Joint module

Abstract

The utility model relates to a kind of joint modules, which are particularly suitable for robot, automation equipment and precision motion control system and other application scenarios.Reduction cavity (101) is equipped with reducer assembly (2), power cavity (102) is equipped with motor (3), electrical cavity (103) is equipped with encoder assembly (4) and driver, the rotating shaft of motor (3) is rotatably connected with shell assembly (1) by first bearing (61) and second bearing (62), by embedding the first bearing (61) and second bearing (62) of motor (3) in the axial range of outer stator (31), the overall axial length of joint module is greatly shortened, and the power-to-volume ratio is significantly improved.

Description

Technical Field

[0001] This utility model relates to the field of mechatronics integrated equipment technology, specifically to a highly integrated joint module with compact axial dimensions, which is particularly suitable for applications such as robots, automated equipment and precision motion control systems. Background Technology

[0002] In robotics, especially in the fields of articulated and collaborative robots, joint modules are the core components that enable their motion functions. Traditional joint module designs typically involve simply stacking key components such as motors, reducers, and encoders in series along a single axis. While this layout is structurally intuitive, it leads to significant drawbacks. The most significant problem is the excessive overall axial length, which makes the robot arm longer and heavier for the same working range, and also increases the moment of inertia, thus affecting the robot's dynamic response speed and energy efficiency.

[0003] How to efficiently and reliably integrate multiple subsystems such as mechanical transmission, power drive, sensing feedback and electronic control within an extremely limited space, while ensuring that it has the characteristics of high rigidity, high precision and high power density, is a technical problem that urgently needs to be solved in the field of robot joint technology. Utility Model Content

[0004] The main objective of this invention is to provide a joint module with significantly shortened axial dimensions, enhanced structural rigidity, and a highly integrated design.

[0005] To achieve the above objectives, this utility model provides a joint module, which includes a housing assembly. Inside the housing assembly, a reduction chamber, a power chamber, and an electrical chamber are sequentially formed in the axial direction. A reducer assembly is installed in the reduction chamber, a motor is installed in the power chamber, and an encoder assembly and a driver are installed in the electrical chamber. One end of a detection shaft is connected to the output end of the reducer assembly, and the other end of the detection shaft passes through the reduction chamber, then through the power chamber, and extends into the electrical chamber to connect with the encoder assembly. The housing assembly includes a main housing and a middle seat. The middle seat is connected to the bottom end of the main housing, and the inner wall of the main housing and the top wall of the middle seat form the power chamber. The motor shaft is rotatably connected to the main housing via a first bearing, and the motor shaft is rotatably connected to the middle seat via a second bearing. Both the first and second bearings are located axially inside the outer stator of the motor.

[0006] In a preferred embodiment of the joint module of this utility model, the top of the main housing forms a first stepped portion protruding inward toward the outer stator of the motor, and the first bearing is installed at the inner top of the first stepped portion; and the top of the middle seat forms a second stepped portion protruding inward toward the outer stator of the motor, and the second bearing is installed at the outer top of the second stepped portion.

[0007] In a preferred embodiment of the joint module of this utility model, the outer side of the first step portion is a concave step surface, and the reducer assembly is installed on the concave step surface, such that at least a portion of the bottom end of the reducer assembly extends into the inner side of the outer stator of the motor; or, the reducer assembly includes planetary gears and an internal gear ring, and the tooth surfaces of the planetary gears and the internal gear ring do not extend beyond the outer end face of the concave step surface.

[0008] In a preferred embodiment of the joint module of this utility model, a plurality of first pin holes are formed between the outer ring wall of the inner gear ring of the reducer assembly and the inner side wall of the concave stepped surface, and a positioning pin is inserted into the first pin hole to perform circumferential positioning of the inner gear ring.

