Joint module, robot arm, robot and production system

Abstract

This utility model discloses a joint module, a robotic arm, a robot, and a production system. The joint module includes a housing, a power component, and a reduction mechanism. The power component and the reduction mechanism are connected and housed within the housing. Both the power component and the reduction mechanism are connected to the housing via spline connections to fix them within the housing. The spline connection in this embodiment of the utility model enables circumferential positioning of the power component and the reduction mechanism within the housing, effectively preventing rotation of the power component and the reduction mechanism within the housing. This reduces the manufacturing cost of the joint module, simplifies the assembly process, improves the installation and disassembly efficiency of the power component and the reduction mechanism, and reduces maintenance time and costs for the joint module.

Description

Technical Field

[0001] This utility model belongs to the field of joint module technology, and in particular to joint modules used in industrial automation, smart home and robotics fields. Specifically, it relates to a joint module, a robotic arm, a robot and a production system. Background Technology

[0002] Joint modules are widely used in industrial automation, smart homes, and robotics. However, these technologies suffer from drawbacks such as numerous components, complex manufacturing and assembly, inconvenient fault diagnosis and maintenance, large size, and high cost. Utility Model Content

[0003] This utility model is based on the inventor's discovery and understanding of the following facts and problems:

[0004] In related technologies, the housing, power unit, and reduction mechanism of a joint module are typically fixed together using screws, bolts, and pins. This design requires drilling holes in the power unit and reduction components, leading to complex manufacturing processes. This is especially true when the components requiring drilling are small, significantly increasing the difficulty of the drilling process. This not only raises manufacturing costs and complexity but also affects structural stability due to machining accuracy issues. Furthermore, the additional connecting parts are prone to corrosion, loosening, or wear during long-term operation, leading to malfunctions. Simultaneously, since the power unit and reduction mechanism are integrated into a closed housing, fault location, disassembly and repair, and routine maintenance all face challenges such as limited operating space and low efficiency. While some joint modules in related technologies meet diverse functional requirements through structures such as locating pins and fastening bolts, they still rely on traditional fixed connection methods. To achieve rigid connections between components, numerous mounting holes need to be pre-drilled on multiple parts, not only increasing manufacturing difficulty but also creating potential problems for subsequent maintenance. In joint modules of related technologies, when the reduction mechanism is multi-stage, the connections between the reduction mechanisms are complex, costly, and result in poor power transmission smoothness.

[0005] This utility model aims to at least partially solve one of the technical problems in the related art.

[0006] Therefore, embodiments of this utility model propose a joint module that is simple in structure, easy to maintain, small in size, and low in cost.

[0007] An embodiment of this utility model also proposes a robotic arm having the aforementioned joint module.

[0008] An embodiment of this utility model also proposes a robot having the aforementioned joint module.

[0009] An embodiment of this utility model also proposes a production system having the robot.

[0010] The joint module according to an embodiment of the present invention includes: a housing; a power component and a reduction mechanism, wherein the power component is connected to the reduction mechanism, the power component and the reduction mechanism are disposed within the housing, and the power component and the reduction mechanism are both connected to the housing via spline connection to fix the power component and the reduction mechanism within the housing.

[0011] The joint module of this utility model uses a spline connection to install and position the power component and reduction mechanism within the housing, effectively preventing rotation of the power component and reduction mechanism within the housing. This eliminates the need for drilling into the housing, the power component, and the reduction mechanism, thus avoiding the adverse effects of drilling precision issues on the structural stability of the joint module. It also reduces the manufacturing cost of the joint module, simplifies the assembly process, and eliminates the need for additional connectors, resulting in a more compact structure. Furthermore, the spline connection's multi-tooth uniform contact characteristic gives it high torque capacity while ensuring high coaxiality and assembly accuracy of the connecting shafts, providing a guarantee for the reliable fixation of the power component and reduction mechanism within the housing.

[0012] In some embodiments, the joint module further includes a mounting plate, the housing has a first end and a second end, the mounting plate is provided with a mounting flange, the mounting flange being splined and fitted into the first end of the housing.

