CN114012775A - A high-performance mobile robot joint module - Google Patents

Abstract

The invention provides a high-performance mobile robot joint module which comprises a joint shell, a motor, an output flange plate, a gear shaft arranged at the output end of the motor, a speed reducing mechanism and primary overload protection, wherein the motor comprises a rotor and a stator, the speed reducing mechanism is connected with the gear shaft and the output flange plate, and the speed reducing mechanism comprises a primary speed reducing gear and a secondary speed reducing gear; the primary overload protection comprises an annular wave groove and a limiting piece; one end of the limiting piece limits the annular wave groove, and the other end of the limiting piece is elastically connected with the first-stage reduction gear; when the limiting piece is not jacked up by the annular wave groove, the secondary reduction gear and the primary reduction gear rotate synchronously; when the limiting piece is jacked up by the annular wave groove, the first-stage reduction gear and the second-stage reduction gear rotate relatively; after the mechanical arm of the robot is clamped, the mechanical arm is forcibly started, so that the transmission structure in the speed reducing mechanism is prevented from being damaged; the robot is convenient to clamp the arms of the robot, the robot is controlled to finely adjust the posture of the robot, and the difficulty removal is realized.

Description

High-performance mobile robot joint module

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a high-performance mobile robot joint module.

Background

The cooperative robot becomes a mainstream robot for future development and is required to meet the main customers, namely small and medium-sized enterprises, in the emerging market of the robot at present. In small robotic arms, frameless direct drive motors are often required to reduce the size of the robot joints, reduce the weight of the robot, and improve the efficiency of their motions. The use of a direct drive motor also brings a new problem, namely higher technical implementation difficulty and application integration cost;

on the one hand, the frameless motor is a complicated operation and use process, and on the other hand, in the process of designing and manufacturing the robot, a plurality of scattered operation and control transmission assemblies such as a torque motor, encoder feedback, a brake band-type brake, a harmonic speed reducer and the like need to be integrated into a narrow space with extremely limited size of a robot joint, and meanwhile, the quick, flexible and reliable motion performance of the mechanical arm must be ensured. The ultra-long development period and the high manufacturing cost caused by the method hinder the wide application and popularization of the small-sized joint robot to a certain extent;

the existing robot joint module, in some special operations, for example, the work of searching and rescuing is broken open, mechanical arm at the robot needs to detect the gap that the module inserted the wall at the search and rescue in-process, lead to mechanical arm to be blocked by the gap very easily, when making the joint module inherent drive mechanical arm rotate the regulation, because the arm blocks and can not rotate, under the condition that does not have overload protection, the gear in the shutdown module is because the moment of torsion is too big, lead to the gear train in the whole reduction gears in the joint module to wear seriously, lead to whole joint module to damage, and then influence the progress of whole search and rescue work.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a high-performance mobile robot joint module.

The invention solves the technical problems through the following technical means:

a high-performance mobile robot joint module comprises a joint shell, a motor, an output flange plate, a gear shaft arranged at the output end of the motor, a speed reducing mechanism and a primary overload protection, wherein the motor comprises a rotor and a stator, the speed reducing mechanism is connected with the gear shaft and the output flange plate, the speed reducing mechanism comprises a primary speed reducing gear and a secondary speed reducing gear, and one side of the primary speed reducing gear, which is close to the secondary speed reducing gear, is tightly attached to one side of the secondary speed reducing gear;

the primary overload protection comprises an annular wave groove and a limiting piece, and the limiting piece is arranged on one side, close to the secondary reduction gear, of the primary reduction gear; the annular wave groove is arranged on one side of the secondary reduction gear, which is close to the primary reduction gear; one end of the limiting piece limits the annular wave groove, and the other end of the limiting piece is elastically connected with the first-stage reduction gear;

when the limiting piece is not jacked up by the annular wave groove, the secondary reduction gear and the primary reduction gear rotate synchronously;

when the limiting piece is jacked up by the annular wave groove, the first-stage reduction gear and the second-stage reduction gear rotate relatively.

