CN220699648U - Driving assembly, joint module and robot - Google Patents

Abstract

The present disclosure relates to a drive assembly, a joint module, and a robot. The drive assembly includes a rotor portion, a stator portion, and a brake portion. The rotor portion includes an inner arm and an outer arm extending along an axis of the drive assembly, the outer arm being remote from the axis as compared to the inner arm. The rotor portion further includes a positioning space surrounded by the inner arm and the outer arm. The stator part is arranged in the positioning space. The braking part is arranged in the positioning space. The braking portion is connected to the rotor portion and applies braking force thereto.

Description

Driving assembly, joint module and robot

Technical Field

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

Background

The robot joint module is a driving device for realizing the movement of the robot joint, and is increasingly applied to various robots due to the characteristics of integration, integration and miniaturization. The joint module mainly comprises a frameless torque motor, a harmonic reducer, an encoder, a driver, a brake, a torque sensor and other components or part of main components, and the structure principle is simple. The driver receives a control signal from an external industrial control system to drive the frameless torque motor to run in a set mode, a harmonic reducer connected with the frameless torque motor converts high-speed low torque of the motor into low-speed high torque to drive a load to move, various encoders collect and transmit position signals for the movement of joints, and a torque sensor is required to collect joint stress information in certain application occasions requiring force control.

Disclosure of Invention

The present disclosure provides a driving assembly, a joint module and a robot to solve the deficiencies in the related art.

A first aspect of the present disclosure provides a drive assembly comprising:

a rotor portion including an inner arm and an outer arm extending along an axis of the drive assembly, the outer arm being remote from the axis as compared to the inner arm. The rotor part further comprises a positioning space surrounded by the inner arm and the outer arm;

a stator part arranged in the positioning space; and

and the braking part is arranged in the positioning space. The braking portion is connected to the rotor portion and applies braking force thereto.

Further, the drive assembly further comprises: the motor housing includes a receiving cavity. The rotor portion, the stator portion, and the braking portion are disposed in the accommodation chamber. The opening of the positioning space faces to the bottom wall of the accommodating cavity. The motor housing further includes an output aperture disposed in the bottom wall. The inner arm is exposed out of the output hole.

Further, the motor housing includes a fixed arm extending from the bottom wall to the positioning space. The stator portion is disposed between the fixed arm and the outer arm. The braking portion is disposed between the fixed arm and the inner arm.

Further, the braking part includes: and the electromagnetic main body and the friction plate are adjacently arranged along the axis. One of the electromagnetic main body and the friction plate is fixedly connected with the motor shell, and the other is fixedly connected with the rotor part. The electromagnetic body is capable of generating a magnetic field to cause the friction plate to be attracted to the electromagnetic body or to cause the friction plate to be remote from the electromagnetic body.

Further, the electromagnetic body is fixedly connected with the motor housing. The friction plate is fixedly connected with the rotor part. The brake assembly further comprises:

the elastic piece is arranged on one side, far away from the electromagnetic main body, of the friction plate. The elastic piece is in a compressed state, one end of the elastic piece is connected with the friction plate, and the other end of the elastic piece is connected with the rotor part.

Further, the motor housing further includes: and the motor end cover is arranged on one side of the rotor part, which is far away from the stator part. The motor end cap encloses the receiving cavity.

Further, the drive assembly further comprises: and the coding part comprises a reading plate and a magnetic ring. One of the reading plate and the magnetic ring is fixedly connected with the motor end cover, and the other is fixedly connected with the rotor part.

Further, the drive assembly further comprises: and the end cover bearing is arranged between the motor end cover and the rotor part.

Further, the drive assembly further comprises: and a motor bearing provided between the stator part and the inner arm. The motor bearing abuts against the rotor portion at one end and the braking portion at the other end on the axis.

A second aspect of the present disclosure provides a joint module, including a speed reduction assembly, an output assembly, and a driving assembly according to the foregoing embodiments. One end of the speed reducing component is connected with the inner arm, and the other end of the speed reducing component is connected with the output component.

Further, the speed reduction assembly comprises a wave generator, a flexspline and a rigid spline. The wave generator is connected with the inner arm. The flexible gear is connected with the output assembly. The flexible wheel is arranged between the rigid wheel and the wave generator so as to be meshed with the rigid wheel when the wave generator rotates.