[0013] In some embodiments, the mounting plate is provided with an annular positioning boss coaxial with the mounting flange, the outer periphery of the mounting flange is provided with an external spline, the inner wall of the housing is provided with an internal spline that mates with the external spline of the mounting flange, the annular positioning boss is fitted inside the first end of the housing, and the end face of the annular positioning boss abuts against the internal spline of the housing.

[0014] In some embodiments, the housing includes a box body and a lid, the box body having a first end and a second end, the lid having a mating flange that engages within the second end of the box body, and the lid being connected to the second end of the box body by fasteners to close the second end of the box body.

[0015] In some embodiments, the cover is provided with a wiring harness hole, through which the wiring harness of the power component extends out of the housing, and the wiring harness is provided with a waterproof plug that fits into the wiring harness hole.

[0016] In some embodiments, the box body is cylindrical or square.

[0017] In some embodiments, the power component includes an electric motor, a hydraulic motor, or a pneumatic motor.

[0018] In some embodiments, a fixing plate is provided inside the housing, the power component is mounted on the fixing plate, and the fixing plate is connected to the housing via a spline connection to fix the power component inside the housing.

[0019] In some embodiments, the inner wall of the housing is provided with a retaining ring groove, the retaining ring groove is provided with a retaining ring for positioning the fixing plate, and a wave spring is provided between the fixing plate and the retaining ring.

[0020] In some embodiments, the reduction mechanism includes a primary planetary reduction mechanism and a secondary planetary reduction mechanism. The primary planetary reduction mechanism includes a primary sun gear, a primary internal gear ring, primary planet gears, and a primary planet carrier. The secondary planetary reduction mechanism includes a secondary sun gear, a secondary internal gear ring, secondary planet gears, and a secondary planet carrier. The inner wall of the housing is provided with internal splines. The outer periphery of both the primary and secondary internal gear rings is provided with external splines that mate with the internal splines on the inner wall of the housing. The primary sun gear is mounted on the output shaft of the power component, the secondary sun gear is mounted on the primary planet carrier, and the secondary planet carrier has a power output section.

[0021] In some embodiments, the power output part is an output sleeve, and the inner peripheral wall of the output sleeve is provided with an internal spline.

[0022] In some embodiments, the joint module further includes a bushing, which is fixed inside the housing, and the output sleeve is rotatably fitted inside the bushing.

[0023] The robotic arm of this utility model embodiment may include the joint module described in any of the above embodiments.

[0024] The robot of this utility model embodiment may include the joint module described in any of the above embodiments.

[0025] The production system proposed in this embodiment may include the robotic arm and / or the robot described in any of the above embodiments. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the joint module according to an embodiment of the present invention.

[0027] Figure 2 This is an axial cross-sectional view of the joint module according to an embodiment of the present invention.

[0028] Figure 3 This is an exploded view of the joint module according to an embodiment of the present invention.

[0029] Figure 4 This is an exploded view of the joint module of this utility model embodiment from another perspective.

[0030] Figure 5 yes Figure 3 A magnified view of part A in the image.

[0031] Figure 6 This is a schematic diagram of the robotic arm according to an embodiment of the present invention.

[0032] Figure 7 This is a schematic diagram of the robot according to an embodiment of the present invention.

[0033] Figure label:

[0034] Joint module 100;

[0035] 1. Housing; 11. Box body; 12. Box cover; 121. Wiring harness hole; 122. Mating flange; 13. Sealing ring;

[0036] Power component 2; wiring harness 21; waterproof plug 22;

[0037] Reduction mechanism 3; First-stage planetary reduction mechanism 31; First-stage sun gear 311; First-stage internal gear ring 312; First-stage planetary gear 313; First-stage planetary carrier 314; First-stage mounting shaft 315; Gear cover plate 316;

[0038] Second-stage planetary reduction gear 32; second-stage sun gear 321; second-stage internal gear ring 322; second-stage planetary gear 323; second-stage planetary carrier 324; power output unit 325; second-stage mounting shaft 326;

[0039] Mounting plate 4; Annular positioning boss 41; Mounting flange 42;

[0040] 5. Fixing plate; 6. Snap ring; 7. Wave spring; 8. Bushing; 9. Fastener;

[0041] 200 robotic arms;

[0042] Robot 300. Detailed Implementation

[0043] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0044] The joint module 100 of this utility model embodiment includes a housing 1, a power component 2, and a reduction mechanism 3.

