CN114311017B - Joint module, joint module assembly and joint robot - Google Patents

Abstract

The invention relates to the technical field of mechanical joints, and provides a joint module, a joint module assembly and a joint robot. The joint module comprises a support shell, a power input unit, a transmission output unit, a driving circuit unit and a heat conduction and dissipation unit, wherein the first end of the support shell is provided with an inner concave part; the power input unit comprises a motor stator, a motor rotor and a rotary output shaft, and the driving circuit unit is arranged in the concave part; the heat conduction and dissipation unit is positioned at the first end of the support shell, and at least part of the heat conduction and dissipation unit is in direct contact with the driving circuit unit and at least part of the heat conduction and dissipation unit is in direct contact with the outer wall of the first end of the support shell. The joint module, the joint module assembly and the joint robot provided by the invention have the beneficial effects that: the heat conduction and radiation unit radiates heat to the main heating unit of the joint module, so that the heat radiation effect is good, and the technical problem that the joint module in the related technology is difficult to achieve multiple advantages of high integration level, small volume, good performance and the like is solved.

Description

Joint module, joint module assembly and joint robot

Technical Field

The invention relates to the technical field of mechanical joints, in particular to a joint module, a joint module assembly and a joint robot.

Background

The joint module is mainly applied to the fields of robots, numerical control machine tools, aircrafts, nonstandard equipment and the like, and is especially applied to the fields of robots, such as bionic robots, mechanical arms, exoskeleton and the like.

In the field of robots, the current joint structure generally needs to adopt a joint module integrating various functional devices, such as an integrated driving circuit unit, a motor unit, a speed reducer unit and the like, and meanwhile, robot products often require that the joint module has the advantages of small size and good performance. However, the existing joint module is difficult to simultaneously have various advantages such as high integration level, small volume, good performance and the like due to comprehensive constraints of various factors such as limited space, limited structural function, limited component selection, limited cost and the like. For example, among the main units constituting the joint module, the driving circuit unit and the motor unit often belong to main heat generating components during operation, and are one of the main factors limiting the operation performance of the joint module.

According to the related art known to the inventor, the joint module may take three measures as follows to make a trade-off in terms of integration level, volume and performance:

The first measure is: the joint module does not effectively dissipate heat of each main heating unit, so that the integration level is high and the volume is small, but the performance of the joint module can be reduced under the condition that the joint module can only be applied under the condition of low speed or small torque.

The second measure is as follows: on one hand, the heat dissipation structure is required to be added to increase the whole volume of the joint module, and on the other hand, the performance of part of the non-heat dissipation units can also become a short plate for limiting the comprehensive performance of the whole joint module, so that the whole performance of the joint module is limited.

And a third measure: the main heating units are respectively radiated, for example, the motor unit and the driving circuit unit are respectively radiated, and the measure can ensure the integral performance of the joint module, but the volume and the weight of the whole joint module are increased.

Therefore, the joint module in the related art has the advantages of high integration level, small volume, good performance and the like.

Disclosure of Invention

The invention aims to provide a joint module, a joint module assembly and a joint robot, and aims to solve the technical problem that the joint module in the related art is difficult to achieve multiple advantages of high integration level, small size, good performance and the like.

In order to achieve the above purpose, the invention adopts the following technical scheme: a joint module, comprising:

a support housing having an interior recess at a first end;

the power input unit comprises a motor stator, a motor rotor and a rotary output shaft, wherein the motor stator is fixedly arranged in the supporting shell and surrounds the concave part, the motor rotor is rotatably arranged in the supporting shell and surrounds the motor stator, and the rotary output shaft is rotatably arranged in the supporting shell in a penetrating manner along the direction from the first end of the supporting shell to the second end of the supporting shell and is connected with the motor rotor;

a transmission output unit which is arranged in the supporting shell and is positioned at the second end of the supporting shell, the transmission output unit is connected with the rotary output shaft,

A driving circuit unit mounted to the concave portion;

the heat conduction and radiation unit is arranged outside the supporting shell and is positioned at the first end of the supporting shell, and at least part of the heat conduction and radiation unit is in direct contact with the driving circuit unit and at least part of the heat conduction and radiation unit is in direct contact with the outer wall of the first end of the supporting shell.

In one embodiment, the motor stator is in direct contact with the inner wall of the first end of the support housing.

