CN116021545A

CN116021545A - Joint module and robot

Info

Publication number: CN116021545A
Application number: CN202210985562.0A
Authority: CN
Inventors: 邵茂峰; 肖智勇; 冯永玄; 张国平; 王光能
Original assignee: Shenzhen Dazu Robot Co ltd
Current assignee: Shenzhen Dazu Robot Co ltd
Priority date: 2022-08-17
Filing date: 2022-08-17
Publication date: 2023-04-28

Abstract

The invention relates to a joint module and a robot. The first supporting disk is arranged on one side of the encoder assembly and is coaxially arranged with the encoder assembly, the brake is arranged on one side of the first supporting disk, which is away from the encoder assembly, and is sleeved on part of the first supporting disk, the sealing element is arranged between the brake and the radial direction of the first supporting disk to block the flow path between the brake and the first supporting disk, the limiting element is arranged between the brake and the radial direction of the first supporting disk, and at least part of the limiting element is arranged on one side of the sealing element, which is away from the first supporting disk, to limit the movement of the sealing element in the direction away from the first supporting disk. The joint module can effectively prevent dust generated on one side of the brake from entering an encoder assembly operation area through the gap between the brake and the first support disc when the joint module operates, so that the encoder assembly is prevented from being polluted, and the operation stability of the joint module is improved.

Description

Joint module and robot

Technical Field

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

Background

The joint module of the intelligent robot is used as a core component of the intelligent robot, and has the characteristics of simple structure, low noise and high transmission efficiency. However, in the operation process of the joint module, dust generated in the joint due to joint rotation is easily diffused to each part of the joint module under the air flow, so that the area where the encoder is located is polluted by the dust, the normal operation of the encoder is affected, and the joint module is possibly damaged in severe cases.

Disclosure of Invention

Based on this, it is necessary to provide a joint module and a robot aiming at the problem that the region where the encoder assembly of the joint module is located is polluted by dust.

A joint module, the joint module comprising:

an encoder assembly;

the first supporting disc is arranged on one side of the encoder assembly and is coaxially arranged with the encoder assembly;

the brake is positioned on one side of the first support disc, which is away from the encoder assembly, and is sleeved on part of the first support disc;

a seal member provided between the stopper and the first support disk in a radial direction to block a flow path between the stopper and the first support disk;

and the limiting piece is arranged between the brake and the radial direction of the first support disc, and at least part of the limiting piece is positioned on one side of the sealing piece away from the first support disc so as to limit the sealing piece to move in the direction away from the first support disc.

In one embodiment, the limiting piece is sleeved on the first supporting disc, a limiting groove is formed in one axial side of the limiting piece, and the sealing piece abuts against the limiting groove.

In one embodiment, the stopper is sleeved on the limiting member, and a sealing ring is arranged between the limiting member and the stopper.

In one embodiment, a first groove is formed in the radial outer side of the limiting piece, the first groove extends along the circumferential direction of the limiting piece, and the sealing ring is accommodated in the first groove.

In one embodiment, the limiting member is disposed on a side of the sealing member away from the first support plate.

In one embodiment, a second groove for clamping the limiting piece is formed in the outer side of the first supporting disc in the radial direction, the limiting piece extends along the radial direction of the first supporting disc, and one side, close to the sealing piece, of the limiting piece is abutted to the sealing piece.

In one embodiment, a boss is disposed radially inward of the brake, the boss being located on an axial side of the seal away from the encoder assembly, and the limiter being sandwiched between the boss and the seal.

In one embodiment, the first support disc includes a collar portion and a support arm, the support arm is connected to one end of the collar portion and extends in a radial direction of the collar portion, the brake is sleeved on the collar portion, and the encoder assembly and the brake are located on two sides of the support arm respectively.

In one embodiment, the joint module further comprises a housing and a rear cover, wherein the housing is sleeved on the brake and extends towards a direction approaching the encoder assembly, and the rear cover is connected to one end of the housing away from the brake.

