub-arm and a second sub-arm. The joint module 10 is disposed on the first sub-arm and is capable of driving the second sub-arm to rotate relative to the first sub-arm. See also... Figure 1 The joint module 10 includes a motor assembly 11 and an output assembly 12. The motor assembly 11 has an output portion 112a. The motor assembly 11 is disposed within a first sub-arm. At least a portion of the output assembly 12 is disposed within the first sub-arm and located on one side of the motor assembly 11 along a first direction. The output assembly 12 has a cable passage 12a extending along a second direction. A portion of the output assembly 12 is in drive engagement with the output portion 112a. The output portion 112a is capable of driving the output assembly 12 to rotate, and another portion of the output assembly 12 is connected to a second sub-arm. The first direction intersects the second direction. The first direction intersects the axial direction of the motor assembly 11.

[0027] It should be noted that in this application, the charging robotic arm also includes a charging gun, a charging cable 30, and a drive cable 20. The charging gun is located at the end of the charging robotic arm. The charging cable 30 is used to connect the charging gun. The drive cable 20 is used to connect to the motor assembly 11 and to provide power and signal communication to the motor assembly 11.

[0028] The number of sub-arms in the charging robotic arm is unlimited; that is, the charging robotic arm can also include a third, fourth, or fifth sub-arm, etc. A joint module 10 is set between one of any two adjacent sub-arms, and the output component 12 of the joint module 10 is connected to the other sub-arm.

[0029] Understandably, the drive cable 20 is usually needed to connect to the motor assembly 11 of each joint module 10 in order to power and control the motor assembly 11. In related technologies, the drive cable 20 can be placed outside the joint module 10 or pass through the joint module 10 and run from one sub-arm to the adjacent sub-arm to hide the drive cable 20, reduce the chance of wear and tear on the drive cable 20, and improve the aesthetics of the joint module 10 and the charging robotic arm.

[0030] In this application, a charging robotic arm can be used to charge a vehicle. This application uses the example of a charging robotic arm used to charge a vehicle for illustration.

[0031] In the joint module 10, the motor assembly 11 is fixedly connected to the first sub-arm, and the output assembly 12 is fixedly connected to the second sub-arm. Thus, when the output part 112a of the motor assembly 11 transmits motion to the output assembly 12, the output assembly 12 can move relative to the motor assembly 11, thereby driving the second sub-arm to move relative to the first sub-arm. Specifically, the motion here can be rotation.

[0032] The motor assembly 11 is the power source for the joint module 10, providing power to drive the output assembly 12 to move.

[0033] The output component 12 is the motion output of the joint module 10, enabling the second sub-arm and the first sub-arm to rotate relative to each other around the output component 12.

[0034] Since the output component 12 is located on one side of the motor assembly 11 along the first direction, which intersects the axial direction of the motor assembly 11, that is, the output component 12 is on the non-axial side of the motor assembly 11, compared with the related art where the output component 12 is on the axial side of the motor assembly 11, this arrangement can reduce the axial size of the joint module 10, which is beneficial to improving the axial compactness of the joint module 10.

[0035] In this application, the cable passage 12a can be used to pass through the charging cable 30, the drive cable 20, or a combination of both. Specifically, for a charging robotic arm with multiple joint modules 10, multiple drive cables 20 connected to different motor assemblies 11 can be combined into a single bus bundle. The bus bundle forms branch bundles within each joint module 10, and each branch bundle serves as a drive cable 20 connected to each motor assembly 11. Furthermore, multiple drive cables 20 connected to different motor assemblies 11 can also be combined with the charging cable 30 into a single bus bundle. Similarly, the bus bundle forms branch bundles within each joint module 10, and each branch bundle serves as a drive cable 20 connected to each motor assembly 11. The remaining wires of the bus bundle reaching the end effector of the charging robotic arm serve as charging cables 30 connected to the charging gun.

[0036] The "multiple or more roots" mentioned in the embodiments of this application refer to a quantity of two or more.

[0037] Understandably, since the charging power for vehicles is typically high, the diameter of the charging cable 30 is relatively large. In related technologies, the charging cable 30 is usually exposed outside the joint module 10 and the charging robotic arm, making it prone to wear and tear, and also affecting the overall aesthetics of the charging robotic arm. Therefore, by having the output component 12 located on one side of the motor component 11 along the first direction, and the output component 12 having a cable passage 12a extending along the second direction, on the one hand, the charging cable 30 and / or drive cable 20 can pass through only the output component 12. The motor component 11 does not need a complex structural design for the cable passage 12a, resulting in a simpler structure and improved compactness. On the other hand, it alleviates the difficulty of the thicker charging cable 30 passing through the motor component 11. Furthermore, the charging cable 30 can pass through the joint module 10 and the charging robotic arm from within, mitigating the wear and tear caused by its external exposure and improving the overall aesthetics of the charging robotic arm.