In one embodiment, the supporting housing comprises a housing main body bracket and a housing front end bracket, the housing main body bracket and the housing front end bracket are folded and connected to form a mounting cavity, the motor stator, the motor rotor and the transmission output unit are positioned in the mounting cavity, and one end of the housing main body bracket far away from the housing front end bracket forms the concave part.

In one embodiment, the heat conducting and radiating unit comprises a thermal interface material and a heat conducting cover plate, the thermal interface material is mounted in the concave portion, one side of the thermal interface material is in direct contact with the driving circuit unit, the other side of the thermal interface material is in direct contact with the heat conducting cover plate, and one side, close to the thermal interface material, of the heat conducting cover plate is attached to the outer wall of the first end of the supporting shell.

In one embodiment, the heat conductive heat dissipating unit further comprises a heat conductive adhesive disposed between the heat conductive cover plate and the support housing.

In one embodiment, the heat conducting and dissipating unit further comprises a heat dissipating fin mounted to the support housing and in direct contact with the support housing.

In one embodiment, the heat conducting and dissipating unit further comprises a heat dissipating fin mounted on a side of the heat conducting cover plate away from the thermal interface material and in direct contact with the heat conducting cover plate.

In one embodiment, the heat dissipating fins are located at the periphery of the support housing.

In one embodiment, the number of the radiating fins is more than two, and the radiating fins are distributed at intervals along the circumferential direction of the support shell.

In one embodiment, the driving circuit unit includes an encoder code wheel and a driving circuit board both mounted in the concave portion, the encoder code wheel is disposed around an end portion of the rotation output shaft, and the driving circuit board is located between the encoder code wheel and the heat conduction and dissipation unit and is in direct contact with the heat conduction and dissipation unit.

The invention also provides a joint module assembly, which comprises a module serial connection piece, a cooling fan and two joint modules, wherein the two joint modules are a first joint module and a second joint module respectively, one side of the module serial connection piece is in direct contact with and connected with the first end of the support shell of the first joint module, the other side of the module serial connection piece is in direct contact with and connected with the transmission output unit of the second joint module, and the cooling fan is arranged at the first end of the support shell of the second joint module.

In one embodiment, the heat conducting and dissipating unit of the first joint module is located between the module series connection and the support housing of the first joint module such that the heat conducting and dissipating unit of the first joint module is prevented from being exposed.

In one embodiment, a heat dissipation gap is formed between the module series connection and the second joint module.

In one embodiment, the first joint module and the second joint module are hollow structures.

In one embodiment, the joint module assembly further comprises a module serial end cover, the module serial end cover is mounted at the first end of the support housing of the second joint module, the cooling fan is mounted at one side of the module serial end cover, which is close to the second joint module, and the module serial end cover is provided with an air flow hole for air flow to pass through in a corresponding mounting area of the cooling fan.

The invention also provides an articulated robot comprising the joint module of any one of the above, or comprising the joint module assembly of any one of the above.

The joint module, the joint module assembly and the joint robot provided by the invention have the beneficial effects that: the driving circuit unit is located the inside of motor stator, motor stator is located the first end of supporting the shell, the transmission output unit is located the second end of supporting the shell, motor rotor is connected with transmission output unit through rotatory output shaft, the installation space of supporting the shell is fully utilized to the overall arrangement, multiple functional units have been integrated, driving circuit unit and motor stator are as the most essential spare part that generates heat in joint module's course of working, the two encircle the setting, the position is concentrated, be convenient for concentrate the heat dissipation, heat conduction radiating unit dispels the heat to driving circuit unit through direct contact, and outwards dispel the heat of motor stator through supporting the shell, realize simultaneously the main unit that generates heat to joint module dispels the heat, the radiating effect is good, the joint module among the related art has been solved and has been difficult to accomplish the technical problem of multiple advantage such as integrated level height has been considered, small, performance is good, thereby joint module can accomplish the integrated level height, a plurality of comprehensive advantages such as small, performance are good.

Drawings

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

FIG. 1 is an isometric view of an input end of a joint module according to an embodiment of the present invention;

FIG. 2 is an input end view of a joint module provided in accordance with an embodiment of the present invention;

FIG. 3 is a right cross-sectional view of the joint module of FIG. 2 taken along line A-A;

FIG. 4 is a left side view of FIG. 2;

FIG. 5 is an isometric view of an output end of a joint module according to an embodiment of the present invention;

FIG. 6 is an isometric view of an output end of a joint module assembly according to an embodiment of the present invention;

FIG. 7 is an output end view of the joint module assembly provided by an embodiment of the present invention;

FIG. 8 is a right cross-sectional view of the joint module assembly of FIG. 7 taken along line B-B;

fig. 9 is an isometric view of an input end of a joint module assembly according to an embodiment of the present invention.