[0045] The power component 2 is connected to the reduction mechanism 3. The power component 2 and the reduction mechanism 3 are located inside the housing 1. Both the power component 2 and the reduction mechanism 3 are connected to the housing 1 via spline connections to fix the power component 2 and the reduction mechanism 3 inside the housing 1.

[0046] Specifically, such as Figures 2-4 As shown, both the power component 2 and the reduction mechanism 3 are housed within the housing 1. The housing 1 acts as a protective shield, effectively isolating the power component 2 and the reduction mechanism 3 from external environmental factors (such as dust, moisture, and impact) and preventing interference and damage. Simultaneously, the housing 1 also serves as a support base for the power component 2 and the reduction mechanism 3, ensuring their installation, positioning, and power transmission. The power component 2 is connected to the reduction mechanism 3 so that the power component 2 drives the reduction mechanism 3 to rotate. The reduction mechanism 3 has a power conversion function, converting the high-speed, low-torque power output from the power component 2 into a low-speed, high-torque output, thus adapting to the diverse torque and speed requirements of the joint module 100 under different operating conditions.

[0047] Both the outer peripheral surfaces of the power component 2 and the reduction mechanism 3 are provided with external splines, while the inner wall of the housing 1 is provided with internal splines. The power component 2 and the reduction mechanism 3 are fixedly assembled to the housing 1 via the combination of external and internal splines. The spline connection, with its tooth flank contact distribution characteristics, can effectively disperse stress concentration at the connection points, ensuring the axiality and assembly accuracy of the power component 2, the reduction mechanism 3, and the housing 1. Through this connection method, the power component 2 and the reduction mechanism 3 can be reliably fixed within the housing 1, effectively suppressing the risk of loosening due to vibration or impact, and ensuring the continuity and efficiency of the power transmission process.

[0048] In this embodiment of the invention, the internal spline may include at least two internal spline grooves, and correspondingly, the external spline may include at least two external spline grooves. For example, the inner wall of the housing 1 is provided with at least two internal spline grooves extending axially and spaced circumferentially along the housing 1. The portion between the two internal spline grooves is generally referred to as an internal spline tooth. Either the power component 2 or the reduction mechanism 3 has two external spline grooves, and the portion between the two external spline grooves is generally referred to as an external spline tooth. Broadly speaking, this mating structure can also be referred to as a protrusion and groove fit, and in this application, it is also referred to as a spline connection. Preferably, the internal splines are evenly distributed along the circumference of the housing on the entire circumferential surface of the housing. Similarly, the internal splines can also be distributed along the circumference on the entire outer circumferential surface of the power component 2 and the reduction mechanism 3, thereby making the installation more stable and the force more even.

[0049] The joint module 100 of this embodiment uses a spline connection to install and position the power component 2 and the reduction mechanism 3 within the housing 1. This effectively prevents rotation of the power component 2 and the reduction mechanism 3 within the housing 1, eliminating the need for drilling into the components and avoiding the adverse effects of drilling accuracy issues on the structural stability of the joint module 100. This reduces the manufacturing cost of the joint module 100 and simplifies the assembly process. Furthermore, the spline connection eliminates the need for additional connecting parts, making the structure of the joint module 100 more compact. Secondly, the spline connection's multi-tooth uniform contact characteristic provides high torque capacity while ensuring high coaxiality and assembly accuracy of the connecting shafts, guaranteeing reliable fixation of the power component 2 and the reduction mechanism 3 within the housing 1. Finally, the spline connection improves the efficiency of installing and disassembling the power component 2 and the reduction mechanism 3, thereby reducing the maintenance time and cost of the joint module 100.

[0050] The joint module 100 of this utility model has the advantages of simple structure, few parts, simple processing and assembly, easy fault diagnosis and maintenance, small size and low cost.