In one embodiment, a robot is also provided, the robot comprising a joint module as described above. Above-mentioned joint module plays rotatory supporting role to the encoder subassembly through first supporting disk, establishes the junction through the cover at stopper and first supporting disk and is equipped with the sealing member to have good leakproofness between assurance stopper and the first supporting disk, prevent when joint module operates, the produced dust in stopper one side enters into one side of encoder subassembly operation through the circulation route between stopper and the first supporting disk, thereby avoid the encoder subassembly to receive dust pollution. In addition, still through setting up the locating part on first support piece or stopper, prevent that the sealing member from taking place to slide in the axial of first supporting disk, ensure that the sealing member installation is firm, promote the dustproof effect to the encoder subassembly.

Above-mentioned robot through carrying out dustproof design to the encoder subassembly in the joint module, can prevent that encoder subassembly operation region from receiving dust pollution when the joint module operates, guarantees robot normal operating.

Drawings

FIG. 1 is a schematic view of a joint module according to a first embodiment;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 5 is a schematic view of a first support plate of a joint module according to a first embodiment;

FIG. 3 is a schematic view of a seal member, an end cap and a seal ring of a joint module according to the first embodiment;

FIG. 4 is a schematic structural diagram of an end cap of a joint module according to a first embodiment;

FIG. 6 is a schematic diagram of a partial structure of a joint module according to a second embodiment;

fig. 7 is a schematic structural diagram of a first support disc and an elastic clamping member of a joint module according to a second embodiment;

fig. 8 is a schematic partial structure of a first support disc of a joint module according to a second embodiment;

FIG. 9 is a schematic view of a part of a joint module according to a third embodiment;

fig. 10 is a schematic structural diagram of a brake, a boss and a wave pad of a joint module according to the third embodiment.

Reference numerals illustrate:

1-an encoder assembly; 11-a first code wheel; 12-a second code wheel; 13-a second support plate; 131-a connection; 132-a support;

2-a first support plate; 21-collar portion; 211-a first convex ring; 212-a second groove; 213-a second collar; 22-supporting arms; 221-a first accommodating groove; 222-a clamping groove;

3-brake; 31-boss;

4-a seal;

5-end caps; 51-a limit groove; 511-inclined plane; 52-a first groove;

6, a sealing ring;

7-elastic clamping pieces;

8-wave pad;

91-a housing; 911-projecting; 92-a rear cover;

100-a driving mechanism; 101-a motor rotating shaft; 102-a motor assembly; 103-a speed reducer assembly; 1031-a pipe section; 1032—front end cap.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

In the description of the present invention, it should 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", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being 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 at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

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; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. 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 the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1 and 2, fig. 1 is a schematic structural view of a joint module according to a first embodiment of the present invention, and fig. 2 is a partial enlarged view of a portion a in fig. 1.

An embodiment of the invention provides a robot, which comprises a joint module. In some embodiments, the joint module includes an encoder assembly 1, a first support disc 2, a brake 3, a seal 4, and a limiter.

The robot disclosed by the embodiment of the application can be used in the fields of automobiles, medical treatment, logistics, aerospace and the like, but is not limited to the fields. The joint module integrates a motor, a sensor, a speed reducer, a driver and a brake into a whole, and the compact and flexible structural characteristics of the robot are met. The encoder component 1 is a sensor, outputs corresponding signals in the light shielding and light transmitting states through a photosensitive element, and converts the output signals into corresponding angle information for acquiring joint angles or speeds; the first support plate 2 is a support structure for supporting the encoder assembly 1.

The first support disc 2 is arranged on one side of the encoder assembly 1 and is coaxially arranged with the encoder assembly 1, and the brake 3 is positioned on one side of the first support disc 2 away from the encoder assembly 1 and is sleeved on part of the first support disc 2. The sealing member 4 is disposed between the brake 3 and the first support disc 2 in a radial direction of the first support disc 2, and the sealing member 4 is disposed between the brake 3 and the first support disc 2 to block a flow path between the brake 3 and the first support disc 2. The limiting piece is arranged between the brake 3 and the radial direction of the first support disc 2, namely along the radial direction of the first support disc 2, and the limiting piece is arranged between the brake 3 and the first support disc 2; at least part of the stop is located on the side of the seal 4 remote from the first support disc 2 to limit movement of the seal 4 in a direction away from the first support disc 2.