Further, the drive assembly includes a motor housing. The motor housing includes a receiving cavity. The rotor portion, the stator portion, and the braking portion are disposed in the accommodation chamber. The opening of the positioning space faces to the bottom wall of the accommodating cavity. The motor housing further includes an output aperture disposed in the bottom wall. The speed reducing assembly is connected with the inner arm through the output hole. Wherein,

the output assembly comprises an output shell connected with the motor shell and an output piece. The output housing includes an assembly cavity. The speed reducing assembly and the output piece are arranged in the assembly cavity. The output piece is connected with the speed reduction assembly.

Further, the output assembly further comprises: and the output bearing is arranged between the output shell and the output piece.

Further, the output assembly also includes an output end cap. The output member includes a supporting unit and an output unit. One side of the supporting unit is connected with the speed reducing assembly, and the other side of the supporting unit is connected with the output unit. Wherein, in the axis direction, a side of the output bearing facing the speed reduction assembly abuts against the output housing and the support unit, and a side of the output bearing facing away from the speed reduction assembly abuts against the output unit and the output end cover.

Further, the output bearing is provided as a cross roller bearing.

Further, the joint module further includes: a hollow sleeve extends along the axis. The driving assembly, the speed reducing assembly and the output assembly are sleeved on the hollow sleeve.

A third aspect of the present disclosure provides a robot comprising the joint module of the foregoing embodiment.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

as can be seen from the above embodiments, the driving assembly of the present disclosure is configured as an outer rotor and an inner stator. The braking part and the stator part are arranged in the positioning space along the radial direction, so that the structural compactness of the driving assembly in the radial direction is improved, and the dimension of the driving assembly in the axial direction is reduced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

FIG. 1 illustrates an overall schematic view of one embodiment of a joint module of the present disclosure;

FIG. 2 illustrates an exploded view of one embodiment of a joint module of the present disclosure;

fig. 3 illustrates a schematic cross-sectional view of one embodiment of a joint module of the present disclosure.

Reference numerals illustrate: 100 joint modules, 1 driving component, 11 rotor parts, 111 inner arms, 112 outer arms, 113 positioning space, 114 electromagnetic units, 115 stop ends, 116 gap parts, 12 stator parts, 13 braking parts, 131 electromagnetic bodies, 132 friction plates, 133 elastic parts, 14 motor shells, 141 accommodating cavities, 1411 bottom walls, 142 output holes, 143 fixed arms, 144 motor end covers, 15 coding parts, 151 reading plates, 152 magnetic rings, 16 end cover bearings, 17 motor bearings, 2 speed reduction components, 21 wave generators, 22 flexspline wheels, 23 rigid wheels, 24 gaskets, 3 output components, 31 output shells, 311 assembly cavities, 32 output parts, 321 supporting units, 322 output units, 33 output bearings, 34 output end covers, 4 hollow sleeves, 41 hollow cavities, 42 stop parts and A axes.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The manner described in the following exemplary embodiments does not represent all manners consistent with the present disclosure. Rather, they are merely examples of apparatus consistent with some aspects of the disclosure as detailed in the accompanying claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. Unless defined otherwise, technical or scientific terms used in this disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. Also, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one, and the terms "a" and "an" are used individually. "plurality" or "plurality" means two or more. Unless otherwise indicated, the terms "front," "rear," "lower," and/or "upper" and the like are merely for convenience of description and are not limited to one location or one spatial orientation. The word "comprising" or "comprises", and the like, means that elements or items appearing before "comprising" or "comprising" are encompassed by the element or item recited after "comprising" or "comprising" and equivalents thereof, and that other elements or items are not excluded. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

Referring to fig. 1-3, the present disclosure provides a joint module 100. The joint module 100 includes a driving assembly 1, a decelerating assembly 2, and an output assembly 3. One end of the speed reducing component 2 is connected with the driving component 1, and the other end is connected with the output component 3. The driving component 1 can rotate after being electrified, so that the speed reduction component 2 is driven to rotate, and the rotation of the speed reduction component 2 drives the output component 3 to rotate, so that the torque output is realized. After the action of the reduction assembly 2, the rotation speed of the driving assembly 1 is reduced and the torque is increased. In other words, the rotational speed of the output assembly 3 is slow and the torque is high compared to the drive assembly 1.

