A robot joint module

Abstract

The utility model relates to robot technical field, concretely relates to a kind of robot joint module, including shell, the lateral end of the outer wall of shell is provided with side mounting head, the bottom opening end of shell is provided with the bottom connector for sealing, the inside of shell is provided with power mechanism, the power mechanism includes drive motor, the drive motor is set inside bottom speed reducer group and is located above bottom connector, the lateral end of the outer wall of drive motor is all wrapped with protective sheath for protection, in the utility model, the limiting plate can be stably fixed in shell by the sheath and limiting plate of setting, and the setting of bottom connector and bottom speed reducer group can ensure that output shaft is more stable when driving other robot structural member to rotate, avoid that the vibration produced when joint module works is larger, ensure the operation accuracy of joint module.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robot joint module. Background Technology

[0002] A robot joint module is a complete subsystem for realizing joint movement. It typically includes mechanical structures, drive actuators, sensors and feedback, control interfaces, and power and protection systems, forming replaceable and maintainable units. They can achieve rotational or linear motion with one or more degrees of freedom. Common classifications include by degree of freedom, drive method, and application scenario.

[0003] However, existing robot joint modules have limited overall structural strength and operational precision. This results in significant coaxiality errors between the motor rotor and the input shaft of the reducer, leading to substantial vibrations during operation and affecting the operational precision of the joint module. Therefore, these shortcomings remain.

[0004] In conclusion, it is necessary to invent a robot joint module. Utility Model Content

[0005] To address this issue, this invention provides a robot joint module that solves the problem of significant vibration during operation caused by a large coaxiality error between the motor rotor and the input shaft of the reducer, which affects the operational accuracy of the joint module.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robot joint module, including a shell, a side mounting head provided on the outer wall side of the shell, a bottom connecting head for sealing provided at the bottom opening of the shell, and a power mechanism provided inside the shell.

[0007] Preferably, the power mechanism includes a drive motor, which is disposed inside the bottom reduction gear and above the bottom connector, and the outer side of the drive motor is covered with a protective sleeve.

[0008] Preferably, the outer wall side of the sheath is connected to the inner wall side of the outer shell, and each drive motor is provided with an output shaft for power transmission, and the upper end of each output shaft is rotatably connected to a rotating seat.

[0009] Preferably, a limiting plate is provided at the top of the outer wall of the sheath and outside the drive motor, and the bottom of the outer wall of the limiting plate is fixed to the top edge of the outer wall of the sheath by a connecting rod.

[0010] Preferably, a control circuit board for controlling the operation of the device is installed on the top of the outer wall of the rotating seat. The control circuit board has a double-layer structure, and a support pad is provided between the upper and lower control circuit boards.

[0011] Preferably, a bottom reduction gear is installed on the inner wall side of the housing and below the drive motor, and a bearing assembly is connected to the bottom outer wall of the bottom reduction gear. The bottom end of the output shaft is connected to the bottom reduction gear and the bearing assembly.

[0012] Preferably, a transmission bearing seat is rotatably connected to the top of the outer wall of the bottom connector, and a top connector seat is provided at the top of the outer wall of the transmission bearing seat to connect with the bearing assembly.

[0013] Preferably, a sealing base is installed at the bottom of the outer wall of the bottom connector, and a rotating shaft insert is provided through the center of the upper and lower sides of the outer wall of the bottom connector and the transmission bearing seat, and the rotating shaft insert is connected to the output shaft.

[0014] The beneficial effects of this utility model are: In this invention, the protective sleeve and limiting plate can stably fix the limiting plate inside the outer shell, while the bottom connector and bottom deceleration group can ensure that the output shaft is more stable when driving other robot structural components to rotate, avoiding excessive vibration of the joint module during operation and ensuring the operating accuracy of the joint module. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the external structure of the present invention viewed from the front. Figure 2 This is a cross-sectional view of the present invention from the front view. Figure 3 This is a three-dimensional structural diagram of the midsole connector of this utility model from a top view. Figure 4 This is a three-dimensional structural diagram of the midsole connector of this utility model viewed from below.

[0016] In the diagram: 100, outer casing; 110, side mounting head; 200, bottom connector; 210, transmission bearing seat; 220, top connector; 221, rotating shaft insert; 230, bottom fixing seat; 300, bottom reduction gear; 310, bearing assembly; 320, protective sleeve; 321, output shaft; 330, drive motor; 340, limit plate; 400, rotating seat; 410, control circuit board; 420, pad. Detailed Implementation

