CN217453978U - Joint module and robot - Google Patents

Abstract

The utility model relates to the technical field of robot, a joint module and robot is specifically disclosed. The module comprises a main shell pipe, a bearing gland and a planet wheel module; the inner peripheral wall of the main shell pipe is convexly provided with a limiting bump, and the limiting bump and the inner peripheral wall of the limiting bump form an assembly avoiding cavity; the bearing gland is buckled with the main shell pipe; the planet wheel module comprises a wheel train assembly and an output end bearing, the wheel train assembly can rotate around a running axis, the output end bearing is arranged in an assembly avoiding cavity, an inner ring of the output end bearing is sleeved on the wheel train assembly, and an outer ring of the output end bearing is in contact with a limiting lug. This joint module has reduced module weight through the mode of carrying out the simplification to the structure of joint module, has improved the inside space utilization of joint module, makes the joint module be convenient for control.

Description

Joint module and robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a joint module and robot.

Background

The robot joint power mechanism is a core component of the robot and generally comprises a motor and a reducer unit, and the performance of the robot joint power mechanism directly influences the motion performance of the robot. The existing robot joint power mechanism generally has the problem of large weight of the whole robot, so that the control performance of the robot is directly reduced.

The joint is used as a power module, and a plurality of bearings are required to be arranged in the joint so as to maintain the stable operation of the speed reducer and the motor; and the arrangement of components such as bearing position, screw hole site, reduction gear cavity all need occupation space, and among the prior art scheme, above-mentioned component often does not carry out the structure well and arranges to make robot joint module size great, be unfavorable for the control of whole volume and weight. The speed reducer scheme adopted by the existing robot joint module comprises a planetary speed reducer, a harmonic speed reducer, an RV speed reducer and the like, the planetary speed reducer is the most common one at present, and three or more planetary wheels revolving around a sun gear are often arranged on the planetary speed reducer.

In the existing robot joint module structure, when the size of an outer ring of a bearing at the output end is larger than or equal to the whole size of a speed reducer module, the structure can be normally installed. When the robot joint module needs to be configured with a large reduction ratio, the overall size of the speed reducer module needs to be increased, and when the overall size of the speed reducer module is larger than the size of the outer ring of the output end bearing, the output end outer ring bearing is not convenient to set. At this time, an additional shell is often required to be arranged to provide a corresponding bearing position for the bearing, which may increase the number of parts of the joint module, and is inconvenient for production and material management and control; meanwhile, the connection and fixation between different housings usually requires additional screw positions, which also increases the overall size and weight of the joint module.

In summary, the following disadvantages exist in the existing robot joint modules in the market:

1) the existing motors in the market, particularly the motors for robots, are often small in torque, and a speed reducer needs to be additionally arranged, so that the overall size and weight are increased, and the control of the whole machine is not facilitated;

2) the speed reducer is arranged in the power module in part of the joint modules, and a large lifting space still exists in the aspect of compactness in the integrated structure.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a joint module and robot to solve the problem that the joint module equipment degree of difficulty is big, the structure is loaded down with trivial details and occupation space is big.

To achieve the purpose, the utility model adopts the following technical proposal:

a joint module comprises a main shell pipe, a bearing gland and a planet wheel module; the inner peripheral wall of the main shell pipe is convexly provided with a limiting lug, and an assembly avoiding cavity is formed by the limiting lug and the inner peripheral wall of the limiting lug; the bearing gland is buckled with the main shell pipe; the planet wheel module comprises a wheel train component and an output end bearing, the wheel train component can rotate around the running axis, the output end bearing is arranged in the assembly avoiding cavity, the inner ring of the output end bearing is sleeved on the wheel train component, and the outer ring of the output end bearing is contacted with the limiting convex block.