[0009] In a preferred embodiment of the joint module of this utility model, a plurality of second pin holes are formed between the outer side wall of the outer stator of the motor and the inner side wall of the main housing, and a positioning pin is inserted into the second pin hole to perform circumferential positioning of the outer stator; and the top edge of the middle seat presses against the end of the outer stator to perform axial positioning of the outer stator.

[0010] In a preferred embodiment of the joint module of this utility model, a top seat and a top frame are connected above the main housing. The inner wall of the top seat, the inner wall of the top frame, and the top wall of the main housing form the deceleration cavity. The top frame presses the internal gear ring of the reducer onto the main housing in the axial direction. Alternatively, a bottom frame and a base are connected below the middle seat. The inner wall of the middle seat, the inner wall of the bottom frame, and the inner wall of the base form the electrical cavity.

[0011] In a preferred embodiment of the joint module of this utility model, the outer surface of the housing assembly is quadrangular, and a plurality of first connectors are inserted through the top seat, pass through the top frame and connect to the top side of the main housing; a plurality of second connectors are inserted through the base, pass through the bottom frame and the middle seat and connect to the bottom side of the main housing; wherein, the first connectors and the second connectors are arranged at the four corners of the housing assembly.

[0012] In a preferred embodiment of the joint module of this utility model, a third bearing is installed at the bottom of the planetary carrier of the reducer, and the motor shaft is also connected to the inner ring of the third bearing; or, a fourth bearing is installed between the top seat and the top frame, and a pressure plate is connected to the top of the planetary carrier to press the inner ring of the fourth bearing onto the planetary carrier.

[0013] In a preferred embodiment of the joint module of this utility model, one end of the detection shaft is connected to the mounting hole at the output end of the reducer assembly by a bolt, and the other end is connected to the inner ring of the fifth bearing, which is mounted on the base.

[0014] In a preferred embodiment of the joint module of this utility model, the inner sidewall of the middle seat is provided with a plurality of first connecting ears, and the stator disk of the encoder assembly is connected to the first connecting ears via a connector; or, the inner sidewall of the bottom frame is provided with a plurality of second connecting ears, and the driver is connected to the second connecting ears via a connector; or, the sidewall of the base is connected with a plurality of glands, and the cable on the driver is connected to an external device via the glands.

[0015] In the joint module provided by this utility model, the motor shaft is rotatably connected to the housing assembly via a first bearing and a second bearing. By embedding the first and second bearings of the motor within the axial range of the stator and utilizing the housing structure to achieve partial nesting of the reducer and motor, the overall axial length of the joint module is greatly shortened, significantly improving the power-to-volume ratio. Furthermore, integrating mechanical components (reducer assembly, first and second bearings), electrical components (motor, driver), and feedback components (encoder assembly, detection shaft) into the housing assembly simplifies the system structure and reduces external wiring. Through a detection shaft directly connected to the encoder from the final output end of the reducer, true closed-loop detection of the joint output angle is achieved, eliminating interference from factors such as gear backlash and torsional elastic deformation in the transmission chain on position feedback, ensuring excellent positioning accuracy. Attached Figure Description

[0016] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can more clearly understand the above and other features and advantages of the present invention, in which:

[0017] Figure 1 This is a schematic diagram of the external structure of the joint module in this embodiment.

[0018] Figure 2 This is a cross-sectional structural diagram of the joint module in this embodiment.

[0019] Figure 3This is an exploded view of the joint module in this embodiment.

[0020] Figure 4 This is a schematic diagram of the structure of the outer rotor of the motor in the joint module of this embodiment.

[0021] Figure 5 This is a schematic diagram of the main housing structure in the joint module of this embodiment.

[0022] Figure 6 This is a schematic diagram of the installation structure of the reducer assembly in the joint module of this embodiment.

[0023] Figure 7 This is a schematic diagram of the concave stepped surface of the main shell in the joint module of this embodiment.

[0024] Figure 8 This is a schematic diagram of the arrangement structure of the second connecting ear in the joint module of this embodiment.

