Robot joint module and robot

Abstract

This invention relates to a robot joint module and a robot, comprising: a transition shaft dividing a housing into an inner housing space and an outer housing space fitted around the outer periphery of the inner housing space; a motor assembly disposed within the outer housing space, the motor assembly comprising: a stator, a rotor, and a motor shaft coaxially fixed to the rotor; a harmonic reducer disposed within the inner housing space; the harmonic reducer comprising: a camshaft, a flexure, and a rigid wheel; the camshaft being fixedly connected to the motor shaft; the rotation of the camshaft driving the flexure to generate a deformation wave; and a torque sensor stacked with the rigid wheel within the inner housing space, the torque sensor being fitted around the outer periphery of the flexure and meshing with the flexure. This application stacks the torque sensor and rigid wheel within the motor assembly, resulting in a smaller axial dimension. The fixed torque sensor meshing with the flexure reduces the components required to fix the flexure, resulting in a smaller overall size and weight.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot joint module and a robot. Background Art

[0002] With the rapid development of intelligent manufacturing, the demand for robots in the civilian consumer market and the industrial manufacturing market has also increased rapidly, and the performance requirements are also getting higher and higher. The robot joint module consists of a motor, a reducer, and an encoder. The size, weight, and output torque of the robot joint module directly determine the overall size and operating performance of the robot. Therefore, the size and weight requirements of the joint module used by the robot are getting smaller and smaller, while the output torque requirements are getting higher and higher.

[0003] However, traditional robot joint modules usually adopt a design combination of mature components such as finished motors, reducers, torque sensors and encoders. The design scheme of using multiple connectors to stack and connect different components layer by layer leads to the problem of too many parts in the robot joint module and too thick axial thickness. These problems seriously restrict the rapid iteration of robot products. Summary of the invention

[0004] Based on this, it is necessary to provide a robot joint module and a robot to address the problems of traditional robot joint modules having many parts and excessive axial thickness.

[0005] A robot joint module, comprising:

[0006] A housing, wherein a transfer shaft coaxially fixed to the housing is provided inside the housing, wherein the transfer shaft divides the accommodation space in the housing into an inner accommodation space and an outer accommodation space sleeved on the outer periphery of the inner accommodation space;

[0007] A motor assembly is disposed in the outer accommodating space, and the motor assembly includes: a stator, a rotor, and a motor shaft coaxially fixed with the rotor;

[0008] A harmonic reducer is arranged in the content storage space; the harmonic reducer comprises: a camshaft, a flexible wheel and a rigid wheel; the camshaft is fixedly connected to the motor shaft; the flexible wheel is sleeved on the outer periphery of the camshaft, and the rigid wheel is sleeved on the outer periphery of the flexible wheel; the camshaft rotates to drive the flexible wheel to generate a deformation wave;

[0009] A torque sensor is stacked with the rigid wheel and arranged in the content storage space. The torque sensor is fixedly connected to the transfer shaft. The torque sensor is sleeved on the outer periphery of the flexible wheel and meshedly connected with the flexible wheel.

[0010] In one embodiment, it further includes an output flange, wherein the output flange is fixedly connected to the rigid wheel;

[0011] The output flange comprises: a flange plate and a straight shaft, wherein the flange plate is coaxially fixedly connected to the straight shaft; and the straight shaft passes through the camshaft.

[0012] In one of the embodiments, the motor assembly further includes a drive plate, and the drive plate is disposed at an end of the straight shaft away from the flange.

[0013] In one of the embodiments, an encoder assembly is further included, which includes an input encoder and an output encoder; the electronic components in the input encoder and the output encoder are integrated into the driving board.

[0014] In one embodiment, the input encoder further comprises an input encoding disk, and the input encoding disk is arranged on a side of the motor shaft close to the driving plate;

[0015] The output encoder further includes an output encoding disc, which is disposed at an end of the direct shaft close to the driving plate.

[0016] In one embodiment, the input encoding disc and the output encoding disc face the same direction along the axial direction.

[0017] In one embodiment, the rigid wheel is the inner wheel of the reduction bearing, the outer wheel of the reduction bearing is fixedly connected to the adapter shaft; and the inner wheel is meshingly connected to the flexible wheel.