As a preferred technical scheme of the joint module, at least two limiting lugs are arranged and uniformly distributed at intervals around the operation axis, a first avoidance port is arranged between every two adjacent limiting lugs, and the first avoidance ports are communicated with the assembling avoidance cavity; the bearing press cover is characterized in that press cover convex blocks are convexly arranged on the surface of the bearing press cover, the number of the press cover convex blocks is the same as that of the limiting convex blocks, the press cover convex blocks are uniformly distributed at intervals around the operation axis, a second avoidance port is arranged between every two adjacent press cover convex blocks, the press cover convex blocks are arranged in the first avoidance port, and the limiting convex blocks are arranged in the second avoidance port; and the outer ring of the output end bearing is in contact with each gland lug and each limit lug.

As the preferred technical scheme of the joint module, the limiting convex blocks are convexly provided with the abutting protrusions, two sides of the outer ring of the output end bearing are respectively attached to the abutting protrusions and the bearing gland, and the outer peripheral edge of the outer ring of the output end bearing is attached to the surface of each gland convex block and the surface of each limiting convex block.

As a preferred technical scheme of the joint module, the planet wheel module is mounted in the main casing pipe, a gear ring member is fixedly connected to the inner peripheral wall of the main casing pipe, and the gear train assembly is engaged with an inner gear ring of the gear ring member.

As a preferred technical scheme of the joint module, the gear train component comprises a planet wheel and a planet carrier, a planet shaft is inserted into the planet carrier, the axis of the planet shaft is parallel to the running axis, the planet wheel is rotationally connected with the planet shaft and can rotate around the axis of the planet shaft, and the gear train component is meshed with the inner gear ring of the gear ring component through an outer gear ring of the planet wheel.

As a preferred technical scheme of the joint module, one planet shaft and the planet wheels which are rotatably connected to the corresponding planet shaft form a planet group, the number of the planet groups is the same as that of the limiting lugs, and the planet groups are uniformly distributed at intervals around the running axis.

As a preferred technical scheme of the joint module, the joint module further comprises a motor module, the motor module is mounted in the main shell pipe, and the motor module is used for driving the gear train assembly to rotate; the coaxial rigid coupling of motor module's output shaft has the sun gear and can wind the operation axis is rotatory, the outer periphery of sun gear is equipped with outer ring gear, just the outer ring gear of sun gear and all the outer ring gear of planet wheel meshes mutually, drives the planet carrier is rotatory.

As the preferred technical scheme of joint module, the after-poppet is installed to the one end of main casing pipe, the after-poppet pass through the second rotor bearing with the output shaft of motor module keeps away from the one end of train subassembly rotates and is connected.

As a preferred technical scheme of the joint module, the joint module further comprises a rear cover fixedly connected to one end of the main casing pipe, where the rear support is arranged, for blocking the rear support from an external environment.

A robot comprises the joint module.

The utility model has the advantages that:

this joint module dodges the design of the spacing output end bearing in chamber through the equipment, has replaced among the prior art additionally to arrange the protecgulum and has provided the design of fixed position, can directly install the output end bearing in main casing intraductal when the joint module equipment, when playing the spacing effect to output end bearing inner race, has reduced the size of whole joint module, reduces the quantity of part, promotes the reliability of this joint module work. The component of train wheel subassembly passes the mode of first dodging the mouth and assembles, has greatly reduced the degree of difficulty of component equipment on the train wheel subassembly to the efficiency of equipment has been promoted by a wide margin. The structure is improved simply and effectively, the structure of the joint module is simplified, the number of parts of the joint module is reduced, so that the production, management and assembly are facilitated, meanwhile, the direct connection among all the parts is reduced in a structure optimization mode, and the rigidity and the working reliability of the whole joint module are improved; and then improved the inner space utilization of joint module, reduced the holistic weight of module, reduced the cost of production, made this joint module be convenient for control and management in practical using.

This joint module has replaced additionally to arrange the protecgulum among the prior art and has provided the design of fixed position through the design of main casing pipe and the spacing output end bearing of bearing gland, can directly install output end bearing in main casing pipe when joint module assembles to reduce the size of whole module, reduce the quantity of part, promote the reliability of this joint module work.