The drive assembly 1 of the present disclosure includes a rotor portion 11, a stator portion 12, and a brake portion 13. The rotor portion 11 comprises an inner arm 111 and an outer arm 112 extending along the axis a of the drive assembly 1, the outer arm 112 being remote from the axis a compared to the inner arm 111. The rotor portion 11 further includes a positioning space 113 surrounded by the inner arm 111 and the outer arm 112. The stator portion 12 and the braking portion 13 are provided in the positioning space 113. The brake portion 13 is connected to the rotor portion 11 and applies braking force thereto. In other words, the drive assembly 1 of the present disclosure is provided in a structure of an outer rotor, an inner stator. In this way, the braking portion 13 and the stator portion 12 can be provided in the positioning space 113, so that the structural compactness of the drive assembly 1 in the radial direction is improved, and the size of the drive assembly 1 in the axis a direction is reduced. Therefore, the dimension of the joint module 100 provided with the drive assembly 1 of the present disclosure in the axis a direction can be further reduced.

The stator 12 is provided with a coil or the like on a side close to the outer arm 112. The rotor 11 is provided with an electromagnetic unit 114 such as a coil or magnetic steel on a side of the outer arm 112 away from the stator 12. The electromagnetic unit 114 is axially positioned by abutment against the stop end 115. When the stator 12 is energized, an electromagnetic induction phenomenon generated between the coil and the electromagnetic unit 114 can drive the rotor 11 to rotate, thereby generating rotational power.

In some embodiments, the drive assembly 1 includes a motor housing 14. The motor housing 14 includes a receiving chamber 141, and the rotor portion 11, the stator portion 12, and the braking portion 13 are provided in the receiving chamber 141. The opening of the positioning space 113 is directed toward the bottom wall 1411 of the accommodation chamber 141. The motor housing 14 further includes an output aperture 142 provided in the bottom wall 1411. Wherein the inner arm 111 is exposed to the output hole 142. The reduction assembly 2 is connected to the inner arm 111 through an output aperture 142. The provision of the motor housing 14 provides the stator portion 12, the rotor portion 11, and the brake portion 13 with a casing protection that reduces the occurrence of an abnormality in the rotation of the rotor portion 11 caused by entry of dust, foreign substances, and the like into the positioning space 113.

In an alternative embodiment, motor housing 14 includes a stationary arm 143 that extends from bottom wall 1411 to positioning space 113. The stator portion 12 is provided between the fixed arm 143 and the outer arm 112. The braking portion 13 is provided between the fixed arm 143 and the inner arm 111. As shown in fig. 3, the rotor portion 11 and the motor housing 14 are in a state of being fitted to each other, and the fixing arm 143 divides the positioning space 113 into two parts in the radial direction. By providing the above arrangement, the motor housing can share the fixing operation of the stator 12 and the brake 13 in the radial direction, and the relative positional accuracy between the stator 12, the brake 13, and the rotor 11 can be improved. The stator portion 12 may be fixedly coupled to the fixed portion. Since the motor housing 14 is in a non-rotating state during use, the stator portion 12 and the stationary arm 143 connection may remain stationary relative to the rotor portion 11.

It should be noted that the fixed connection referred to in this disclosure includes, but is not limited to, bonding, welding, clamping, interference connection, integral molding, threaded connection, screw connection, etc., and will not be described in detail below.

Correspondingly, the motor housing 14 may also include a motor end cap 144. As shown in fig. 3, the motor end cover 144 is provided at a side of the rotor portion 11 remote from the stator portion 12, and closes the accommodation chamber 141. By providing the motor end cover 144, the rotor portion 11, the stator portion 12, and the brake portion 13 can be enclosed in the accommodation chamber 141, further improving the effect of isolating impurities. At the same time, this arrangement also increases the degree of integration of the drive assembly 1. When the person skilled in the art assembles the drive assembly 1 to the reduction assembly 2, it is no longer necessary to connect the rotor portion 11, the stator portion 12, the brake portion 13 and the reduction assembly 2 one by one.

In this embodiment, the drive assembly 1 may further include an end cap bearing 16 disposed between the motor end cap 144 and the rotor portion 11. In other words, the outer ring of the end cover bearing 16 is connected to the motor end cover 144, and the inner ring is connected to the rotor portion 11. In this way, a connection in the radial direction between the rotor part 11 and the motor end cap 144 can be achieved, avoiding that the axis of rotation of the rotor part 11 deviates from the axis a during rotation. Meanwhile, the arrangement mode can also avoid friction between the rotor part 11 and the motor end cover 144, further avoid material abrasion fatigue, and be beneficial to prolonging the service life of the driving assembly 1.