In the conventional art, dust on a side of the brake 3 away from the encoder assembly 1 flows between the brake 3 and the first support disc 2 in a radial direction of the first support disc 2, then flows between the brake 3 and an axial direction of the first support disc 2, further flows to an outer edge of the first support disc 2 in the axial direction of the first support disc 2, and finally flows to a side of the first support disc 2 close to the encoder assembly 1 along the outer edge of the first support disc 2, thereby polluting the encoder assembly 1.

In the joint module disclosed in the embodiment of the present application, the flow path between the brake 3 and the first support disc 2 refers to a path for dust to flow between the brake 3 and the first support disc 2. By providing the seal 4 between the brake 3 and the first support disc 2 in the radial direction of the first support 2, the flow path between the brake 3 and the first support disc 2 in the radial direction is interrupted, i.e. dust on the side of the brake 3 remote from the encoder assembly 1 cannot flow between the brake 3 and the first support disc 2 in the radial direction of the first support disc 2, and further dust cannot flow further to the side of the first support disc 2 close to the encoder assembly 1, so that the encoder assembly 1 is not contaminated.

In the above-mentioned structure setting, the joint module plays rotatory supporting role to encoder subassembly 1 through first supporting disk 2, through setting up stopper 3 in one side that first supporting disk 2 deviates from encoder subassembly 1, and set up sealing member 4 between stopper 3 and the radial of first supporting disk 2, with guaranteed to have good leakproofness between stopper 3 and the first supporting disk 2, and then when the joint module is operated, the dust that effectively prevents that stopper 3 one side from producing enters into one side that encoder subassembly 1 was operated through the flow path between stopper 3 and the first supporting disk 2, thereby avoid encoder subassembly 1 to receive the pollution. Still through setting up the locating part between stopper 3 and first supporting disk 2 in order to restrict sealing member 4 and move towards the direction of keeping away from first supporting disk 2, ensure that sealing member 4 installs firmly, promote the dustproof effect to encoder subassembly 1. The robot carries out dustproof design through the encoder subassembly 1 in the above-mentioned joint module, can prevent that encoder subassembly 1 operation region from receiving dust pollution when joint module operates, guarantees robot normal operating.

In some embodiments, the joint module further includes a driving mechanism 100, where the driving mechanism 100 is disposed on a side of the support arm 22 away from the encoder assembly 1, the driving mechanism 100 includes a motor shaft 101, where the motor shaft 101 is disposed in a portion of the first support disc 2, and the brake 3 is connected to the motor shaft 101 and used for braking the motor shaft 101. The sealing member 4 is a bearing structure, and seals the operation area of the encoder assembly 1 while the encoder assembly 1 is normally rotated by the bearing structure, so that dust generated on one side of the brake 3 and the motor shaft 101 is prevented from entering the operation area of the encoder assembly 1.

In some embodiments, the first support plate 2 includes a collar portion 21 and a support arm 22, where the collar portion 21 and the support arm 22 are each an annular structural member, and the support arm 22 is connected to one end of the collar portion 21 and extends in a radial direction of the collar portion 21. The encoder assembly 1 and the brake 3 are respectively positioned at two sides of the supporting arm 22, the encoder assembly 1 is arranged at one side of the supporting arm 22 away from the lantern ring part 21, and the brake 3 is sleeved on the lantern ring part 21. The arrangement of the support arm 22 extending radially along the collar portion 21 provides a dust-blocking effect on the encoder assembly 1, preventing dust generated on the side of the brake 3 from directly entering the operating region of the encoder assembly 1.

Further, one end of the motor shaft 101 is connected to the inner peripheral surface of the collar portion 21, and the brake 3 is connected to the motor shaft 101 for braking the motor shaft 101. The seal 4 is arranged between the stopper 3 and the radial direction of the collar portion 21, and is sleeved on the outer peripheral surface of the collar portion 21, the seal 4 is in interference fit with the collar portion 21, the stopper 3 is sleeved on the radial outer side of the seal 4, one part of the limiting member is arranged between the seal 4 and the stopper 3, and the other part of the limiting member is arranged on one side, deviating from the support arm 22, of the seal 4.