Drawings

Fig. 1 is an exploded view of a joint module according to an embodiment of the present invention;

fig. 2 is a cross-sectional view of a joint module according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a main casing pipe provided in an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a rear bracket provided in an embodiment of the present invention;

fig. 5 is a cross-sectional view of a rear bracket according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a wheel train assembly, an output end bearing and a first rotor bearing provided by an embodiment of the present invention.

In the figure:

100. a main housing tube; 101. the shell body avoids the opening; 102. a housing assembly hole; 103. a shell anti-slip layer; 110. a limiting bump; 111. pressing the protrusion; 112. a bump assembly hole; 113. hollowing out the lug; 120. a stop ring; 121. a ring assembly hole; 122. a ring hollow groove; 123. a ring keyway;

200. a planet wheel module; 210. a ring gear member; 211. a gear ring assembly hole; 212. a gear ring keyway; 220. a gear train assembly; 221. a planet shaft; 222. a planet wheel; 223. a base frame; 227. the planet carrier is provided with a hollow groove; 228. the planet carrier is convex; 229. a planet carrier; 230. an output end bearing;

300. a rear bracket; 301. a rear bracket assembly hole; 302. a rear support hollow groove; 310. positioning a plate; 311. avoiding the through hole; 312. assembling holes of the positioning plate; 320. a limiting ring;

400. a motor module; 410. a rotor assembly; 411. a sun gear; 412. a connecting shaft; 413. a motor rotor; 414. a third rotor bearing; 420. a motor stator; 430. a second rotor bearing;

500. a bearing gland; 501. a gland assembly hole; 502. a hollow groove of the gland bush; 510. a gland projection; 511. a bump weight reduction groove;

600. a rear cover; 601. the rear cover avoids the groove; 610. a rear cover bending plate; 620. a rear cover limit bump;

700. a first rotor bearing; 810. an anti-abrasion ring; 820. and (5) clamping a hoop.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the following will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

In the existing planetary reducer module, the outer surface except the gear ring has a plurality of protrusions due to the structure of the planetary reducer, and the number of the protrusions is equal to that of the planetary gears. The planet carrier serves as an output end of the joint module, and in order to provide axial supporting force and radial supporting force for the planet carrier, one or more output end bearings are often required to be arranged on the planet carrier.

In the prior art, when the outer ring of the output end bearing is not sized to include the above-mentioned projection completely within the bearing outer ring, an additional front cover needs to be arranged to fix the output end bearing.

As shown in fig. 1 to 3, the present embodiment provides a joint module, which includes a main casing pipe 100, a bearing cover 500, and a planetary wheel module 200; the inner peripheral wall of the main casing pipe 100 is convexly provided with a limiting bump 110, and the limiting bump 110 and the inner peripheral wall of the limiting bump 110 form an assembly avoiding cavity; the bearing cover 500 is buckled on the main casing pipe 100; the planetary wheel module 200 includes a wheel train assembly 220 and an output end bearing 230, the wheel train assembly 220 can rotate around the operation axis, the output end bearing 230 is arranged in the assembly avoiding cavity, the inner ring of the output end bearing 230 is sleeved on the wheel train assembly 220, and the outer ring of the output end bearing 230 is in contact with the limiting bump 110.

This joint module dodges the design of the spacing output end bearing 230 in chamber through the equipment, has replaced additionally to arrange the protecgulum among the prior art and has provided the design mode of fixed position, can directly install output end bearing 230 in main casing pipe 100 when the joint module equipment, when playing the spacing effect to output end bearing 230 outer lane, has reduced the size of whole joint module, reduces the quantity of part, promotes the reliability of this joint module work. The components of the gear train assembly 220 are assembled in a mode of passing through the first avoidance port, so that the difficulty of assembling the components on the gear train assembly 220 is greatly reduced, and the assembling efficiency is greatly improved. The structure is improved simply and effectively, the structure of the joint module is simplified, the number of parts of the joint module is reduced, so that the production, management and assembly are facilitated, meanwhile, the direct connection among all the parts is reduced in a structure optimization mode, and the rigidity and the working reliability of the whole joint module are improved; and then improved the inner space utilization of joint module, reduced the holistic weight of module, reduced the cost of production, made this joint module be convenient for control and management in practical using.

