CN115056262B - Driving assembly of joint module, robot joint module and robot - Google Patents

Abstract

The application relates to the technical field of robots, in particular to a driving assembly of a joint module, a robot joint module and a robot. The driving assembly of the joint module comprises a fixed shell, an input shaft, a first bearing and a limiting sleeve. The fixed shell is provided with a first end and a second end which are opposite, the input shaft penetrates through the fixed shell along the direction from the first end to the second end, and the input shaft is provided with a first shaft shoulder. The first bearing is sleeved on the input shaft and connected between the first end and the input shaft, and the inner ring of the first bearing is abutted against the first shaft shoulder. The stop collar is sleeved on the input shaft and is positioned on one side of the first bearing, which is away from the first shaft shoulder, and the stop collar is abutted against the inner ring of the first bearing so as to limit the axial displacement of the inner ring of the first bearing together with the first shaft shoulder. The driving assembly of the joint module is matched with the limiting first bearing through the limiting sleeve and the first shaft shoulder on the input shaft, so that the effect of reliably limiting the first bearing is achieved, and the compactness of the whole structure is improved.

Description

Driving assembly of joint module, robot joint module and robot

Technical Field

The application relates to the technical field of robots, in particular to a driving assembly of a joint module, a robot joint module and a robot.

Background

At present, along with the gradual progress and perfection of the robot technology, the cooperative robot is a robot type completely different from the traditional industrial robot in design and application concept, is widely applied to various fields of automobile parts, metal processing, medical equipment, consumption catering, scientific research education and the like by virtue of the man-machine safety of the robot type, improves the labor operation efficiency and improves the consumption life mode.

In the whole structure design of the joint module, firstly, the reliability of the arrangement of the joint shafting parts, the bearing capacity and the supporting rigidity of an output end are strictly ensured. When the joint module moves, axial force acting along the axial direction is usually generated, the bearing is usually arranged on the shaft through cold extrusion, the axial position of the bearing is unstable under the vibration working condition, and the efficiency of the input shaft is easily affected when the bearing is displaced or loosened under the action of the axial force, so that the performance and the reliability of the joint module are affected.

Disclosure of Invention

The application provides a drive assembly of joint module, robot joint module and robot.

In a first aspect, the present application provides a drive assembly for a joint module, including a fixed housing, an input shaft, a first bearing, and a stop collar. The fixed shell is provided with a first end and a second end which are opposite, the input shaft penetrates through the fixed shell along the direction from the first end to the second end, and the input shaft is provided with a first shaft shoulder. The first bearing is sleeved on the input shaft and connected between the first end and the input shaft, and the inner ring of the first bearing is abutted against the first shaft shoulder. The stop collar is sleeved on the input shaft and is positioned on one side of the first bearing, which is away from the first shaft shoulder, and the stop collar is abutted against the inner ring of the first bearing so as to limit the axial displacement of the inner ring of the first bearing together with the first shaft shoulder.

In a second aspect, the application further provides a robot joint module, including the driving assembly and the executing piece of the joint module, wherein the executing piece is connected to the input shaft.

In a third aspect, the present application further provides a robot, including a body and the above-mentioned robot joint module, the robot joint module is connected to the body.

Compared with the prior art, in the drive assembly of joint module that this application provided, first bearing sets up between first shaft shoulder and stop collar, and first shaft shoulder supports and holds in one side of the inner circle of first bearing, and the stop collar supports in the opposite side of the inner circle of first bearing. The limiting sleeve and the first shaft shoulder limit the axial displacement of the inner ring of the first bearing together, so that the shafting stability and reliability of the driving assembly of the joint module are further improved. The first shaft shoulder is formed by changing the shape of the peripheral wall of the input shaft, and a limiting structure is not required to be additionally arranged, so that the effect of reliably limiting the first bearing is achieved through the cooperation of the limiting sleeve and the input shaft and the limiting first bearing, and the compactness of the whole structure is improved.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a block diagram of a robot according to an embodiment of the present application.