Wherein, each reference sign in the figure:

10. A joint module; 11. a first joint module; 12. a second joint module;

20. a module series connection; 21. a heat dissipation gap;

30. a heat radiation fan;

40. the modules are connected with end covers in series; 41. an air flow hole;

100. A support housing; 101. a mounting cavity; 102. a mounting groove; 110. a housing main body holder; 111. an inner concave portion; 120. a housing front end bracket;

210. A motor stator; 220. a motor rotor; 230. rotating the output shaft; 231. a hollow hole; 240. a first bearing; 250. an annular plate;

300. A transmission output unit; 310. a planetary gear; 320. an output flange; 330. a second bearing; 340. a third bearing; 350. an inner gear ring; 360. a planet carrier;

400. A driving circuit unit; 410. an encoder code wheel; 420. a driving circuit board;

500. a heat conduction and dissipation unit; 510. a thermal interface material; 520. a thermally conductive cover plate; 530. and a heat radiating fin.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

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

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In this embodiment, one end of the joint module 10 for outputting power is called an output end of the joint module 10, and the other end is called an input end of the joint module 10.

The joint module 10, the joint module assembly, and the joint robot in the embodiment of the present invention will now be described.

Fig. 1 is an isometric view of an input end of a joint module 10 according to an embodiment of the present invention. Fig. 2 is an input end view of the joint module 10 provided in accordance with an embodiment of the present invention. Fig. 3 is a right side cross-sectional view of the joint module 10 of fig. 2 taken along line A-A. Fig. 3 is a left side view of the joint module 10 of fig. 2.

Referring to fig. 1 to 4, the joint module 10 in the present embodiment includes a support housing 100, a power input unit, a transmission output unit 300, a driving circuit unit 400, and a heat conducting and dissipating unit 500.

Wherein the first end of the support housing 100 has an inner recess 111.

In this embodiment, the first end of the support housing 100 is an end near the input end of the joint module 10, and the second end of the support housing 100 is an end near the output end of the joint module 10. The direction from the first end of the support housing 100 to the second end of the support housing 100 is the X-axis. The inside of the support housing 100 refers to a space surrounded by the support housing 100, i.e., a mounting cavity 101 described below, and the outside of the support housing 100 refers to a space located outside the support housing 100. The inner wall of the support housing 100 means a side wall of the support housing 100 near the inside thereof, and the outer wall of the support housing 100 means a side wall of the support housing 100 near the outside thereof. The first end of the support housing 100 is recessed toward the inside of the support housing 100 to form the inner recess 111.

Specifically, referring to fig. 3, the support housing 100 includes a housing main body bracket 110 and a housing front end bracket 120. The housing body support 110 and the housing front end support 120 are closed and connected to form a mounting cavity 101. The power input unit and the transmission output unit 300 are located within the mounting cavity 101. An end of the housing main body holder 110 remote from the housing front end holder 120 forms an inner recess 111.

In this embodiment, please continue with reference to fig. 3, the power input unit includes a motor stator 210, a motor rotor 220, and a rotary output shaft 230. The motor stator 210 is fixedly installed inside the support housing 100 and disposed around the concave portion 111, and the motor rotor 220 is rotatably installed inside the support housing 100 and disposed around the motor stator 210, and the rotation output shaft 230 is rotatably installed through the support housing 100 in a direction (i.e., X-axis) from a first end of the support housing 100 to a second end of the support housing 100 and connected to the motor rotor 220.

Alternatively, the motor stator 210 is in direct contact with the inner wall of the first end of the support housing 100, so that heat generated by the motor stator 210 can be more quickly dissipated by conduction outward through the support housing 100. Wherein, the first end inner wall of the support housing 100 refers to a side of the end wall of the first end of the support housing 100 near the inside of the support housing 100, and the first end outer wall of the support housing 100 refers to a side of the end wall of the first end of the support housing 100 near the outside of the support housing 100.