In this embodiment, at least two limiting lugs 110 are provided, and are uniformly distributed at intervals around the operation axis, a first avoidance port is provided between two adjacent limiting lugs 110, and the first avoidance port is communicated with the assembly avoidance cavity; the plate surface of the bearing gland 500 is convexly provided with gland lugs 510, the number of the gland lugs 510 is the same as that of the limiting lugs 110, the gland lugs 510 are uniformly distributed at intervals around the operation axis, a second avoidance port is arranged between every two adjacent gland lugs 510, the gland lugs 510 are arranged in the first avoidance port, and the limiting lugs 110 are arranged in the second avoidance port; the outer race of the output end bearing 230 contacts each of the capping projections 510 and each of the restraining projections 110.

The joint module ensures accurate installation of the bearing gland 500 on the main shell pipe 100 through the matching design of the gland bump 510 and the limit bump 110, and realizes limit of the outer ring of the output end bearing 230 through the split design of the bearing gland 500 and the main shell pipe 100. The staggered fitting of the gland protrusion 510 and the limit protrusion 110 to the outer ring of the output end bearing 230 can not only achieve the purpose of limiting the output end bearing 230, but also reduce the space occupied by the main casing tube 100 and the bearing gland 500.

Specifically, there are three limiting protrusions 110 and three capping protrusions 510.

In this embodiment, the outer periphery of the main casing tube 100 is provided with a casing anti-slip layer 103. The shell anti-slip layer 103 is convenient for an operator or a clamping tool to take and position, and the risk that the main shell pipe 100 falls off accidentally in the assembling process is reduced.

Preferably, the main shell pipe 100 is a cylindrical pipe, the axis of the cylindrical pipe coincides with the running axis, the cylindrical pipe is simple in structure and convenient to produce, and meanwhile, the space occupied by the joint module can be greatly optimized, so that the optimized design of minimizing the size of the joint module can be realized.

In this embodiment, the limiting protrusions 110 are convexly provided with pressing protrusions 111, two sides of the outer ring of the output end bearing 230 are respectively attached to the pressing protrusions 111 and the bearing gland 500, and the outer periphery of the outer ring of the output end bearing 230 is attached to the surface of each gland protrusion 510 and the surface of each limiting protrusion 110. The structure improvement of the limiting convex block 110 and the gland convex block 510 is utilized to respectively limit the two sides and the outer periphery of the outer ring of the output end bearing 230, and the risk of position deviation of the output end bearing 230 in the axial direction and the radial direction is effectively avoided by the way of attaching to the outer ring of the output end bearing 230. Above simple structure is reliable, job stabilization and compact structure, when reduction in production cost, has reduced the equipment degree of difficulty of this joint module.

Specifically, the limiting bump 110 is further penetrated with a bump assembling hole 112, the bearing gland 500 is further provided with a gland assembling hole 501, the locking member can penetrate through the gland assembling hole 501 and be connected in the bump assembling hole 112 in a locking manner, the above design ensures that the bearing gland 500 and the main casing pipe 100 can be stably and tightly connected, and therefore the stability of connection of the bearing gland 500 and the main casing pipe 100 is ensured.

Preferably, the gland boss 510 is further provided with a boss lightening groove 511, and the boss lightening groove 511 effectively increases the surface area of the gland boss 510 while achieving the lightening effect, so that the heat dissipation capability of the joint module is improved while the structure of the bearing gland 500 is lightened.