Fig. 2 is a simplified schematic diagram of a robot joint module according to an embodiment of the present application.

Fig. 3 is an exploded view of a second joint body of the robot joint module shown in fig. 2.

Fig. 4 is a schematic cross-sectional view of a driving assembly of a joint module of the robot joint module shown in fig. 2.

Fig. 5 is an enlarged schematic view of the portion a in fig. 4.

Fig. 6 is a schematic perspective view of a cover of the driving assembly of the joint module shown in fig. 4.

Fig. 7 is a schematic perspective view of a stop collar of the driving assembly of the joint module shown in fig. 4.

Fig. 8 is an enlarged schematic view of the portion B in fig. 4.

Fig. 9 is a schematic perspective view of a housing of the drive assembly of the joint module of fig. 4.

Fig. 10 is a schematic perspective view of a brake rotor of the brake assembly of the second joint body of fig. 2.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In the description of the present invention, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1, an embodiment of a robot joint module 200 and a robot 300 configured with the robot joint module 200 are provided.

The specific type of the robot 300 is not limited in this specification, and for example, the robot 300 may be an industrial robot or a cooperative robot, and in this embodiment, the robot 300 is a cooperative robot. The robot 300 includes a body 301, an execution end 303, and a robot joint module 200. The robot joint module 200 is connected between the actuator 303 and the body 301, and is configured to drive the actuator 303 to move relative to the body 301. In some embodiments, the robot 300 may include a plurality of execution ends 303, and accordingly, the robot 300 also includes robot joint modules 200 corresponding to the plurality of execution ends 303 one by one, and each execution end 303 is connected to the body 301 through a corresponding robot joint module 200.

Referring to fig. 2, a robot joint module 200 includes a drive assembly 100 of the joint module and an actuator 201. The drive assembly 100 of the joint module includes an input shaft 30, and an actuator 201 is coupled to the input shaft 30. In some embodiments, the actuator 201 may be an output end of the robotic joint module 200, which may include, for example, an output flange for connecting elements (e.g., a turntable or a gripper, etc.) driven by the robotic joint module 200 to transfer the motion of the robotic joint module 200 into a desired scene. In other embodiments, the actuator 201 may include multiple actuator bodies for performing different functions. In this embodiment, the robot joint module 200 may further include a first joint body 40 and a second joint body 60, and the first joint body 40 and the second joint body 60 are connected to opposite ends of the driving assembly 100 of the joint module, respectively. The first joint main body 40, the drive assembly 100 of the joint module, and the second joint main body 60 are disposed in parallel in this order along the axial direction O of the input shaft 30.

The specific structure of the first joint body 40 is not limited in this specification, for example, the first joint body 40 may be an output end of the robot joint module 200, that is, the first joint body 40 may be used as the actuator 201. In this embodiment, the first joint body 40 may include an output body 412 and an output flange connected to the output body 412, wherein the output body 412 is connected to one side of the driving assembly 100 of the joint module, and the output flange may be at least partially configured as the actuator 201. The specific structure of the output body 412 is not limited in this specification, and for example, the output body 412 may include at least one of a flange connection, a decelerator, a bearing, a sealing structure, and the like. The drive assembly 100 of the articulation module drives rotation of the input shaft 30 and thus movement of the actuator end 303 relative to the body 301 (shown in FIG. 1). The specific type of the above "decelerator" is not limited in this specification, in this embodiment, the decelerator adopts a harmonic decelerator 416, the harmonic decelerator 416 is connected to the driving assembly 100 of the joint module, the harmonic decelerator 416 is arranged in parallel with the driving assembly 100 of the joint module along the axial direction O of the input shaft 30, the harmonic decelerator 416 includes a wave generator 4163 connected to the input shaft 30 by a screw, and the wave generator 4163 has an oil cavity 4161.

