CN218534607U - Joint module and robot - Google Patents

Abstract

The utility model discloses a joint module and a robot, which comprises a shell, a stator, a rotor, a first gear, a second gear, a transmission part and a first bearing, wherein the rotor is rotatably assembled in the shell, and the stator is arranged on the shell and used for driving the rotor to rotate; the first gear is rotatably assembled in the shell, and the second gear is in meshing fit with the first gear; the first bearing is connected the driving medium with between the second gear, the driving medium with the rotor links to each other or integrative setting, just the driving medium is used for passing through first bearing orders about the nutation motion of second gear is in order to drive first gear rotates. The utility model discloses a simple structure, compactness of joint module, the texture is light, and is small, has made things convenient for the use in narrow and small space.

Description

Joint module and robot

Technical Field

The utility model relates to a joint technical field specifically, relates to a joint module and a robot of using this joint module.

Background

At present, joints are arranged on equipment such as robots, automobiles, spacecrafts and the like, and the joints can realize the motion of a certain degree of freedom, so that the operation of various trunks, appearance shells and the like connected with the joints can be realized. But the joint in the related art has the problems of complex structure, heavier weight, larger volume, inconvenient wiring and the like.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent.

Therefore, the embodiment of the utility model provides a provide a joint module, this joint module's simple structure, compactness, the texture is light, and is small, has made things convenient for the use in narrow and small space.

The embodiment of the utility model provides a still provide a robot of using above-mentioned joint module.

The utility model discloses joint module includes:

a housing;

the stator and the rotor are rotatably assembled in the shell, and the stator is arranged in the shell and used for driving the rotor to rotate;

a first gear rotatably mounted within said housing and a second gear in meshing engagement with said first gear;

the first bearing is connected between the transmission piece and the second gear, the transmission piece is connected with the rotor or integrally arranged, and the transmission piece is used for driving the second gear to nutate so as to drive the first gear to rotate through the first bearing.

The utility model discloses joint module's simple structure, compactness, the texture is light, and is small, has made things convenient for the use in narrow and small space.

In some embodiments, the joint module comprises a second bearing by which the transmission and/or the rotor is/are rotatably mounted in the housing, and a third bearing by which the second gear is rotatably mounted in the housing.

In some embodiments, the first bearing is a thrust bearing, and/or the third bearing is a knuckle bearing.

In some embodiments, the housing includes an inner shell and an outer shell, the inner shell is disposed in the outer shell, an inner cavity of the inner shell is used for routing wires, an annular cavity is defined between the inner shell and the outer shell, and the stator, the rotor, the second gear, the first bearing and the transmission member are assembled in the annular cavity.

In some embodiments, the stator is disposed on an outer peripheral wall of the inner housing, the rotor and the transmission member are both disposed around an outer peripheral side of the stator, the second bearing is fitted between an inner peripheral wall of the outer housing and the transmission member and/or the rotor, the first bearing and the second gear are both disposed around an outer peripheral side of the rotor, and the third bearing is fitted between the second gear and the inner peripheral wall of the outer housing.

In some embodiments, the joint module comprises a gasket, the outer peripheral side of the transmission member is provided with an annular protrusion, the gasket is sleeved on the outer peripheral side of the transmission member and is positioned between the annular protrusion and the second bearing, and the end face of the gasket facing the annular protrusion and the end face of the gasket facing the second bearing are intersected.

In some embodiments, the stator is disposed on an inner peripheral wall of the outer casing, the transmission member and the rotor are both disposed in the stator, the second bearing is fitted between an outer peripheral wall of the inner casing and the transmission member and/or the rotor, the first bearing and the second gear are both disposed inside the rotor, and the third bearing is fitted between the second gear and the inner peripheral wall of the inner casing.

In some embodiments, the joint module includes a control module disposed in the annular cavity, and the control module is electrically connected to the stator and configured to control a current of the stator.

In some embodiments, the transmission member includes a main body portion and a nutation disk portion, the main body portion is configured to be connected to the rotor and rotate coaxially with the rotor, the seat piece of the first bearing is sleeved on an outer peripheral side of the nutation disk portion, and an axis of the nutation disk portion and an axis of the main body portion intersect.