As an improvement of the technical scheme, the limiting part is provided with three groups, the limiting part comprises a pushing spring, a sliding cavity, a ball and a sliding sleeve, and the inner wall of one end of the sliding sleeve, which is close to the annular wave groove, is connected with the ball in a rolling manner; the sliding cavity is formed in one side, close to the secondary reduction gear, of the primary reduction gear, the sliding sleeve is connected with the sliding cavity in a sliding mode along the inner wall of the sliding cavity, and the sliding cavity is a cylindrical groove body with one open end; one end of the pushing spring is fixedly connected with the sliding sleeve, and the other end of the pushing spring is fixedly connected with the inner wall of one end of the sliding sleeve, which is far away from the secondary reduction gear; the ball clings to the concave part of the annular wave groove.

As an improvement of the above technical scheme, the reduction mechanism further comprises a toothed ring, a fixed rod and a reinforcing frame, wherein the primary reduction gear and the secondary reduction gear are sleeved on the outer wall of the fixed rod, the primary reduction gear is meshed with the gear shaft, and the secondary reduction gear is meshed with the inner wall of the toothed ring; the dead lever is provided with three groups, the one end that the motor was kept away from to the dead lever is pegged graft on output ring flange surface, and the other end has cup jointed the strengthening frame.

As an improvement of the technical scheme, a joint output mounting plate is fixedly arranged at one end of the shell, which is far away from the motor, and the inner wall of one side of the joint output mounting plate, which is close to the motor, is fixedly connected with the toothed ring; and an output flange plate is connected to the inner wall bearing of the joint output mounting plate.

As an improvement of the above technical scheme, the gear shaft comprises a connecting section, a gear section and a positioning section, the connecting section is inserted into the rotor, a fracture section is arranged between the connecting section and the gear section, a splicing unit is arranged at the inner section of the fracture section, the fracture section is fractured, the splicing unit is popped up, and the connecting section and the gear section are connected; the positioning section is connected with the output flange plate bearing.

As an improvement of the above technical scheme, the splicing unit comprises a connecting button, a three-jaw fixing head, a three-jaw ejecting head and an ejecting spring, wherein the connecting section and the gear section are both provided with square grooves, the three-jaw fixing head is inserted in the square groove of the connecting section, and the three-jaw ejecting head is slidably connected in the square groove of the gear section; the connecting button is rotationally connected with the three-jaw fixing head; a communicating groove is formed in the positioning section and communicated with the square groove, and the ejection spring is arranged in the communicating groove; the ejection spring pushes the three-jaw ejection head and the three-jaw fixing head to be inserted.

As an improvement of the technical scheme, the middle end of the outer wall of the fracture section is provided with an annular groove.

As an improvement of the technical scheme, a protecting sleeve is fixedly arranged on one side, close to the motor, of the output flange plate, a limiting ring is arranged at one end, far away from the output flange plate, of the protecting sleeve, and a reinforcing frame is rotatably connected to the inner wall of the limiting ring.

The invention has the beneficial effects that:

1. after a mechanical arm of the robot starts the joint module in an abnormal state, after the torque between the first-stage reduction gear and the second-stage reduction gear exceeds a bearing limit, the component force of the acting force exerted by the concave surface of the annular wave groove on the limiting part in the vertical direction is larger than the thrust force exerted on the limiting part, so that the limiting part moves along the concave-convex surface of the annular wave groove, the first-stage reduction gear and the second-stage reduction gear rotate relatively, and the reduction mechanism does not drive the output flange plate to rotate any more; after the mechanical arm of the robot is clamped, the mechanical arm is forcibly started, so that the transmission structure in the speed reducing mechanism is prevented from being damaged; the arm of the robot can be conveniently clamped, the robot is controlled to finely adjust the posture of the robot, and the difficulty removal is realized;

2. through one-level overload protection for one-level reduction gear and second grade reduction gear must laminate each other, make the axial dimensions of whole joint module reduce, reduce the volume of whole joint module greatly, make the joint module small and exquisite light more.