[0018] In one embodiment, the rotor is sleeved on the outer periphery of the stator, and the stator is sleeved on the outer periphery of the transfer shaft and fixedly connected to the transfer shaft.

[0019] In one of the embodiments, the harmonic reducer further includes a flexible bearing, a plurality of the flexible bearings are arranged between the camshaft and the flexible wheel, and at least one flexible bearing is arranged at a position corresponding to the rigid wheel and the torque sensor.

[0020] A robot comprises the robot joint module described in any one of the above, wherein the robot joint module is installed on a mechanical arm joint of the robot.

[0021] The robot joint module and the robot set the torque sensor and the rigid wheel in the motor assembly in an overlapping manner, avoiding the structure of the components stacked layer by layer in the traditional robot joint module. Compared with the traditional robot joint module, the axial size occupied by the harmonic reducer and the torque sensor is directly omitted, and because the diameter of the motor assembly can be enlarged, the output torque of the motor assembly is improved when the reducer of the same specification is used. The fixed torque sensor is meshed with the flexible wheel. Compared with the conventional technology of directly adding the torque sensor at the output end of the robot joint module, the interference of the joint load on the torque sensor can be avoided, so the output torque of the robot joint module can be fed back more accurately and in real time. The torque sensor can not only detect the torque information output by the flexible wheel, but also fix the flexible wheel, reducing the components required to fix the flexible wheel. The present application obtains an ultra-thin and ultra-large torque robot joint module by optimizing the combination of the encoder assembly, the harmonic reducer, the motor assembly, and the torque sensor. At the same time, because of the ultra-thinness, the overall volume and weight of the robot joint module of the present application are smaller, so it has more flexible and extensive application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a cross-sectional view of a robot joint module according to an embodiment of the present invention;

[0023] Figure 2 An exploded structural view of a robot joint module according to an embodiment of the present invention;

[0024] In the figure: 100-housing; 110-adapter shaft; 111-adapter ring; 120-cover plate; 210-stator; 220-rotor; 230-drive plate; 310-motor shaft; 311-camshaft; 321-first flexible bearing; 322-second flexible bearing; 330-reduction bearing; 331-inner wheel; 332-outer wheel; 340-flexible wheel; 400-output flange; 410-flange; 420-straight shaft; 510-output encoder disk; 520-input encoder disk; 600-torque sensor; 710-first auxiliary bearing; 720-second auxiliary bearing; 810-first limit ring; 820-second limit ring. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0028] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0030] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0031] See also Figure 1 , Figure 1 The cross-sectional view of the robot joint module in one embodiment of the present invention is shown. The robot joint module provided in one embodiment of the present invention includes: a housing 100, a motor assembly, a harmonic reducer, a torque sensor 600, an output flange 400 and an encoder assembly. The motor assembly converts electrical energy into rotational kinetic energy, generates a rotational motion with a certain speed and torque, and outputs it to the harmonic reducer; the harmonic reducer receives the kinetic energy provided by the motor assembly, and performs a certain proportion of speed reduction and torque increase. The output shaft of the harmonic reducer of the present application is a rigid wheel (i.e., the inner wheel 331 in the reduction bearing 330 of the present application), and the rigid wheel of the harmonic reducer is fixedly connected to the output flange 400. The harmonic reducer transmits the rotational kinetic energy to the output flange 400. Compared with the rotational motion output by the motor assembly, the output flange 400 performs a low-speed, high-torque rotational motion. The outer periphery of the flexible wheel 340 is also sleeved with a torque sensor 600, and the torque sensor 600 is meshed with the flexible wheel 340 to obtain the torque information of the rotational motion output by the harmonic reducer. The encoder assembly is disposed at the end of the robot joint module of the present application to obtain input rotation angle information of the motor shaft 310 of the motor assembly and output rotation angle information of the output flange 400 .