The second joint body 60 is connected to a side of the driving assembly 100 of the joint module, which is away from the first joint body 40, and the specific structure of the second joint body 60 is not limited herein, for example, the second joint body 60 may include at least one of a brake assembly 61, an encoder assembly 63, and a driving assembly 65. The brake assembly 61, the encoder assembly 63, and the drive control assembly 65 are disposed in parallel in this order along the axial direction O of the input shaft 30.

In the present embodiment, the brake assembly 61 includes a brake main body 612 and a brake housing 614, wherein the brake main body 612 is sleeved on the input shaft 30; the brake housing 614 is connected to an end of the brake body 612 remote from the drive assembly 100 of the joint module, and the brake housing 614 is sleeved on the input shaft 30. The specific structure of brake assembly 61 is not limited in this disclosure, for example, brake assembly 61 may be an electromagnetic band-type brake mechanism, and brake body 612 may include a brake electromagnet and a brake shoe brake. In this embodiment, the brake assembly 61 may be a non-excited brake, the brake housing 614 is a brake housing, and the brake body 612 may include a brake stator (not shown), a brake rotor 6121, and friction plates (not shown), the brake stator being fixedly mounted to the brake housing 614. In the event of a loss of power, the friction plate is compressed by the spring mechanism of the brake stator itself, remaining relatively stationary with the brake stator. The brake rotor 6121 is fixedly arranged on the input shaft 30, and the brake rotor 6121 is in anti-rotation connection with the friction plate; when the brake assembly 61 is energized, the friction plates will be released, at which time the input shaft 30 rotates the friction plates synchronously via the brake rotor 6121.

Referring to fig. 2 and 3, the driving component 65 is connected to a side of the brake component 61 away from the driving assembly 100 of the joint module, the driving component 65 is connected to the brake housing 614 through a mounting strut 652, and the mounting strut 652 is supported between the driving component 65 and the brake component 61, so that the driving component 65 and the brake component 61 are disposed at opposite intervals. The drive and control assembly 65 may include a mounting plate 654 and a drive plate 656, the drive plate 656 being spaced apart from the mounting plate 654 in parallel with the axial direction O of the input shaft 30, the mounting plate 654 being located between the drive plate 656 and the brake housing 614. The driving board 656 may be a control circuit board. The mounting plate 654 is disposed coaxially with the brake housing 614, and a side of the mounting plate 654 facing the brake housing 614 is provided with a readhead for mating with the encoder assembly 63.

The encoder assembly 63 is disposed between the driving and controlling assembly 65 and the braking assembly 61, and the encoder assembly 63 is used to cooperate with the reading head of the driving and controlling assembly 65 to acquire the motion parameters of the input shaft 30. In this embodiment, the encoder assembly 63 may include a mounting base and a magnetic ring (not shown in the drawings), the mounting base is connected to the input shaft 30, the magnetic ring is fixed to the mounting base by an axle hole fit in an adhesive manner, and the magnetic ring and the reading head of the driving and controlling assembly 65 are disposed at an opposite interval along the axial direction O of the input shaft 30.

Referring to fig. 2 and 4, the driving assembly 100 of the joint module is disposed between the brake assembly 61 and the first joint main body 40, and is used for driving the input shaft 30 to rotate so as to drive the actuating end 303 to move relative to the machine body 301. The driving assembly 100 of the joint module comprises a motor 20, a fixed housing 10, a first bearing 50 and the input shaft 30, wherein the motor 20 is arranged in the fixed housing 10, the input shaft 30 is connected with the motor 20 and penetrates through the fixed housing 10, and the first bearing 50 is arranged between the fixed housing 10 and the input shaft 30.

The motor 20 includes a rotor 21 and a stator 23, the stator 23 is rotatably sleeved outside the rotor 21, the stator 23 is fixed on the inner wall of the fixed housing 10 by means of gluing, and the rotor 21 is connected to the input shaft 30 by means of gluing. The motor 20 drives the input shaft 30 to rotate through the rotor 21, thereby driving the movement of a part of the articulation of the robot 300 (shown in fig. 1) through the input shaft 30. In some embodiments, the motor 20 may be replaced with other rotary drives, such as a rotary hydraulic cylinder, a pneumatic motor, or the like.