[0051] In some embodiments, the joint module 100 further includes a mounting plate 4, and the housing 1 has a first end (e.g., Figure 1 The left end shown) and the second end (as shown) Figure 1 As shown on the right end), the mounting plate 4 is provided with a mounting flange 42, which is connected and fitted in the first end of the housing 1 by a spline.

[0052] Specifically, such as Figure 1 , Figure 3 and Figure 5 As shown, the first end of the housing 11 is the left end of the housing 11, and the second end of the housing 11 is the right end of the housing 11. The power component 2 and the reduction mechanism 3 are installed inside the housing 11. The left end of the mounting plate 4 is provided with a mounting flange 42, which can be circular. The inner circumferential contour of the right end of the housing 11 is circular, and the outer circumferential contour of the mounting flange 42 matches the inner circumferential contour of the right end of the housing 11. The mounting plate 4 is inserted into the right end of the housing 11 through its mounting flange 42 and is connected by a spline, thereby achieving circumferential positioning between the mounting plate 4 and the housing 11 and preventing the mounting plate 4 from rotating inside the housing 11.

[0053] In some embodiments, the mounting plate 4 is provided with an annular positioning boss 41 coaxial with the mounting flange 42. The outer periphery of the mounting flange 42 is provided with an external spline, and the inner wall of the housing 1 is provided with an internal spline that mates with the external spline of the mounting flange 42. The annular positioning boss 41 is fitted into the first end of the housing 1, and the end face of the annular positioning boss 41 abuts against the internal spline of the housing 1. Specifically, as shown... Figure 3 and Figure 5 As shown, the outer peripheral surface of the mounting flange 42 is provided with an external spline, and the inner wall surface of the right end of the housing 11 is provided with an internal spline. The mounting flange 42 and the housing 11 are circumferentially positioned by the meshing of the internal and external splines, thereby preventing the mounting plate 4 from rotating on the housing 11. The annular positioning boss 41 is provided on the left end face of the mounting plate 4, and the axis of the annular positioning boss 41 coincides with the axis of the mounting flange 42. The annular positioning boss 41 is provided on the flange of the mounting plate 4 and the mounting flange 42. The diameter of the outer circumferential surface of the annular positioning boss 41 is larger than the diameter of the mounting flange 42 shown. Therefore, when the mounting plate 4 is installed on the housing 11, the annular positioning boss 41 passes through the housing 11 and the left end face of the annular positioning boss 41 abuts against the right end face of the inner spline of the housing 11. Thus, the axial positioning of the mounting plate 4 is achieved by the annular positioning boss 41, which effectively restricts the movement of the mounting plate 4 in the axial direction and enhances the stability and reliability of the joint module 100.

[0054] In some embodiments, the housing 1 includes a box body 11 and a box cover 12. The box body 11 has a first end and a second end. The box cover 12 is provided with a mating flange 122, which fits inside the second end of the box body 11. The box cover 12 is connected to the second end of the box body 11 by a fastener 9 to close the second end of the box body 11. Specifically, as shown... Figures 1-4 As shown, the first end of the box 11 is the left end of the box 11, and the second end of the box 11 is the right end of the box 11. The right end of the box cover 12 is provided with a mating flange 122. The box cover 12 is located at the left end of the box 11, and the mating flange 122 passes through the box 11. The box cover 12 is provided with a through hole that runs through the box 12 in a left-right direction. The left end face of the box 11 is provided with a threaded through hole. Fasteners 9 (e.g., bolts or screws) pass through the through hole and are threaded into the threaded through hole, thereby allowing the box cover 12 to be detachably installed at the left end of the box 11. In addition, a sealing ring 13 is provided between the housing 11 and the cover 12. The sealing ring 13 is fitted on the right end of the cover 12 and located inside the left end of the housing 11, so that the sealing ring 13 tightly fills the gap between the cover 12 and the housing 11. This can effectively prevent external dust, moisture, debris and other objects from entering the housing 11. At the same time, it can also prevent the leakage of lubricating oil and other substances inside the housing 11, thereby maintaining a sealed space inside the housing 11. This provides a guarantee for the normal operation of key components such as the power component 2 and the reduction mechanism 3 installed inside the housing 11.