[0025] Figure 9 This is a schematic diagram of the arrangement structure of the first connecting ear in the joint module of this embodiment.

[0026] The accompanying figure is labeled as follows:

[0027] 1-Housing assembly; 101-Reduction chamber; 102-Power chamber; 103-Electrical chamber;

[0028] 11-Main shell; 111-First stepped portion; 112-Concave stepped surface; 1121-First pin hole;

[0029] 12-Middle seat; 121-Second step; 122-First connecting lug;

[0030] 13-Top mount; 14-Top frame; 15-Bottom frame; 151-Second connecting ear; 16-Base; 161-Gland head;

[0031] 2-Reducer assembly; 21-Internal gear ring; 22-Planet gear; 23-Planet carrier; 231-Pressure plate; 232-Output end;

[0032] 3-Motor; 31-Outer stator; 311-Second pin hole; 32-Inner rotor; 321-Shaft; 3211-Sun gear section;

[0033] 4-Encoder assembly; 41-Stator disk; 42-First rotor disk; 42-Second rotor disk;

[0034] 5-Detection axis;

[0035] 61 - First bearing; 62 - Second bearing; 63 - Third bearing; 64 - Fourth bearing; 65 - Fifth bearing; 66 - Sixth bearing;

[0036] 71-First connector; 72-Second connector;

[0037] 8-Positioning pin. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0039] It should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "connection" and "setup" 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 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 this utility model according to the specific circumstances.

[0040] Furthermore, it should be understood in the description of this application that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing 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, and therefore should not be construed as a limitation of this application.

[0041] Combination Figures 1 to 3 In this embodiment, the joint module can be presented as a cylinder or a prism with approximately square corners. Its core skeleton is a shell assembly 1, the internal space of which is physically divided into three functionally distinct and adjacent chambers along its central axis: a deceleration chamber 101 located on the output side, a power chamber 102 located in the middle, and an electrical chamber 103 located at the bottom.

[0042] Each core functional unit is precisely arranged in its corresponding chamber according to its function. A high-performance reducer assembly 2 (e.g., a harmonic reducer or a high-precision planetary reducer) is installed in the reduction chamber 101, responsible for reducing speed and increasing torque. A brushless DC motor 3 (typically an external rotor or internal rotor structure, but with a hollow shaft 321) is housed in the power chamber 102, serving as the power source for the joint module. An encoder assembly 4 (e.g., a high-resolution absolute photoelectric or magnetic encoder) and a driver (i.e., the motor controller circuit board) are jointly installed in the electrical chamber 103.

[0043] A slender and rigid detection shaft 5 runs through the interior of the joint module. This detection shaft 5 plays a crucial role: one end (e.g., the top) is securely connected to the final output element of the reducer assembly 2 (e.g., the planet carrier 23 of a planetary reducer or the flex wheel output flange of a harmonic reducer) via a flange or bolts. From the connection point, the detection shaft 5 passes through the hollow area at the center of the motor 3, traverses the entire power cavity 102, and continues to extend into the electrical cavity 103, while its other end (e.g., the bottom) is connected to the rotating part of the encoder assembly 4.

[0044] This "three-cavity integrated" axial layout, combined with the through-type detection axis 5, forms the basis for the high integration and high performance of the joint module in this embodiment. First, the division of the functional chambers achieves physical isolation, effectively preventing lubricating grease in the deceleration chamber 101 from contaminating the precision electronic components in the electrical chamber 103. Second, the detection axis 5 constructs a direct information feedback path. It directly measures the angular displacement of the final output, thus bypassing all intermediate error sources such as the connection error between the inner rotor 32 of the motor 3 and the input end of the reducer assembly 2, the backlash of the reducer assembly 2 itself, and the torsional deformation of the transmission system under load. This provides the most realistic and direct position feedback signal for achieving high-precision servo control.

