Intelligent torque sensing harmonic speed reduction joint module

Abstract

The invention discloses an intelligent torque sensing harmonic speed reduction joint module which comprises a motor body, a harmonic speed reducer and a torque sensor, and the torque sensor is installed on the motor body and the harmonic speed reducer through six rows of roller type supporting bearings. The supporting bearing structure of the harmonic reducer is redesigned, so that the harmonic reducer is provided with a bearing supporting system with one fixed end and two output ends, the input inner ring and the output outer ring of the metal base of the torque sensor can be axially fixed, and the bearing is a six-row roller type supporting bearing and has extremely high rotating precision; the sensor can bear great axial load and radial load at the same time, has great overturning load rigidity, on one hand, does not affect the connection rigidity with a next section of execution component, and on the other hand, the sensor only bears torque load, the axial load is borne by the bearing, and when the sensor bears axial force, output of torque signals of the sensor is not affected.

Description

Technical Field

[0001] The present invention relates to the field of harmonic reduction modules, in particular to a harmonic reduction module which needs to output a torque sensing signal when in use. Background Art

[0002] The torque sensor is an important sensing component for smart devices. It feeds back the external torque data to the central processing unit through electrical signals to complete closed-loop sensing. The torque sensor matched with the harmonic reduction module or installed at the output end of the harmonic reducer is one of the key sensing components of the intelligent torque sensing harmonic reduction joint module. The torque sensor usually includes a metal base, a force sensing device, and a peripheral processing circuit board. The force sensing device is attached to the thin deformation area between the input inner ring and the output outer ring of the metal base. When in use, the input inner ring is generally connected to the output end of the harmonic reducer, and the output outer ring is connected to the end execution component. The force sensing device senses the relative deformation of the material in the thin deformation area to generate an electrical signal and transmit it to the processing system, thereby completing the collection of torque data.

[0003] However, due to the thin deformation area between the input inner ring and the output outer ring of the metal base, the connection rigidity between the input inner ring and the output outer ring is greatly weakened. In addition, when the end-actuator generates an axial impact on the torque sensor, a large clutter signal is generated, which also has a great impact on the extraction of the torque signal. When several joints are used in series, the rigidity of the entire structural system is even greater. At present, harmonic reducers equipped with torque sensors will encounter the impact of this connection rigidity reduction problem when in use, which has become one of the urgent problems that seriously restrict the development of the industry and need to be solved. Summary of the invention

[0004] In view of this, the present invention has developed an intelligent torque sensing harmonic reduction joint module, the focus is on redesigning the support bearing structure of the harmonic reducer, so that it has a bearing support system with one fixed end and two output ends, so that the input inner ring and the output outer ring of the metal base of the torque sensor can be axially fixed, and the bearing is a six-row roller support bearing, which has extremely high rotation accuracy, can withstand extremely large axial loads and radial loads at the same time, and has extremely large overturning load rigidity, so that on the one hand, it does not affect the connection rigidity with the next section of the actuator;

[0005] On the other hand, the sensor is only subjected to torque load, and the axial load is borne by the bearing. When it is subjected to axial force, it will not affect the output of its torque signal. At the same time, the compact design of the bearing will not increase the structural complexity of the harmonic reducer, and will not significantly increase the overall size and weight. Through physical verification, it meets the design expectations.

[0006] An embodiment of the present invention provides an intelligent torque sensing harmonic deceleration joint module, comprising:

[0007] A motor body, a harmonic reducer (16) and a torque sensor (1), wherein the torque sensor (1) is mounted on the motor body and the harmonic reducer (16) via six-row roller support bearings (2).

[0008] Preferably, the six-row roller support bearing (2) comprises:

[0009] A fixing ring connected to the front end of the motor body;

[0010] A first moving coil (2-1), the bottom of which is rotatably connected to the outside of the fixed coil, and the output outer ring of the torque sensor (1) is connected to the top of the first moving coil (2-1);

[0011] The second moving coil (2-2) has its bottom rotatably connected to the inner side of the fixed coil, and the input inner ring of the torque sensor (1) is connected to the top of the second moving coil (2-2).

[0012] Preferably, the upper and lower ends of the bottom of the first moving coil (2-1) and the second moving coil (2-2) are rotatably connected to the upper and lower ends of the fixed coil via a transverse roller, and the inner ends of the bottom of the first moving coil (2-1) and the second moving coil (2-2) are rotatably connected to the inner side of the fixed coil via a radial roller.