Specifically, since the first end of the support housing 100 forms the inner recess 111, the inner recess 111 is annular, and the mounting groove 102 (see fig. 3) for positioning and mounting is formed between the annular outer ring of the inner recess 111 and the side wall of the support housing 100, the motor stator 210 is conveniently positioned and mounted in the mounting groove 102. The motor stator 210 includes a stator coil, and the motor rotor 220 includes a plurality of magnets surrounding an outer side of the stator coil. Since the motor stator 210 is disposed around the inner recess 111, the inner side of the stator coil means a side close to the inner recess 111, and the outer side of the stator coil means a side far from the inner recess 111.

Alternatively, the power input unit further includes an annular plate 250, an outer ring of the annular plate 250 is connected to the motor rotor 220, and an inner ring of the annular plate 250 is fixedly coupled to the rotary output shaft 230, so that the motor rotor 220 is connected to the rotary output shaft 230 through the annular plate 250.

Alternatively, the rotary output shaft 230 is distributed along the X-axis. The rotary output shaft 230 is a hollow shaft, and the rotary output shaft 230 has a hollow hole 231. The provision of the hollow hole 231 facilitates ventilation and heat dissipation of the joint module 10.

Optionally, the power input unit further includes a first bearing 240 coupled to an end of the rotation output shaft 230 near the inner recess 111. The first bearing 240 is for supporting the rotation output shaft 230 to be rotatably mounted to the support housing 100.

In this embodiment, the transmission output unit 300 is installed inside the support housing 100 and at the second end of the support housing 100, the transmission output unit 300 is connected to the rotation output shaft 230,

Specifically, as shown in fig. 3, the right side of the support housing 100 is a first end of the support housing 100, the left side of the support housing 100 is a second end of the support housing 100, and the transmission output unit 300 is located at the left side of the inside of the support housing 100. The transmission output unit 300 includes a planetary gear 310 and an output flange 320. The planetary gear 310 is located on the right side of the motor rotor 220, i.e., the side near the second end of the support housing 100. The rotary output shaft 230 is a gear shaft, the planetary gear 310 is meshed with the gear shaft, and the planetary gear 310 is further connected with the output flange 320, so that the gear shaft can drive the output flange 320 to rotate through the planetary gear 310.

Further, the output flange 320 is annular. The outer race of the output flange 320 is rotatably mounted to the support housing 100 by a second bearing 330. As shown in fig. 3, the output flange 320 is in contact with the housing front end bracket 120 of the support housing 100 through the second bearing 330. The inner ring of the output flange 320 is movably coupled to the rotary output shaft 230 through a third bearing 340.

Further, the transmission output unit 300 includes an inner gear ring 350 and a planetary cage 360. The planetary carrier 360 is mounted inside the support housing 100, and the planetary gear 310 is rotatably mounted to the planetary carrier 360. The ring gear 350 is fixedly installed to an inner wall of the support housing 100, specifically, an inner wall of the housing front end bracket 120, is disposed around the planetary gear 310, and is engaged with the planetary gear 310 to support the planetary gear 310.

In this embodiment, referring to fig. 3, the driving circuit unit 400 is mounted in the concave portion 111.

Specifically, the driving circuit unit 400 includes an encoder code wheel 410 and a driving circuit board 420 both mounted to the concave portion 111, the encoder code wheel 410 being disposed around an end of the rotation output shaft 230, and the driving circuit board 420 being located between the encoder code wheel 410 and the heat conductive and radiating unit 500 and in direct contact with the heat conductive and radiating unit 500. The driving circuit board 420 is a main heating component, and is directly contacted with the heat conduction and dissipation unit 500, so that the heat dissipation of the heat conduction and dissipation unit is facilitated, and the joint module 10 is ensured to have good operation performance.

The heat-conducting and heat-dissipating unit 500 is mounted outside the support housing 100 and at the first end of the support housing 100, and the heat-conducting and heat-dissipating unit 500 is at least partially in direct contact with the driving circuit unit 400 and at least partially in direct contact with the outer wall of the first end of the support housing 100.