[0032] Combination Figure 2 As shown, Figure 2An exploded structural diagram of a robot joint module proposed in one embodiment of the present invention is shown. The shell 100 as a whole is a hollow cylindrical structure with openings at both ends. The inner wall of the shell 100 is provided with a horizontal annular protrusion extending in an annular direction, and the protrusion is used to set the drive plate 230 in the motor assembly. A cover plate 120 detachably connected to the shell is provided on the opening on one side close to the protrusion, which is convenient for subsequent maintenance, repair and upgrading of the drive plate 230, extending the service life of the robot joint module of the present application and reducing the cost of use. A transfer shaft 110 is provided on the opening on the other side away from the protrusion. The main body of the transfer shaft 110 is a hollow shaft-like structure. The shell 100 is sleeved on the outer periphery of the transfer shaft 110, and the shell 100 is fixedly connected to the transfer shaft 110. The lower end of the adapter shaft 110 has an annular adapter ring 111 radially extending toward the axial direction and away from the axial direction. The adapter ring 111 extending away from the axial direction radially extends to the housing 100 and is fixedly connected to the housing 100, so that the adapter shaft 110 is fixedly connected to the housing 100. The adapter shaft 110 provides a fixed mounting base surface for the stator 210 in the motor assembly.

[0033] Combination Figure 1 , Figure 2 As shown, the motor assembly includes: a stator 210, a rotor 220, a motor shaft 310 and a drive plate 230. The motor assembly in the robot joint module of the present application is an outer rotor motor structure, that is, the rotor 220 is sleeved on the outer periphery of the stator 210, and the output shaft of the motor assembly is the motor shaft 310, and the motor shaft 310 is fixedly connected to the rotor 220. The stator 210 is sleeved on the outer periphery of the adapter shaft 110, and the stator 210 is fixedly connected to the adapter shaft 110. The rotor 220 is sleeved on the outer periphery of the stator 210, and the rotor 220 can rotate around its own axis; the motor shaft 310 is sleeved on the outer periphery of the rotor 220, and the motor shaft 310 is fixedly connected to the rotor 220. The adapter shaft 110, the stator 210, the rotor 220 and the motor shaft 310 are sleeved in sequence from the inside to the outside and are coaxially arranged. The driving plate 230 is electrically connected to the stator 210 and the rotor 220 through a line passing through the hollow space in the adapter shaft 110. When the stator 210 is energized, a changing electromagnetic field is generated, and the rotor 220 rotates under the action of magnetic force in the electromagnetic field, driving the motor shaft 310 to rotate and output power.

[0034] Specifically, the motor shaft 310 is a hollow shaft-like structure, and the upper end of the motor shaft 310 horizontally extends a transmission plate toward the axis, and the center of the transmission plate also has a through hole for the circuit to pass through. The radial cross-section of the motor shaft 310 is two left-right symmetrical inverted L-shaped structures. The transmission plate protrudes axially near the axis toward the drive plate 230 to form an annular boss coaxial with the motor shaft 310, and the boss is provided with an input encoder disk 520 with a width adapted to the boss, so as to detect the input rotation angle information input by the motor shaft 310 of the motor assembly.

[0035] Combination Figure 1 , Figure 2 As shown, the harmonic reducer includes: a camshaft 311, a flexible bearing, a flexible wheel 340 and a reduction bearing 330. The camshaft 311 is a hollow shaft structure with openings at the top and bottom. The camshaft 311 is fixedly connected to the motor shaft 310. The upper end of the camshaft 311 is fixedly connected to the inner ring edge of the transmission plate of the motor shaft 310. The hollow space of the camshaft 311 is used for the layout of the line. The flexible bearing is sleeved on the outer periphery of the camshaft 311; the flexible wheel 340 is sleeved on the outer periphery of the flexible bearing; the reduction bearing 330 is sleeved on the outer periphery of the flexible wheel 340, and the inner wheel 331 of the reduction bearing 330 is meshed with the flexible wheel 340. The wave generator in the harmonic reducer of the present application is the camshaft 311, the power output wheel in the harmonic reducer is a rigid wheel, and the rigid wheel in the harmonic reducer of the present application is the inner wheel 331 in the reduction bearing 330.