[0013] Preferably, the cross-section of the fixed ring is in an I-shape, the transverse rollers and radial rollers are located in the hollow spaces on both sides of the fixed ring, the transverse rollers and radial rollers on both sides are symmetrically installed, and the bottoms of the first movable ring (2-1) and the second movable ring (2-2) extend into the hollow space and are rotatably arranged with the fixed ring through the transverse rollers and radial rollers.

[0014] Preferably, the fixing ring comprises:

[0015] A first fixing ring (2-3) having a T-shaped cross section;

[0016] The second fixing ring (2-5) is in the shape of a flat circular ring. The second fixing ring (2-5) is connected to the front end of the shell of the motor body. The first fixing ring (2-3) is installed at the front end of the second fixing ring (2-5). The first fixing ring (2-3) and the second fixing ring (2-5) are concentrically arranged.

[0017] Preferably, the first moving ring (2-1) extends from the inner edge of the flange into the outer cavity formed by the first fixed ring (2-3) and the second fixed ring (2-5), a group of third transverse rollers (2-10) are arranged circumferentially above the flange, a group of fourth transverse rollers (2-11) are arranged circumferentially below the flange, and a group of second radial rollers (2-8) are arranged outside the inner circumference of the flange;

[0018] The second movable ring (2-2) extends from the outer flange into the inner cavity formed by the first fixed ring (2-3) and the second fixed ring (2-5), a group of first transverse rollers (2-6) are arranged circumferentially above the flange, a group of second transverse rollers (2-7) are arranged circumferentially below the flange, and a group of first radial rollers (2-9) are arranged outside the outer circumferential surface of the flange.

[0019] Preferably, the third transverse roller (2-10) is installed in the pocket of the third transverse retaining frame (2-12), and the fourth transverse roller (2-11) is installed in the pocket of the fourth transverse retaining frame (2-13); the first transverse roller (2-6) is installed in the pocket of the first transverse retaining frame (2-14), and the second transverse roller (2-7) is installed in the pocket of the second transverse retaining frame (2-15).

[0020] Preferably, the motor body comprises a motor housing (3), a frameless torque motor (4), a motor front bearing (5), a motor rear bearing (6), a rear end cover (7), a low-speed end rear bearing (9), a low-speed end front bearing (11), a motor front bearing pressure plate (12), and a rotor (13); the frameless torque motor (4) is installed in the inner cavity of the motor housing (3); the motor front bearing (5) is installed in the front bearing chamber of the motor housing (3) and is axially fixed by the motor front bearing pressure plate (12); the rear end cover (7) is installed on the end face of the motor housing (3) by means of screws and straight ports; the motor rear bearing (6) is installed in the bearing chamber of the rear end cover (7); and the rotor (13) is supported by the front and rear bearings to form a high-speed shaft system;

[0021] Preferably, the invention further comprises an encoder (8), an outlet connector (10), an encoder cover (14), and a protective tube (15); the fixed end of the encoder (8) is mounted on the rear end cover (7), the rotating end is mounted on the left shaft diameter of the rotor (13), the encoder cover (14) is mounted on the end face of the rear end cover (7), the protective tube (15) passes through the low-speed end front bearing (11) and the low-speed end rear bearing (9) in sequence to form a low-speed shaft system, and the wires are output from the rear end outlet connector (10).

[0022] Preferably, the bottom of the flexible wheel (16-1) is fixed to the bottom of the second fixed ring (2-5) by a pre-fixing screw (16-4) and kept concentric, the flexible wheel (16-1) body extends into the inner circumference of the second moving ring (2-2), the inner circumferential surface of the second moving ring (2-2) is provided with internal teeth, which mesh with the external teeth of the flexible wheel (16-1) of the harmonic reducer (16), the flexible bearing (16-2) is embedded in the middle of the inner cavity of the flexible wheel (16-1), the cam (16-3) is nested in the inner ring of the flexible bearing (16-2), and the cam (16-3) is connected to the upper end surface of the rotor (13) by screws.

[0023] Beneficial effects of the present invention:

[0024] The present invention provides an intelligent torque-sensing harmonic reduction joint module with innovative structure and reasonable design. The module is composed of a torque sensor, a harmonic reducer, a six-row roller support bearing, a frameless torque motor, an encoder, etc., especially the six-row roller support bearing, which has high support rigidity, high output accuracy, high matching degree with the mechanism, compact overall structure and stable operation.