In this embodiment, the driving assembly 100 of the joint module further includes an output shaft 414, where the output shaft 414 penetrates through the input shaft 30 and is in driving (e.g. rotatably) connected with the input shaft 30. The output shaft 414 may be coupled to the input shaft 30 via a reduction mechanism or other transmission mechanism and coupled to the motor 20 via the input shaft 30 to rotate under the drive of the motor 20, thereby effecting movement of a portion of the articulation of the robot 200. The nested shaft structure between the output shaft 414 and the input shaft 30 not only saves installation space, but also improves torque transfer efficiency.

The fixing housing 10 is used for mounting the motor 20, and the fixing housing 10 has a first end 11 and a second end 12 opposite to each other along an axial direction O of the input shaft 30, wherein the first end 11 is an end of the fixing housing 10 adjacent to the first joint main body 40, and the second end 12 is an end of the fixing housing 10 adjacent to the brake assembly 61. Specifically, the fixing case 10 includes a case 13 and a cover 14, and one end of the cover 14 connected to the case 13 forms a first end 11 of the fixing case 10. In the present embodiment, the housing 13 is substantially cylindrical, and the housing 13 includes a peripheral wall 132 and a bottom wall 134, the peripheral wall 132 forming a cylindrical shape of the stationary housing 10, the bottom wall 134 being fixedly connected to an end of the peripheral wall 132 to form the second end 12 of the stationary housing 10. The bottom wall 134 is connected to one end of the peripheral wall 132 in a configuration such that the end of the housing 13 facing away from the bottom wall 134 is open.

Referring to fig. 4 and 5, the cover 14 is disposed at an opening of the end of the housing 13 facing away from the bottom wall 134. One side of the cover 14 facing the shell 13 is provided with a boss, and when the cover 14 is covered at the opening, the boss is embedded in the opening end of the cover 14 to achieve the effect of positioning the shell 13 and the cover 14. The shell 13 and the cover 14 can be fixedly connected through screws. In the present embodiment, the cover 14 includes a cover body 141 and a limit flange 143, and the cover body 141 is connected to the housing 13 by a screw. The cover body 141 is provided with a receiving hole 1412, and the receiving hole 1412 penetrates the cover body 141 in the axial direction O of the input shaft 30. The limiting flange 143 is disposed in the receiving hole 1412, the limiting flange 143 protrudes from an inner wall of the receiving hole 1412, and the limiting flange 143 is used for limiting the axial displacement of the first bearing 50.

The input shaft 30 is inserted into the bottom wall 134 of the housing 13 and the cover body 141, and the input shaft 30 is inserted into the accommodation hole 1412. In the present embodiment, the input shaft 30 includes a shaft body 33, a first shoulder 31 and a second shoulder 32, and the first shoulder 31 and the second shoulder 32 are formed integrally with the shaft body 33. The first shoulder 31 is located within the stationary housing 10 near the first end 11, the first shoulder 31 protruding relative to the outer peripheral wall of the shaft body 33 to form a stepped structure with the outer peripheral wall of the input shaft 30. The second shoulder 32 is located within the stationary housing 10 near the second end 12, the second shoulder 32 protruding relative to the outer peripheral wall of the input shaft 30 to form a stepped structure with the outer peripheral wall of the shaft body 33.

Referring to fig. 4 to 6, the first bearing 50 is sleeved on the input shaft 30 and disposed between the first end 11 of the fixing housing 10 and the input shaft 30, and is used for improving the bearing capacity and the supporting rigidity of the shaft system of the driving assembly 100 of the joint module. The first bearing 50 is sleeved on the input shaft 30 and is located in the accommodating hole 1412. The first bearing 50 generally includes a first outer race 53, first balls 54, and a first inner race 55, the first inner race 55 being coaxially disposed within the first outer race 53, the first balls 54 being rotatably disposed between the first outer race 53 and the first inner race 55.