[0045] The core of the housing assembly 1 consists of a main housing 11 and a middle seat 12 precisely fitted together. The middle seat 12 can be understood as a ring-shaped or cap-shaped component, which is fixedly connected to the bottom opening of the main housing 11 by bolts or other means. The boundary of the power cavity 102 is jointly enclosed by the inner wall of the main housing 11 and the top wall of the middle seat 12.

[0046] The motor 3 mounting method in this embodiment is key to achieving axial compactness. Combined with... Figure 4The motor 3 includes a fixed outer stator 31 and an inner rotor 32 fixedly connected to the motor 3's shaft 321. One end of the shaft 321 can be machined into a sun gear portion 3211, which meshes with the planet gears 22 of the planetary reducer assembly 2. This reduces the connection structure between the shaft 321 and the sun gear portion 3211, further shortens the overall axial dimension of the motor and reducer, and helps improve the assembly efficiency of the motor 3 and the reducer assembly 2.

[0047] Combination Figure 4 and Figure 5 An annular first stepped portion 111, protruding towards the central axis of the motor 3, is integrally machined on the inner wall of the top of the main housing 11. A first bearing 61 (e.g., a deep groove ball bearing) is precisely mounted on the inner cylindrical surface of the first stepped portion 111. Preferably, the first bearing 61 is also located inside the annular groove of the inner rotor 32 of the motor 3.

[0048] Correspondingly, combined Figure 2 and Figure 3 At the top of the middle seat 12, an annular second step portion 121 protruding towards the central axis of the motor 3 is also machined. A second bearing 62 is mounted on the outer cylindrical surface of the second step portion 121.

[0049] The shaft 321 of the motor 3 passes through and is supported by the inner rings of the first bearing 61 and the second bearing 62, allowing it to rotate freely relative to the fixed housing assembly 1. The ingenuity of this design lies in the fact that, because the first step 111 protrudes downwards and the second step 121 protrudes upwards, the first bearing 61 and the second bearing 62 are positioned axially entirely within the cylindrical envelope of the outer stator 31 of the motor 3. This is significantly different from the conventional design that places bearings outside the ends of the outer stator 31 of the motor. It makes great use of the unused space inside the motor 3, thereby significantly shortening the total axial length of the "motor + bearing" subsystem without sacrificing the support span.

[0050] Continue to refer to Figure 3To ensure that the outer stator 31 of the motor 3 does not rotate during operation and is precisely positioned, a dual positioning mechanism of circumferential and axial directions is employed. Radially (circumferentially), multiple aligned second pin holes 311 are pre-machined on the outer wall of the outer stator 31 and the inner wall of the main housing 11. During assembly, positioning pins 8 are pressed into these pin holes to form a reliable anti-torsional connection. Axially, one end face (e.g., the top face) of the outer stator 31 rests against a support step inside the main housing 11, while when the middle seat 12 is installed, its top edge tightly presses against the other end face (e.g., the bottom face) of the outer stator 31. Thus, by tightening the second connecting piece 72 that secures the middle seat 12, the axial clamping and fixing of the outer stator 31 is simultaneously achieved. This design integrates positioning and fastening functions, simplifying the assembly process.

[0051] The design of this embodiment further achieves a second axial compression through the nesting of the reducer assembly 2 and the motor 3.

[0052] Specifically, a concave stepped surface 112 is machined on the outer side of the first stepped portion 111 of the main housing 11 (the inner side of which is used to mount the first bearing 61). This concave surface forms a mounting base specifically for mounting the reducer assembly 2.

[0053] Because this mounting surface is recessed, the bottom portion of the reducer assembly 2 can be partially "embedded" into this concave area. This means that at least a portion of the structure of the reducer assembly 2 (e.g., its base, planetary gear 22 system, or wave generator bearing of the harmonic reducer) can extend into the space vacated by the inner diameter of the outer stator 31 of the motor 3 in the axial position.