With particular reference to fig. 2 and 3, in an alternative embodiment, the drive assembly 1 further comprises an encoding portion 15. The encoder 15 includes a reading plate 151 and a magnetic ring 152. One of the reading plate 151 and the magnetic ring 152 is fixedly connected with the motor end cover 144, and the other is fixedly connected with the rotor portion 11. Taking the embodiment shown in fig. 3 as an example, the reading plate 151 is fixedly connected with the motor end cover 144, and the rotor portion 11 is fixedly connected with the magnetic ring 152. The encoder portion 15 is able to acquire the rotation parameters of the rotor portion 11, thereby helping to monitor whether the drive assembly 1 is operating properly.

The brake portion 13 is provided to provide a braking force when it is desired that the drive assembly 1 stops rotating, thereby stopping the rotation of the rotor portion 11. In one embodiment, the braking portion 13 includes an electromagnetic body 131 and a friction plate 132 disposed adjacent along the axis a. One of the electromagnetic body 131 and the friction plate 132 is fixedly connected to the motor housing 14, and the other is fixedly connected to the rotor portion 11. The electromagnetic body 131 can generate a magnetic field to attract the friction plate 132 to the electromagnetic body 131 or to keep the friction plate 132 away from the electromagnetic body 131.

Taking the embodiment shown in fig. 3 as an example, the electromagnetic body 131 is fixedly connected with the motor housing 14, so that the electromagnetic body 131 is kept in a non-rotated state. The friction plate 132 is fixedly connected to the rotor portion 11, so that when the rotor portion 11 rotates, the friction plate 132 follows the rotation of the rotor portion 11. In some embodiments, when it is desired to stop the rotation of the rotor portion 11, the electromagnetic body 131 generates a magnetic field, so that the friction plate 132 moves the rotor portion 11 toward the electromagnetic body 131. The friction force between the friction plate 132 and the electromagnetic body 131 can stop the rotation of the rotor portion 11. When it is desired that the rotor portion 11 rotates, the electromagnetic body 131 may generate a reverse magnetic field such that the friction plate 132 is away from the electromagnetic body 131. Since the electromagnetic body 131 requires a connection wire, fixing it to the stationary motor housing 14 can reduce the difficulty of wiring. Indeed, in other embodiments, the electromagnetic body 131 may be fixedly connected to the rotor portion 11, and the friction plate 132 may be fixedly connected to the motor housing 14.

Further, in the embodiment shown in fig. 3, the electromagnetic body 131 is fixedly connected with the motor housing 14, and the friction plate 132 is fixedly connected with the rotor portion 11. The brake assembly further includes an elastic member 133 disposed on a side of the friction plate 132 away from the electromagnetic body 131. The elastic member 133 is in a compressed state, and has one end connected to the friction plate 132 and the other end connected to the rotor portion 11. In other words, the elastic member 133 continuously applies a force directed from the friction plate 132 to the electromagnetic body 131 to the friction plate 132. In this embodiment, if it is desired that the rotor portion 11 rotates, the electromagnetic body 131 generates a magnetic field, pushing the friction plate 132 away from the electromagnetic body 131. If it is desired that the rotor portion 11 stops operating, the operation of the electromagnetic body 131 is stopped. The elastic member 133 pushes the friction plate 132 to move toward the electromagnetic body 131, thereby achieving contact between the friction plate 132 and the electromagnetic body 131 and further achieving stop rotation of the rotor portion 11. The arrangement mode ensures that the electromagnetic main body 131 only needs to apply magnetic field force in one direction to the friction plate 132, thereby being beneficial to reducing the parameter requirements on the magnetic field main body. The elastic member 133 may be a wave spring, a snap spring, etc., which is not limited in this disclosure.

In an embodiment, the drive assembly 1 further comprises a motor bearing 17 arranged between the stator part 12 and the inner arm 111. For example, the outer ring of the motor bearing 17 may be fixedly connected to the stator 12, and the inner ring may be fixedly connected to the inner arm 111. Alternatively, as shown in fig. 3, the outer ring of the motor bearing 17 is fixedly connected to the fixed arm 143, and the inner ring is fixedly connected to the inner arm 111. The motor bearing 17 abuts against the rotor portion 11 at one end and the brake portion 13 at the other end on the axis a. The provision of the motor bearing 17 can fill and support the space between the stator portion 12 and the inner arm 111, which is advantageous in maintaining the coaxiality of the central axes of the stator portion 12, the rotor portion 11, and the motor housing.