Drawings

Fig. 1 is a schematic structural diagram of a high performance mobile robot joint module according to an embodiment of the present invention;

FIG. 2 is a cross-sectional view of a high performance mobile robot joint module according to an embodiment of the present invention;

FIG. 3 is a connection diagram of a deceleration mechanism of a high performance mobile robot joint module according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view of a high performance mobile robot joint module gear shaft according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view of a high performance mobile robot joint module with primary overload protection according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a two-stage reduction gear of a high-performance mobile robot joint module according to an embodiment of the invention;

in the figure: 1. a housing; 2. a motor; 21. a rotor; 22. a stator; 3. an output flange plate; 4. a gear shaft; 41. a connecting section; 42. a gear segment; 43. a positioning section; 44. a fracture section; 45. a splicing unit; 451. a connecting button; 452. a three-jaw fixed head; 453. a three-jaw ejection head; 454. ejecting a spring; 5. a speed reduction mechanism; 51. a primary reduction gear; 52. a secondary reduction gear; 53. a toothed ring; 54. fixing the rod; 55. a reinforcing frame; 6. primary overload protection; 61. an annular wave groove; 62. a push spring; 63. a sliding cavity; 64. a ball bearing; 65. a sliding sleeve; 7. an output mounting plate; 8. a protective sleeve.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" 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.

Examples

As shown in fig. 1, fig. 2, fig. 3, fig. 5, and fig. 6, the high performance mobile robot joint module of the present embodiment includes ajoint housing 1, a motor 2, anoutput flange 3, agear shaft 4 disposed at an output end of the motor 2, aspeed reducing mechanism 5, and aprimary overload protection 6, wherein the motor 2 includes a rotor 21 and astator 22, thespeed reducing mechanism 5 connects thegear shaft 4 and theoutput flange 3, thespeed reducing mechanism 5 includes a primaryspeed reducing gear 51 and a secondaryspeed reducing gear 52, and a side of the primaryspeed reducing gear 51 adjacent to a side of the secondaryspeed reducing gear 52 is tightly attached to the side of the secondaryspeed reducing gear 52;

theprimary overload protection 6 comprises anannular wave groove 61 and a limiting piece, wherein the limiting piece is arranged on one side of theprimary reduction gear 51 close to thesecondary reduction gear 52; theannular wave groove 61 is arranged on one side of thesecondary reduction gear 52 close to theprimary reduction gear 51; one end of the limiting piece limits theannular wave groove 61, and the other end of the limiting piece is elastically connected with the first-stage reduction gear 51;

when the limiting piece is not jacked up by theannular wave groove 61, thesecondary reduction gear 52 and theprimary reduction gear 51 synchronously rotate;

when the restricting member is pushed up by theannular wave groove 61, theprimary reduction gear 51 and thesecondary reduction gear 52 rotate relatively.

After the joint module is normally started, the rotor 21 drives thespeed reducing mechanism 5 to move through thegear shaft 4, and after the torque between the first-stagespeed reducing gear 51 and the second-stagespeed reducing gear 52 does not exceed the limit, the limiting part is clamped by the concave surface of theannular wave groove 61, so that the first-stagespeed reducing gear 51 drives the second-stagespeed reducing gear 52 to rotate, thespeed reducing mechanism 5 can conveniently drive theoutput flange 3 to rotate, and theoutput flange 3 can obtain larger torque through thespeed reducing mechanism 5;

after the joint module is started when the mechanical arm of the robot is in an abnormal state, and the torque between the first-stage reduction gear 51 and the second-stage reduction gear 52 exceeds the bearing limit, the component force of the acting force exerted by the concave surface of theannular wave groove 61 on the limiting part in the vertical direction is larger than the elasticity borne by the limiting part, so that the limiting part reciprocates along the concave-convex surface of theannular wave groove 61, the first-stage reduction gear 51 does not drive the second-stage reduction gear 52 to rotate any more when rotating, and thereduction mechanism 5 does not drive theoutput flange 3 to rotate any more; after the mechanical arm of the robot is clamped, the mechanical arm is forcibly started, so that the transmission structure in thespeed reducing mechanism 5 is prevented from being damaged; the robot is convenient to clamp the arms of the robot, the robot is controlled to finely adjust the posture of the robot, and the difficulty removal is realized.