[0054] Combination Figure 6 and Figure 7 Taking a planetary reducer as an example, its planetary gears 22 and internal gear ring 21 can be designed and arranged such that their tooth surfaces do not extend axially beyond the outermost end face of the concave stepped surface 112. This makes the total length of the entire power transmission assembly much smaller than the simple sum of the lengths of the motor 3 and the reducer assembly 2.

[0055] To ensure that the fixed part of the reducer assembly 2 (e.g., the internal gear ring 21 of the planetary reducer) can be accurately aligned and effectively transmit the reaction torque, a plurality of first pin holes 1121 are also aligned between the outer ring wall of the internal gear ring 21 and the inner sidewall of the concave stepped surface 112. By inserting the locating pins 8 into these pin holes, the internal gear ring 21 can be securely circumferentially positioned, preventing it from slipping under high torque conditions.

[0056] This design embodies a high degree of functional integration. The single geometric feature of the first step 111 on the main housing 11 serves as the mounting base for the bearing of the motor 3 on its inner side and the mounting base for the reducer assembly 2 on its outer side, fully demonstrating the efficiency and ingenuity of the design.

[0057] Continue to refer to Figure 1 and Figure 3 In order to form a complete deceleration chamber 101 and electrical chamber 103, and to create a robust external structure, the housing assembly 1 adopts a modular stacking design.

[0058] Above the main housing 11 (output end), a top frame 14 and a top seat 13 are connected in sequence. The inner wall of the top seat 13, the inner wall of the top frame 14, and the top wall of the main housing 11 together form the reduction chamber 101. In one embodiment, the structure of the top frame 14 can be designed to axially press the internal gear ring 21 of the reducer assembly 2 during assembly, thereby playing an auxiliary fixing role.

[0059] Below the main housing 11 (non-output end), below the middle base 12, the bottom frame 15 and the base 16 are connected in sequence. The inner wall of the middle base 12, the inner wall of the bottom frame 15, and the inner wall of the base 16 together form the electrical cavity 103.

[0060] The entire housing assembly 1 is formed by stacking a top base 13, a top frame 14, a main housing 11, a middle base 12, a bottom frame 15, and a base 16. The outer contour of the housing assembly 1 is preferably quadrilateral (e.g., a square or rectangle with rounded corners). This shape not only facilitates installation on the robot structure but also provides a basis for a highly rigid connection method.

[0061] To secure these modular housing components into a single unit, a through-type connection scheme is employed. Multiple first connectors 71 (e.g., high-strength long bolts) are positioned at the four corners of the housing assembly 1. These connectors penetrate from the outside of the top seat 13, pass sequentially through the top frame 14, and are finally screwed into threaded holes on the top side of the main housing 11. Similarly, multiple second connectors 72 penetrate from the outside of the base 16, pass sequentially through the bottom frame 15 and the middle seat 12, and are finally screwed into threaded holes on the bottom side of the main housing 11.

[0062] This four-corner through-bolt connection scheme "binds" all the separate shell components into a quasi-monostructure. These long bolts, like tension columns in a building, provide a strong "exoskeleton" for the entire module, greatly improving the overall bending and torsional stiffness. Compared to the local connections of short bolts between components, this global connection method can better resist external loads and reduce small displacements at the interfaces between components, thus ensuring the precision of the joint module.

[0063] Combination Figure 2 and Figure 8 The top end of the detection shaft 5 is reliably fixed in the reserved mounting hole of the final output end 232 of the reducer assembly 2 by one or more bolts. Its bottom end is connected to the inner ring of the fifth bearing 65, the outer ring of which is firmly mounted in a hole in the center of the base 16.

[0064] This two-end support method ensures that the detection shaft 5 can rotate strictly coaxially with the main output shaft of the joint without any wobbling or wobble. The second rotor disk 43 (e.g., code disk) of the encoder assembly 4 is mounted at the end of this detection shaft 5, while the stator disk 41 (e.g., reading head) of the encoder assembly 4 is mounted on the base 16 or the middle seat 12. Therefore, the encoder assembly 4 can measure the angular position of the detection shaft 5 in real time and accurately, that is, the true output angle of the joint after deceleration and torque amplification, providing the controller with a distortion-free feedback signal.