[0038] At least a portion of the output component 12 is disposed within the first sub-arm. Alternatively, the entire output component 12 may be disposed within the first sub-arm, with the second sub-arm extending into the first sub-arm and connecting to the output component 12. Or, a portion of the output component 12 may be disposed within the first sub-arm, with another portion of the output component 12 extending out of the first sub-arm and connecting to the second arm.

[0039] The output component 12 has a wire passage 12a that runs through the second direction. Specifically, the rotation center axis of the output component 12 intersects or is parallel to the through direction of the wire passage 12a, i.e., the second direction. This is beneficial for the position and orientation of the wire passage 12a to remain basically unchanged relative to the motor component 11 during the rotation of the output component 12, so that the charging cable 30 or drive cable 20 of the charging robot arm can pass through the wire passage 12a.

[0040] The joint module 10 provided in this application embodiment, by having the output component 12 located on one side of the motor component 11 along the first direction, and the output component 12 having a cable passage 12a extending along the second direction, can, on the one hand, reduce the axial size of the joint module 10; on the other hand, the charging cable 30 and / or drive cable 20 can pass through only the output component 12, eliminating the need for a complex structural design for the cable passage 12a in the motor component 11, thus simplifying its structure and improving its compactness. Furthermore, the charging cable 30 can pass through the joint module 10 and the charging robotic arm, mitigating the wear and tear caused by exposed charging cables and improving the overall aesthetics of the charging robotic arm.

[0041] In some embodiments, please refer to Figure 1 The axial direction of the motor assembly 11 is parallel to the rotation center axis of the output assembly 12 and is also parallel to the second direction.

[0042] Here, the rotation center axis of the output component 12 is parallel to the second direction, which can improve the smoothness of the wire harness passing through the wire passage 12a and is also beneficial to the transmission between the output section 112a and the output component 12.

[0043] In some embodiments, please refer to Figure 1 The joint module 10 also includes a housing 13. A motor assembly 11 and at least a portion of the output assembly 12 are disposed within the housing 13. The output assembly 12 is rotatably connected to the housing 13. The motor assembly 11 is fixed to the inner wall of the housing 13. The housing 13 has a first opening 13a. A portion of the output assembly 12 is exposed through the first opening 13a and connected to the second sub-arm.

[0044] At least a portion of the output component 12 is disposed within the housing 13. This can be either a portion of the output component 12 extending out of the housing 13 through the first opening 13a and connected to the second sub-arm, or the entire output component 12 being located within the housing 13, with the second sub-arm extending into the housing 13 through the first opening 13a and connected to the output component 12.

[0045] The housing 13 provides a mounting location for the motor assembly 11 and the output assembly 12, and provides protection.

[0046] The output component 12 is rotatably connected to the housing 13, for example, through a bearing 14.

[0047] The first opening 13a formed in the housing 13 is used for outputting power and can also extend the wiring harness. Exemplarily, the housing 13 also has a second opening 13b, through which the charging cable 30 and the drive cable 20 can pass through the joint module 10 via the first opening 13a, the cable passage 12a, the space inside the housing 13, and the second opening 13b. This can reduce the length of the charging cable 30 and the drive cable 20 and reduce the risk of wear and tear on the charging cable 30 and the drive cable 20.

[0048] In this embodiment, by providing the outer shell 13, the motor assembly 11 and the output assembly 12 can be fixed and protected, while the charging cable 30 and the drive cable 20 can be hidden inside the joint module 10. This reduces the length of the charging cable 30 and the drive cable 20, lowers the risk of wear and tear on the charging cable 30 and the drive cable 20, and also improves the aesthetic appearance of the charging robotic arm.

[0049] For example, the charging cable 30 and a plurality of drive cables 20 extend into the housing 13 through the second opening 13b, one of the drive cables 20 being connected to the motor assembly 11, and the remaining drive cables 20 passing through the cable passage 12a together with the charging cable 30, and then extending out of the housing 13 through the first opening 13a.