In some embodiments, the outer circumferential profile of the nutating disc portion forms a first circle and the inner circumferential profile of the nutating disc portion forms a second circle, the first and second circles being eccentrically arranged.

In some embodiments, the articulation module comprises a fourth bearing through which the first gear is rotatably mounted within the housing.

In some embodiments, the housing includes a first housing and a second housing, the first housing and the second housing are detachably connected, the stator, the rotor, the second gear, the transmission member, and the first bearing are all assembled in the first housing, and the first gear and the fourth bearing are assembled in the second housing.

In some embodiments, the number of teeth of the second gear is greater than the number of teeth of the first gear.

In some embodiments, the joint module comprises a seal connected to and located within the first gear, the seal for sealing off;

and/or, the first gear is provided with a connecting structure for connecting external parts to drive the external parts to move through the first gear, the connecting structure comprises at least one of the following: screw hole, pinhole, round pin axle, bolt.

The robot of the embodiment of the present invention comprises the joint module set according to any of the above embodiments.

Drawings

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

Figure 2 is a front schematic view of the joint module of figure 1.

Fig. 3 isbase:Sub>A schematic cross-sectional view atbase:Sub>A-base:Sub>A in fig. 2.

Fig. 4 is a schematic view of the arrangement of the stator and the rotor in fig. 3.

FIG. 5 is a schematic side view of the transmission member of FIG. 3.

FIG. 6 is a schematic cross-sectional view of the transmission member of FIG. 5.

FIG. 7 is a front schematic view of the transmission of FIG. 5.

Fig. 8 is an assembly schematic of the partial structure within the housing of fig. 3.

Fig. 9 is a perspective view of the gasket of fig. 8.

Fig. 10 is a perspective view of the first gear of fig. 3.

Fig. 11 is a schematic view of the installation of the first gear and the seal in fig. 3.

Fig. 12 is a schematic cross-sectional view of a joint module according to another embodiment of the present invention.

Fig. 13 is an assembly schematic of the partial structure within the housing of fig. 12.

Reference numerals:

a housing 1; a first shell 11; a second case 12; an inner shell 13; a housing 14; an annular cavity 15; a control module 16;

a stator 2; an iron core 21; a winding 22;

a rotor 3; a magnetic conductive ring 31; magnetic steel 32;

a first gear 4; a seal member 41; a threaded hole 42; a pin hole 43;

a second gear 5;

a transmission member 6; a main body portion 61; a nutating disc portion 62; a first axis 63; a second axis 64; a first circle 65; a second circle 66; a gasket 67;

a first bearing 7;

a second bearing 8;

a third bearing 9;

a fourth bearing 10.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

As shown in fig. 1 to 3, the joint module according to the embodiment of the present invention includes a housing 1, a stator 2, a rotor 3, a first gear 4, a second gear 5, a transmission member 6, and a first bearing 7.

The housing 1 may be of a unitary or split construction. The material of the housing 1 may be plastic, metal, or the like. The housing 1 may be a sealing structure, and in other embodiments, the housing 1 may be a hollow structure or a frame-like structure, for example, the housing 1 may be formed by combining several connecting rods.

The rotor 3 is rotatably assembled in the housing 1, and the stator 2 is provided in the housing 1 and drives the rotor 3 to rotate. Specifically, the stator 2 may be fixed inside the housing 1, and the rotor 3 may be rotatably assembled with the housing 1, wherein the rotor 3 may be located inside or outside the stator 2, and when a current is applied to the stator 2, the stator 2 may generate a magnetic field, so that the rotor 3 may be driven to rotate.

A first gear 4 is rotatably mounted in the housing 1 and a second gear 5 is in meshing engagement with the first gear 4. For example, as shown in fig. 3, the first gear 4 and the second gear 5 are both mounted in the housing 1, wherein the first gear 4 may be provided on the front side of the second gear 5. The first gear 4 may be rotatably assembled with the housing 1 and the second gear 5 may also be rotatably assembled with the gear, and the rear side of the first gear 4 and the front side of the second gear 5 are engaged with each other by gear teeth. As a result, the first gear wheel 4 can be driven in rotation when the second gear wheel 5 is rotated.