[0025] 1. The harmonic reducer can use a "hat-shaped" flexible wheel with greater torque, so that the usable range of the sensor is no longer limited, and the hollow aperture is no longer limited by the limitations of the "cup-shaped" flexible wheel;

[0026] 2. Make the internal structure simpler without significantly increasing the external size and weight;

[0027] 3. Simplify the installation design and save processing and assembly costs;

[0028] 4. Easy to modularize, laying a good technical and cost foundation for the large-scale use of this structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0030] Figure 1 Shows the overall cross-section of the intelligent torque sensing harmonic reduction joint module Figure 1 ;

[0031] Figure 2 Shows the overall cross-section of the intelligent torque sensing harmonic reduction joint module Figure 2 ;

[0032] Figure 3 A stereogram of an intelligent torque sensing harmonic reduction joint module is shown;

[0033] Figure 4 A perspective cutaway view of a six-row roller support bearing is shown;

[0034] Figure 5 A cross-sectional view of a six-row roller support bearing is shown;

[0035] Figure 6 The internal structure diagram of the six-row roller support bearing is shown;

[0036] Figure 7 Shows the torque sensor structure diagram. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0038] It should be understood that the terms "having", "including" and "comprising" used herein do not exclude the existence or addition of one or more other elements or their combinations. The terms "left and right", "front and back" and "up and down" used herein do not exclude the description of other positional relationships.

[0039] like Figure 1-7 As shown, an embodiment of the present invention provides an intelligent torque sensing harmonic reduction joint module, which is composed of a torque sensor (1), a six-row roller support bearing (2), a motor housing (3), a frameless torque motor (4), a motor front bearing (5), a motor rear bearing (6), a rear end cover (7), an encoder (8), a low-speed end rear bearing (9), an outlet connector (10), a low-speed end front bearing (11), a motor front bearing pressure plate (12), a rotor (13), an encoder cover (14), a protective tube (15), and a harmonic reducer (16). For details, see Figure 1 , 3D cross-section diagram as Figure 2 , 3D axonometric drawing such as Figure 3 The motor part is similar to the harmonic reduction module patent cluster previously applied for by the applicant, and the applicant's prior application can be referred to for a rough description of the present invention.

[0040] The frameless torque motor (4) is installed in the inner cavity of the motor housing (3), the motor front bearing (5) is installed in the front bearing chamber of the motor housing (3) and is axially fixed by the motor front bearing pressure plate (12), the rear end cover (7) is installed on the left end surface of the motor housing (3) through screws and straight mouths, the motor rear bearing (6) is installed in the bearing chamber of the rear end cover (7), the rotor (13) is supported by the front and rear bearings to form a high-speed shaft system, the encoder (8) is installed at the fixed end on the rear end cover (7), and the rotating end is installed on the left shaft diameter of the rotor (13), the encoder cover (14) is installed on the left end surface of the rear end cover (7), the protection tube (15) passes through the low-speed end front bearing (11) and the low-speed end rear bearing (9) in sequence to form a low-speed shaft system, and the outlet line is output from the rear end outlet connector (10).

[0041] The present invention introduces in detail a harmonic reducer assembly with a torque sensor output, which is composed of a torque sensor (1), a six-row roller support bearing (2) and a harmonic reducer (16). Figure 4 and Figure 5This component part can also be used as a separate output module in other harmonic reducer output actuators of similar structures that require an embedded torque sensor.

[0042] The six-row roller support bearing 2 includes: a fixed ring, a first moving ring 2-1 and a second moving ring 2-2, the fixed ring is connected to the front end of the motor body; the bottom of the first moving ring 2-1 is rotatably connected to the outside of the fixed ring, and the output outer ring of the torque sensor 1 is connected to the top of the first moving ring 2-1; the bottom of the second moving ring 2-2 is rotatably connected to the inside of the fixed ring, and the input inner ring of the torque sensor 1 is connected to the top of the second moving ring 2-2, thereby realizing the installation of the torque sensor 1.

[0043] The upper and lower ends of the bottom of the first moving coil 2-1 and the second moving coil 2-2 are rotatably connected to the upper and lower ends of the fixed coil through a transverse roller, and the inner ends of the bottom of the first moving coil 2-1 and the second moving coil 2-2 are rotatably connected to the inner side of the fixed coil through a radial roller, thereby forming a six-row roller support bearing 2 structure.