As shown in fig. 2, 3, 5 and 6, in some embodiments, the limiting member is provided with three sets, the limiting member comprises a pushingspring 62, a sliding cavity 63, aball 64 and a slidingsleeve 65, and the slidingsleeve 65 is connected with theball 64 in a rolling way at one end of the inner wall of the slidingsleeve 65 close to theannular wave groove 61; the sliding cavity 63 is formed in one side, close to thesecondary reduction gear 52, of theprimary reduction gear 51, the slidingsleeve 65 is connected in a sliding mode along the inner wall of the sliding cavity 63, and the sliding cavity 63 is a cylindrical groove body with one end open; one end of the pushingspring 62 is fixedly connected with the slidingsleeve 65, and the other end is fixedly connected with the inner wall of one end of the slidingsleeve 65 far away from thesecondary reduction gear 52; theballs 64 are tightly attached to the depressions of theannular wave grooves 61.

When the torque does not exceed the limit, the slidingsleeve 65 is conveniently pushed by the pushingspring 62, so that theball 64 abuts against the concave surface of the annularwavy groove 61, and theprimary reduction gear 51 is convenient to synchronously rotate close to thesecondary reduction gear 52; after the torque exceeds the limit, the concave surface of theannular wave groove 61 applies acting force on the limiting piece, and the component force in the vertical direction pushes the pushingspring 62 to contract, so that the first-stage reduction gear 51 is convenient to approach the second-stage reduction gear 52 to rotate relatively;

the wear of the slidingsleeve 65 is reduced by the rolling of theballs 64 along the annularwavy groove 61.

As shown in fig. 3 and 5, in some embodiments, thespeed reducing mechanism 5 further includes atoothed ring 53, a fixingrod 54 and a reinforcingframe 55, the first-stagespeed reducing gear 51 and the second-stagespeed reducing gear 52 are both sleeved on the outer wall of the fixingrod 54, the first-stagespeed reducing gear 51 is engaged with thegear shaft 4, and the second-stagespeed reducing gear 52 is engaged with the inner wall of thetoothed ring 53; the fixingrods 54 are provided with three groups, one end of each fixingrod 54 far away from the motor 2 is inserted on the surface of theoutput flange 3, and the other end of each fixing rod is sleeved with a reinforcingframe 55.

The first-stage reduction gear 51 and the second-stage reduction gear 52 which are mutually attached are rotationally connected with the outer wall of the fixingrod 54, so that the axial size of the whole joint module is reduced, the volume of the whole joint module is greatly reduced, and the joint module is smaller and lighter; meanwhile, the reinforcingframe 55 is sleeved at one end of the three groups of fixingrods 54, so that the fixingrods 54 and theoutput flange 3 are connected more stably, and the fixingrods 54 are prevented from being inclined and deformed.

As shown in fig. 2 and fig. 3, in some embodiments, a jointoutput mounting plate 7 is fixedly arranged at one end of thehousing 1 away from the motor 2, and an inner wall of one side of the jointoutput mounting plate 7 close to the motor 2 is fixedly connected with thetoothed ring 53; the inner wall bearing of the jointoutput mounting plate 7 is connected with anoutput flange 3.

The position of thetoothed ring 53 is conveniently limited through the jointoutput mounting plate 7, one end of theshell 1 close to theoutput flange plate 3 is conveniently sealed, and meanwhile, the whole joint module is conveniently mounted.

As shown in fig. 1 and 2, in some embodiments, thegear shaft 4 includes aconnection section 41, agear section 42 and apositioning section 43, theconnection section 41 is inserted into the rotor 21, afracture section 44 is disposed between theconnection section 41 and thegear section 42, an inner section of thefracture section 44 is provided with asplicing unit 45, thefracture section 44 is fractured, and thesplicing unit 45 connects theconnection section 41 and thegear section 42; thepositioning section 43 is in bearing connection with theoutput flange 3.