To improve the tightness between the first bearing 50 and the cover 14, in some embodiments, the first bearing 50 is located in a space defined by the accommodating hole 1412, a sealing ring 1414 is disposed between the first outer ring 53 and an inner wall of the accommodating hole 1412, and the sealing ring 1414 may surround the first outer ring 53 and be limited by the first outer ring 53 and the wall of the accommodating hole 1412. Further, the wall of the receiving hole 1412 may be provided with a sealing groove (not shown) into which the sealing ring 1414 is inserted. When the first bearing 50 is located in the space defined by the accommodating hole 1412, the first bearing 50 is specifically located between the stepped surface of the first shaft shoulder 31 and the limiting flange 143, and the stepped surface of the first shaft shoulder 31 abuts against a side of the first inner ring 55 facing away from the limiting flange 143, and the limiting flange 143 abuts against a side of the first outer ring 53 facing away from the first shaft shoulder 31. Wherein "abutting" is understood to mean contacting or overlapping to limit the axial mounting position, there may or may not be a supporting force between the stepped surface of the first shoulder 31 and the first inner ring 55, and there may or may not be a supporting force between the first outer ring 53 and the stop flange 143.

In order to cooperate with the first shoulder 31 to limit the axial displacement of the first inner race 55, in this embodiment, the drive assembly 100 of the joint module may further include a stop collar 90. The stop collar 90 is sleeved on the input shaft 30, and is located on one side of the first bearing 50 away from the first shoulder 31. The end of the stop collar 90 abuts against one side, deviating from the first shaft shoulder 31, of the first inner ring 55, and the stop collar 90 and the first shaft shoulder 31 limit the axial displacement of the first inner ring 55 together, so that the shafting stability and reliability of the driving assembly 100 of the joint module are further improved. The first shaft shoulder 31 is formed by changing the shape of the peripheral wall of the input shaft 30, and a limiting structure is not required to be additionally arranged, so that the effect of reliably limiting the first bearing 50 is achieved by matching the limiting sleeve 90 with the input shaft 30 to limit the first bearing 50, and the compactness of the whole structure is improved.

In order to cooperate with the limiting flange 143 to limit the axial displacement of the first outer ring 53, in this embodiment, the driving assembly 100 of the joint module may further include a first limiting member 52, where the first limiting member 52 is disposed in the housing 13 and is fixedly connected to the cover body 141, and the first limiting member 52 abuts against a side of the first outer ring 53 facing away from the limiting flange 143. The specific structure of the first limiting member 52 is not limited in this specification, for example, the first limiting member 52 may be an annular plate structure, or the first limiting member 52 may include a plurality of limiting plates, and the plurality of limiting plates are distributed at intervals along the circumference of the accommodating hole 1412 and are all connected to the cover 14. In this embodiment, the first limiting member 52 is a substantially circular annular pressure plate. The first stopper 52 is spaced apart from the stopper flange 143 opposite to each other, and a coupling boss 1416 is provided on the inner side of the cover body 141 for facilitating installation of the first stopper 52. The connection boss 1416 protrudes with respect to the inner wall of the cover body 141, the connection boss 1416 is formed around the outer circumference of the receiving hole 1412, and the connection boss 1416 is fixedly connected with the first stopper 52 by a plurality of screws. The first limiting piece 52 and the limiting flange 143 limit the axial displacement of the first outer ring 53 together, so that the reliability of the outer ring limiting of the first bearing 50 is improved, and the stability and reliability of the transmission of the driving assembly 100 of the joint module are improved.