[0050] For example, the charging cable 30 and a plurality of drive cables 20 extend into the housing 13 through the first opening 13a and pass through the cable passage 12a, one of the drive cables 20 being connected to the motor assembly 11, and the remaining drive cables 20 extending out of the housing 13 together with the charging cable 30 through the second opening 13b.

[0051] In some embodiments, please refer to Figure 1 The motor assembly 11 includes a motor 111, a reducer 112, and a brake 113. The reducer 112 is located at one end of the motor 111 along its axial direction. The brake 113 is located at one end of the motor 111 axially away from the reducer 112. The motor 111 has an output shaft. The reducer 112 has an input section and an output section 112a. The output shaft is connected to the input section.

[0052] In this application, the motor 111 can be any type of electric motor. If classified according to the power supply type, it can be a DC motor 111 or an AC motor 111.

[0053] The reducer 112 can be any type of reducer 112, such as a gear reducer, worm gear reducer, harmonic reducer, or planetary reducer, etc.

[0054] Brake 113 can be any type of brake, such as hydraulic brake, electromagnetic brake, friction brake, etc. Friction brakes can be further divided into disc brakes or drum brakes, etc.

[0055] The reducer 112 is located at one end of the axial direction of the motor 111, and the output shaft extends out of this end of the reducer 112 and is connected to the input part of the reducer 112. After the reducer 112 reduces the rotation of the output shaft of the motor 111, it outputs the output through the output part 112a.

[0056] For example, the output shaft and the input part are integrally formed, which can improve the coaxiality between the motor 111 and the reducer 112, improve the transmission accuracy, and reduce the difficulty of production.

[0057] The brake 113 is located at the end of the motor 111 that is axially away from the reducer 112. Thus, the motor 111 at the end away from the reducer 112 also needs to transmit rotation to the brake 113 so that the brake 113 can directly brake the motor 111.

[0058] In this embodiment, by placing the reducer 112 at one end of the axial direction of the motor 111 and the brake 113 at the end of the motor 111 away from the reducer 112 along the axial direction, the compactness of the motor assembly 11 can be improved and the overall size of the motor assembly 11 can be reduced.

[0059] In some embodiments, please refer to Figure 1 The reducer 112 is a planetary reducer. The planetary reducer includes a sun gear, planet gears, a planet carrier, and a ring gear. The ring gear has internal and external teeth. The planet carrier rotates with the planet gears and is fixed to the housing of the motor 111. The output shaft is connected to the sun gear. The sun gear meshes with the planet gears. The internal teeth mesh with the planet gears. The external teeth mesh with the gear tooth structure 121a formed on the outer periphery of the output assembly 12.

[0060] Here, the planet carrier of the planetary reducer is the frame, which is fixed. The sun gear is the input component, meshing with the planet gears to reduce the rotation of the sun gear. The ring gear is the output component, with the planet gears meshing with the internal teeth of the ring gear to transmit their rotation to the ring gear. The external teeth of the ring gear are the output part 112a mentioned above. The external teeth formed on the outside of the ring gear mesh with the gear tooth structure 121a formed on the outer periphery of the output component 12 to form a transmission engagement.

[0061] Here, by setting the reducer 112 as a planetary reducer, the transmission accuracy and stability can be improved, and the planetary reducer is more compact, which can improve the overall compactness of the motor assembly 11 and is conducive to the miniaturization design of the joint module 10.

[0062] In some embodiments, please refer to Figure 1 The output assembly 12 includes a connecting shaft 121 and a connecting disk 122. A gear tooth structure 121a is formed on the outer periphery of the connecting shaft 121. The connecting shaft 121 and the connecting disk 122 are connected along a second direction. A wire passage 12a passes through the connecting shaft 121 and the connecting disk 122 sequentially. The connecting disk 122 is used to connect to a second sub-arm.

[0063] The connecting plate 122 is the power output end of the joint module 10 and the torque output port of the entire joint module 10, which can ensure stable power output.

[0064] In this embodiment, the gear tooth structure 121a formed on the outer periphery of the connecting shaft 121 facilitates direct transmission between the connecting shaft 121 and the output part 112a of the reducer 112. The connection with the second sub-arm via the connecting disc 122 enhances the strength and stability of the connection.

[0065] In some embodiments, please refer to Figure 1The motor assembly 11 also includes a housing 114. The housing 114 has a third opening 114a, and the motor 111, reducer 112, and brake 113 are all disposed within the housing 114. The output portion 112a is exposed through the third opening 114a and is in drive engagement with the output assembly 12.