By arranging thefracture section 44, after the gear set in thespeed reducing mechanism 5 is clamped, thefracture section 44 is automatically broken under the action of external force, and thegear section 42 and the primaryspeed reducing gear 51 are prevented from being damaged after the gears are clamped; meanwhile, thepositioning section 43 is connected with theoutput flange plate 3, so that thegear shaft 4 is conveniently positioned.

As shown in fig. 2 and 4, in some embodiments, thecontinuous connection unit 45 includes aconnection button 451, a three-jaw fixing head 452, a three-jaw ejecting head 453 and an ejectingspring 454, theconnection button 451 is in threaded connection with the inner wall of theconnection section 41, theconnection section 41 and thegear section 42 are both provided with a square groove, the three-jaw fixing head 452 is inserted into the square groove of theconnection section 41, and the three-jaw ejecting head 453 is slidably connected into the square groove of thegear section 42; the connectingbutton 451 is rotationally connected with the three-jaw fixing head 452; a communicating groove is formed in thepositioning section 43 and is communicated with the square groove, and theejection spring 454 is arranged in the communicating groove; the ejectingspring 454 pushes the three-jaw ejecting head 453 and the three-jaw fixing head 452 to be inserted.

After thefracture section 44 is fractured, the three-jaw ejection head 453 is pushed by theejection spring 454, the three-jaw ejection head 453 is pushed out from the square groove, and meanwhile, the motor 2 drives the three-jaw fixing head 452 to rotate, so that the three-jaw ejection head 453 is inserted into the three-jaw fixing head 452 which rotates for a certain angle, and continuous transmission is facilitated.

As shown in fig. 3 and 4, in some embodiments, the middle end of the outer wall of thebreaking section 44 is provided with an annular groove; after thegear shaft 4 is overloaded through the annular groove, thefracture section 44 is fractured from the annular groove, thefracture section 44 is prevented from being deformed when being fractured, and the influence on theejection head 453 of the three-jaw is avoided to pop out.

As shown in fig. 2 and 3, in some embodiments, a protecting sleeve 8 is fixedly disposed on a side of theoutput flange 3 close to the motor 2, a limiting ring is disposed on an end of the protecting sleeve 8 far from theoutput flange 3, and a reinforcingframe 55 is rotatably connected to an inner wall of the limiting ring.

Carry on spacingly through lag 8 toreinforcement 55, prevent that the movement track ofreinforcement 55 from taking place the skew, prevent thatdead lever 54 from taking place the deformation crooked.

It is noted that, in this document, relational terms such as first and second, and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (8)