In this embodiment, the planetary gear module 200 is installed in the main casing pipe 100, a gear ring member 210 is fixed to the inner peripheral wall of the main casing pipe 100, and the gear train assembly 220 is engaged with the inner gear ring of the gear ring member 210. The design that the gear train assembly 220 is meshed with the gear ring member 210 ensures the stable installation of the gear train assembly 220 in the main shell pipe 100 and ensures the working effect of the planet wheel module 200. Under the prerequisite of guaranteeing this joint module to move smoothly, reduced planet wheel module 200 because of the unexpected risk that takes place offset.

In this embodiment, the inner sidewall of the main casing tube 100 is annularly provided with a stop ring 120, the stop ring 120 is penetrated by a ring assembly hole 121, the ring gear member 210 is penetrated by a ring gear assembly hole 211, and the locking member can penetrate the ring gear assembly hole 211 and is locked and connected in the ring assembly hole 121. The above design realizes the detachable connection of the gear ring part 210 on the main casing pipe 100, and the structure is simple and reliable. The stop ring 120 reduces the assembling difficulty of the gear ring piece 210, reduces the risk of the deviation of the assembling position of the gear ring piece 210, and improves the assembling efficiency of the joint module.

Specifically, a ring key groove 123 is formed in the side wall of the stop ring 120, a ring key groove 212 is formed in the ring gear member 210, and when the ring gear member 210 is fixedly connected to the stop ring 120, the positioning key can be simultaneously penetrated into the ring key groove 123 and the ring key groove 212.

As shown in fig. 1, 2 and 6, the gear train assembly 220 comprises planet wheels 222 and a planet carrier 229, a planet shaft 221 is inserted into the planet carrier 229, the axis of the planet shaft 221 is parallel to the running axis, the planet wheels 222 are rotatably connected to the planet shaft 221 and can rotate around the axis of the planet shaft 221, and the gear train assembly 220 is meshed with the inner gear ring of the gear ring member 210 through the outer gear ring of the planet wheels 222. The gear train component 220 reduces the risk of accidents of the planet wheel module 200 by arranging the planetary gear train with the structure, ensures the smooth work of the gear train component 220, improves the working stability of the gear train component 220 and prolongs the service life of the joint module. By means of the design that the outer gear ring of the planet gear 222 is in meshed connection with the inner gear ring of the gear ring member 210, the risk that the planet gear 222 generates position deviation is reduced, and therefore smooth operation of the gear train assembly 220 is guaranteed.

Still further, a planet shaft 221 and the planet wheels 222 rotatably connected to the corresponding planet shaft 221 form a planet group, the number of the planet groups is the same as that of the limiting lugs 110, and the planet groups are uniformly distributed around the operation axis at intervals. The planetary sets and the limiting lugs 110 are designed in the same number, so that the gear train assembly 220 can be directly assembled in a module form, and the assembly operation of the planetary wheel module 200 is facilitated. When having reduced the equipment degree of difficulty of planet group, still reduced the risk of equipment offset in the equipment process, promoted the efficiency of this joint module equipment operation. Specifically, the planetary group is provided with three.

Preferably, the joint module further comprises a motor module 400, the motor module 400 is mounted in the main casing tube 100, and the motor module 400 is used for driving the wheel train assembly 220 to rotate; the output shaft of the motor module 400 is coaxially and fixedly connected with a sun gear 411 and can rotate around the operation axis, an outer gear ring is arranged on the outer periphery of the sun gear 411, and the outer gear ring of the sun gear 411 is engaged with the outer gear rings of all the planet gears 222 to drive the planet carrier 229 to rotate. Through the design that sun gear 411 is in meshed connection with planet gear 222, drive to wheel train component 220 is achieved, and stable and effective operation of the joint module is guaranteed.