In the above-described configuration, the collar portion 21 of the first support plate 2 is connected to the seal 4 and the motor shaft 101, and the encoder assembly 1 is rotatably supported by the support arm 22 of the first support plate 2. By arranging the brake 3 and the motor rotating shaft 101 on the side of the support arm 22 away from the encoder assembly 1, when the brake 3 and the driving mechanism 100 of the joint module operate, dust generated on the side of the brake 3 and the motor rotating shaft 101 is prevented from entering the operation area of the encoder assembly 1 from the gap between the brake 3 and the motor rotating shaft 101 and the first support member 2, the operation stability of the encoder assembly 1 is improved, and the operation stability of the joint module is remarkably improved.

In some embodiments, the limiting part is an end cover 5 sleeved on the first supporting disc 2, the end cover 5 is of an annular structure, a limiting groove 51 is formed in one axial side of the end cover 5, the limiting groove 51 is formed in the inner circumferential surface of the end cover 5 and extends along the circumferential direction of the end cover 5, the sealing part 4 abuts against the limiting groove 51, and the sealing part 4 is in interference fit with the end cover 5. The above arrangement is such that a part of the end cap 5 is located between the seal 4 and the stopper 3 and another part is located on the side of the seal 4 facing away from the support arm 22, which can prevent the seal 4 from moving in a direction away from the first support disc 2 and also ensure that the flow path between the stopper 3 and the first support disc 2 is blocked.

Referring to fig. 3 and 4, fig. 3 is a schematic structural view showing a seal member, an end cap and a seal ring of the joint module according to the present embodiment, and fig. 4 is a schematic structural view showing an end cap of the joint module according to the present embodiment.

In some embodiments, the limiting groove 51 in the present embodiment is communicated with the end face of the end cover 5 facing the support arm 22 through the inclined surface 511, and the inclined surface 511 gradually approaches the outer peripheral surface of the end cover 5 along the direction facing the support arm 22. The above arrangement makes the limiting groove 51 flaring toward the notch of the supporting arm 22, so that the sealing element 4 is assembled into the limiting groove 51 along the inclined surface 511 along the axial direction of the end cover 5 when being installed. In other embodiments, the limiting groove 51 may be provided so as not to communicate with the end face of the end cap 5.

In some embodiments, the brake 3 is sleeved on the outer peripheral surface of the end cover 5, the end cover 5 is in clearance fit with the brake 3, and a sealing ring 6 is arranged between the end cover 5 and the brake 3. By means of the elastic action of the sealing ring 6, a good sealing effect is achieved between the brake 3 and the end cover 5, dust generated in the working process of the motor rotating shaft 101 and the brake 3 can be effectively isolated through the sealing ring 6, and the dust is difficult to enter the running area of the encoder assembly 1.

In some embodiments, the radially outer side of the end cap 5 is provided with a first groove 52, the first groove 52 extending in the circumferential direction of the end cap 5, the sealing ring 6 being received in the first groove 52. Through set up the first recess 52 that is used for holding sealing washer 6 on the outer peripheral face of end cover 5, play spacing fixed action to sealing washer 6, prevent that sealing washer 6 from taking place the skew and influence sealed dustproof effect.

In some embodiments, the sealing rings 6 are provided in plurality, the end cover 5 is provided with a plurality of first grooves 52, the plurality of first grooves 52 are arranged at intervals along the axial direction of the end cover 5, and the plurality of sealing rings 6 are arranged in one-to-one correspondence with the plurality of first grooves 52. Through set up a plurality of sealing washer 6 between stopper 3 and end cover 5, can further promote the leakproofness between end cover 5 and the stopper 3, and then promote the dustproof effect to encoder subassembly 1.