[0055] In some embodiments, the cover 12 is provided with a wiring harness hole 121, through which the wiring harness 21 of the power component 2 extends out of the housing 1. The wiring harness 21 is provided with a waterproof plug 22 that fits into the wiring harness hole 121. Specifically, as shown in Figure 1 and 3As shown, the cover 12 is provided with a wiring harness hole 121 that runs through the cover 12 in the inward and outward directions. One end of the wiring harness 21 passes through the cover 12 and is connected to the power component 2 through the wiring harness hole 121, while the other end of the wiring harness 21 is connected to the external equipment. Thus, the wiring harness hole 121 reduces the bending and tangling of the wiring harness 21, reduces the loss and interference during the transmission of the wiring harness 21, and ensures that the external equipment can provide continuous and stable power, air or liquid supply to the power component 2 through the wiring harness hole 121.

[0056] The waterproof plug 22 can be made of rubber or heat-resistant and insulating silicone. The wire harness 21 is threaded through the waterproof plug 22. The waterproof plug 22 is located inside the housing 11, and a part of the waterproof plug 22 passes through the wire harness hole 121. Thus, the waterproof plug 22 seals the wire harness hole 121, preventing external moisture, dust and other impurities from entering the housing 11 through the wire harness hole 121 and damaging the power component 2, thereby extending the service life of the power component 2.

[0057] In some embodiments, the number of wire harness holes 121 can be multiple and the same as the number of wire harnesses 21. Multiple wire harness holes 121 are arranged at intervals along the circumference of the cover 12, and a wire harness 21 is inserted into each wire harness hole 121, so that the distribution of wire harnesses 21 inside the device is more uniform and orderly, reducing the mutual crossing and interference between wire harnesses 21, and reducing the risk of faults such as short circuits and signal interference caused by the tangling of wire harnesses 21.

[0058] In some embodiments, the housing 11 is cylindrical or rectangular. Specifically, as shown below... Figure 1 As shown, the inner wall of the housing 11 is a cylindrical or square tube extending in the left and right direction, which facilitates the installation and manufacturing of the power component 2 and the reduction mechanism 3, ensuring the assembly efficiency of the power component 2 and the reduction mechanism 3. In addition, the cylindrical or square tube structure facilitates precision machining such as turning and boring, reducing the processing and manufacturing cost of the housing 11 and making the housing 11 more rationally designed.

[0059] In some embodiments, the power component 2 includes an electric motor, a hydraulic motor, or a pneumatic motor. Thus, the power component 2 can be selected from electric motors, hydraulic motors, or pneumatic motors according to actual needs. For example, an electric motor can convert electrical energy into mechanical energy, has high control precision and fast response, and is suitable for scenarios requiring high power stability and accuracy. A hydraulic motor outputs high torque through a hydraulic system and is often used in high-load drive applications. A pneumatic motor uses compressed air as power, has a simple structure and good explosion-proof performance, and can be used in flammable and explosive environments, thus making the power component 2 more rationally configured.

[0060] In some embodiments, a fixing plate 5 is provided inside the housing 1, and the power component 2 is mounted on the fixing plate 5. The fixing plate 5 is connected to the housing 1 via a spline connection to fix the power component 2 inside the housing 1. Specifically, as shown... Figures 2-4As shown, the fixing plate 5 is a circular plate and is located between the power component 2 and the reduction mechanism 3. The fixing plate 5 can be connected to the power component 2 by screws or bolts. The outer circumferential surface of the fixing plate 5 is provided with external splines, and the housing 11 is provided with internal splines. Through the meshing of the external splines and internal splines, the relative rotation of the power component 2 in the housing 1 is effectively prevented, and the precise circumferential positioning of the power component 2 is achieved, ensuring the long-term stable operation of the power component 2 in the housing 1.