In this embodiment, the motor module 400 includes a rotor assembly 410 and a motor stator 420, the motor stator 420 is connected to the inner sidewall of the main casing tube 100 in a penetrating manner, the rotor assembly 410 includes a sun gear 411, a connecting shaft 412 and a motor rotor 413, the connecting shaft 412 and the sun gear 411 are sequentially and coaxially connected in a fixedly manner, and the motor rotor 413 passes through the motor stator 420. In the operating state of the electric machine module 400, the electric machine rotor 413 can be moved relative to the electric machine stator 420, so that the sun gear 411 rotates about the axis of operation.

In this embodiment, the operation principle of the movement of the motor rotor 413 relative to the motor stator 420 is well known in the art, and the operation principle and design purpose thereof are well known to those skilled in the art, and will not be described herein. Specifically, the motor module 400 may be an inner rotor motor or an outer rotor motor, and the application scenarios of the two motors in this embodiment are the same, which is not limited herein.

Specifically, the planet carrier 229 is fixedly connected with the base frame 223, and all the planet wheels 222 are located between the planet carrier 229 and the base frame 223. The side surface of the planet carrier 229 is annularly provided with a planet carrier bulge 228, the side surface of the planet carrier 229 is attached to the inner circumferential surface of the inner ring of the output end bearing 230, and the planet carrier bulge 228 is attached to the side of the inner ring of the output end bearing 230 away from the bearing gland 500. The setting of planet carrier arch 228 has reduced output bearing 230 effectively along the risk of operation axis direction offset, and above design has guaranteed effectively the location ability to output bearing 230, has promoted the job stabilization nature of this joint module by a wide margin.

The sun gear 411 is inserted into the inner ring of the third rotor bearing 414, and the outer ring of the third rotor bearing 414 is inserted into the base frame 223.

In this embodiment, the sun gear 411 is rotatably connected to the carrier 229 through the first rotor bearing 700, the outer circumferential surface of the sun gear 411 is attached to the inner ring of the first rotor bearing 700, the sun gear 411 passes through a positioning hole in the middle of the carrier 229, and the inner wall surface of the positioning hole is attached to the outer ring of the first rotor bearing 700. The structure is simple and reliable, and the wheel train assembly 220 can rotate relative to the motor module 400. The design ensures the smooth rotation of the sun gear 411 and the planet carrier 229, and avoids the relative friction between the sun gear 411 and the planet carrier 229. The arrangement of the first rotor bearing 700 also serves to block the external environment and to position the sun gear 411 and the planet carrier 229.

Specifically, an anti-wear ring 810 is attached to one side, away from the planetary wheel module 200, of an inner ring of the first rotor bearing 700, the anti-wear ring 810 is stopped at a hoop 820 in the direction of the operation axis, and the hoop 820 is sleeved on the sun gear 411.

As shown in fig. 1, 2, 4 and 5, a rear bracket 300 is mounted at one end of the main casing tube 100, and the rear bracket 300 is rotatably connected to one end of the output shaft of the motor module 400, which is far from the train wheel assembly 220, through a second rotor bearing 430. The rear bracket 300 is provided with accurate positioning at the end of the motor module 400 far away from the wheel train assembly 220, so that the positioning effect on the motor module 400 is further improved on the premise of ensuring the smooth work of the motor module 400, and the risk of position deviation of the output shaft of the motor module 400 is reduced, thereby further ensuring the smooth work of the joint module.

Preferably, the rear bracket 300 is a ring-shaped member, the middle portion of which is fixedly connected with the positioning plate 310, and one end facing the motor module 400 is fixedly connected with the limiting ring 320, and the limiting ring 320 extends along the length direction of the operation axis. The retainer ring 320 and the plate surface of the positioning plate 310 form a bearing groove. An avoiding through hole 311 is formed at the bottom of the bearing groove, and the rotor assembly 410 partially penetrates through the avoiding through hole 311.

Specifically, the positioning plate 310 further has a positioning plate assembling hole 312, and the locking member can pass through the positioning plate assembling hole 312 and be fixedly connected to the motor module 400.