[0044] In the present invention, the cross-section of the fixed ring is in an I-shape, the transverse rollers and radial rollers are located in the hollow space on both sides of the fixed ring, the transverse rollers and radial rollers on both sides are symmetrically installed, and the bottoms of the first moving ring 2-1 and the second moving ring 2-2 extend into the hollow space and are rotated with the fixed ring through the transverse rollers and radial rollers.

[0045] Furthermore, the fixing ring includes: a first fixing ring 2-3, whose cross section is T-shaped; a second fixing ring 2-5, which is a flat circular ring, the second fixing ring 2-5 is connected to the front end of the shell of the motor body, the first fixing ring 2-3 is installed at the front end of the second fixing ring 2-5, and the first fixing ring 2-3 and the second fixing ring 2-5 are concentrically arranged.

[0046] Nested in the inner ring of the flexible bearing 16 - 2 , the cam 16 - 3 is connected to the upper end surface of the rotor 13 through screws.

[0047] Specifically, the installation method of the harmonic reducer component with torque sensor output is to directly fix it in the installation cavity of the motor housing 3 through the installation hole on the first fixing ring 2-3. The six-row roller support bearing 2 of the component serves as the supporting body to connect the reducer and the sensor and transmit the movement. The cross-section of the first fixing ring 2-3 is T-shaped, which is in a static state in the structure. Six rows of cylindrical rollers are symmetrically arranged in the hollow space on the left and right, of which 4 rows are arranged horizontally along the axis of the cylindrical rollers, and 2 rows are arranged vertically along the axis of the cylindrical rollers. The rollers arranged horizontally bear axial force during movement, and the rollers arranged vertically bear radial force during movement. The second fixing ring 2-5 is in the shape of a flat ring, contacts the lower end face of the first fixing ring 2-3, is fixed and installed by the pre-fixing screw 2-16, and is concentric with the first fixing ring 2-3. It is in a static state in the structure. The second movable ring 2-2 extends from the outer flange into the inner cavity formed by the first fixed ring 2-3 and the second fixed ring 2-5. A group of first transverse rollers 2-6 are arranged circumferentially above the flange, and the first transverse rollers 2-6 are installed in the pockets of the first transverse retaining frame 2-14. A group of second transverse rollers 2-7 are arranged circumferentially below the flange, and the second transverse rollers 2-7 are installed in the pockets of the second transverse retaining frame 2-15. A group of first radial rollers 2-9 are arranged outside the outer circumferential surface of the flange. The first fixed ring 2-3 is provided with a limiter for installing the first radial rollers 2-9. The first radial rollers 2-9 are generally not provided with a retaining frame, and are fully installed or installed with spacer blocks.

[0048] The first movable ring 2-1 extends from the inner edge flange into the outer cavity formed by the first fixed ring 2-3 and the second fixed ring 2-5. A group of third transverse rollers 2-10 are arranged circumferentially above the flange, and the third transverse rollers 2-10 are installed in the pockets of the third transverse retaining frame 2-12. A group of fourth transverse rollers 2-11 are arranged circumferentially below the flange, and the fourth transverse rollers 2-11 are installed in the pockets of the fourth transverse retaining frame 2-13. A group of second radial rollers 2-8 are arranged outside the inner circumferential surface of the flange. A limiter for installing the second radial rollers 2-8 is provided on the first fixed ring 2-3. The second radial rollers 2-8 are generally not provided with a retaining frame and are fully installed or installed with spacer blocks.

[0049] Furthermore, in order to improve the stability and compactness of the structure, the first transverse roller and the second transverse roller are arranged symmetrically up and down, and the third transverse roller and the fourth transverse roller are arranged symmetrically up and down. The first radial roller and the second radial roller are arranged symmetrically inside and outside, the first transverse roller and the third transverse roller are arranged symmetrically inside and outside, and the second transverse roller and the fourth transverse roller are arranged symmetrically inside and outside. This configuration balances the forces in the up, down, left and right directions, and improves the operational stability of the entire output assembly.

[0050] The bottom of the flexible wheel 16-1 is fixed to the bottom of the second fixed circle 2-5 by the pre-fixing screw 16-4 and kept concentric. The body of the flexible wheel 16-1 extends into the inner circumference of the second moving circle 2-2. The inner circumference of the second moving circle 2-2 is provided with internal teeth, which mesh with the external teeth of the flexible wheel 16-1 of the harmonic reducer 16, thereby realizing the linkage between the harmonic reducer 16 and the second moving circle 2-2. The second moving circle 2-2 acts as both the moving circle of the bearing and the rigid wheel of the harmonic reducer.

