Joint module and robot

Abstract

Disclosed in the present application are a joint module and a robot. The joint module comprises a first joint member, a power assembly, a speed reduction assembly, a second joint member, and a first monitoring assembly. The power assembly is fixed to the first joint member, and the power assembly has a first output member for outputting torque; the speed reduction assembly is in transmission connection with the first output member, and the speed reduction assembly has a second output member for outputting torque; the second joint member is fixedly connected to the second output member; and the first monitoring assembly is used for monitoring the displacement of the second output member relative to the second joint member.

Description

Joint modules and robots

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 24, 2023, with application number 202311594497.X and invention name “Joint Module and Robot”, the entire contents of which are incorporated by reference into the application. Technical Field

[0002] The present application relates to the technical field of machinery and equipment, and in particular to a joint module and a robot. Background Art

[0003] The joint module is one of the core structures of the robot, which is installed between two adjacent robotic arms or between the base and the robotic arm to enable the two to rotate relative to each other.

[0004] In existing technologies, joint modules are primarily simple integrations of motors and reduction gears, resulting in relatively low joint structural compactness. Furthermore, most joint modules incorporate encoders at their inputs to detect the angular displacement of the module's input shaft. However, for general-purpose robots, due to machining and assembly errors, as well as deformation and hysteresis characteristics of the reduction gears, there can be a certain deviation between the input and output of the joint module, affecting the robot's motion accuracy. Technical issues

[0005] The main purpose of this application is to provide a joint module, aiming to solve the problem of low precision of joint modules in the prior art. Technical Solutions

[0006] To achieve the above objectives, the joint module proposed in this application includes:

[0007] first joint;

[0008] A power assembly, the power assembly being fixed to the first joint component and having a first output component for outputting torque;

[0009] a reduction assembly, the reduction assembly being in driving connection with the first output member and having a second output member for outputting torque;

[0010] a second joint component, the second joint component being fixedly connected to the second output component; and

[0011] A first monitoring component is used to monitor the displacement of the second joint component relative to the second output component.

[0012] In one embodiment, the first monitoring component includes a monitoring grating fixedly provided on the second output member, and a reading member fixedly provided on the second joint member, wherein the reading member is used to read information of the monitoring grating.

[0013] In one embodiment, the joint module further includes a second monitoring component for monitoring the angular displacement of the first output component relative to the first joint component.

[0014] In one embodiment, the second monitoring component includes an encoder fixed to the periphery of the first output member, and a control member fixedly provided on the first joint member, wherein the control member is used to read information from the encoder.

[0015] In one embodiment, a placement slot is defined at one end of the first joint component away from the deceleration assembly, the first output component extends into the placement slot, and the control component is fixed in the placement slot.

[0016] In one embodiment, the first joint component has a first accommodating cavity, and the power assembly is received in the first accommodating cavity.

[0017] In one embodiment, the power assembly further includes a stator fixed in the first accommodating cavity and a rotor rotatably disposed in the stator, the rotor is fixedly connected to the first output member, and the first output member is rotatably connected to the first joint member.

[0018] In one embodiment, a plurality of heat dissipation slots are formed on the outer wall of the first joint component.

[0019] In one embodiment, the reduction assembly includes a mounting seat, a first transmission wheel, and a second transmission wheel;

[0020] The mounting seat is fixed to the first joint member and has a second accommodating cavity. The first transmission wheel is received in the second accommodating cavity and sleeved on the outer periphery of the first output member. The second transmission wheel is engaged with the first transmission wheel and the inner wall of the mounting seat, and the second transmission wheel is in transmission connection with the second output member.

[0021] When the first output member rotates, the second transmission wheel rotates around the first transmission wheel and drives the second output member to rotate.

[0022] In one embodiment, the reduction assembly further includes a third output member, a third transmission wheel, and a fourth transmission wheel;

[0023] The third output member is rotatably connected to the second transmission wheel, the third transmission wheel is fixed to the third output member, the fourth transmission wheel is engaged with the third transmission wheel and the inner wall of the mounting seat, and the fourth transmission wheel is transmission-connected to the second output member;

[0024] When the second transmission wheel drives the third output member to rotate, the fourth transmission wheel rotates around the third transmission wheel and drives the second output member to rotate.