The joint module 10 provided by the invention has the beneficial effects that: the driving circuit unit 400 is located inside the motor stator 210, the motor stator 210 is located at a first end of the supporting housing 100, the transmission output unit 300 is located at a second end of the supporting housing 100, the motor rotor 220 is connected with the transmission output unit 300 through the rotation output shaft 230, the heat conduction and dissipation unit 500 is installed outside the supporting housing 100 and located at the first end of the supporting housing 100, the layout fully utilizes the installation space of the supporting housing 100, and various functional units are integrated, so that the integration level of the joint module 10 is high and the size is small. In addition, the driving circuit unit 400 and the motor stator 210 are used as the most main heating parts in the working process of the joint module 10, the driving circuit unit 400 and the motor stator 210 are arranged in a surrounding mode, the positions are concentrated, concentrated heat dissipation is facilitated, the situation that heat dissipation parts are required to be arranged separately because the driving circuit unit 400 and the motor stator 210 are separated far is avoided, and therefore the heat conduction and dissipation unit 500 dissipates heat of the driving circuit unit 400 through direct contact and dissipates heat of the motor stator 210 through the supporting shell 100 in an outward conduction mode, the effect of dissipating heat of the main heating unit of the joint module 10 is achieved, the heat dissipation effect is good, the operation performance of the joint module 10 is provided, and the small size is guaranteed. Therefore, the joint module 10 provided in this embodiment can achieve multiple comprehensive advantages such as high integration level, small volume, and good performance.

In some embodiments, referring to fig. 3, a thermally conductive heat dissipating unit 500 includes a thermal interface material 510 and a thermally conductive cover plate 520. The thermal interface material 510 is mounted on the concave portion 111, one side of the thermal interface material 510 is in direct contact with the driving circuit unit 400, the other side of the thermal interface material 510 is in direct contact with the heat conducting cover plate 520, and one side of the heat conducting cover plate 520 close to the thermal interface material 510 is attached to the outer wall of the first end of the supporting housing 100.

As such, the thermal interface material 510 drives the circuit board 420 by directly contacting the driving circuit unit 400, and in particular, the main heat generating component in the driving circuit unit 400, thereby transferring heat of the driving circuit unit 400 to the heat conductive cover plate 520. One side of the motor stator 210 is in direct contact with the inner wall of the first end of the support housing 100, and the heat conductive cover plate 520 is in direct contact with the outer wall of the first end of the support housing 100, thereby enabling heat conduction of the motor stator 210 to the outside of the joint module 10.

Specifically, the motor stator 210 and the heat-conducting cover plate 520 are respectively contacted with the inner side and the outer side of the housing main body bracket 110, the surface area of the housing main body bracket 110 is large, and heat transferred by the heat-conducting cover plate 520 and the motor stator 210 can be effectively dissipated, so that the whole effective heat dissipation of the joint module 10 is achieved.

Optionally, the thermal interface material 510 is a thermally conductive silicone, potting adhesive, thermally conductive gel paste, or a metal foil with through holes therein. The thermal conductivity of the thermal interface material 510 is flexibly selected based on the actual heat dissipation efficiency requirements of the product.

Specifically, referring to fig. 3, the heat-conducting and heat-dissipating unit 500 further includes a heat-conducting adhesive disposed between the heat-conducting cover plate 520 and the support housing 100 to increase heat-conducting and heat-dissipating functions.

In some embodiments, in conjunction with fig. 4 and 5, the thermally conductive heat dissipating unit 500 further includes heat dissipating fins 530. The heat dissipation fin 530 has a large heat dissipation surface area, and can be made of a heat dissipation material with high heat conductivity, so that the heat dissipation fin has good heat dissipation performance, and can quickly and effectively dissipate heat of the joint module 10.

Optionally, heat dissipation fins 530 are mounted to support housing 100 and in direct contact with support housing 100 to better dissipate heat from support housing 100.

Optionally, heat dissipation fins 530 are mounted on a side of thermally conductive cover 520 away from thermal interface material 510 and in direct contact with thermally conductive cover 520 to better dissipate heat from thermally conductive cover 520.

The X axis is an axis of the support housing 100, the periphery of the support housing 100 refers to an edge position of the support housing 100, and the circumferential direction of the support housing 100 refers to a direction around the X axis.

In one embodiment, referring to fig. 1, the heat dissipation fins 530 are located at the periphery of the support housing 100, and the air flow outside the joint module 10 can be further utilized to quickly take away the heat on the heat dissipation fins 530, so as to achieve the quick and effective heat dissipation of the joint module 10, and ensure the operation performance of the joint module 10.

In one embodiment, referring to fig. 1, the number of the heat dissipation fins 530 is more than two, and the more than two heat dissipation fins 530 are distributed at intervals along the circumferential direction of the support housing 100. The increase in the number of heat radiating fins 530 is advantageous in improving the heat radiating effect.