[0036] Specifically, the flexible wheel 340 is a cylindrical structure, and the outer circumference of the flexible wheel 340 is provided with annularly arranged external teeth. The flexible wheel 340 is sleeved on the outer circumference of the camshaft 311 through a flexible bearing, and the horizontal section of the inner ring wall of the motor shaft 310 is circular, and the horizontal section of the outer ring wall of the motor shaft 310 is elliptical. The reduction bearing 330 is sleeved on the lower side of the outer circumference of the flexible wheel 340, and the adapter shaft 110 is sleeved on the outer circumference of the reduction bearing 330, and the outer wheel 331 of the reduction bearing 330 is fixedly connected to the adapter shaft 110. Further, the outer diameter of the outer wheel 331 of the reduction bearing 330 is matched with the inner diameter of the adapter shaft 110, the outer ring wall of the outer wheel 331 of the reduction bearing 330 is fixedly connected to the inner ring wall of the adapter shaft 110, and the lower end surface of the outer wheel 331 of the reduction bearing 330 is abutted and fixedly connected with the upper end surface of the portion of the adapter ring 111 that extends radially toward the axial direction. The inner wheel 331 of the reduction bearing 330 can rotate around its own axis relative to the outer wheel 331. The inner ring wall of the inner wheel 331 of the reduction bearing 330 is provided with a first inner tooth arranged in a circumferential direction. The inner wheel 331 is sleeved on the lower outer periphery of the flexible wheel 340. The flexible wheel 340 and the inner wheel 331 are meshed and connected through the outer teeth and the first inner teeth. A torque sensor 600 is also provided inside the adapter shaft 110. The torque sensor 600 is an annular structure. The outer diameter of the torque sensor 600 is adapted to the inner diameter of the adapter shaft 110. The outer ring wall of the torque sensor 600 is fixedly connected to the inner ring wall of the adapter shaft 110. The inner ring wall of the torque sensor 600 is provided with a second inner tooth arranged in a circumferential direction. The torque sensor 600 is sleeved on the upper outer periphery of the flexible wheel 340. The flexible wheel 340 and the torque sensor 600 are meshed and connected through the outer teeth and the second inner teeth.

[0037] The flexible wheel 340 is a flexible gear that can be deformed, and the flexible wheel 340 can generate a controllable elastic deformation wave. The inner ring wall of the flexible wheel 340 is in contact with the elliptical outer wall of the camshaft 311. When the camshaft 311 is driven by the motor shaft 310 of the motor assembly to rotate, the flexible wheel 340 undergoes radial elastic deformation. Since the outer circumferential upper side of the flexible wheel 340 is meshed with the second inner teeth of the torque sensor 600, the torque sensor 600 is fixedly connected to the adapter shaft 110, and the torque sensor 600 itself is relatively fixed and does not rotate, so that the flexible wheel 340 meshed with the second inner teeth of the torque sensor 600 does not rotate. The torque sensor 600 is acted upon by the force of the outer teeth of the flexible wheel 340, and detects the torque magnitude information output by the flexible wheel 340. The lower side of the outer periphery of the flexible wheel 340 is meshed and connected with the inner wheel 331 that can rotate around its own axis. The lower half of the flexible wheel 340 undergoes radial elastic deformation, causing the inner wheel 331 and the first inner teeth and outer teeth of the flexible wheel 340 to be relatively staggered to transmit power, so that the inner wheel 331 rotates around its own axis to output a rotational motion. The inner wheel 331 performs a low-speed, high-torque rotational motion relative to the speed of the motor shaft 310. Further, according to the torque magnitude information of the flexible wheel 340 output detected by the torque sensor 600, and then according to the number of the first inner teeth and the number of the outer teeth of the harmonic reducer, and the size of the inner wheel 331 and the flexible wheel 340 and other data, the torque magnitude of the rotational motion output by the inner wheel 331 can be calculated.

[0038] The robot joint module of the present application adopts a motor assembly with an outer rotor structure, and a harmonic reducer is arranged inside the motor assembly. Compared with the motor with an inner rotor structure, the motor assembly with an outer rotor structure can output a rotational motion with a larger torque. Since the harmonic reducer is arranged in the motor assembly, the diameter of the motor shaft 310 of the motor assembly is larger than the diameter of the camshaft 311 of the harmonic reducer, and the rotational motion input to the harmonic reducer has a larger torque, thereby making the rotational motion output by the robot joint module of the present application have the characteristics of large torque. The robot joint module of the present application sets the motor structure on the periphery of the harmonic reducer, which makes the axial size of the robot joint module of the present application smaller than the structure in which the motor and the harmonic reducer are stacked layer by layer in the traditional robot joint module.