[0061] In some embodiments, the inner wall of the housing 1 is provided with a retaining ring groove, and a retaining ring 6 for positioning the fixing plate 5 is provided in the retaining ring groove. A wave spring 7 is provided between the fixing plate 5 and the retaining ring 6. Specifically, as shown in the figure Figures 2-4 As shown, the inner wall of the housing 11 is provided with a retaining ring groove extending circumferentially along the housing 11. A part of the retaining ring 6 is located in the retaining ring groove, and the other part of the retaining ring 6 protrudes from the retaining ring groove and is located on the left side of the fixing plate 5. The wave spring 7 is located between the retaining ring 6 and the fixing plate 5, and the left and right sides of the wave spring 7 abut against the retaining ring 6 and the fixing plate 5 respectively. Since the power component 2 will generate axial vibration during operation, the wave spring 7, as an elastic element, can absorb part of the vibration energy generated by the power component 2 through the fixing plate 5, reduce the transmission of vibration to the housing 1, and thus reduce the overall noise. In addition, the elastic deformation provides a continuous rightward preload force, which can eliminate the assembly gap between the power component 2 and the reduction mechanism 3 to prevent loosening. Through dynamic elastic compensation, it adapts to the slight dimensional changes during long-term operation, improving the smoothness and reliability of the joint module 100 operation.

[0062] In some embodiments, the reduction mechanism 3 includes a first-stage planetary reduction mechanism 31 and a second-stage planetary reduction mechanism 32 connected in series. The first-stage planetary reduction mechanism 31 includes a first-stage sun gear 311, a first-stage internal gear ring 312, a first-stage planetary gear 313, and a first-stage planetary carrier 314. The second-stage planetary reduction mechanism 32 includes a second-stage sun gear 321, a second-stage internal gear ring 322, a second-stage planetary gear 323, and a second-stage planetary carrier 324. The inner wall of the housing 1 is provided with internal splines. The outer periphery of the first-stage internal gear ring 312 and the outer periphery of the second-stage internal gear ring 322 are both provided with external splines that mate with the internal splines on the inner wall of the housing 1. The first-stage sun gear 311 is mounted on the output shaft of the power component 2, and the second-stage sun gear 321 is mounted on the first-stage planetary carrier 314. The second-stage planetary carrier 324 has a power output section 325.

[0063] Specifically, such as Figures 2-4As shown, the first-stage planetary reduction mechanism 31 and the second-stage planetary reduction mechanism 32 are arranged sequentially in the left-right direction. The first-stage planetary reduction mechanism 31 is located between the second-stage planetary reduction mechanism 32 and the reduction mechanism 3 at the power input end. The first-stage internal gear ring 312 is located inside the housing 11 and on the right side of the fixed plate 5. A gear cover plate 316, which is annular, is installed between the first-stage internal gear ring 312 and the fixed plate 5. The output shaft of the power component 2 passes through the fixed plate 5. The gear cover plate 316 is located inside the first-stage internal gear ring 312 and connected to the first-stage sun gear 311. When the power component 2 is started, it can drive the first-stage sun gear 311 to rotate. The first-stage planetary carrier 314 is rotatably mounted on the right side of the first-stage internal gear ring 312. A first-stage mounting shaft 315 is located on its left side inside the first-stage internal gear ring 312. The first-stage planetary gear 313 is mounted on the first-stage mounting shaft 315 and is located between the gear cover plate 316 and the first-stage planetary carrier 314. Since the first-stage planetary gear 313 meshes with the first-stage sun gear 311 and the first-stage internal gear ring 312 respectively, during power transmission, the rotation of the first-stage sun gear 311 will drive the rotation of the first-stage planetary gear 313, which in turn drives the rotation of the first-stage planetary carrier 314. To ensure the stable position of the first-stage internal gear ring 312 during transmission, an external spline is provided on the outer circumferential surface of the first-stage internal gear ring 312, and a corresponding internal spline is provided inside the housing 11. Through the tight fit of the internal and external splines, the circumferential positioning of the first-stage internal gear ring 312 is achieved, effectively preventing the first-stage internal gear ring 312 from rotating inside the housing 11, and ensuring the power transmission of the first-stage planetary carrier 314.