[0025] The present application also proposes a robot comprising a joint module according to any of the above embodiments. Beneficial effects

[0026] By adopting the technical solution of this embodiment, a first monitoring component is set at the second output part and the second joint part, so that the robot using this joint module can obtain the feedback signal of the joint output end. By configuring the corresponding control method, the terminal posture of the robot can be corrected, and the transmission error caused by factors such as reducer processing error, assembly error, deformation and hysteresis can be reduced, thereby improving the accuracy of the joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0028] FIG1 is a schematic structural diagram of an embodiment of a joint module of the present application;

[0029] FIG2 is a cross-sectional view of the joint module in FIG1 .

[0030] Reference numerals:

[0031] 100-joint module;

[0032] 110 - first joint component, 110a - first accommodating cavity, 110b - heat dissipation slot, 110c - placement slot, 112 - cover plate;

[0033] 120 - power assembly, 122 - first output member, 124 - stator, 126 - rotor;

[0034] 130 - deceleration assembly, 131 - second output member, 132 - mounting seat, 132a - second accommodating chamber, 133 - first transmission wheel, 134 - second transmission wheel, 135 - third output member, 136 - third transmission wheel, 137 - fourth transmission wheel;

[0035] 140-second joint;

[0036] 150-first monitoring component, 152-monitoring grating, 154-reading element;

[0037] 160 - second monitoring component, 162 - encoder, 164 - control component.

[0038] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. Modes for Carrying Out the Invention

[0039] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0040] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0041] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0042] Referring to Figures 1 and 2, the present application proposes a joint module 100, comprising a first joint component 110, a power assembly 120, a reduction assembly 130, a second joint component 140, and a first monitoring assembly 150. The power assembly 120 is fixed to the first joint component 110, and the power assembly 120 has a first output component 122 for outputting torque; the reduction assembly 130 is transmission-connected to the first output component 122, and the reduction assembly 130 has a second output component 131 for outputting torque; the second joint component 140 is fixedly connected to the second output component 131; and the first monitoring assembly 150 is used to monitor the displacement of the second output component 131 relative to the second joint component 140.

[0043] When the joint module 100 proposed in this embodiment is in operation, the power assembly 120 fixed in the first accommodating cavity 110a drives the first output member 122 to rotate. The first output member 122 drives the reduction assembly 130, which is transmission-connected thereto, to operate, causing the second output member 131 to rotate. Finally, the second output member 131 drives the second joint member 140, which is fixedly connected thereto, to rotate, thereby achieving relative rotation between the first joint member 110 and the second joint member 140. The first monitoring assembly 150 can monitor the relative displacement between the second output member 131 and the second joint member 140 in real time and provide feedback.

[0044] By adopting the technical solution of this embodiment, a first monitoring component 150 is set at the second output part 131 and the second joint part 140, so that the robot using the joint module 100 can obtain the feedback signal of the joint output end. By configuring the corresponding control method, the terminal posture of the robot can be corrected, and the transmission error caused by factors such as reducer processing error, assembly error, deformation and hysteresis can be reduced, thereby improving the accuracy of the joint module 100.

[0045] The relative displacement acquired by the first monitoring component 150 of this embodiment may be an angular displacement or a linear displacement.

[0046] It is understandable that, due to processing cost issues, the second joint component 140 and the second output component 131 are not an integrated structure, so there is a certain assembly error. Furthermore, the second joint component 140 has a certain load, which will bring a certain resistance to the rotation of the second joint component 140 and also cause the second joint component 140 to produce a slight deformation. These factors and other factors not listed in combination affect the transmission between the second output component 131 and the second joint component 140. The joint module 100 proposed in this embodiment can eliminate the influence of these factors to a certain extent.

[0047] In a feasible embodiment, the first monitoring component 150 learns during monitoring that the second joint 140 is deflected to a certain position relative to the second output component 131, and the first monitoring component 150 feeds back the information to the controller. After receiving the information, the controller converts the information into parameters related to the power component 120 to control the power component 120 to compensate for the second output component 131 and correct the posture of the second output component 131.

[0048] In another embodiment, the feedback value of the first monitoring component 150 can be pre-set. When it is known that the displacement value of the second output component 131 relative to the second joint component 140 exceeds a certain range, the information is fed back to the controller so that the power component 120 can correct the displacement value.