It should be noted that the first gear 4 may be connected to an external connection member (trunk, link, etc.), and when the first gear 4 rotates, the external connection member may be driven.

The first bearing 7 is connected between the transmission member 6 and the second gear 5, the transmission member 6 is connected with the rotor 3 or integrally arranged, and the transmission member 6 is used for driving the second gear 5 to nutate through the first bearing 7 so as to drive the first gear 4 to rotate.

Specifically, driving medium 6 can be the nutation dish, and driving medium 6 can be fixed continuous with rotor 3, and the mode of connection can be for welding, fastener connection etc.. In other embodiments, the transmission element 6 may also be formed integrally with the rotor 3, i.e. the transmission element 6 may be considered as a part of the rotor 3. As shown in fig. 3, the first bearing 7 may be disposed at the front side of the rotating member, and the first bearing 7 may be a thrust bearing, thereby satisfying the use requirement of axial force transmission. The front side of the first bearing 7 can be fixedly connected to the second gear wheel 5, and the rear side of the first bearing 7 can be fixedly connected to the transmission element 6.

During the use, can utilize stator 2 drive rotor 3 to rotate, driving medium 6 can be along with rotor 3 synchronous rotation, driving medium 6 can be turned into the nutation motion of first bearing 7 with rotary motion, because second gear 5 links to each other with first bearing 7, second gear 5 also can produce nutation motion, because first gear 4 rotates the assembly with casing 1, rotary motion round the axis can only take place for first gear 4, therefore, the motion of second gear 5 can not turn into the effect of driving first gear 4 pivoted completely, can produce the deceleration effect between first gear 4 and the second gear 5 promptly, thereby play the deceleration effect.

The utility model discloses the joint module has realized the speed reduction through nutation motion form in the joint module, has avoided adopting the scheme of the reduction gear that planetary reducer, harmonic speed reducer, cycloid reduction gear, RV reduction gear isotructure are complicated among the correlation technique, and then has simplified the overall structure of joint module, has reduced the quantity of spare part, has realized the lightweight of joint module and has reduced whole volume to promote the adaptability of joint module to narrow and small space, satisfied the operation requirement.

In some embodiments, the joint module comprises a second bearing 8 and a third bearing 9, through which the transmission 6 and/or the rotor 3 pass

The second bearing 8 is rotatably mounted in the housing 1 and the second gear wheel 5 is rotatably mounted in the housing 1 via a third bearing 9.

For example, as shown in fig. 3, the second bearing 8 may be a normal bearing, the outer ring of the second bearing 8 may be fixed on the inner circumferential wall of the housing 1, and the transmission member 6 and/or the rotor 3 may be fixed to the inner ring of the second bearing 8. The third bearing 9 may be a joint bearing, the third bearing 9 may be disposed on an outer circumferential side of the second gear 5, and the third bearing 9 may include an outer ring and an inner ring, wherein the outer ring of the third bearing 9 may also be fixed to the inner circumferential wall of the housing 1, and the inner ring of the third bearing 9 may be connected and fixed to the outer circumferential wall of the second gear 5. The third bearing 9 can thus be used, on the one hand, to mount and support the second gear wheel 5 and, on the other hand, also to accommodate the nutating movement of the second gear wheel 5.

In some embodiments, the housing 1 includes an inner shell 13 and an outer shell 14, the inner shell 13 is disposed in the outer shell 14, an inner cavity of the inner shell 13 is used for routing, an annular cavity 15 is formed between the inner shell 13 and the outer shell 14, and the stator 2, the rotor 3, the second gear 5, the first bearing 7 and the transmission member 6 are assembled in the annular cavity 15.