In some embodiments, the sealing ring 6 may be first installed in the first groove 52 of the end cover 5 during installation; the sealing element 4 is put into the limit groove 51 of the end cover 5, and the sealing element 4 and the end cover 5 are in interference fit or are bonded through glue so as to prevent the sealing element 4 from slipping out of the end cover 5; then the sealing element 4 is sleeved on the lantern ring part 21 of the first supporting disk 2, and the sealing element 4 and the first supporting disk 2 are connected in an interference fit manner or are bonded through glue; finally, the end cover 5, the sealing element 4 and the first support disc 2 which are assembled together are installed inside the brake 3 together, and finally the sleeving part 21 of the first support disc 2 is sleeved and fastened on the motor rotating shaft 101.

Referring to fig. 5, fig. 5 is a schematic structural view of a first support plate of the joint module according to the present embodiment.

In some embodiments, a first collar 211 is provided on the outer circumferential surface of the collar portion 21, the first collar 211 being provided coaxially with the collar portion 21, the first collar 211 being connected to the support arm 22, the side of the seal 4 facing the support arm 22 being abutted against the side of the first collar 211 facing away from the support arm 22. The provision of the first collar 211 also facilitates ensuring that the mounting gap between the seal 4 and the support arm 22 is sufficient to accommodate the end cap 5 when the seal 4 is mounted in place on the collar portion 21 by the end cap 5 and the first collar 211 cooperating to retain the seal 4 in the axial direction of the collar portion 21.

In some embodiments, a second convex ring 213 is provided on the inner peripheral surface of the collar portion 21, the second convex ring 213 being provided coaxially with the collar portion 21, and an end of the motor rotation shaft 101 toward the support arm 22 being abutted against the second convex ring 213. By providing the second convex ring 213, the motor shaft 101 can be mounted in a limited position, and the firmness and the tightness between the collar portion 21 and the motor shaft 101 can be improved.

In some embodiments, the joint module further includes a housing 91 and a rear cover 92, wherein the housing 91 is sleeved on the brake 3 and extends toward the encoder assembly 1, and the rear cover 92 is connected to an end of the housing 91 away from the brake 3. The motor rotating shaft 101 is connected with the brake 3 through the first supporting disc 2, the encoder assembly 1 and the first supporting disc 2 are installed in a space formed by encircling the shell 91, the rear cover 92 and the brake 3, and under the cooperation of the sealing piece 4, the end cover 5 and the sealing ring 6, the first supporting disc 2 can flow through a dust circulation path between the brake 3 and the motor rotating shaft 101 to be separated, so that the running area of the encoder assembly 1 is effectively prevented from being polluted by dust.

In some embodiments, the housing 91 is connected to a side of the support arm 22 facing away from the collar portion 21, specifically, a clamping groove 222 is provided on the support arm 22, a protrusion 911 is provided on the housing 91, the protrusion 911 is accommodated in the clamping groove 222, and dust near the brake 3 can be further blocked from entering the side of the support arm 22 facing the encoder assembly 1 from between the housing 91 and the support arm 22 by matching the protrusion 911 with the clamping groove 222, so that a dust-proof effect on the encoder assembly 1 is improved.

Referring to fig. 1 and fig. 2, in some embodiments, the driving mechanism 100 further includes a motor assembly 102 and a speed reducer assembly 103, where the motor assembly 102 refers to components of the motor, including a motor housing, a motor stator installed in the motor housing, and other components, and the motor assembly 102 is matched with the motor shaft 101 to generate driving torque, and the speed reducer assembly 103 may be, but is not limited to, a harmonic reducer, and the foregoing is a conventional structural arrangement of a shutdown module in the prior art, and is not described herein.

In some embodiments, the motor assembly 102 and the speed reducer assembly 103 are both disposed on a side of the brake 3 facing away from the first support disc 2, and the motor housing of the motor assembly 102 is connected to a side of the housing 91 facing away from the encoder assembly 1 and is sleeved on a radially outer side of the motor shaft 101. The housing of the reducer assembly 103 is connected to the motor housing of the motor assembly 102, and the end of the motor shaft 101 facing away from the collar portion 21 is connected to the input shaft of the reducer assembly 103 via a coupling. By arranging the various components of the drive mechanism 100 on the side of the brake 3 facing away from the encoder assembly 1, dust protection of the encoder assembly 1 is achieved under the cooperation of the first support disc 2, the seal 4, the end cap 5 and the sealing ring 6.