[0049] In addition, the first joint component 110 and the second joint component 140 mentioned in this embodiment only represent two relative motion structures. The first joint component 110 can be used as a motion arm or as a mounting base, and the same is true for the second joint component 140.

[0050] Please continue to refer to Figures 1 and 2. In one embodiment, the first monitoring component 150 includes a monitoring grating 152 fixedly arranged on the second output member 131, and a reading member 154 fixedly arranged on the second joint member 140. The reading member 154 is used to read the information of the monitoring grating 152.

[0051] The monitoring grating 152 is an optical device composed of a large number of parallel slits of equal width and equal spacing. This embodiment adopts a combination structure of the monitoring grating 152 and the reading element to improve the monitoring accuracy of the second output element 131 and the second joint element 140.

[0052] In a specific embodiment, the joint module 100 further includes a second monitoring component 160 for monitoring the angular displacement of the first output component 122 relative to the first joint component 110. This arrangement enables simultaneous monitoring of both the input and output terminals, thereby achieving closed-loop control of the joint module 100. This refers to a control relationship in which the controlled output quantity is returned to the controlling input terminal in a certain manner, thereby exerting a controlling influence on the input terminal.

[0053] In a more specific embodiment, the second monitoring component 160 includes an encoder 162 fixed to the periphery of the first output component 122 , and a control component 164 fixedly disposed on the first joint component 110 , and the control component 164 is used to read information from the encoder 162 .

[0054] The encoder 162 is a device that compiles and converts signals or data into a signal form that can be used for communication, transmission, and storage. In this embodiment, the encoder 162 is used to monitor the number of rotations and the real-time position of the first output member 122.

[0055] As shown in FIG. 2 , a placement slot 110 c is defined at one end of the first joint component 110 away from the reduction assembly 130 . The first output component 122 extends into the placement slot 110 c , and the control component 164 is fixed in the placement slot 110 c .

[0056] In this embodiment, the placement groove 110c is provided by the wall thickness of the first joint component 110 to achieve the installation and fixation of the control component 164 without occupying the space in the first accommodating cavity 110a, thereby improving the compactness of the joint module 100 structure.

[0057] In one embodiment, the placement slot 110 c is configured in a multi-step manner to accommodate the first output member 122 , the encoder 162 , and the controller.

[0058] Furthermore, the first joint component 110 further includes a covering plate 112 , and the covering plate 112 is used to cover the placement groove 110 c.

[0059] In one embodiment, the first joint component 110 further has a recessed groove communicating with the placement groove 110c, and a cover plate 112 is fixed in the recessed groove and blocks the placement groove 110c. This ensures that the surface of the first joint component 110 is smooth, thereby improving the aesthetics of the joint module 100.

[0060] Continuing with Figure 2, in yet another embodiment, the first joint component 110 has a first accommodating cavity 110a, and the power assembly 120 is accommodated within the first accommodating cavity 110a. In the technical solution of this embodiment, the first joint component 110 serves as the housing for the power assembly 120, which relatively reduces the volume of the joint module 100, improves the structural compactness, and effectively utilizes space to increase the output torque of the power assembly 120.

[0061] Furthermore, the power assembly 120 further includes a stator 124 fixed in the first accommodating cavity 110 a and a rotor 126 rotatably disposed in the stator 124 . The rotor 126 is fixedly connected to the first output member 122 , and the first output member 122 is rotatably connected to the first joint member 110 .

[0062] It should be emphasized that in this embodiment, the outer periphery of the stator 124 abuts against the inner wall of the first accommodating cavity 110a, the outer shell of the power component 120 is removed, and the first joint component 110 is used as the shell of the power component 120, which relatively reduces the volume of the joint module 100.

[0063] Furthermore, in this embodiment, the rotor 126 is fixed to the outer periphery of the first output member 122. The rotation of the rotor 126 relative to the stator 124 can directly drive the first output member 122 to rotate on the first joint member 110, so that no other transmission structure is required, which reflects the compactness of the joint module 100 structure.

[0064] In addition, a step for mounting a rolling bearing is formed on the outer periphery of the first output member 122 . The rolling bearing is mounted in the first joint member 110 , so that the first output member 122 can rotate relative to the first joint member 110 .