[0065] For example, combined Figure 3 The encoder assembly 4 includes a stator disk 41, a first rotor disk 42, and a second rotor disk 43. The first rotor disk is connected to the rotating shaft 321 of the motor 3, and the second rotor disk 42 is connected to the detection shaft.

[0066] This embodiment will describe some alternative technical solutions and further details to demonstrate the breadth of the scope of protection of this utility model.

[0067] The output end of the joint module needs to withstand external loads (such as the gravity and inertial forces of the robot arm), thus requiring a robust bearing system for support. Depending on the application scenario's requirements for load capacity and compactness, this invention provides at least two output support configurations.

[0068] A third bearing 63 is mounted at the bottom of the planetary carrier 23 of the reducer assembly 2. The inner ring of the third bearing 63 is connected to the shaft 321 of the motor 3, while its outer ring supports the planetary carrier 23. This design partially transfers the output load to the shaft 321 of the motor 3 through the third bearing 63. It has a very compact structure and is suitable for applications with relatively light loads and extremely stringent requirements for axial dimensions.

[0069] In applications requiring the resistance to enormous radial, axial, and overturning moments (such as robot bases or large arm joints), a more robust support structure is employed. A large-diameter fourth bearing 64 (typically a crossed roller bearing) is mounted between the fixed top seat 13 and the rotating output end 232. Specifically, a pressure plate 231, bolted to the top of the planetary carrier 23 of the reducer assembly 2, axially presses the inner ring of the fourth bearing 64 and transmits the output torque and load to the fourth bearing 64. The outer ring of the fourth bearing 64 is fixed to the top seat 13. In this design, the external load is directly transmitted to the outermost housing via the fourth bearing 64, while the internal precision reducer assembly 2 and motor 3 bear almost no external load, significantly improving the joint's load-bearing capacity and lifespan.

[0070] Furthermore, the joint module in this embodiment may also be provided with a sixth bearing 66, which is mounted on the top surface of the top seat 13, and the inner ring of the sixth bearing 66 is connected to the output end 232 of the reducer assembly 2, so as to further improve the load-bearing capacity of the joint module.

[0071] To achieve true integration, the internal structure of housing assembly 1 is optimized to provide integrated mounting points for electronic components without the need for additional brackets.

[0072] Combination Figure 9 Multiple first connecting ears 122 can be integrally formed on the inner side wall of the middle seat 12. These connecting ears are machined with threaded holes. The stator disk 41 of the encoder assembly 4 (such as a reading head) can be directly fixed to the first connecting ears 122 by means of connectors (such as screws).

[0073] Continue to refer to Figure 8 Driver installation: Similarly, multiple second connecting ears 151 can be provided on the inner sidewall of the base frame 15 for mounting the driver circuit board. The driver PCB board can also be directly fixed to the second connecting ears 151 via connectors, ensuring a stable and vibration-resistant installation, and reserving planned space for cable management.

[0074] External Connections: One or more glands 161 (waterproof cable connectors) can be easily installed on the side wall or end face of the base 16. External power and communication cables can be introduced into the electrical cavity 103 through these glands 161 and connected to the connectors on the drive, achieving a sealed, reliable external electrical connection and providing effective cable stress relief.

[0075] This deep electromechanical integration design not only reduces the number of parts and simplifies the assembly process, but also improves heat dissipation and electromagnetic shielding performance by fixing electronic components to a robust metal housing, thereby enhancing the reliability of the entire module.