Therefore, in the present embodiment, the first limiting member 52 and the limiting flange 143 limit the axial displacement of the first outer ring 53, the first shoulder 31 and the limiting sleeve 90 limit the axial displacement of the first inner ring 55, and the first bearing 50 forms a four-point contact state with the inner and outer rings approaching to complete constraint, so that the situation that the overall performance is affected by the axial motion of the shaft system of the driving assembly 100 of the joint module due to the axial force of the wave generator 4163 is avoided to a certain extent, the bearing capacity of the shaft system of the input shaft 30 is better, the supporting rigidity is higher, the service life of the overall structure of the joint module 200 of the robot is prolonged, and the situations such as noise, vibration, abnormal sound and the like generated in the operation process are reduced or even avoided.

Referring to fig. 2 and 7, in the present embodiment, the stop collar 90 includes a collar 92 and fins 94, and the collar 92 is sleeved on the input shaft 30 and located between the first bearing 50 and the harmonic reducer 416. One end of the sleeve 92 away from the first bearing 50 is located in the harmonic reducer 416, specifically, in the oil cavity 4161 of the wave generator 4163, and one end of the sleeve 92 away from the first bearing 50 abuts against the inner wall of the wave generator 4163, and the other end of the sleeve 92 abuts against the first inner ring 55, so that the reliability of limiting the first inner ring 55 is further improved. The sleeve 92 is substantially cylindrical and sleeve-shaped, and the specific material of the sleeve 92 is not limited in this specification, and the sleeve 92 may be made of a lightweight material (e.g., engineering plastic or aluminum alloy) to reduce the overall weight to some extent.

The fins 94 are attached to the outer periphery of the sleeve 92 and protrude with respect to the sleeve 92 in the radial direction of the input shaft 30. The fins 94 are attached to the peripheral wall of the housing 92 in the oil chamber 4161, the fins 94 are substantially annular plate-like, and the outer diameter of the fins 94 is larger than the aperture of the receiving hole 1412, thereby having the effect of preventing the oil in the oil chamber 4161 from entering the fixing case 10 through the receiving hole 1412. When the input shaft 30 rotates, the sleeve 92 and the fins 94 are driven to rotate, and the fins 94 can play a role in oil throwing in the rotating process, so that the possibility that lubricating oil in the harmonic reducer 416 enters the fixed shell 10 is further reduced. The number of the fins 94 is two, the two fins 94 are arranged at intervals along the axial direction of the sleeve 92, and the two fins 94 further improve the oil blocking and oil throwing effects.

Referring to fig. 4 and 8, in the present embodiment, the driving assembly 100 of the joint module further includes a second bearing 70, and the second bearing 70 is sleeved on the input shaft 30 and connected between the second end 12 and the input shaft 30. The second bearing 70 is substantially identical in structure to the first bearing 50, and the second bearing 70 may include a second outer race 73, a second ball 74, and a second inner race 75. The second inner race 75 is coaxially disposed within the second outer race 73, and the second balls 74 are rotatably disposed between the second outer race 73 and the second inner race 75. Further, to accommodate the installation of the second bearing 70 and the input shaft 30, referring to fig. 9, the bottom wall 134 of the housing 13 may be provided with a mounting hole 1341, and the mounting hole 1341 penetrates the bottom wall 134 along the axial direction O of the input shaft 30, and the input shaft 30 is disposed through the mounting hole 1341. The bottom wall 134 is provided with a baffle 1343, the baffle 1343 being located within the mounting hole 1341, the baffle 1343 being raised as compared to the inner wall of the mounting hole 1341. The second bearing 70 is sleeved on the input shaft 30, is positioned in the mounting hole 1341, and is positioned on one side of the baffle 1343 facing the first end 11, and the baffle 1343 and the second bearing 70 are oppositely arranged at intervals along the axial direction O of the input shaft 30.

The second outer race 73 is axially free, and in some embodiments, the drive assembly 100 of the joint module further includes an elastic washer 17, the elastic washer 17 being resiliently held between the stop 1343 and the second outer race 73. In this embodiment, the elastic washer 17 is a wave washer, which is also called a wave washer, and is a circular sheet with regular wave shape for preventing loosening, reducing impact, and having good elasticity and shock resistance. The second outer ring 73 is free in the axial direction, and is provided with an elastic washer 17, so that the assembly gap and the bearing play of the shafting assembly are eliminated to a certain extent, and a certain pre-compression force can be applied to the second bearing 70 through the elastic washer 17 to improve the support rigidity of the shafting and reduce the generation of noise and vibration.