[0039] The robot joint module of the present application arranges the torque sensor 600 and the outer wheel 331 as a rigid wheel in the motor assembly in an overlapping manner, avoiding the structure of stacked components in the traditional robot joint module. Compared with the traditional robot joint module, the axial size occupied by the harmonic reducer and the torque sensor 600 is directly omitted, and because the diameter of the motor assembly is enlarged, the output torque of the motor assembly is improved when the reducer of the same specification is used. The fixed torque sensor 600 is meshed with the flexible wheel 340. Compared with the traditional technology of directly adding the torque sensor 600 to the output end of the robot joint module, the interference of the joint load on the torque sensor 600 can be avoided, so the output torque of the robot joint module can be fed back more accurately and in real time. It can not only detect the torque information output by the flexible wheel 340, but also fix the flexible wheel 340, reducing the components required to fix the flexible wheel 340. The present application obtains an ultra-thin, ultra-large torque robot joint module by optimizing the combination of the encoder component, the harmonic reducer, the motor component, and the torque sensor 600. At the same time, because of its ultra-thinness, the overall volume and weight of the robot joint module of the present application are smaller, thereby having more flexible and extensive application value.

[0040] In another embodiment, the motor assembly adopts an inner rotor motor structure, the stator 210 is sleeved on the outer periphery of the rotor 220, the stator 210 is fixedly connected to the inner wall of the housing 100, and the rotor 220 can spin relative to the stator 210.

[0041] Furthermore, the torque sensor 600 of the present application is a strain gauge torque sensor 600, which includes an inner ring, an outer ring, and a plurality of strain bridges connecting the inner ring and the outer ring. The outer ring is fixedly connected to the adapter shaft 110, and the inner ring is meshed with the flexible wheel 340. Strain gauges are attached to the strain bridge to form a measuring bridge. When the strain bridge is slightly deformed by torque, the resistance of the bridge changes. The change in the resistance of the strain bridge is converted into a change in an electrical signal to achieve torque measurement. Optionally, other forms of torque sensors 600 can also be used according to actual conditions, which are not limited here.

[0042] Further, in the present embodiment, the reduction bearing 330 is a crossed roller bearing, which combines the compactness of a single-row bearing and the stability of a double-row bearing, making the robot joint module structure of the present application more compact. The crossed roller bearing has a high ability to resist overturning torque, and while adapting to the large torque characteristics of the output end of the harmonic reducer, the crossed roller bearing is suitable for a variety of use conditions, for example, the robot joint module can be placed horizontally, vertically or tilted to adapt to the flexible and diverse working scenarios of the robot joint module of the present application. Optionally, the reduction bearing 330 in the robot joint module of the present application may also adopt other types of bearings such as a four-point contact bearing with an inner wheel 331 and an outer wheel 331, a deep groove ball bearing, etc., which are not limited here.

[0043] Further, in this embodiment, two flexible bearings are provided between the flexible wheel 340 and the camshaft 311, which are the first flexible bearing 321 corresponding to the position of the torque sensor 600 and the second flexible bearing 322 corresponding to the reduction bearing 330. Optionally, more than two flexible bearings may be provided according to actual conditions, and at least one flexible bearing is provided at the corresponding positions of the torque sensor 600 and the reduction bearing 330, which is not limited here.

[0044] Furthermore, a second limit ring 820 is provided at the upper end of the torque sensor 600 and the flexible wheel 340. The second limit ring 820 is coaxially arranged with the torque sensor 600 and the flexible wheel 340. The second limit ring 820 is fixedly connected to the upper end surface of the torque sensor 600 and abuts against the upper end surface of the flexible wheel 340 to prevent the flexible wheel 340 from axial movement.