[0017] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0018] See attached document Figures 1-4The present invention provides a robot joint module, including a shell 100. A side mounting head 110 is provided on the outer wall side of the shell 100, and a bottom connecting head 200 for sealing is provided at the bottom opening end of the shell 100. The side mounting head 110 and the bottom connecting head 200 are provided to facilitate personnel to connect other structural components of the robot to the shell 100. The housing 100 is equipped with a power mechanism, which includes a drive motor 330. The drive motor 330 is located inside the bottom reduction gear 300 and above the bottom connector 200. When powered on, the drive motor 330 drives the output shaft 321 to rotate. The outer side of the drive motor 330 is covered with a protective sleeve 320, which is connected to the inner side of the housing 100. The drive motor 330 is equipped with an output shaft 321 for power transmission. A limit plate 340 is provided at the top of the outer wall of the sleeve 320 and outside the drive motor 330. The bottom of the outer wall of the limit plate 340 is fixed to the top edge of the outer wall of the sleeve 320 by a connecting rod. The limit plate 340 is provided to protect the drive motor 330 and the sleeve 320. At the same time, the sleeve 320 and the limit plate 340 can also be detachably fixed to the inner wall of the housing 100 to ensure the stability of the drive motor 330 when working inside the housing 100. The upper end of the output shaft 321 is rotatably connected to a rotating seat 400. A control circuit board 410 for controlling the operation of the device is mounted on the top of the outer wall of the rotating seat 400. The control circuit board 410 has a double-layer structure, with a support pad 420 placed between the upper and lower control circuit boards 410. The upper end of the output shaft 321 is rotatably connected to the rotating seat 400 to prevent the output shaft 321 from... The rotation of the drive motor 330 causes the control circuit board 410 to rotate as well. The control circuit board 410 controls the operation of the device and can be connected to the power supply and control terminals of the electrical equipment via control wiring harnesses and power cables. A bottom reduction gear 300 is installed on the inner wall side of the housing 100, below the drive motor 330. The bottom reduction gear 300 is designed to reduce the speed of the output shaft 321, thereby increasing the torque of the output shaft 321 and ensuring the stability of the device's transmission. A bearing assembly 310 is connected to the bottom of the outer wall of the bottom reduction gear 300. The bearing assembly 310 can start the transmission and support the bottom output shaft 321. The bottom of the output shaft 321 is connected to the bottom reduction gear 300 and the bearing assembly. The assembly 310 is connected, and the top of the outer wall of the bottom connector 200 is rotatably connected to the transmission bearing seat 210. The side of the outer wall of the bottom connector 200 can be fixed to the bottom of the outer wall of the outer shell 100 through an annular plate. The top of the outer wall of the transmission bearing seat 210 is provided with a top connector 220 that is connected to the bearing assembly 310. The bottom of the outer wall of the bottom connector 200 is equipped with a bottom fixing seat 230 for sealing. A rotating shaft insert 221 is provided through the center of the upper and lower sides of the outer walls of the bottom connector 200 and the transmission bearing seat 210. The rotating shaft insert 221 is connected to the output shaft 321. The rotating shaft insert 221 is provided to connect with the output shaft 321 so that the output shaft 321 can transmit power from the bottom connector 200 and connect with other robot structural components.

[0019] The usage process of this utility model is as follows: Those skilled in the art can first assemble the device according to the above description, then connect all electrical equipment to an external power supply, and control the operation of the device through an external controller. The control programs of all electrical equipment are edited by the production personnel in advance before production. This utility model does not make any technical improvements here, but only assumes that it can normally meet the needs of personnel. First, after the device is installed, the operator controls its operation by powering on the pad 420. The drive motor 330, once powered on, drives the output shaft 321 to rotate. When the output shaft 321 rotates, it is decelerated by the bottom reduction gear 300 and drives the bottom connector 200 to rotate through the bearing assembly 310. The bottom connector 200 can then drive other connected robot structural components to rotate, thereby adjusting the robot's operation.

[0020] The above description is merely a preferred embodiment of this utility model. Any person skilled in the art may modify this utility model or modify it into an equivalent technical solution using the technical solutions described above. Therefore, any simple modifications or equivalent substitutions made based on the technical solutions of this utility model are within the scope of protection claimed by this utility model.

Claims

1. A robot joint module, characterized in that: The device includes a housing (100), with a side mounting head (110) on the outer wall side and a sealing bottom connector (200) on the bottom opening end. The housing (100) is equipped with a power mechanism, which includes a drive motor (330). The drive motor (330) is located inside the bottom reduction assembly (300) and above the bottom connector (200). The outer wall side of the drive motor (330) is covered with a protective sleeve (320). A limit plate (340) is provided at the top of the outer wall of the sleeve (320) and outside the drive motor (330). The bottom of the outer wall of the limit plate (340) is fixed to the top edge of the outer wall of the sleeve (320) by a connecting rod.

2. A robot joint module according to claim 1, characterized in that: The outer wall side of the sheath (320) is connected to the inner wall side of the outer shell (100). Each drive motor (330) is provided with an output shaft (321) for power transmission. The upper end of each output shaft (321) is rotatably connected to a rotating seat (400).

3. A robot joint module according to claim 2, characterized in that: The top of the outer wall of the rotating seat (400) is equipped with a control circuit board (410) for controlling the operation of the device. The control circuit board (410) has a double-layer structure, and a support pad (420) is provided between the upper and lower control circuit boards (410).

4. A robot joint module according to claim 3, characterized in that: A bottom reduction gear (300) is installed on the inner wall side of the housing (100) and below the drive motor (330). A bearing assembly (310) is connected to the bottom outer wall of the bottom reduction gear (300). The bottom end of the output shaft (321) is connected to the bottom reduction gear (300) and the bearing assembly (310).

5. A robot joint module according to claim 4, characterized in that: The top of the outer wall of the bottom connector (200) is rotatably connected to a transmission bearing seat (210), and the top of the outer wall of the transmission bearing seat (210) is provided with a top connector seat (220) for connection with the bearing assembly (310).

6. A robot joint module according to claim 5, characterized in that: The bottom wall of the bottom connector (200) is fitted with a sealing bottom fixing seat (230). A rotating shaft insert (221) is provided through the center of the upper and lower sides of the outer wall of the bottom connector (200) and the transmission bearing seat (210). The rotating shaft insert (221) is connected to the output shaft (321).

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