[0051] The flexible bearing 16 - 2 is embedded in the middle of the inner cavity of the flexible wheel 16 - 1 , and the cam 16 - 3 is nested in the inner ring of the flexible bearing 16 - 2 . The cam 16 - 3 is connected to the upper end surface of the rotor 13 through screws, thereby realizing the linkage between the motor rotor 13 and the harmonic reducer 16 .

[0052] The rotor 13 transmits the rotational motion of the motor end to the cam 16-3, and the rotational extrusion motion of the flexible bearing 16-2 causes the second moving coil 2-2 and the flexible wheel 16-1 to produce the so-called "offset" motion, thereby transmitting the high-torque and high-precision rotational motion after deceleration to the second moving coil 2-2. The input inner ring of the torque sensor 1 is fixed to the second moving coil 2-2 by screws. At the same time, the outer periphery of the input inner ring of the torque sensor 1 is rotationally supported on the first fixed ring 2-3 by a rotating guide rail. The output outer ring of the torque sensor 1 is connected to the first moving coil 2-1 by screws. During the overall operation, the torque transmission route is from the second moving coil 2-2 to the input inner ring, the input inner ring to the thin deformation area, and the thin deformation area to the output outer ring. The output outer ring drives the first moving coil 2-1, which plays a supporting role for it, to move together. Since the first moving coil 2-1 and the second moving coil 2-2 provide high-rigidity support to the output outer ring and the input inner ring of the torque sensor 1 when moving, the torque sensor 1 will only produce torsional deformation inside when subjected to external load, and its axial, radial and overturning loads are completely borne by the six-row roller support bearing 2. When the external load is within the reasonable load-bearing range of the six-row roller support bearing 2, its transmission rigidity will not be weakened, thereby solving the current problem of weakening the structural installation rigidity due to the installation of the torque sensor.

[0053] Compared with the current solution of using the traditional cross roller bearing upside down to provide a double support for the torque sensor, this structure has the following advantages: 1. The harmonic reducer can use a "hat-shaped" flexible wheel with greater torque, so that the sensor's usable range is no longer limited, and the hollow aperture is no longer limited by the "cup-shaped" flexible wheel; 2. The internal structure is streamlined without significantly increasing the external size and weight; 3. The installation design is simplified, saving processing and assembly costs; 4. It is easy to modularize, laying a good technical cost foundation for the large-scale use of this structure.

[0054] The core innovation of this intelligent torque sensing harmonic reduction joint module lies in the internal support structure of the harmonic reducer component with torque sensor output, which is composed of a torque sensor 1, a six-row roller support bearing 2 and a harmonic reducer 16. This innovative protection point should be retained under the diversified changes in the rear-end motor structure. This structure successfully solves this industry difficulty by innovating in the bearing structure, and does not require large-scale adjustments to the existing harmonic reducer structure and torque sensor structure, saving design and manufacturing costs. It has made a certain contribution to the large-scale popularization and application of this industry.

[0055] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An intelligent torque sensing harmonic deceleration joint module, comprising: A motor body, a harmonic reducer (16) and a torque sensor (1), characterized in that the torque sensor (1) is mounted on the motor body and the harmonic reducer (16) via six-row roller support bearings (2).

2. The intelligent torque sensing harmonic deceleration joint module according to claim 1 is characterized in that: The six-row roller support bearing (2) comprises: A fixing ring connected to the front end of the motor body; A first moving coil (2-1), the bottom of which is rotatably connected to the outside of the fixed coil, and the output outer ring of the torque sensor (1) is connected to the top of the first moving coil (2-1); The second moving coil (2-2) has its bottom rotatably connected to the inner side of the fixed coil, and the input inner ring of the torque sensor (1) is connected to the top of the second moving coil (2-2).

3. The intelligent torque sensing harmonic deceleration joint module according to claim 2 is characterized in that: The upper and lower ends of the bottom of the first moving coil (2-1) and the second moving coil (2-2) are rotatably connected to the upper and lower ends of the fixed coil via a transverse roller, and the inner ends of the bottom of the first moving coil (2-1) and the second moving coil (2-2) are rotatably connected to the inner side of the fixed coil via a radial roller.