[0065] In a specific embodiment, a plurality of heat dissipation slots 110 b are defined on the outer wall of the first joint component 110 , and the plurality of heat dissipation slots 110 b are arranged along the axial direction of the first output component 122 .

[0066] Since the power assembly 120 is in direct contact with the first joint component 110, the first joint component 110 can conduct the heat generated by the power assembly 120. In this embodiment, by providing a plurality of heat dissipation slots 110b, the surface area of ​​the first joint component 110 can be increased, thereby improving its heat dissipation effect.

[0067] In one embodiment, the heat dissipation slot 110 b extends along the circumference of the first joint component 110 .

[0068] As shown in Figure 2, in another embodiment, the deceleration assembly 130 includes a mounting seat 132, a first transmission wheel 133 and a second transmission wheel 134; the mounting seat 132 is fixed on the first joint member 110 and has a second accommodating cavity 132a, the first transmission wheel 133 is received in the second accommodating cavity 132a and is sleeved on the outer periphery of the first output member 122, the second transmission wheel 134 is engaged with the first transmission wheel 133 and the inner wall of the mounting seat 132, and the second transmission wheel 134 is transmission-connected to the second output member 131; when the first output member 122 rotates, the second transmission wheel 134 rotates around the first transmission wheel 133 and drives the second output member 131 to rotate.

[0069] When the power assembly 120 is in operation, the first output member 122 drives the first transmission wheel 133 mounted on its outer circumference to rotate. Since the first transmission wheel 133 is engaged with the second transmission wheel 134, and the second transmission wheel 134 is engaged with the inner wall of the mounting base 132, the second transmission wheel 134 moves in a circular motion around the first transmission wheel 133, thereby causing the second output member 131 to rotate and output torque.

[0070] By adopting the technical solution of this embodiment, a first transmission wheel 133 and a second transmission wheel 134 are arranged radially to achieve a first-stage deceleration, which occupies relatively less axial space, further reducing the volume of the joint module 100, so that the joint module 100 can be used in more narrow application scenarios.

[0071] In one embodiment, the number of the second transmission wheels 134 is two or more.

[0072] Furthermore, the reduction assembly 130 also includes a third output member 135, a third transmission wheel 136 and a fourth transmission wheel 137; the third output member 135 is rotationally connected to the second transmission wheel 134, the third transmission wheel 136 is fixed to the third output member 135, the fourth transmission wheel 137 is engaged with the third transmission wheel 136 and the inner wall of the mounting seat 132, and the fourth transmission wheel 137 is transmission-connected to the second output member 131; when the second transmission wheel 134 drives the third output member 135 to rotate, the fourth transmission wheel 137 rotates around the third transmission wheel 136 and drives the second output member 131 to rotate.

[0073] This embodiment builds on the previous embodiment. When the second transmission wheel 134 rotates around the first transmission wheel 133, it drives the third output member 135 to rotate. The third output member 135, in turn, drives the third transmission wheel 136, to which it is fixed, to rotate. Because the fourth transmission wheel 137 engages with the third transmission wheel 136 and the inner wall of the mounting base 132, the fourth rotating wheel performs a circular motion around the third transmission wheel 136, which in turn drives the second output member 131 to rotate. This embodiment achieves two-stage reduction while occupying less axial space.

[0074] In one embodiment, the number of the fourth rotating wheels is two or more.

[0075] In addition, in order to facilitate the rotation output of the second transmission wheel 134 and the fourth transmission wheel 137, a rolling bearing and a connecting shaft are provided in the middle of the second transmission wheel 134, and the connecting shaft is connected to the third output member 135; the fourth transmission wheel 137 is connected to the second output member 131 in the same way.

[0076] 2 , in order to facilitate the rotation of the second output member 131 and the mounting seat 132 , an angular contact ball bearing is provided between the second output member 131 and the mounting seat 132 .

[0077] Furthermore, a rotating seal is provided at one end of the mounting seat 132 away from the first joint component 110 , and the rotating seal is provided between the second output component 131 and the mounting seat 132 .