Preferably, a circuit board mounting cavity is formed in the rear bracket 300, and the circuit board mounting cavity is used for fixing a printed circuit board.

In this embodiment, one end of the connection shaft 412, which is far away from the planetary gear module 200, is connected to an inner ring of the second rotor bearing 430 in a penetrating manner, the second rotor bearing 430 fills a bearing groove, and an outer ring of the second rotor bearing 430 is attached to the bearing groove. Specifically, the outer circumference of the outer ring of the second rotor bearing 430 is attached to the inner circumferential wall of the limit ring 320, and one side of the outer ring of the second rotor bearing 430, which is far away from the planetary wheel module 200, is attached to the bottom of the bearing groove.

Further, the joint module further includes a rear cover 600, and the rear cover 600 is fixedly connected to one end of the main casing tube 100, where the rear bracket 300 is disposed, for blocking the rear bracket 300 from the external environment. The back cover 600 greatly reduces the influence of the external environment on each component in the main shell pipe 100, reduces the risk of damage to the planet wheel module 200 and the motor module 400, prolongs the service life of the joint module, and reduces the maintenance frequency.

In other embodiments of this embodiment, after considering the working condition of the joint module, the joint module with low requirement for sealing performance is not provided with the rear cover 600.

Specifically, a rear cover avoiding groove 601 is concavely formed at one side of the rear cover 600 facing the rear bracket 300, and the rear cover avoiding groove 601 is used for avoiding a portion of the rotor assembly 410 passing through the avoiding through hole 311. The edge of the rear cover 600 facing the rear bracket 300 is evenly provided with a plurality of rear cover bending plates 610 at intervals, and the rear cover bending plates 610 can be matched and clamped with the shell avoiding opening 101 formed in the edge of the main shell tube 100. The cooperation of back lid bent plate 610 and casing dodge mouth 101 has ensured that back lid 600 can firmly be installed on main casing pipe 100, has reduced the equipment degree of difficulty of back lid 600, has promoted the packaging efficiency of this joint module.

In this embodiment, the rear cover bending plate 610 has a bending plate through hole, and the locking member can pass through the bending plate through hole and be fixedly connected to the rear bracket assembling hole 301 on the side of the rear bracket 300. A housing assembling hole 102 penetrates the main housing tube 100, and the locker passes through the housing assembling hole 102 and is fixed in a rear bracket assembling hole 301 formed at a side of the rear bracket 300. Through the mode of adopting above two kinds of locking connection structure simultaneously, can ensure that the relative position between arbitrary two confirms between back lid 600, rear bracket 300 and main casing pipe 100 three, the firm connection between each component of this joint module has been guaranteed to above design.

Specifically, one side of the rear cover bending plate 610 facing the rear support 300 is fixedly connected with a rear cover limiting bump 620, a support limiting groove is formed in the rear support 300, and the rear cover limiting bump 620 is connected with the support limiting groove in a matched and spliced mode, so that the relative position of the rear cover 600 and the rear support 300 is further convenient to determine.

In this embodiment, the locking member is a bolt, and the locking manner is a threaded connection. The threaded connection is a conventional arrangement in the art, and the application method and the effective principle thereof are well known to those skilled in the art, and will not be described herein.

In this embodiment, a bump hollow-out groove 113 penetrates through the limiting bump 110, a ring hollow-out groove 122 penetrates through the stop ring 120, a planet carrier hollow-out groove 227 penetrates through the planet carrier 229, a rear bracket hollow-out groove 302 is formed by the positioning plate 310 and the rear bracket 300, and a gland hollow-out groove 502 penetrates through the bearing gland 500. The hollow groove is formed to play a role in weight reduction, so that the lightweight improvement of the joint module is realized, the surface area of the component is increased, and the heat dissipation capacity of the component is improved.