4. The intelligent torque sensing harmonic deceleration joint module according to claim 3 is characterized in that: The cross section of the fixed ring is in an I-shape, and the transverse rollers and radial rollers are located in the hollow spaces on both sides of the fixed ring. The transverse rollers and radial rollers on both sides are symmetrically installed, and the bottoms of the first movable ring (2-1) and the second movable ring (2-2) extend into the hollow spaces and are rotatably arranged with the fixed ring through the transverse rollers and radial rollers.

5. The intelligent torque sensing harmonic deceleration joint module according to claim 4 is characterized in that: The fixing ring comprises: A first fixing ring (2-3) having a T-shaped cross section; The second fixing ring (2-5) is in the shape of a flat circular ring. The second fixing ring (2-5) is connected to the front end of the shell of the motor body. The first fixing ring (2-3) is installed at the front end of the second fixing ring (2-5). The first fixing ring (2-3) and the second fixing ring (2-5) are concentrically arranged.

6. The intelligent torque sensing harmonic deceleration joint module according to claim 5 is characterized in that: The first moving ring (2-1) extends from the inner edge of the flange into the outer cavity formed by the first fixed ring (2-3) and the second fixed ring (2-5), a group of third transverse rollers (2-10) are arranged circumferentially above the flange, a group of fourth transverse rollers (2-11) are arranged circumferentially below the flange, and a group of second radial rollers (2-8) are arranged outside the inner circumference of the flange; The second movable ring (2-2) extends from the outer flange into the inner cavity formed by the first fixed ring (2-3) and the second fixed ring (2-5), a group of first transverse rollers (2-6) are arranged circumferentially above the flange, a group of second transverse rollers (2-7) are arranged circumferentially below the flange, and a group of first radial rollers (2-9) are arranged outside the outer circumferential surface of the flange.

7. The intelligent torque sensing harmonic reduction joint module according to claim 6 is characterized in that: The third transverse roller (2-10) is installed in the pocket of the third transverse retaining frame (2-12), and the fourth transverse roller (2-11) is installed in the pocket of the fourth transverse retaining frame (2-13); the first transverse roller (2-6) is installed in the pocket of the first transverse retaining frame (2-14), and the second transverse roller (2-7) is installed in the pocket of the second transverse retaining frame (2-15).

8. The intelligent torque sensing harmonic reduction joint module according to claim 6 is characterized in that: The motor body comprises a motor housing (3), a frameless torque motor (4), a motor front bearing (5), a motor rear bearing (6), a rear end cover (7), a low-speed end rear bearing (9), a low-speed end front bearing (11), a motor front bearing pressure plate (12), and a rotor (13). The frameless torque motor (4) is mounted in the inner cavity of the motor housing (3), the motor front bearing (5) is mounted in the front bearing chamber of the motor housing (3) and is axially fixed by the motor front bearing pressure plate (12), the rear end cover (7) is mounted on the end surface of the motor housing (3) by means of screws and straight ports, the motor rear bearing (6) is mounted in the bearing chamber of the rear end cover (7), and the rotor (13) is supported by the front and rear bearings to form a high-speed shaft system.

9. The intelligent torque sensing harmonic reduction joint module according to claim 8 is characterized in that: It also includes an encoder (8), an outlet connector (10), an encoder cover (14), and a protective tube (15). The fixed end of the encoder (8) is mounted on the rear end cover (7), and the rotating end is mounted on the left shaft diameter of the rotor (13). The encoder cover (14) is mounted on the end surface of the rear end cover (7). The protective tube (15) passes through the low-speed end front bearing (11) and the low-speed end rear bearing (9) in sequence to form a low-speed shaft system, and the wires are output from the rear end outlet connector (10).

10. The intelligent torque sensing harmonic reduction joint module according to claim 8, characterized in that: The bottom of the flexible wheel (16-1) is fixed to the bottom of the second fixed ring (2-5) by a pre-fixing screw (16-4) and kept concentric. The body of the flexible wheel (16-1) extends into the inner circumference of the second moving ring (2-2). The inner circumferential surface of the second moving ring (2-2) is provided with internal teeth, which mesh with the external teeth of the flexible wheel (16-1) of the harmonic reducer (16). The flexible bearing (16-2) is embedded in the middle of the inner cavity of the flexible wheel (16-1). The cam (16-3) is nested in the inner ring of the flexible bearing (16-2). The cam (16-3) is connected to the upper end surface of the rotor (13) by screws.

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