Translated fromChinese

1.一种高性能移动机器人关节模组，其特征在于，包括关节外壳(1)、电机(2)、输出法兰盘(3)、设置在电机(2)的输出端的齿轮轴(4)、减速机构(5)以及一级过载保护(6)，所述电机(2)包括转子(21)和定子(22)，所述减速机构(5)连接齿轮轴(4)和输出法兰盘(3)，所述减速机构(5)包括一级减速齿轮(51)和二级减速齿轮(52)，所述一级减速齿轮(51)和二级减速齿轮(52)临近的一侧紧贴；1. A high-performance mobile robot joint module, characterized in that it comprises a joint housing (1), a motor (2), an output flange (3), a gear shaft (4) arranged at the output end of the motor (2) , a deceleration mechanism (5) and a primary overload protection (6), the motor (2) includes a rotor (21) and a stator (22), and the deceleration mechanism (5) is connected to the gear shaft (4) and the output flange (3), the reduction mechanism (5) includes a primary reduction gear (51) and a secondary reduction gear (52), and the adjacent side of the primary reduction gear (51) and the secondary reduction gear (52) is tightly paste;所述一级过载保护(6)包括环形波浪槽(61)和限制件，所述限制件设置在一级减速齿轮(51)靠近二级减速齿轮(52)的一侧；所述环形波浪槽(61)设置在二级减速齿轮(52)靠近一级减速齿轮(51)的一侧；所述限制件的一端对环形波浪槽(61)进行限位，且另一端和一级减速齿轮(51)弹性连接；The primary overload protection (6) includes an annular wave groove (61) and a limiting member, and the limiting member is arranged on the side of the primary reduction gear (51) close to the secondary reduction gear (52); the annular wave groove (61) is arranged on the side of the secondary reduction gear (52) close to the primary reduction gear (51); one end of the limiting member limits the annular wave groove (61), and the other end is connected to the primary reduction gear (51). 51) Elastic connection;限制件未被环形波浪槽(61)顶起时，二级减速齿轮(52)和一级减速齿轮(51)同步转动；When the limiting member is not lifted by the annular wave groove (61), the secondary reduction gear (52) and the primary reduction gear (51) rotate synchronously;限制件被环形波浪槽(61)顶起时，一级减速齿轮(51)和二级减速齿轮(52)发生相对转动。When the limiting member is pushed up by the annular wave groove (61), the first-stage reduction gear (51) and the second-stage reduction gear (52) rotate relative to each other.2.根据权利要求1所述的一种高性能移动机器人关节模组，其特征在于：所述限制件设置有三组，所述限制件包括推动弹簧(62)、滑动腔(63)、滚珠(64)和滑动套(65)，所述滑动套(65)靠近环形波浪槽(61)的一端内壁滚动连接有滚珠(64)；所述滑动腔(63)开设在一级减速齿轮(51)靠近二级减速齿轮(52)的一侧，所述滑动套(65)沿滑动腔(63)的内壁滑动连接，所述滑动腔(63)为一端开口的圆柱型槽体；所述推动弹簧(62)的一端和滑动套(65)固定连接，且另一端固定连接在滑动套(65)远离二级减速齿轮(52)一端的内壁；所述滚珠(64)紧贴环形波浪槽(61)的凹陷处。2 . A high-performance mobile robot joint module according to claim 1 , wherein three sets of the restriction members are provided, and the restriction members comprise a push spring (62), a sliding cavity (63), a ball ( 64) and a sliding sleeve (65), the inner wall of one end of the sliding sleeve (65) close to the annular wave groove (61) is rollingly connected with a ball (64); the sliding cavity (63) is opened in the first-stage reduction gear (51) Close to the side of the secondary reduction gear (52), the sliding sleeve (65) is slidably connected along the inner wall of the sliding cavity (63), and the sliding cavity (63) is a cylindrical groove body with one end open; the pushing spring One end of (62) is fixedly connected to the sliding sleeve (65), and the other end is fixedly connected to the inner wall of the end of the sliding sleeve (65) away from the secondary reduction gear (52); the ball (64) is in close contact with the annular wave groove (61). ) in the depression.3.根据权利要求1所述的一种高性能移动机器人关节模组，其特征在于：所述减速机构(5)还包括齿环(53)、固定杆(54)和加强架(55)，所述一级减速齿轮(51)和二级减速齿轮(52)套设在固定杆(54)的外壁，所述一级减速齿轮(51)和齿轮轴(4)之间啮合，所述二级减速齿轮(52)和齿环(53)的内壁啮合；所述固定杆(54)设置有三组，所述固定杆(54)远离电机(2)的一端插接在输出法兰盘(3)表面，且另一端套接有加强架(55)。