The embodiment also provides a robot, which comprises the joint module.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A joint module, comprising:

the inner peripheral wall of the main shell pipe (100) is convexly provided with a limiting bump (110), and an assembly avoiding cavity is formed by the limiting bump (110) and the inner peripheral wall of the limiting bump (110);

a bearing gland (500), the bearing gland (500) being snap-fitted to the main housing tube (100);

planet wheel module (200), including train subassembly (220) and output end bearing (230), train subassembly (220) can be rotatory around the axis of operation, output end bearing (230) are arranged in the intracavity is dodged in the equipment, just the inner circle of output end bearing (230) cup joints in train subassembly (220), the outer lane of output end bearing (230) with spacing lug (110) contact.

2. The joint module according to claim 1, wherein at least two limiting lugs (110) are provided and are uniformly distributed at intervals around the operation axis, a first avoidance port is provided between two adjacent limiting lugs (110), and the first avoidance port is communicated with the assembly avoidance cavity; the bearing gland (500) is characterized in that gland lugs (510) are convexly arranged on the surface of the bearing gland (500), the number of the gland lugs (510) is the same as that of the limiting lugs (110), the gland lugs (510) are uniformly distributed at intervals around the operation axis, a second avoidance port is arranged between every two adjacent gland lugs (510), the gland lugs (510) are arranged in the first avoidance port, and the limiting lugs (110) are arranged in the second avoidance port; the outer ring of the output end bearing (230) is in contact with each gland projection (510) and each limit projection (110).

3. The joint module according to claim 2, wherein the limiting protrusions (110) are convexly provided with abutting protrusions (111), two sides of an outer ring of the output end bearing (230) are respectively attached to the abutting protrusions (111) and the bearing gland (500), and an outer periphery of the outer ring of the output end bearing (230) is attached to a surface of each gland protrusion (510) and a surface of each limiting protrusion (110).

4. The joint module according to claim 1, wherein the planetary wheel module (200) is mounted in the main casing pipe (100), a ring gear member (210) is fixed to the inner peripheral wall of the main casing pipe (100), and the gear train assembly (220) is engaged with an inner gear ring of the ring gear member (210).

5. A joint module according to claim 4, wherein the gear train assembly (220) comprises planet wheels (222) and a planet carrier (229), a planet shaft (221) is inserted into the planet carrier (229), the axis of the planet shaft (221) is parallel to the running axis, the planet wheels (222) are rotatably connected to the planet shaft (221) and can rotate around the axis of the planet shaft (221), and the gear train assembly (220) is meshed with the inner gear ring of the gear ring member (210) through the outer gear ring of the planet wheels (222).

6. A joint module according to claim 5, wherein one of the planet shafts (221) and the planet wheels (222) rotatably connected to the respective planet shaft (221) form a planet group, the number of the planet groups and the limiting protrusions (110) is the same, and the planet groups are uniformly distributed around the running axis at intervals.

7. The joint module according to claim 5, further comprising a motor module (400), wherein the motor module (400) is mounted in the main housing tube (100), and wherein the motor module (400) is used for driving the gear train assembly (220) to rotate; the coaxial rigid coupling of motor module's (400) output shaft has sun gear (411) and can wind the axis of operation is rotatory, the outer peripheral edge of sun gear (411) is equipped with outer ring gear, just the outer ring gear of sun gear (411) with all the outer ring gear of planet wheel (222) meshes mutually, drives planet carrier (229) are rotatory.

8. The joint module according to claim 7, wherein a rear bracket (300) is mounted at one end of the main housing tube (100), and the rear bracket (300) is rotatably connected with one end of the output shaft of the motor module (400) far away from the gear train assembly (220) through a second rotor bearing (430).

9. The joint module according to claim 8, further comprising a rear cover (600), wherein the rear cover (600) is fixedly connected to the end of the main housing tube (100) where the rear bracket (300) is arranged, for blocking the rear bracket (300) from the external environment.

10. A robot comprising a joint module according to any of claims 1-9.

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