In the embodiment in which the braking portion 13 is provided with the elastic member 133, one end of the elastic member 133 abuts against the friction plate 132 and the other end abuts against the motor bearing 17, i.e., at this time the elastic member 133 is indirectly connected to the rotor portion 11 through the motor bearing 17.

Based on the above embodiments, the reduction assembly 2 includes the wave generator 21, the flexspline 22, and the rigid spline 23. The wave generator 21 is connected to the inner arm 111, so that rotation of the rotor portion 11 can drive rotation of the wave generator 21. The flexspline 22 is connected to the output assembly 3. The flexspline 22 is disposed between the rigid spline 23 and the wave generator 21 to mesh with the rigid spline 23 when the wave generator 21 rotates. The wave generator 21 is elliptical in shape and has a major axis dimension slightly larger than the diameter of the flexspline 22. The flexspline 22 has flexspline 22 teeth on the side facing the rigid spline 23, and the rigid spline 23 has rigid spline 23 teeth on the side facing the flexspline 22, which are engaged with the remaining flexspline 22 teeth. Since the flexible gear 22 has a thin-walled structure, the flexible gear 22 is engaged with the rigid gear 23 at a position corresponding to the long axis of the wave generator 21, and the flexible gear 22 is separated from the rigid gear 23 at a position corresponding to the short axis of the wave generator 21. At a certain moment, the teeth of the flexible gear 22 are meshed with the teeth of the rigid gear 23, and then after the wave generator 21 rotates for one circumference, the teeth of the flexible gear 22 are meshed with the teeth of the next rigid gear 23 adjacent to the teeth of the rigid gear 23 in the rotation direction of the flexible gear 22. In other words, the rotational speed of the wave generator 21 is much greater than the speed of the flexspline 22, so that the reduction assembly 2 is able to achieve a reduction in speed.

Since the flexible gear 22 has a thin-wall structure, the flexible gear 22 is easily deformed due to the tight connection between the flexible gear 22 and the output assembly 3. As shown in fig. 3, the output assembly 3 and the flexspline 22 are fastened by screws. The pretension generated by the tightening of the screw causes the flexspline 22 to deform in the direction of axis a. In some embodiments of the present disclosure, the reduction assembly 2 further includes a spacer 24 having a thickness greater than the flexspline 22. The gasket 24 is arranged between the flexible gear 22 and the wave generator 21 and fixedly connected with the flexible gear 22. The provision of the spacer 24 provides thickness support for the flexspline 22, thus reducing deformation when the flexspline 22 is attached.

Similar to the drive assembly 1, the output assembly 3 may also include an output housing 31. The output housing 31 is connected to the motor housing 14. Since the motor housing 14 does not rotate along with the rotor portion 11 during use of the joint module 100, the output housing 31 is connected to the motor housing 14 and also remains stationary. In order to be able to output the rotational speed and torque of the drive assembly 1, the output assembly 3 further comprises an output member 32 connected to the reduction assembly 2. Wherein the output housing 31 includes an assembly cavity 311. The reduction assembly 2 and the output member 32 are disposed in the assembly cavity 311. By this arrangement, the output housing 31 can also provide protection for the reduction assembly 2 and the output member 32, similar to the motor housing 14, improving the integrity of the joint module 100.

Because of the relative rotation between the output member 32 and the output housing 31, in some embodiments, the output assembly 3 includes an output bearing 33 disposed between the output housing 31 and the output member 32. The outer race of the output bearing 33 abuts the output housing 31 and the inner race abuts the output member 32. In this way, the output bearing 33 can support the output housing 31 and the output member 32 in the radial direction so as not to shift the coaxiality of the output housing 31 and the output member 32 after long-term rotation.

Further, as shown in fig. 2, the output assembly 3 further includes an output end cap 34. The output member 32 includes a supporting unit 321 and an output unit 322. Referring specifically to fig. 3, the support unit 321 has one side connected to the reduction gear assembly 2 and the other side connected to the output unit 322. Therefore, the speed reducing assembly 2 drives the output unit 322 to rotate by driving the supporting unit 321 to rotate. Wherein, in the direction of axis a, the output bearing 33 abuts against the output housing 31 and the supporting unit 321 towards the side of the reduction assembly 2, and the output unit 322 and the output end cap 34 away from the reduction assembly 2. The outer race of the output bearing 33, illustrated in the view of the embodiment shown in fig. 3, abuts the output housing 31 towards one side of the reduction assembly 2, and in principle the one side of the reduction assembly 2 abuts the output end cap 34. While the inner ring of the output bearing 33 abuts against the support unit 321 toward the side of the reduction assembly 2 and abuts against the output unit 322 away from the reduction assembly 2. This arrangement creates a "four-point support" for the output bearing 33, which is beneficial for improving the operational stability of the output bearing 33 and avoiding movement of the position.