[0064] The secondary internal gear ring 322 is located to the right of the primary internal gear ring 312 and inside the housing 11. The secondary planetary carrier 324 is rotatably mounted to the right of the secondary internal gear ring 322. A secondary mounting shaft 326 is located on the left side of the secondary planetary carrier 324, inside the secondary internal gear ring 322. The secondary planetary gears 323 are mounted on the secondary mounting shaft 326. A primary drive shaft is located on the right end face of the primary planetary carrier 314. The secondary sun gear 321 is mounted on the primary drive shaft and can rotate synchronously with the primary planetary carrier 314. The secondary planetary gears 323 mesh with the secondary sun gear 321 and the secondary internal gear ring 322 respectively. When the primary planetary carrier 314 rotates, it drives the secondary sun gear 321 to rotate, which in turn drives the secondary planetary gears 323 to rotate, and finally the secondary planetary gears 323 drive the secondary planetary carrier 324 to rotate. Similar to the positioning method of the first-stage internal gear ring 312, the outer circumferential surface of the second-stage internal gear ring 322 is also provided with an external spline, which cooperates with the internal spline in the housing 11 to circumferentially position the second-stage internal gear ring 322, preventing it from rotating in the housing 11 and ensuring that the second-stage planetary carrier 324 can stably transmit power. The right end of the second-stage planetary carrier 324 is provided with a power output section 325, which can transmit the power after two-stage reduction to the outside.

[0065] Therefore, by having both the primary internal gear ring 312 and the secondary internal gear ring 322 engage with the internal splines on the inner wall of the housing 1 via external splines, drilling is unnecessary in the reduction mechanism 3. This simplifies the installation and manufacturing process of the reduction mechanism 3, reduces operational complexity and difficulty, and effectively minimizes precision errors that may result from drilling, thereby lowering the manufacturing cost of the multi-stage reduction mechanism 3. Furthermore, the precise engagement of the internal and external splines provides reliable transmission assurance for the multi-stage reduction mechanism 3, ensuring high transmission accuracy, improving transmission smoothness during operation, and enhancing the performance and reliability of the reduction mechanism 3.

[0066] In some embodiments, the power output section 325 is an output sleeve, and the inner peripheral wall of the output sleeve is provided with an internal spline. Specifically, as shown in the figure... Figure 3 and Figure 4 As shown, the output sleeve is located at the right end of the secondary planetary carrier 324 and connected to the secondary planetary carrier 324. The secondary planetary carrier 324 drives the output sleeve to rotate. The inner peripheral wall of the output sleeve is provided with an internal spline. Thus, the internal spline enables multiple teeth to bear loads simultaneously, distributing the transmission torque to multiple contact surfaces, thereby improving the load-bearing capacity and impact resistance of the power output unit 325. In addition, the self-centering characteristic of the spline tooth profile can automatically correct minor eccentricities, ensuring the coaxiality of the output sleeve and the external equipment axis, thereby reducing vibration and noise during operation. Finally, compared with keyway connection, the spline structure eliminates auxiliary parts such as key blocks and set screws, simplifying the assembly process and avoiding the risk of power interruption due to key block loosening, thereby ensuring the output efficiency of the power output unit 325.

[0067] In some embodiments, the joint assembly further includes a bushing 8, which is fixed within the housing 1, and the output sleeve is rotatably fitted within the bushing 8. Specifically, as Figure 3 and Figure 4 As shown, the bushing 8 is an annular bushing 8 extending in the left and right direction and is fitted inside the mounting flange 42. The output sleeve is fixed inside the bushing 8. The output sleeve passes through the bushing 8 and can rotate in the front and back direction inside the bushing 8, thereby reducing the wear of the housing 1 and extending the service life of the housing 1.

[0068] The robotic arm 200 of this embodiment includes a joint module 100 according to any of the above embodiments. Specifically, as shown... Figure 6 As shown, the robotic arm 200 includes multiple joint modules 100. Through the drive of the joint modules 100, the robotic arm 200 can perform various actions and operations.