[0076] The operation of this joint module forms a complete closed-loop control circuit: an external controller (such as a robot main control cabinet) sends commands via a communication bus, which are transmitted to the driver in the electrical cavity 103 via gland 161 and cables. The driver decodes the commands and, based on the built-in servo algorithm, precisely controls the current supply to the outer stator 31 winding of the motor 3 in the power cavity 102. The energized outer stator 31 winding generates a rotating magnetic field, driving the inner rotor 32 and shaft 321 of the motor 3 to rotate at high speed. The rotational motion of the shaft 321 of the motor 3 is transmitted to the input end of the reducer assembly 2 in the reduction cavity 101. The reducer assembly 2 performs the function of speed reduction and torque amplification, and its output end 232 (e.g., planetary carrier 23) rotates at a lower speed and with a large torque; this rotation is the final mechanical power output of the joint module. At the same time, the detection shaft 5, rigidly connected to the output end 232 of the reducer assembly 2, rotates synchronously at the same angle and speed. The encoder assembly 4, located in the electrical cavity 103, measures the precise angular position of the detection shaft 5 in real time and sends this position information back to the driver as a feedback signal. The driver compares the actual position fed back with the target position of the command and dynamically adjusts the current supplied to motor 3, thereby precisely controlling the movement of the joint and forming a high-precision closed-loop servo system.

[0077] In summary, this embodiment achieves a synergistic superposition of multiple technical advantages through a series of innovative structural designs:

[0078] Ultimate axial compactness: axial dimensions are optimized through a dual design that integrates the motor 3 bearings and the reducer assembly 2.

[0079] High power density: The compact structure allows for the integration of larger-sized motors 3 and reducer components 2 within a given volume, resulting in higher output torque and power relative to their size and weight.

[0080] Exceptional structural rigidity: The four-corner through-bolt connection scheme solidifies the modular shell into a highly rigid integral frame, ensuring precise positioning under high loads.

[0081] True closed-loop accuracy: The design of the detection shaft 5 directly connected to the encoder assembly 4 from the final output end eliminates the interference of transmission chain error on position feedback, which is the fundamental guarantee for achieving ultra-high positioning accuracy.

[0082] Integrated electromechanical systems provide a dedicated, integrated installation solution for all components, including mechanical, electrical, and sensing components, ultimately forming a robust, reliable, and easy-to-manufacture and maintain system.

[0083] Application versatility: By offering different output bearing configuration options, the same core design concept can be flexibly adapted to a wide range of applications, from lightweight systems to heavy-duty industrial robots.

[0084] It should be understood that although this specification is described according to various embodiments, not every embodiment or implementation method contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0085] The above descriptions are merely illustrative embodiments of this application and are not intended to limit the scope of the embodiments of this application. Any equivalent changes, modifications, and combinations made by those skilled in the art without departing from the concept and principles of the embodiments of this application should fall within the protection scope of the embodiments of this application.

Claims

1. A joint module, characterized in that, include: The housing assembly (1) has a reduction chamber (101), a power chamber (102) and an electrical chamber (103) formed sequentially in the axial direction inside. The reduction chamber (101) is equipped with a reducer assembly (2), the power chamber (102) is equipped with a motor (3), and the electrical chamber (103) is equipped with an encoder assembly (4) and a driver. One end of a detection shaft (5) is connected to the output end (232) of the reducer assembly (2), and the other end of the detection shaft (5) passes through the reduction chamber (101), passes through the power chamber (102), and extends into the electrical chamber (103) to connect with the encoder assembly (4). The housing assembly (1) includes a main housing (11) and a middle seat (12). The middle seat (12) is connected to the bottom end of the main housing (11), and the inner wall of the main housing (11) and the top wall of the middle seat (12) form the power cavity (102). The rotating shaft (321) of the motor (3) is rotatably connected to the main housing (11) through a first bearing (61), and the rotating shaft (321) of the motor (3) is rotatably connected to the middle seat (12) through a second bearing (62). Both the first bearing (61) and the second bearing (62) are located axially inside the outer stator (31) of the motor (3).