In this embodiment, the output bearing 33 may be a ball and ball bearing. Alternatively, the output bearing 33 may be provided as a cross roller bearing. The crossed rollers provide excellent bending resistance and the output member 32 is subsequently coupled to the arm such that bending deformation of the internal components of the joint module 100 occurs due to the weight of the arm.

In the various embodiments described above, the joint module 100 further includes a hollow sleeve 4 extending along the axis a. The driving component 1, the speed reducing component 2 and the output component 3 are sleeved on the hollow sleeve 4. The sheathing referred to herein should be understood as being arranged coaxially with the hollow sleeve 4 and may be in direct contact with the outer surface of the hollow sleeve 4 or may be spaced apart. The hollow sleeve 4 may be fixedly connected to the output member 3 so as to follow the rotation of the output member 3, as shown in fig. 3. The rotor portion 11 is further provided with a gap portion 116 at a side facing the hollow sleeve 4. The provision of the gap portion 116 can reduce the weight of the rotor portion 11, and thus the weight of the joint module 100. In other embodiments, it may be fixedly connected to the driving assembly 1 so as to follow the rotation of the driving assembly 1.

The hollow cavity 41 of the hollow sleeve 4 enables the circuit wiring of the joint module 100 to pass through the hollow cavity 41 from one end of the output assembly 3 to one end of the driving assembly 1, thereby improving the cleanliness of the appearance. Since the hollow cavity 41 extends along the axis a, the rotational axes of the drive assembly 1, the reduction assembly 2 and the output assembly 3 all coincide with the axis a, and thus the rotation of the drive assembly 1, the reduction assembly 2 and the output assembly 3 does not cause kinking of the electric wires in the hollow cavity 41.

The hollow sleeve 4 may include a stop 42. As shown in fig. 3, the hollow sleeve 4 is connected to the output member 32 at the stopper 42. The output assembly 3 abuts against the limiting portion 42, the reduction assembly 2 is connected with the output assembly 3, and the driving assembly 1 is connected with the reduction assembly 2. Therefore, the limiting portion 42 can enable the output assembly 3, the speed reduction assembly 2 and the driving assembly 1 to abut against the limiting portion 42, and limiting and fixing on the axis A are provided.

The present disclosure also provides a robot including the joint module 100 according to the foregoing embodiment. The joint module 100 adopts the driving assembly 1 of the outer rotor and the inner stator, so that the size of the joint module 100 on the axis A is reduced, and the structural compactness and the size of the robot are improved. Meanwhile, the braking part 13 is accommodated in the positioning space 113, and can provide braking force for the joint module 100 from the inside of the joint module 100, so that the weight of the joint module 100 is reduced, the assembling position of the joint module 100 in the robot is not limited, and the robot is more flexible to assemble and use.

It should be noted that the robot referred to in the present disclosure may be understood as a robot simulating a person, including a trunk, limbs, and the like. Alternatively, the robot may be understood as a robot arm, a manipulator, or the like that assists industrial production, to which the present disclosure is not limited.

Taking a robot as an example for a robot arm, the joint module 100 is referred to as an elbow. The large arm of the mechanical arm may be fixedly connected with the joint module 100 through the motor housing 14 or the motor end cover 144, and the small arm of the mechanical arm may be fixedly connected with the joint module 100 through the output unit 322. In this way, relative movement can be produced between the small arm and the large arm of the mechanical arm.

The specific embodiments described herein are offered by way of example only to illustrate the spirit of the present disclosure. Those skilled in the art to which this disclosure pertains may make numerous modifications, additions, or substitutions to the described embodiments and those alternatives may be made without departing from the spirit of the disclosure or exceeding the scope of the disclosure as defined in the accompanying claims.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

Claims (17)

1. A drive assembly, comprising:

a rotor portion including an inner arm and an outer arm extending along an axis of the drive assembly, the outer arm being remote from the axis as compared to the inner arm; the rotor part further comprises a positioning space surrounded by the inner arm and the outer arm;

a stator part arranged in the positioning space; and

a braking part arranged in the positioning space; the braking portion is connected to the rotor portion and applies braking force thereto.