The joint module 10 provided in this embodiment not only can realize self rapid heat conduction and dissipation, but also can realize rapid and effective heat dissipation to the joint module 10 and its combination products under the conditions of high integration and small volume when the joint module 10 is used in combination, thereby ensuring the working performance of the joint module 10 and its combination products.

Referring to fig. 6 to 8, the present invention further provides a joint module assembly including a module serial connection member 20, a heat dissipation fan 30, and two joint modules 10 of any of the above. The two joint modules 10 are a first joint module 11 and a second joint module 12, respectively, one side of the module serial connection member 20 is directly contacted and connected with the first end of the support housing 100 of the first joint module 11, the other side of the module serial connection member 20 is directly contacted and connected with the transmission output unit 300 of the second joint module 12, and the heat dissipation fan 30 is mounted at the first end of the support housing 100 of the second joint module 12.

The module serial connection 20 realizes the mechanical serial connection between the first joint module 11 and the second joint module 12, so that the output of the second joint module 12 can be converted to the first joint module 11, and the serial operation of functions is realized. The first joint module 11 and the second joint module 12 can share the heat radiation effect of the heat radiation fan 30.

In some embodiments, please refer to fig. 8, the heat-conducting and heat-dissipating unit 500 of the first joint module 11 is located between the module serial connection 20 and the support housing 100 of the first joint module 11, so as to avoid the heat-conducting and heat-dissipating unit 500 of the first joint module 11 from being exposed, thereby achieving effective heat dissipation without affecting the overall product appearance.

The straight arrows in fig. 6 indicate the flow direction of the air flow. Referring to fig. 6, a heat dissipation gap 21 is formed between the module serial connection member 20 and the second joint module 12, so that heat on the heat conduction and dissipation unit 500, such as the heat dissipation fin 530, can be taken away by utilizing the air convection of the heat dissipation gap 21, and rapid heat dissipation of the joint module 10 and the serial structure thereof can be realized.

In some embodiments, the first joint module 11 and the second joint module 12 are each hollow structures. The air flow of the cooling fan 30 can rapidly and effectively flow to the first joint module 11 through the hollow structure of the second joint module 12, and simultaneously cool the power input unit and the driving circuit unit 400 of the first joint module 11, and accelerate the working efficiency of the heat conduction and dissipation unit 500.

Specifically, referring to fig. 8, the rotation output shaft 230 of the power input unit is a hollow shaft having a hollow hole 231, and the first joint module 11 and the second joint module 12 are both hollow structures because the rotation output shaft 230 penetrates the support housing 100.

In one embodiment, referring to fig. 9, the joint module assembly further includes a module serial end cover 40, the module serial end cover 40 is mounted on a first end of the support housing 100 of the second joint module 12, the cooling fan 30 is mounted on a side of the module serial end cover 40 adjacent to the second joint module 12, and the module serial end cover 40 is provided with air flow holes 41 for air flow passing through in a corresponding mounting area of the cooling fan 30. When the joint module assembly is in operation, the heat dissipation fan 30 can absorb the air in the environment, enter the interior of the joint module assembly connected in series through the air flow holes 41, directly dissipate heat of the power input unit and the driving circuit unit 400 of the second joint module 12, and rapidly take away the heat.

Further, the entire joint module 10 and its combined structure can simultaneously perform air flow from a plurality of places such as the module serial end cover 40, the hollow hole 231, and the heat dissipation gap 21 formed by serial connection of the joint modules 10, simultaneously while providing the heat conduction and dissipation unit 500, thereby improving heat dissipation efficiency.

In summary, the present embodiment provides a highly integrated joint module 10 capable of realizing shared heat dissipation, which uses a concentrated heat conduction and dissipation unit 500 to dissipate heat from the driving circuit unit 400 and the motor stator 210 of the joint module 10 at the same time, and can further dissipate heat by using external air cooling or air flow of the heat dissipation fan 30. Meanwhile, when the joint modules 10 are combined for application, a concentrated heat dissipation mode can be adopted to dissipate heat of a plurality of joint modules 10 at the same time, so that the integrated advantages of high integration level, small volume, good performance and the like of the joint modules 10 can be achieved.

The present invention also provides an articulated robot comprising the joint module 10 of any one of the above, or comprising the joint module assembly of any one of the above.