[0066] The output part 112a can be exposed through the third opening 114a and drively cooperate with the output component 12. Alternatively, the output part 112a can extend out of the housing 114 through the third opening 114a and drively cooperate with the output component 12; or the output part 112a can be inside the housing 114 and the output component 12 can extend into the housing 114 through the third opening 114a and drively cooperate with the output part 112a.

[0067] Here, the motor 111, reducer 112 and brake 113 are all housed in the housing 114, which can protect and fix the motor 111, reducer 112 and brake 113, and also isolate the wiring harness from the motor 111, thus improving electrical safety performance.

[0068] In some embodiments, please refer to Figure 1 The charging robotic arm also includes a charging gun. The motor assembly 11 also includes a controller 115. The controller 115 is signal-connected to both the motor 111 and the brake 113. The brake 113 is configured to brake at least when the charging gun is inserted.

[0069] Here, the controller 115 can also be housed inside the housing 114 to enhance the protection of the controller 115.

[0070] The controller 115 is connected to the motor 111 and the brake 113 respectively. In this way, the controller 115 can control the motor 111 to start or stop, and can also control the brake 113 to brake.

[0071] In related technologies, to complete the insertion action, the motor 111 needs to output a torque greater than the torque required for normal operation in reverse to counteract the reaction force brought by the insertion. Based on this, a motor 111 with a larger output torque parameter is usually selected. However, the larger the output torque, the higher the cost of the motor 111, and the larger its size will be, which will also cause a waste of torque.

[0072] In this application, by configuring the brake 113 to brake at least when the charging gun is inserted, the reaction force generated by the charging robot arm during the process of inserting the charging gun into the charging port can be offset, and the cost and size of the motor 111 can be effectively reduced, and the waste of torque can be reduced.

[0073] It should be noted that in this application, the brake 113 can be configured to brake the motor 111 after it has finished rotating and stopped, and the motor 111 will always be in a braking state. This can improve the situation where the motor 111 is subjected to a large external force after it stops and cause malfunction, thereby improving the reliability and stability of the charging robotic arm's movements.

[0074] In some embodiments, please refer to Figure 1 The motor assembly 11 also includes an encoder and a mounting bracket. The encoder includes a rotation unit and a sensing unit. The mounting bracket is connected to the sun gear. The rotation unit is fixed to the mounting bracket. The sensing unit is connected to the controller 115.

[0075] The mounting component is connected to the sun gear, meaning that the encoder is mounted on the side of the reducer 112.

[0076] The connection between the sensing unit and the controller 115 can be a mechanical connection, a signal connection, or both.

[0077] An encoder is a sensor that converts mechanical displacement (rotation or linear) into electrical signals. Specifically, it can be used by photoelectric, magnetoelectric, or capacitive sensors to detect regularly changing physical quantities.

[0078] Here, the rotating unit is connected to the sun gear through a mounting component, and the sensing unit can measure the rotation of the rotating unit. Since the sun gear and the output shaft of the motor 111 rotate synchronously, the encoder can measure the rotation data of the motor 111 and transmit it to the controller 115 for feedback, so as to perform closed-loop control of the motor 111 and improve the accuracy of motor 111 control.

[0079] In some embodiments, the output shaft, mounting components, and sun gear are integrally formed.

[0080] In other words, the output shaft, mounting components, and sun gear are integrated into one unit, which can significantly reduce the design complexity of the motor assembly 11, improve the coaxiality between the output shaft of the motor 111, the encoder rotation unit, and the sun gear of the reducer 112, reduce transmission errors, and the integrated design can effectively reduce production and assembly difficulties, reduce production costs, and improve product precision and reliability.

[0081] A second aspect of this application provides a rechargeable robotic arm, which includes at least two sub-arms, a wiring harness, and a joint module 10 provided in any embodiment of this application. The joint module 10 is disposed within any sub-arm and connected to an adjacent sub-arm via an output component 12. The wiring harness extends from any sub-arm to its adjacent sub-arm via a wiring channel 12a.

[0082] Here, the various sub-arms of the charging robotic arm can be connected sequentially. For example, one end of the first sub-arm is rotatably connected to one end of the second sub-arm through a joint module 10, and the other end of the second sub-arm is connected to one end of the third sub-arm through another joint module 10.

[0083] The wiring harness may include a charging cable 30 and a drive cable 20.