2. The drive assembly of claim 1, further comprising:

a motor housing including a receiving cavity; the rotor part, the stator part and the braking part are arranged in the accommodating cavity; the opening of the positioning space faces to the bottom wall of the accommodating cavity; the motor housing further comprises an output hole arranged on the bottom wall; the inner arm is exposed out of the output hole.

3. The drive assembly of claim 2, wherein the motor housing includes a stationary arm extending from the bottom wall to the positioning space; the stator part is arranged between the fixed arm and the outer arm; the braking portion is disposed between the fixed arm and the inner arm.

4. The drive assembly of claim 2, wherein the brake comprises:

an electromagnetic body and a friction plate disposed adjacent to each other along the axis; one of the electromagnetic main body and the friction plate is fixedly connected with the motor shell, and the other is fixedly connected with the rotor part; the electromagnetic body is capable of generating a magnetic field to cause the friction plate to be attracted to the electromagnetic body or to cause the friction plate to be remote from the electromagnetic body.

5. The drive assembly of claim 4, wherein the electromagnetic body is fixedly connected to the motor housing; the friction plate is fixedly connected with the rotor part; the braking portion further includes:

the elastic piece is arranged on one side of the friction plate, which is far away from the electromagnetic main body; the elastic piece is in a compressed state, one end of the elastic piece is connected with the friction plate, and the other end of the elastic piece is connected with the rotor part.

6. The drive assembly of claim 2, wherein the motor housing further comprises:

the motor end cover is arranged on one side of the rotor part, which is far away from the stator part; the motor end cap encloses the receiving cavity.

7. The drive assembly of claim 6, further comprising:

the coding part comprises a reading plate and a magnetic ring; one of the reading plate and the magnetic ring is fixedly connected with the motor end cover, and the other is fixedly connected with the rotor part.

8. The drive assembly of claim 7, further comprising:

and the end cover bearing is arranged between the motor end cover and the rotor part.

9. The drive assembly of claim 1, further comprising:

a motor bearing provided between the stator part and the inner arm; the motor bearing abuts against the rotor portion at one end and the braking portion at the other end on the axis.

10. A joint module comprising a reduction assembly, an output assembly, and a drive assembly according to any one of claims 1-9; one end of the speed reducing component is connected with the inner arm, and the other end of the speed reducing component is connected with the output component.

11. The joint module of claim 10, wherein the deceleration assembly comprises a wave generator, a flexspline, and a rigid spline; the wave generator is connected with the inner arm; the flexible wheel is connected with the output assembly; the flexible wheel is arranged between the rigid wheel and the wave generator so as to be meshed with the rigid wheel when the wave generator rotates.

12. The joint module of claim 10, wherein the drive assembly comprises a motor housing; the motor housing includes a receiving cavity; the rotor part, the stator part and the braking part are arranged in the accommodating cavity; the opening of the positioning space faces to the bottom wall of the accommodating cavity; the motor housing further comprises an output hole arranged on the bottom wall; the speed reducing assembly is connected with the inner arm through the output hole; wherein,

the output assembly comprises an output shell connected with the motor shell and an output piece; the output housing includes an assembly cavity; the speed reducing assembly and the output piece are arranged in the assembly cavity; the output piece is connected with the speed reduction assembly.

13. The joint module of claim 12, wherein the output assembly further comprises:

and the output bearing is arranged between the output shell and the output piece.

14. The joint module of claim 13, wherein the output assembly further comprises an output end cap; the output piece comprises a supporting unit and an output unit; one side of the supporting unit is connected with the speed reducing assembly, and the other side of the supporting unit is connected with the output unit; wherein, in the axis direction, a side of the output bearing facing the speed reduction assembly abuts against the output housing and the support unit, and a side of the output bearing facing away from the speed reduction assembly abuts against the output unit and the output end cover.

15. The articulation module according to claim 13 or 14, characterized in that the output bearing is provided as a cross roller bearing.

16. The joint module of claim 10, wherein the joint module further comprises:

a hollow sleeve extending along the axis; the driving assembly, the speed reducing assembly and the output assembly are sleeved on the hollow sleeve.

17. A robot comprising a joint module according to any one of claims 11-16.