As shown in fig. 3, the housing 1 may include an inner portion and an outer portion, the inner portion 13 and the outer portion 14 are respectively an inner shell 13 and an outer shell 14, the inner shell 13 and the outer shell 14 are both substantially cylindrical, the inner shell 13 and the outer shell 14 may be integrally disposed, for example, a rear end of the inner shell 13 and a rear end of the outer shell 14 may be connected together, and the inner shell 13 and the outer shell 14 define an annular cavity 15 therebetween, the stator 2, the rotor 3, the second gear 5, the first bearing 7, and the transmission member 6 are all assembled in the annular cavity 15, wherein the second gear 5 may be located on a front side of the annular cavity 15, the first gear 4 may be located on a front side of the second gear 5, and a portion of the first gear 4 may be located in the annular cavity 15 and partially engaged with the second gear 5.

From this, the joint module is whole can be the ring column shape, has realized the hollow of the axis part of joint module and has arranged, and some electric wires, communication cable etc. can cooperate in inner shell 13, have made things convenient for the line of walking.

In some embodiments, the stator 2 is disposed on the outer circumferential wall of the inner housing 13, the rotor 3 and the transmission member 6 are all around the outer circumferential side of the stator 2, the second bearing 8 is fitted between the inner circumferential wall of the outer housing 14 and the transmission member 6 and/or the rotor 3, the first bearing 7 and the second gear 5 are all around the outer circumferential side of the rotor 3, and the third bearing 9 is fitted between the second gear 5 and the inner circumferential wall of the outer housing 14.

For example, as shown in fig. 3 and 8, the stator 2 may have a ring shape, and the stator 2 may be fitted around the outer periphery of the inner housing 13 and fixed to the inner housing 13. The transmission element 6 and the rotor 3 may be both annular, and an integral formed by the transmission element 6 and the rotor 3 surrounds the outer circumferential side of the stator 2, wherein the transmission element 6 may be fitted in the inner ring of the second bearing 8 and connected and fixed with the inner ring of the second bearing 8, and the outer ring of the second bearing 8 may be connected and fixed with the inner circumferential wall of the housing 14. As shown in fig. 4, the stator 2 may include a core 21 and a winding 22, and the rotor 3 may include a magnetic conductive ring 31 and a magnetic steel 32.

In other embodiments, the rotor 3 may be fitted in and fixedly connected to the inner race of the second bearing 8, or a part of the rotor 3 and a part of the transmission member 6 may be fitted in and fixedly connected to the inner race of the second bearing 8.

As shown in fig. 3, the first bearing 7 and the second gear 5 are both located around the outer peripheral side of the inner housing 13 and both located on the front side of the transmission member 6, wherein the second gear 5 is located on the front side of the first bearing 7, the first bearing 7 may include front and rear seat pieces, and rolling members such as balls may be fitted between the two seat pieces. The front side seat piece of the first bearing 7 can be fixedly connected with the second gear 5, and the rear side seat piece of the first bearing 7 can be fixedly connected with the transmission piece 6.

As shown in fig. 3, the third bearing 9 may be sleeved on an outer peripheral side of the second gear 5, an outer ring of the third bearing 9 may be connected and fixed to an inner peripheral wall of the housing 14, and an inner ring of the third bearing 9 may be connected and fixed to an outer peripheral wall of the second gear 5.

In some embodiments, the joint module includes a gasket 67, the outer periphery of the transmission member 6 is provided with an annular protrusion, the gasket 67 is sleeved on the outer periphery of the transmission member 6 and is located between the annular protrusion and the second bearing 8, and an end surface of the gasket 67 facing the annular protrusion and an end surface of the gasket 67 facing the second bearing 8 are intersected.

As shown in fig. 8 and 9, the annular projection is integrally formed on the outer peripheral side of the transmission member 6 and extends and closes in one turn along the circumferential direction of the transmission member 6. The annular projection acts as a shoulder and may act as a partition between the first bearing 7 and the second bearing 8. Since the front side of the transmission member 6 is used for generating the nutating motion, the front side of the transmission member 6 may be provided with a nutating disc portion 62 (as shown in fig. 5), and in order to adapt to the arrangement of the nutating disc portion 62, the annular protrusion needs to be arranged obliquely, so that the distance between the annular protrusion and the second bearing 8 is changed, as shown in fig. 9, the shape of the spacer 67 is adapted to the distance between the annular protrusion and the second bearing 8, thereby ensuring the compactness of assembling the second bearing 8 and the transmission member 6, and avoiding the situation that the second bearing 8 is easy to move back and forth.