In some embodiments, the front end cover 1032 of the reducer assembly 103 is provided with a pipe section 1031, and the front end cover 1032 and the pipe section 1031 together form a T-shaped structure, so that each component of the reducer assembly 103 is convenient to install, which is a conventional structural arrangement of a reducer in the prior art, and will not be described herein in detail. The pipe section 1031 is located in the input shaft of the reducer assembly 103, and one end of the pipe section 1031 facing away from the front end cover 1032 sequentially passes through the input shaft of the reducer assembly 103, the motor shaft 101 and the collar portion 21 and then is connected to the second support disc 13 of the encoder assembly 1, the second support disc 13 is an annular support structure, and is located on one side of the first support disc 2 facing away from the brake 3 and is connected with one side of the rear cover 92 facing away from the housing 91, so that the setting position of the second support disc 13 is not polluted by dust from the brake 3 and one side of the driving mechanism 100.

In some embodiments, the second supporting plate 13 includes a connecting portion 131 and a supporting portion 132, where the connecting portion 131 and the supporting portion 132 are each an annular structural member, and the supporting portion 132 is connected to a radially outer side of the connecting portion 131 and extends along a radial direction of the connecting portion 131. The connecting portion 131 is coaxially arranged with the first support plate 2, and one end of the connecting portion 131 is connected with one end of the pipe section 1031 facing away from the front end cover 1032, and the other end of the connecting portion 131 is connected with one end of the rear cover 92 facing away from the housing 91. The support 132 is located between the support arm 22 and the rear cover 92.

In some embodiments, the encoder assembly 1 further includes a first code wheel 11 and a second code wheel 12, where the first code wheel 11 and the second code wheel 12 are digital encoders for measuring angular displacement, and are one of the most commonly used displacement sensors for measuring angular positions of shafts, and the code wheel is used as a digital encoder for measuring angular displacement, and the operation principle thereof is the prior art and is not described herein. The surface of the support arm 22 facing away from the sleeve portion 21 is provided with a first accommodating groove 221, and the first code wheel 11 is accommodated in the first accommodating groove 221. The second code wheel 12 is provided on a surface of the support portion 132 facing the rear cover 92. The above structure sets up for first code wheel 11 and second code wheel 12 are protected respectively on first supporting disk 2 and second supporting disk 13 and are not influenced by stopper 3 and actuating mechanism 100 one side, and then at actuating mechanism 100 and the in-process of stopper 3 operation, can prevent that the dust that actuating assembly 100 and stopper 3 one side produced from entering into the operation region of first code wheel 11 and second code wheel 12, improve the stability of encoder assembly 1 operation.

In some embodiments, a limiting member is disposed on a side of the sealing member 4 away from the first support plate 2, and the limiting member is used to limit movement of the sealing member 4 in a direction away from the first support plate 2.

Referring to fig. 6 to 8, fig. 6 is a schematic view showing a partial structure of a joint module according to an embodiment of the present invention, fig. 7 is a schematic view showing a structure of a first support plate and an elastic clip of the joint module according to an embodiment of the present invention, and fig. 8 is a schematic view showing a partial structure of the first support plate of the joint module according to an embodiment of the present invention.

In some embodiments, the limiting member is an elastic clamping member 7, and the elastic clamping member 7 is a structural member with elasticity. The radial outside of first supporting disk 2 is provided with the second recess 212 that is used for the card to establish elasticity and draws piece 7, and elasticity card piece 7 extends along the radial of first supporting disk 2, and elasticity card piece 7 is close to sealing member 4 one side and sealing member 4 butt. By means of the elastic force of the elastic clamping piece 7, in a natural state, the elastic clamping piece 7 stretches out of the second groove 212 to abut against the sealing piece 4, the limiting effect is achieved on the sealing piece 4, and when the sealing piece 4 is assembled, the elastic clamping piece 7 is compressed and accommodated in the second groove 212 under the action of external pressure, and then the sealing piece 4 is assembled on the lantern ring portion 21 of the first supporting disc 2. The structure is provided, so that the sealing element 4 can be stably installed, and the device is convenient to install and operate, simple in structure and low in cost.