[0078] In a specific embodiment, the joint module 100 includes a first joint component 110, a power assembly 120, a reduction assembly 130, a second joint component 140, a first monitoring assembly 150 and a second monitoring assembly 160. The first joint component 110 has a first accommodating cavity, and the power assembly 120 is accommodated in the first accommodating cavity. Regarding the features of the power assembly, reduction assembly or other components, please refer to the above embodiments and will not be described in detail here. In this design, the first joint component 110 is used as the outer shell of the power assembly 120, and the two are integrated, which improves the compactness of the joint module 100 structure and the output torque of the power assembly 120. On this basis, an encoder 162 is set on the first output component 122, a reading component is set on the first joint component 110, a monitoring grating 152 is set on the second output component 131, and 154 is set on the second joint component 140, so that the position information of the input and output ends can be collected to achieve full closed-loop or double closed-loop control of the joint module. Based on the feedback signal from the grating ruler, the algorithm corrects the position of the robot end, eliminates the gap in the robot's transmission chain, avoids the influence of joint deformation caused by the gravity of the robot body on absolute accuracy, suppresses the residual vibration and operation jitter of the robot, and improves the robot's precision performance.

[0079] The present application also proposes a robot comprising a joint module 100 according to any of the above embodiments. The specific structure of the joint module 100 is referenced from the above embodiments. Since the present robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0080] The above description is merely an optional embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made using the contents of the present application specification and drawings under the inventive concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A joint module, wherein, the joint module includes: a first joint member; a power assembly, the power assembly is fixed on the first joint member, and the power assembly has a first output member for outputting torque; a speed reduction assembly, the speed reduction assembly is in transmission connection with the first output member, and the speed reduction assembly has a second output member for outputting torque; a second joint member, the second joint member is fixedly connected to the second output member; and a first monitoring assembly, the first monitoring assembly is used for monitoring the displacement of the second joint member relative to the second output member.

2. The joint module according to claim 1, wherein, the first monitoring assembly includes a monitoring grating fixedly arranged on the second output member, and a reading member fixedly arranged on the second joint member, and the reading member is used for reading the information of the monitoring grating.

3. The joint module according to claim 2, wherein, the joint module further includes a second monitoring assembly for monitoring the displacement of the first output member relative to the first joint member.

4. The joint module according to claim 3, wherein, the second monitoring assembly includes an encoder fixed on the outer periphery of the first output member, and a control member fixedly arranged on the first joint member, and the control member is used for reading the information of the encoder.

5. The joint module according to claim 4, wherein, a placement groove is formed at one end of the first joint member away from the speed reduction assembly, the first output member extends into the placement groove, and the control member is fixed in the placement groove.

6. The joint module according to any one of claims 1-5, wherein, the first joint member has a first accommodation cavity, and the power assembly is accommodated in the first accommodation cavity.

7. The joint module according to claim 6, wherein, the power assembly further includes a stator fixed in the first accommodation cavity and a rotor rotatably arranged in the stator, the rotor is fixedly connected to the first output member, and the first output member is rotatably connected to the first joint member.

8. The joint module according to claim 7, wherein, a plurality of heat dissipation grooves are formed on the outer wall of the first joint member.

9. The joint module according to any one of claims 1-5, wherein, the speed reduction assembly includes a mounting seat, a first transmission wheel and a second transmission wheel; the mounting seat is fixed on the first joint member and has a second accommodation cavity, the first transmission wheel is accommodated in the second accommodation cavity and sleeved on the outer periphery of the first output member, the second transmission wheel meshes with the first transmission wheel and the inner wall of the mounting seat, and the second transmission wheel is in transmission connection with the second output member; when the first output member rotates, the second transmission wheel rotates around the first transmission wheel and drives the second output member to rotate.

10. The joint module according to claim 9, wherein, the speed reduction assembly further includes a third output member, a third transmission wheel and a fourth transmission wheel; The third output member is rotatably connected to the second transmission wheel, the third transmission wheel is fixed on the third output member, the fourth transmission wheel meshes with the third transmission wheel and the inner wall of the mounting seat, and the fourth transmission wheel is in transmission connection with the second output member; When the second transmission wheel drives the third output member to rotate, the fourth transmission wheel rotates around the third transmission wheel and drives the second output member to rotate.

11. A robot, Wherein, The robot includes the joint module according to any one of claims 1-10.

Images