In some embodiments, the stator 2 is disposed on the inner peripheral wall of the outer casing 14, the transmission member 6 and the rotor 3 are both disposed in the stator 2, the second bearing 8 is assembled between the outer peripheral wall of the inner casing 13 and the transmission member 6 and/or the rotor 3, the first bearing 7 and the second gear 5 are both disposed on the inner side of the rotor 3, and the third bearing 9 is assembled between the second gear 5 and the inner peripheral wall of the inner casing 13.

As shown in fig. 12 and 13, the stator 2 may be circular and may be fixed at an inner circumferential wall of the housing 14, and the transmission member 6 and the rotor 3 are integrally connected and may be fitted in the stator 2, wherein the transmission member 6 may be located inside the rotor 3. The second bearing 8 can be installed between the whole formed by the transmission element 6 and the rotor 3 and the inner shell 13, wherein the outer ring of the second bearing 8 can be fixedly connected with the transmission element 6 and the rotor 3, and the inner ring of the second bearing 8 can be fixedly connected with the inner shell 13.

The second gear 5 and the first bearing 7 may be provided in the rotor 3, wherein the second gear 5 may be rotatably fitted on an outer circumferential side of the inner casing 13 by a third bearing 9, an inner ring of the third bearing 9 may be fixedly coupled with the inner casing 13, and an outer ring of the third bearing 9 may be fixedly coupled with the second gear 5.

In some embodiments, the joint module includes a control module 16, the control module 16 is disposed in the annular cavity 15, and the control module 16 is electrically connected to the stator 2 and configured to control a current magnitude of the stator 2.

For example, as shown in fig. 3 and 12, the control module 16 may be a control circuit board, and the control module 16 may be fixed in the annular cavity 15 and located at the rear side of the rotor 3. The control module 16 is electrically connected to the stator 2, and the control module 16 can regulate and control the current flowing into the winding 22 of the stator 2, so as to regulate the rotation speed of the rotor 3. In other embodiments, hall sensors and the like may be disposed in the joint module, and signals monitored by these sensors may also be transmitted to the control module 16, so that precise control may be achieved.

In some embodiments, the transmission member 6 comprises a main body portion 61 and a nutation disc portion 62, the main body portion 61 is used for being connected with the rotor 3 and rotating coaxially with the rotor 3, the seat sheet of the first bearing 7 is sleeved on the outer periphery side of the nutation disc portion 62, and the axis of the nutation disc portion 62 and the axis of the main body portion 61 are arranged in an intersecting mode.

As shown in fig. 5, the main body portion 61 and the nutating disc portion 62 may be substantially circular cylindrical, wherein the main body portion 61 may be disposed at a rear side of the nutating disc portion 62, an axis of the main body portion 61 may be regarded as a first axis 63, an axis of the nutating disc portion 62 may be regarded as a second axis 64, as shown in fig. 6, the first axis 63 extends substantially along a front-rear direction, the second axis 64 is obliquely arranged and intersects the first axis 63, and an intersection point of the first axis 63 and the second axis 64 may be located at a front side of the transmission member 6.

Thus, in use, the main body portion 61 can rotate coaxially with the rotor 3, and the nutating disc portion 62 can produce nutating motion, thereby driving the first bearing 7 and the second gear 5 to nutate.

In some embodiments, as shown in FIG. 7, the outer circumferential profile of nutating disc portion 62 forms a first circle 65, the inner circumferential profile of nutating disc portion 62 forms a second circle 66, and first and second circles 65, 66 are eccentrically disposed. Therefore, the condition that the inner ring and the outer ring have large relative radial displacement when the first bearing 7 performs nutation motion can be improved, the first bearing 7 is prevented from being damaged, the motion stability is ensured, and the service life of the first bearing 7 is prolonged.