In some embodiments, the first support disc 2 is provided with a plurality of second grooves 212, and the plurality of second grooves 212 are distributed at intervals along the circumferential direction of the first support disc 2, and each second groove 212 is provided with one elastic clamping piece 7 in a clamping way. The sealing element 4 can be mounted on the first support disc 2 more firmly by abutting the sealing element 4 at each position in the circumferential direction through a plurality of elastic clamping elements 7.

In some embodiments, the elastic clamping member 7 may be a spring structure or rubber, and the materials are available and low in cost.

Referring to fig. 9 and 10, fig. 9 is a schematic view showing a partial structure of a joint module according to an embodiment of the present invention, and fig. 10 is a schematic view showing a structure of a brake, a boss, and a wave pad of the joint module according to an embodiment of the present invention.

In some embodiments, the radially inner side of the actuator 3 is provided with a boss 31, the boss 31 being located on the axial side of the seal 4 remote from the encoder assembly 1, the seal 4 may be embedded directly on the side of the actuator 3 where the boss 31 faces the support arm 22. The boss 31 structure arranged on the brake 3 plays a limiting role on the sealing element 4.

In some embodiments, the limiting member is a wave pad 8, and the wave pad 8 is sandwiched between the boss 31 and the sealing member 4 and has elasticity. Under the cooperation of boss 31 and ripples pad 8, can carry out spacingly to sealing member 4, prevent that sealing member 4 from moving towards the direction of keeping away from first supporting disk 2, can also carry out elastic pretension to sealing member 4.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described 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.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. A joint module, the joint module comprising:

an encoder assembly (1);

the first supporting disc (2) is arranged on one side of the encoder assembly (1) and is coaxially arranged with the encoder assembly (1);

the brake (3) is positioned on one side of the first support disc (2) away from the encoder assembly (1) and is sleeved on part of the first support disc (2);

a seal (4) provided between the brake (3) and the first support disk (2) in the radial direction to block a dust flow path between the brake (3) and the first support disk (2);

the limiting piece is arranged between the brake (3) and the radial direction of the first support disc (2), and at least part of the limiting piece is positioned on one side, away from the first support disc (2), of the sealing piece (4) so as to limit the sealing piece (4) to move in the direction away from the first support disc (2).

2. Joint module according to claim 1, characterized in that the stop piece is sleeved on the first support disc (2), a stop groove (51) is arranged on one axial side of the stop piece, and the sealing piece (4) is abutted in the stop groove (51).

3. Joint module according to claim 2, characterized in that the brake (3) is sleeved on the limiting member, and a sealing ring (6) is arranged between the limiting member and the brake (3).

4. A joint module according to claim 3, characterized in that the radially outer side of the stop is provided with a first groove (52), the first groove (52) extending in the circumferential direction of the stop, the sealing ring (6) being accommodated in the first groove (52).

5. Joint module according to claim 1, characterized in that the stop is arranged on the side of the seal (4) remote from the first support disc (2).

6. The joint module according to claim 5, characterized in that a second groove (212) for clamping the limiting piece is arranged on the radial outer side of the first support disc (2), the limiting piece extends along the radial direction of the first support disc (2), and one side, close to the sealing piece (4), of the limiting piece is abutted against the sealing piece (4).

7. Joint module according to claim 5, characterized in that the radially inner side of the brake (3) is provided with a boss (31), which boss (31) is located on the axial side of the seal (4) remote from the encoder assembly (1), the stop being sandwiched between the boss (31) and the seal (4).

8. Joint module according to claim 1, wherein the first support disc (2) comprises a collar portion (21) and a support arm (22), the support arm (22) being connected to one end of the collar portion (21) and extending in a radial direction of the collar portion (21), the brake (3) being sleeved on the collar portion (21), the encoder assembly (1) and the brake (3) being located on both sides of the support arm (22), respectively.

9. The joint module according to claim 1, further comprising a housing (91) and a rear cover (92), wherein the housing (91) is sleeved on the brake (3) and extends in a direction approaching the encoder assembly (1), and the rear cover (92) is connected to an end of the housing (91) remote from the brake (3).

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