2. The joint module according to claim 1, characterized in that, The top of the main housing (11) forms a first stepped portion (111) protruding inward toward the outer stator (31) of the motor (3), and the first bearing (61) is mounted on the inner top of the first stepped portion (111); and, The top of the middle seat (12) forms a second stepped portion (121) that protrudes into the inner side of the outer stator (31) of the motor (3), and the second bearing (62) is installed at the outer top of the second stepped portion (121).

3. The joint module according to claim 2, characterized in that, The outer side of the first stepped portion (111) is a concave stepped surface (112), on which the reducer assembly (2) is mounted, such that at least a portion of the bottom end of the reducer assembly (2) extends into the inner side of the outer stator (31) of the motor (3); or, The reducer assembly (2) includes a planetary gear (22) and an internal gear ring (21), the tooth surfaces of the planetary gear (22) and the internal gear ring (21) not extending beyond the outer end face of the concave stepped surface (112).

4. The joint module according to claim 3, characterized in that, The outer ring wall of the inner gear ring (21) of the reducer assembly (2) is aligned with the inner side wall of the concave stepped surface (112) to form a plurality of first pin holes (1121). The positioning pin (8) is inserted into the first pin hole (1121) to perform circumferential positioning of the inner gear ring (21).

5. The joint module according to claim 1, characterized in that, A plurality of second pin holes (311) are formed between the outer side wall of the outer stator (31) of the motor (3) and the inner side wall of the main housing (11). The positioning pin (8) is inserted into the second pin hole (311) to perform circumferential positioning of the outer stator (31); and the top edge of the middle seat (12) is pressed against the end of the outer stator (31) to perform axial positioning of the outer stator (31).

6. The joint module according to claim 1, characterized in that, A top seat (13) and a top frame (14) are connected above the main housing (11). The inner wall of the top seat (13), the inner wall of the top frame (14), and the top wall of the main housing (11) form the reduction chamber (101). The top frame (14) presses the internal gear ring (21) of the reducer assembly (2) onto the main housing (11) in the axial direction; or, A bottom frame (15) and a base (16) are connected below the middle seat (12). The inner wall of the middle seat (12), the inner wall of the bottom frame (15) and the inner wall of the base (16) form the electrical cavity (103).

7. The joint module according to claim 6, characterized in that, The exterior of the housing assembly (1) is quadrangular. Multiple first connectors (71) are inserted through the top seat (13), pass through the top frame (14), and are connected to the top side of the main housing (11). Multiple second connectors (72) are inserted through the base (16), pass through the bottom frame (15) and the middle seat (12), and are connected to the bottom side of the main housing (11). The first connectors (71) and the second connectors (72) are arranged at the four corners of the housing assembly (1).

8. The joint module according to claim 6, characterized in that, A third bearing (63) is mounted at the bottom of the planetary carrier (23) of the reducer assembly (2), and the shaft (321) of the motor (3) is also connected to the inner ring of the third bearing (63); or, A fourth bearing (64) is installed between the top seat (13) and the top frame (14), and a pressure plate (231) is connected to the top of the planetary carrier (23) to press the inner ring of the fourth bearing (64) onto the planetary carrier (23).

9. The joint module according to claim 6, characterized in that, One end of the detection shaft (5) is connected to the mounting hole of the output end (232) of the reducer assembly (2) by a bolt, and the other end is connected to the inner ring of the fifth bearing (65), which is mounted on the base (16).

10. The joint module according to claim 6, characterized in that, The inner sidewall of the middle seat (12) is provided with a plurality of first connecting ears (122), and the stator disk (41) of the encoder assembly (4) is connected to the first connecting ears (122) by a connector; or, The inner sidewall of the base frame (15) is provided with a plurality of second connecting ears (151), and the driver is connected to the second connecting ears (151) via connectors; or, Multiple glands (161) are connected to the side wall of the base (16), and the cable on the driver is connected to an external device through the glands (161).

Images