In some embodiments, the articulation module comprises a fourth bearing 10, the first gear wheel 4 being rotatably mounted in the housing 1 by means of the fourth bearing 10. As shown in fig. 3, 8, 12 and 13, the fourth bearing 10 may be a normal bearing, and the fourth bearing 10 may be disposed in the housing 1 and sleeved on the outer peripheral side of the first gear 4, wherein an outer ring of the fourth bearing 10 may be fixedly connected to an inner peripheral wall of the housing 1, and an inner ring of the fourth bearing 10 may be fixedly connected to the first gear 4. Thereby, the rotational assembly of the first gear 4 is facilitated.

In some embodiments, the housing 1 includes a first shell 11 and a second shell 12, the first shell 11 and the second shell 12 are detachably connected, the stator 2, the rotor 3, the second gear 5, the transmission member 6, and the first bearing 7 are all assembled in the first shell 11, and the first gear 4 and the fourth bearing 10 are assembled in the second shell 12.

For example, as shown in fig. 1, the housing 1 may be provided separately and include two parts, i.e., a first housing 11 and a second housing 12, and the first housing 11 and the second housing 12 may be detachably connected and fixed by a fastener. As shown in fig. 3, the second housing 12 may be cylindrical, the inner housing 13 and the outer housing 14 may be provided in the first housing 11, the stator 2, the rotor 3, the second gear 5, the transmission member 6, and the first bearing 7 are all fitted in the annular cavity 15 of the first housing 11, and the first gear 4 and the fourth gear are all fitted in the second housing 12.

From this, made things convenient for the machine-shaping of casing 1 on the one hand, through respectively to first shell 11 and second shell 12 process can, on the other hand has also made things convenient for installation and dismantlement, has promoted the flexibility of installation and dismantlement.

In some embodiments, the number of teeth of the second gear 5 is greater than the number of teeth of the first gear 4. Therefore, when the first gear 4 and the second gear 5 are in meshing transmission, the first gear 4 and the second gear 5 are partially meshed due to the nutation motion of the second gear 5, and after the nutation motion of the second gear 5 completes one circle, the first gear 4 rotates by a certain angle, so that the reduction ratio can be formed between the first gear 4 and the second gear 5.

In some embodiments, the joint module comprises a sealing member 41, the sealing member 41 is connected with the first gear 4 and is located in the first gear 4, and the sealing member 41 is used for sealing and blocking.

As shown in fig. 3 and 11, the sealing member 41 may be a cover plate, the sealing member 41 may be annular as a whole, and the sealing member 41 may be installed in the first gear 4 by a fastening member, thereby achieving a partial sealing and blocking effect. The through-hole in the seal 41 may be penetrated by electrical supply wires, communication cables, etc. The sealing element 41 can be in sealing fit with the electric wire and the communication cable, so that the protection effect is enhanced.

In some embodiments, the first gear wheel 4 is provided with a connection arrangement for connection of the external components to drive movement of the external components through the first gear wheel 4, the connection arrangement comprising at least one of: threaded hole 42, pin hole 43, pin shaft, bolt.

As shown in fig. 10 and 11, the connection structure may include a screw hole 42 and a pin hole 43, each of the screw hole 42 and the pin hole 43 may be provided in plurality, and the plurality of screw holes 42 and the plurality of pin holes 43 may be arranged at intervals along the circumferential direction of the first gear 4. When the joint module is used, the first gear 4 can be fixedly connected with an external part (a trunk, a decorative shell, a transmission rod and the like) through a connecting structure, so that the external part can be driven.

A robot according to an embodiment of the present invention is described below.

The utility model discloses robot includes the joint module, and the joint module can be the joint module of the description in above-mentioned arbitrary embodiment. The robot can be an underwater robot, a multi-joint robot, a quadruped robot, a hexapod robot, a wheel-foot robot, a humanoid robot, a mechanical arm and the like, and can also be other equipment or robots which need to use joint modules, such as a production line, an automobile, aerospace, underwater equipment, automation equipment and the like.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

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

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean 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 disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer 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. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Although the above embodiments have been shown and described, it should be understood that they are exemplary and should not be construed as limiting the present invention, and that many changes, modifications, substitutions and alterations to the above embodiments by those of ordinary skill in the art are intended to be within the scope of the present invention.