3. A high-performance mobile robot joint module according to claim 1, wherein the deceleration mechanism (5) further comprises a gear ring (53), a fixed rod (54) and a reinforcement frame (55), The primary reduction gear (51) and the secondary reduction gear (52) are sleeved on the outer wall of the fixing rod (54), the primary reduction gear (51) and the gear shaft (4) are meshed, and the two The step reduction gear (52) meshes with the inner wall of the gear ring (53); the fixing rod (54) is provided with three groups, and the end of the fixing rod (54) away from the motor (2) is inserted into the output flange (3) ) surface, and the other end is sleeved with a reinforcing frame (55).4.根据权利要求1所述的一种高性能移动机器人关节模组，其特征在于：所述外壳(1)远离电机(2)的一端固定设置有关节输出安装板(7)，所述关节输出安装板(7)靠近电机(2)的一侧内壁和齿环(53)固定连接；所述关节输出安装板(7)的内壁轴承连接有输出法兰盘(3)。4. A high-performance mobile robot joint module according to claim 1, wherein a joint output mounting plate (7) is fixedly arranged at one end of the casing (1) away from the motor (2), and the joint The inner wall of the output mounting plate (7) close to the motor (2) is fixedly connected with the gear ring (53); the inner wall bearing of the joint output mounting plate (7) is connected with an output flange (3).5.根据权利要求1所述的一种高性能移动机器人关节模组，其特征在于：所述齿轮轴(4)包括连接段(41)、齿轮段(42)和定位段(43)，所述连接段(41)和转子(21)插接，所述连接段(41)和齿轮段(42)之间设置有断裂段(44)，所述断裂段(44)的内段设置有续接单元(45)，断裂段(44)发生断裂，续接单元(45)弹出，连接连接段(41)和齿轮段(42)；所述定位段(43)和输出法兰盘(3)轴承连接。5. A high-performance mobile robot joint module according to claim 1, wherein the gear shaft (4) comprises a connecting segment (41), a gear segment (42) and a positioning segment (43), so The connecting section (41) is plugged with the rotor (21), a breaking section (44) is arranged between the connecting section (41) and the gear section (42), and the inner section of the breaking section (44) is provided with a continuous section. connecting unit (45), the broken segment (44) is broken, the connecting unit (45) is ejected, connecting the connecting segment (41) and the gear segment (42); the positioning segment (43) and the output flange (3) Bearing connection.6.根据权利要求5所述的一种高性能移动机器人关节模组，其特征在于：所述续接单元(45)包括连接钮(451)、三爪固定头(452)、三爪顶出头(453)和顶出弹簧(454)，所述连接段(41)和齿轮段(42)均设置有方形槽，连接段(41)的方形槽内插接有三爪固定头(452)，所述齿轮段(42)的方形槽内滑动连接有三爪顶出头(453)；所述连接钮(451)和三爪固定头(452)转动连接；所述定位段(43)的内部开设有连通槽，所述连通槽连通方形槽，所述顶出弹簧(454)设置在连通槽内；所述顶出弹簧(454)推动三爪顶出头(453)和三爪固定头(452)插接。6. A high-performance mobile robot joint module according to claim 5, wherein the connecting unit (45) comprises a connecting button (451), a three-claw fixing head (452), and a three-claw ejecting head (453) and the ejection spring (454), the connecting section (41) and the gear section (42) are both provided with a square groove, and a three-claw fixing head (452) is inserted into the square groove of the connecting section (41), so A three-claw ejection head (453) is slidably connected in the square groove of the gear segment (42); the connecting button (451) is rotatably connected with the three-claw fixing head (452); a communication is provided inside the positioning segment (43). Slot, the communication slot communicates with the square slot, the ejection spring (454) is arranged in the communication slot; the ejection spring (454) pushes the three-claw ejection head (453) and the three-claw fixing head (452) to insert .7.根据权利要求5所述的一种高性能移动机器人关节模组，其特征在于：所述断裂段(44)的外壁中端开设有一道环形槽。7 . The high-performance mobile robot joint module according to claim 5 , wherein an annular groove is formed at the middle end of the outer wall of the fractured section ( 44 ). 8 .8.根据权利要求1所述的一种高性能移动机器人关节模组，其特征在于：所述输出法兰盘(3)靠近电机(2)的一侧固定设置有防护套(8)，所述防护套(8)远离输出法兰盘(3)的一端设置有限制环，所述限制环的内壁转动连接有加强架(55)。8. A high-performance mobile robot joint module according to claim 1, characterized in that: a protective cover (8) is fixedly provided on one side of the output flange (3) close to the motor (2), so A restriction ring is provided at one end of the protective sleeve (8) away from the output flange (3), and a reinforcement frame (55) is rotatably connected to the inner wall of the restriction ring.

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