Specifically, the articulated robot further includes a first arm and a second arm. The first arm and the second arm are connected by a joint module 10 or joint module assembly.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (9)

1. A joint module, comprising:

A support housing having an interior recess at a first end; the inner concave part is annular, and a mounting groove for positioning and mounting is formed between the annular outer ring of the inner concave part and the side wall of the support shell;

the power input unit comprises a motor stator, a motor rotor and a rotary output shaft, wherein the motor stator is fixedly arranged in the support shell and surrounds the concave part, the motor stator is arranged in the mounting groove in a positioning way, the motor stator is in direct contact with the inner wall of the first end of the support shell, the motor rotor is rotatably arranged in the support shell and surrounds the motor stator, and the rotary output shaft is rotatably arranged in the support shell in a penetrating way along the direction from the first end of the support shell to the second end of the support shell and is connected with the motor rotor;

The transmission output unit is arranged in the support shell and positioned at the second end of the support shell, and is connected with the rotary output shaft; the transmission output unit comprises a planetary gear and an output flange, the planetary gear is positioned on one side of the motor rotor, which is close to the second end of the support shell, the rotary output shaft is a gear shaft, the planetary gear is meshed with the gear shaft, the planetary gear is also connected with the output flange, the output flange is annular, the outer ring of the output flange is rotatably arranged on the support shell through a second bearing, and the inner ring of the output flange is movably sleeved with the rotary output shaft through a third bearing;

the driving circuit unit is arranged in the concave part, and the motor stator is arranged around the driving circuit unit;

The heat conduction and radiation unit is arranged outside the supporting shell and is positioned at the first end of the supporting shell, and at least part of the heat conduction and radiation unit is in direct contact with the driving circuit unit and at least part of the heat conduction and radiation unit is in direct contact with the outer wall of the first end of the supporting shell;

the driving circuit unit further comprises an encoder code disc and a driving circuit board, wherein the encoder code disc and the driving circuit board are both installed in the concave portion, the encoder code disc surrounds the end portion of the rotary output shaft, and the driving circuit board is located between the encoder code disc and the heat conducting and radiating unit and is in direct contact with the heat conducting and radiating unit.

2. The joint module of claim 1, wherein: the heat conduction and heat dissipation unit comprises a heat interface material and a heat conduction cover plate, wherein the heat interface material is arranged in the concave part, one side of the heat interface material is in direct contact with the driving circuit unit, the other side of the heat interface material is in direct contact with the heat conduction cover plate, and one side, close to the heat interface material, of the heat conduction cover plate is attached to the outer wall of the first end of the support shell.

3. The joint module of claim 2, wherein: the heat conduction and dissipation unit further comprises a heat conduction adhesive arranged between the heat conduction cover plate and the support shell.

4. The joint module of claim 2, wherein: the heat conduction and radiation unit further comprises a radiation fin;

The radiating fins are arranged on the supporting shell and are in direct contact with the supporting shell; and/or the radiating fins are arranged on one side, far away from the thermal interface material, of the heat conducting cover plate and are in direct contact with the heat conducting cover plate.

5. The joint module of claim 4, wherein: the radiating fins are positioned at the periphery of the supporting shell;

And/or the number of the radiating fins is more than two, and the radiating fins are distributed at intervals along the circumferential direction of the support shell.

6. A joint module assembly, characterized in that: the joint module comprises a module serial connection piece, a cooling fan and two joint modules according to any one of claims 1 to 5, wherein the two joint modules are a first joint module and a second joint module respectively, one side of the module serial connection piece is directly contacted and connected with the first end of the support shell of the first joint module, the other side of the module serial connection piece is directly contacted and connected with the transmission output unit of the second joint module, and the cooling fan is mounted at the first end of the support shell of the second joint module.

7. The joint module assembly of claim 6, wherein: the joint module assembly further includes at least one of:

the heat conduction and dissipation unit of the first joint module is located between the module serial connection piece and the support shell of the first joint module, so that the heat conduction and dissipation unit of the first joint module is prevented from being exposed;

a heat dissipation gap is formed between the module serial connection piece and the second joint module;

the first joint module and the second joint module are hollow structures.

8. The joint module assembly according to claim 6 or 7, wherein: the joint module assembly further comprises a module serial end cover, the module serial end cover is mounted at the first end of the support shell of the second joint module, the cooling fan is mounted at one side, close to the second joint module, of the module serial end cover, and an air flow hole for air flow to pass through is formed in a corresponding mounting area of the cooling fan.

9. A joint robot, characterized in that: comprising a joint module according to any one of claims 1 to 5 or comprising a joint module assembly according to any one of claims 6 to 8.