[0069] like Figure 7As shown, the robot 300 of this embodiment includes a joint module 100 according to any of the above embodiments. Thus, by driving the joint module 100, the robot 300 can perform various actions.

[0070] It is understood that the robotic arm 200 and robot 300 of this utility model embodiment are not limited to the forms shown in the figures.

[0071] The production system of this utility model embodiment includes a robotic arm 200 or a robot 300 according to the above embodiments. For example, the production system of this utility model embodiment can be an automobile production line or other product production line, wherein the robotic arm 200 and / or robot 300 can be used to pick up automobile parts and / or assemble automobiles and their components.

[0072] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to 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 utility model.

[0073] 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0074] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0075] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0076] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0077] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A joint module, characterized in that, include: case; A power component and a reduction mechanism are provided. The power component is connected to the reduction mechanism. The power component and the reduction mechanism are disposed within the housing. The power component and the reduction mechanism are both connected to the housing via spline connections to fix the power component and the reduction mechanism within the housing.

2. The joint module according to claim 1, characterized in that The joint module also includes a mounting plate. The housing has a first end and a second end. The mounting plate is provided with a mounting flange, which is connected and fitted into the first end of the housing via a spline.

3. The joint module according to claim 2, characterized in that The mounting plate is provided with an annular positioning boss coaxial with the mounting flange. The outer periphery of the mounting flange is provided with an external spline. The inner wall of the housing is provided with an internal spline that mates with the external spline of the mounting flange. The annular positioning boss is fitted inside the first end of the housing, and the end face of the annular positioning boss abuts against the internal spline of the housing.

4. The joint module of claim 1, wherein The housing includes a box body and a box cover. The box body has a first end and a second end. The box cover is provided with a mating flange, which fits into the second end of the box body. The box cover is connected to the second end of the box body by fasteners to close the second end of the box body.

5. The joint module according to claim 4, characterized in that, The cover is provided with a wiring harness hole, through which the wiring harness of the power component extends out of the housing, and the wiring harness is provided with a waterproof plug that fits into the wiring harness hole.

6. The joint module of claim 4, wherein, The box is cylindrical or square.

7. The joint module of claim 1, wherein, The power components include electric motors, hydraulic motors, or pneumatic motors.

8. The joint module of claim 1, wherein, The housing is provided with a fixing plate, and the power component is mounted on the fixing plate. The fixing plate is connected to the housing via a spline connection to fix the power component inside the housing.

9. The joint module according to claim 8, characterized in that, The inner wall of the housing is provided with a retaining ring groove, and a retaining ring for positioning the fixing plate is provided in the retaining ring groove. A wave spring is provided between the fixing plate and the retaining ring.

10. The joint module according to any one of claims 1-9, characterized in that, The reduction mechanism includes a primary planetary reduction mechanism and a secondary planetary reduction mechanism. The primary planetary reduction mechanism includes a primary sun gear, a primary internal gear ring, primary planet gears, and a primary planet carrier. The secondary planetary reduction mechanism includes a secondary sun gear, a secondary internal gear ring, secondary planet gears, and a secondary planet carrier. The inner wall surface of the housing is provided with internal splines, and the outer periphery of the first-stage internal gear ring and the outer periphery of the second-stage internal gear ring are both provided with external splines that mate with the internal splines on the inner wall of the housing. The first-stage sun gear is mounted on the output shaft of the power unit, the second-stage sun gear is mounted on the first-stage planetary carrier, and the second-stage planetary carrier has a power output section.

11. The joint module according to claim 10, characterized in that, The power output part is an output sleeve, and the inner peripheral wall of the output sleeve is provided with an internal spline.

12. The joint module according to claim 11, characterized in that, The joint module also includes a bushing, which is fixed inside the housing, and the output sleeve is rotatably fitted inside the bushing.

13. A robotic arm, characterized in that, Includes the joint module according to any one of claims 1-12.

14. A robot, characterized in that, Includes the joint module according to any one of claims 1-12.

15. A production system, characterized by This includes the robotic arm according to claim 13 or the robot according to claim 14.

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