[0084] For example, a charging gun is provided at the end of the first sub-arm away from the second sub-arm, and the end of the third sub-arm away from the second sub-arm is fixed to the base of the charging robotic arm. The charging cable 30 can pass through the third sub-arm, the joint module 10 at the connection between the third sub-arm and the second sub-arm, the second sub-arm, the joint module 10 at the connection between the first sub-arm and the second sub-arm, and the first sub-arm in sequence, and be electrically connected to the charging gun. At the same time, the drive cable 20 can also follow the charging cable 30 to each joint module 10 and be connected to the motor assembly 11. In this way, the charging cable 30 and the drive cable 20 can be hidden inside the charging robotic arm at the same time, which can improve the situation of easy wear caused by the charging cable 30 and the drive cable 20 being exposed, shorten the length of the wiring harness, reduce the cost of the wiring harness, and improve the overall aesthetics of the charging robotic arm.

[0085] The charging robotic arm provided in this application embodiment, based on the advantages of the joint module 10, also has the characteristics of improving the wear and tear caused by exposed wire harnesses and enhancing the overall aesthetics of the charging robotic arm.

[0086] In the description of this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this application, the illustrative expressions 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 suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine different embodiments or examples described in this application, as well as features of different embodiments or examples.

[0087] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A joint module applied to a charging robot, characterized in that, The charging robotic arm includes a first sub-arm and a second sub-arm. The joint module is disposed on the first sub-arm and is capable of driving the second sub-arm to rotate relative to the first arm. The joint module includes: A motor assembly having an output section is disposed within the first sub-arm; The output component is at least partially disposed within the first sub-arm and located on one side of the motor assembly along the first direction; The output component has a through-path along the second direction. A portion of the output component is driven to the output part, which is capable of driving the output component to rotate. Another portion of the output component is connected to the second sub-arm. The first direction intersects the second direction, and the first direction intersects the axial direction of the motor assembly.

2. The joint module according to claim 1, characterized in that The axial direction of the motor assembly is parallel to the rotation center axis of the output assembly and parallel to the second direction; and / or, The joint module also includes a housing, in which the motor assembly and at least a portion of the output assembly are disposed. The output assembly is rotatably connected to the housing, and the motor assembly is fixed to the inner wall of the housing. The housing has a first opening, in which a portion of the output assembly is exposed and connected to the second sub-arm.

3. The joint module of claim 1, wherein The motor assembly includes a motor, a reducer, and a brake. The reducer is located at one end of the motor along its axial direction, and the brake is located at the end of the motor away from the reducer along its axial direction. The motor has an output shaft, and the reducer has an input section and an output section. The output shaft is connected to the input section.

4. The joint module according to claim 3, characterized in that The reducer is a planetary reducer, which includes a sun gear, planet gears, a planet carrier, and a gear ring. The gear ring has internal and external teeth. The planet carrier rotates with the planet gears and is fixed to the housing of the motor. The output shaft is connected to the sun gear, and the sun gear meshes with the planet gears. The internal teeth mesh with the planet gears, and the external teeth mesh with the gear tooth structure formed on the outer periphery of the output component.

5. The joint module of claim 4, wherein, The output component includes a connecting shaft and a connecting disk. The outer periphery of the connecting shaft is formed with the gear tooth structure. The connecting shaft and the connecting disk are connected along the second direction. The wire passage passes through the connecting shaft and the connecting disk in sequence. The connecting disk is used to connect with the second sub-arm.

6. The joint module of claim 3, wherein The motor assembly also includes a housing with a third opening. The motor, the reducer, and the brake are all disposed within the housing. The output section is exposed through the third opening and is in transmission cooperation with the output assembly.

7. The joint module of claim 4, wherein, The charging robotic arm also includes a charging gun, and the motor assembly also includes a controller, which is signal-connected to the motor and the brake, respectively, and the brake is configured to brake at least when the charging gun is inserted.

8. The joint module of claim 7, wherein, The motor assembly also includes an encoder and a mounting component. The encoder includes a rotation unit and a sensing unit. The mounting component is connected to the sun gear. The rotation unit is fixed to the mounting component. The sensing unit is connected to the controller.

9. The joint module of claim 8, wherein, The output shaft, the mounting component, and the sun gear are integrally formed.

10. A rechargeable robotic arm, comprising at least two sub-arms, a wiring harness, and a joint module as described in any one of claims 1 to 9, characterized in that, The joint module is disposed within either of the sub-arms and is connected to an adjacent sub-arm by the output assembly, and the wire harness passes from within either of the sub-arms to within the adjacent sub-arm through the wire passage.

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