Claims (15)

1. A joint module, comprising:

a housing;

the rotor is rotatably assembled in the shell, and the stator is arranged in the shell and is used for driving the rotor to rotate;

a first gear rotatably mounted within said housing and a second gear in meshing engagement with said first gear;

driving medium and first bearing, first bearing is connected the driving medium with between the second gear, the driving medium with the rotor links to each other or integrative setting, just the driving medium is used for passing through first bearing orders about the nutation motion of second gear is in order to drive first gear revolve.

2. A joint module according to claim 1, comprising a second bearing by which the transmission and/or the rotor is/are rotatably mounted in the housing, and a third bearing by which the second gear is rotatably mounted in the housing.

3. The joint module of claim 2, wherein the first bearing is a thrust bearing and/or the third bearing is a joint bearing.

4. The joint module of claim 2 or 3, wherein the housing comprises an inner shell and an outer shell, the inner shell is disposed in the outer shell, an inner cavity of the inner shell is used for wiring, a limiting annular cavity is formed between the inner shell and the outer shell, and the stator, the rotor, the second gear, the first bearing and the transmission member are assembled in the annular cavity.

5. The joint module according to claim 4, wherein the stator is provided on an outer peripheral wall of the inner housing, the rotor and the transmission member are each wound around an outer peripheral side of the stator, the second bearing is fitted between an inner peripheral wall of the outer housing and the transmission member and/or the rotor, the first bearing and the second gear are each wound around an outer peripheral side of the rotor, and the third bearing is fitted between the second gear and an inner peripheral wall of the outer housing.

6. The joint module according to claim 5, comprising a spacer, wherein the outer peripheral side of the transmission member is provided with an annular protrusion, the spacer is sleeved on the outer peripheral side of the transmission member and located between the annular protrusion and the second bearing, and an end surface of the spacer facing the annular protrusion and an end surface of the spacer facing the second bearing are intersected.

7. The joint module according to claim 4, wherein the stator is provided on an inner peripheral wall of the outer housing, the transmission member and the rotor are both provided in the stator, the second bearing is fitted between the outer peripheral wall of the inner housing and the transmission member and/or the rotor, the first bearing and the second gear are both provided on an inner side of the rotor, and the third bearing is fitted between the second gear and the inner peripheral wall of the inner housing.

8. The joint module of any one of claims 5-7, comprising a control module disposed within the annular cavity, the control module being electrically coupled to the stator and configured to control a magnitude of the stator current.

9. The joint module according to any one of claims 1 to 3, wherein the transmission member includes a main body portion and a nutating disc portion, the main body portion is configured to be connected to the rotor and rotate coaxially with the rotor, the seat piece of the first bearing is fitted on an outer peripheral side of the nutating disc portion, and an axis of the nutating disc portion and an axis of the main body portion intersect.

10. The joint module of claim 9, wherein the outer circumferential profile of the nutating disc portion forms a first circle and the inner circumferential profile of the nutating disc portion forms a second circle, the first and second circles being eccentrically arranged.

11. A joint module according to any of claims 1-3, comprising a fourth bearing by which the first gear wheel is rotatably mounted in the housing.

12. The joint module of claim 11, wherein the housing comprises a first shell and a second shell, the first shell and the second shell being removably coupled, the stator, the rotor, the second gear, the transmission, the first bearing all fitting within the first shell, the first gear and the fourth bearing fitting within the second shell.

13. A joint module according to any of claims 1-3, wherein the number of teeth of the second gear is greater than the number of teeth of the first gear.

14. A joint module according to any of claims 1-3, comprising a seal connected to and located within the first gear wheel, the seal for sealing off;

and/or, the first gear is provided with a connecting structure for connecting external parts to drive the external parts to move through the first gear, the connecting structure comprises at least one of the following: screw hole, pinhole, round pin axle, bolt.

15. A robot comprising a joint module according to any of claims 1-14.

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