In the present embodiment, the second bearing 70 is located on a side of the second shoulder 32 facing the first end 11, and the stepped surface of the second shoulder 32 abuts against the second inner ring 75. Wherein "abutting" is understood to mean contacting or overlapping to limit the axial mounting position, either with or without a supporting force between the stepped surface of the second shoulder 32 and the second inner ring 75.

In order to cooperate with the second shoulder 32 to limit axial displacement of the second inner race 75, in this embodiment, the drive assembly 100 of the joint module may further include a second stop 72. The second limiting member 72 is connected to the input shaft 30, and the second limiting member 72 abuts against one side of the second inner ring 75 facing away from the second shoulder 32. The second limiting member 72 and the second shoulder 32 together limit the axial displacement of the second inner ring 75, so as to further improve the shafting stability and reliability of the driving assembly 100 of the joint module. The specific structure of the second limiting member 72 is not limited in this specification, for example, the second limiting member 72 may be a limiting ring sleeved on the input shaft 30. In the present embodiment, the second stopper 72 is the brake rotor 6121 of the brake assembly 61. The brake rotor 6121 is press-fitted with the input shaft 30, and one end of the brake rotor 6121 facing the second bearing 70 abuts against the second inner ring 75. In order to facilitate the later maintenance and disassembly, as shown in fig. 10, a threaded hole is further formed in the peripheral wall of the brake rotor 6121, and the brake rotor 6121 can be axially ejected by screwing in a screw.

The second shoulder 32 is formed by changing the shape of the peripheral wall of the input shaft 30, the second limiting member 72 is a brake rotor 6121, and the limiting of the second inner ring 75 is realized by other structures of the driving assembly 100 of the joint module, so that no additional limiting structure is needed, and the driving assembly 100 of the joint module in the embodiment of the application not only can achieve the effect of reliably limiting the second bearing 70, but also improves the compactness of the whole structure.

In the driving assembly 100 of the joint module provided by the embodiment of the application, the first limiting piece 52 and the limiting flange 143 limit the axial displacement of the first outer ring 53, the first shaft shoulder 31 and the limiting sleeve 90 limit the axial displacement of the first inner ring 55, and the first bearing 50 forms a four-point contact state that the axial directions of the inner ring and the outer ring approach to complete constraint, so that the condition that the axial movement of the shaft system of the driving assembly 100 of the joint module is caused by the axial force of the wave generator 4163 and the overall performance is influenced is avoided to a certain extent. The brake rotor 6121 and the second shoulder 32 together limit the axial displacement of the second inner race 75, further improving the shafting stability and reliability of the drive assembly 100 of the joint module. The second outer ring 73 is axially free and is provided with an elastic washer 17, so that the assembly gap and bearing play of the shafting assembly are eliminated to a certain extent, and a certain pre-compression force can be applied to the second bearing 70 through the elastic washer 17 to improve the support rigidity of the shafting and reduce the generation of noise and vibration.

The driving assembly 100 of the joint module according to the embodiment of the present application limits the axial displacement of the first bearing 50 and the second bearing 70 by changing the shape and position of the existing components, not only improves the reliability of the limitation of the first bearing 50 and the second bearing 70, but also improves the compactness of the overall structure. Based on reliable limit structure, the axial force brought by the wave generator 4163 when the robot joint module 200 works can not cause the axial movement of the input shaft 30, and the first bearing 50 and the second bearing 70 are large bearings of the same type, so that the bearing capacity is high, and the reliability of the shafting support is also high.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting. Although the present application has been described in detail with reference to the foregoing embodiments, one of ordinary skill in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents. Such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. The utility model provides a robot joint module, its characterized in that includes the drive assembly and the brake subassembly of joint module, the drive assembly of joint module includes:

a stationary housing having opposed first and second ends, the stationary housing including a peripheral wall and a bottom wall, the bottom wall being connected to an end of the peripheral wall to form the second end;

the input shaft penetrates through the bottom wall of the fixed shell along the direction from the first end to the second end, and is provided with a first shaft shoulder and a second shaft shoulder;

the first bearing is sleeved on the input shaft and connected between the first end and the input shaft, and the inner ring of the first bearing is abutted against the first shaft shoulder;

the limiting sleeve is sleeved on the input shaft and is positioned on one side, away from the first shaft shoulder, of the first bearing, and the limiting sleeve is abutted against the inner ring of the first bearing so as to limit the axial displacement of the inner ring of the first bearing together with the first shaft shoulder;

the second bearing is connected between the second end and the input shaft, and one side of the inner ring of the second bearing, which faces the first bearing, is abutted against the second shoulder;

the brake assembly is arranged on one side of the second end, which is away from the first end, and comprises a brake rotor, wherein the brake rotor is in interference connection with the input shaft, protrudes radially relative to the input shaft to be abutted against one side of the inner ring of the second bearing, which is away from the second shoulder, and limits the axial displacement of the inner ring of the second bearing together with the second shoulder; the periphery wall of the brake rotor is provided with a threaded hole for the dismounting screw to penetrate through, the axial direction of the threaded hole is along the radial direction of the brake rotor, and the dismounting screw is used for being screwed into the threaded hole to axially eject the brake rotor.

2. The robot joint module of claim 1, wherein the stationary housing comprises a housing and a cover, the cover being coupled to the housing to form the first end of the stationary housing, the input shaft passing through the cover, the cover abutting the outer race of the first bearing.

3. The robot joint module of claim 2, wherein the drive assembly of the joint module further comprises a first limiting member, the first limiting member is disposed in the housing and fixedly connected to the cover, and the first limiting member abuts against one side of the outer ring of the first bearing away from the limiting sleeve and limits the axial displacement of the outer ring of the first bearing together with the cover.

4. The robot joint module of claim 3, wherein the cover comprises a cover body and a limit flange, the cover body is connected to the housing, the cover body is provided with a receiving hole, and the limit flange is positioned in the receiving hole; the input shaft penetrates through the accommodating hole, the first bearing is positioned in the accommodating hole, and the outer ring of the first bearing is abutted against the limit flange; and a sealing ring is arranged between the cover body and the outer ring of the first bearing.

5. The robotic joint module of claim 1, wherein the drive assembly of the joint module further comprises an elastomeric washer resiliently held between the bottom wall and the outer race of the second bearing.

6. The robot joint module according to any one of claims 1 to 5, wherein the spacer includes a sleeve body and a fin, the sleeve body is sleeved outside the input shaft and abuts against the inner ring of the first bearing, and the fin is connected to the outer periphery of the sleeve body and protrudes relative to the sleeve body along the radial direction of the input shaft.

7. The robotic joint module of any one of claims 1-5, wherein the drive assembly of the joint module further comprises a motor disposed within the stationary housing and an output shaft coupled to a rotor of the motor, the output shaft passing through and in driving communication with the input shaft.

8. The robotic joint module of claim 1, further comprising an actuator coupled to the input shaft; the brake assembly further comprises a brake shell, a brake stator and a friction plate, wherein the brake stator is fixedly arranged on the brake shell, and the brake rotor is relatively fixedly arranged at the second end and is in rotation-stopping connection with the friction plate.

9. The robot joint module of claim 1, further comprising a harmonic reducer, wherein the harmonic reducer and the fixed housing are disposed in parallel along an axial direction of the input shaft, and wherein an end of the stop collar facing away from the first bearing abuts against the harmonic reducer.

10. A robot, comprising:

a body; and the robot joint module according to any one of claims 1 to 9, which is connected to the body.

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