[0045] Combination Figure 1 , Figure 2As shown, the output flange 400 includes: a flange 410 and a straight shaft 420. The flange 410 is a circular disc-shaped structure. The flange 410 is fixedly connected to the inner wheel 331 of the reduction bearing 330, and the inner wheel 331 drives the flange 410 to rotate. A hollow straight shaft 420 is provided at the axis of the flange 410. The straight shaft 420 penetrates the flange 410 and extends toward the driving plate 230. The straight shaft 420 passes through the hollow space of the camshaft 311 to a position close to the driving plate 230. A plurality of auxiliary bearings are provided between the straight shaft 420 and the camshaft 311. The auxiliary bearings are sleeved on the outer periphery of the straight shaft 420. The outer ring of the auxiliary bearings is fixedly connected to the camshaft 311, and the inner ring of the auxiliary bearings is fixedly connected to the straight shaft 420. The auxiliary bearings play a positioning role for the camshaft 311 and the straight shaft 420 to prevent the camshaft 311 and the straight shaft 420 from contacting and affecting their respective rotation states. In this embodiment, two auxiliary bearings are provided between the straight shaft 420 and the camshaft 311, which are the first auxiliary bearing 710 and the second auxiliary bearing 720. The first auxiliary bearing 710 is arranged on the upper side of the second auxiliary bearing 720, the first auxiliary bearing 710 is arranged on the side close to the upper end of the straight shaft 420, and the second auxiliary bearing 720 is arranged on the side of the straight shaft 420 close to the flange 410. Optionally, more than two auxiliary bearings can be provided according to actual conditions, which is not limited here. The internal space of the straight shaft 420 is used for the arrangement of the circuit, so that the circuit is electrically connected to the drive plate 230 or other electrical components. The flange 410, the straight shaft 420 and the inner wheel 331 are coaxially arranged. The output flange 400 is the power output end of the robot joint module of the present application, and the flange 410 is connected to the robot's mechanical arm to drive the mechanical arm to rotate.

[0046] Furthermore, two annular convex rings are radially extended from the inner wall of the camshaft 311 toward the axial direction. The convex ring near the lower side is arranged on the upper side of the second auxiliary bearing 720 and abuts against the second auxiliary bearing 720 to limit the second auxiliary bearing 720; the lower end surface of the second auxiliary bearing 720 abuts against the flange 410 to prevent the second auxiliary bearing 720 from axial movement. The convex ring near the upper side is arranged on the lower side of the first auxiliary bearing 710 and abuts against the first auxiliary bearing 710 to limit the first auxiliary bearing 710; a first limiting ring 810 is also arranged on the upper side of the first auxiliary bearing 710, which is sleeved on the outer periphery of the straight shaft 420 and abuts against the upper end surface of the first auxiliary bearing 710 to prevent the first auxiliary bearing 710 from axial movement.

[0047] Combination Figure 1 , Figure 2As shown, the encoder assembly includes: an input encoder and an output encoder. The input encoder includes an input code disk 520 and an input sensing head. The input code disk 520 is an annular plate structure, and the input code disk 520 is arranged on the boss of the motor shaft 310. A plurality of sensing parts are arranged equidistantly in the circumference of the side of the input code disk 520 facing the drive plate 230. An input sensing head facing the input code disk 520 is arranged at a position corresponding to the input code disk 520 on the side of the drive plate 230 facing the input code disk 520. The input sensing head is used to sense the sensing parts on the input code disk 520 to detect the rotation angle and rotation speed of the motor shaft 310, and directly transmit data information to the processor through the circuit on the drive plate 230.

[0048] The output encoder includes an output encoder disk 510 and an output induction head. The output encoder disk 510 is an annular structure. The inner ring edge of the output encoder disk 510 extends a ring-shaped connection portion vertically downward. The inner diameter of the output encoder disk 510 is adapted to the outer diameter of the straight shaft 420. The output encoder disk 510 is sleeved on the upper end outer peripheral wall of the straight shaft 420 of the output flange 400. The connection portion is fixedly connected to the outer peripheral wall of the straight shaft 420 so that the output encoder disk 510 is fixedly connected to the straight shaft 420. A plurality of induction elements are arranged equidistantly in the circumference of the side of the output encoder disk 510 facing the drive plate 230. On the side of the drive plate 230 facing the output encoder disk 510, an output induction head facing the output encoder disk 510 is arranged at a position corresponding to the output encoder disk 510. The output induction head is used to sense the induction element on the output encoder disk 510 to detect the rotation angle and rotation speed of the output flange 400, and directly transmit data information to the processor through the circuit on the drive plate 230.

[0049] The electronic components of the input encoder and the output encoder are integrated on the driving board 230 .

[0050] The robot joint module of the present application sets the encoder components on the upper side of the robot joint module, extends through the camshaft 311 through the straight shaft 420 to the drive plate 230, the output encoding disk 510 is fixed to the end of the straight shaft 420 close to the encoding disk, and the input encoding disk 520 is set in the space on the same side of the output encoding disk 510 through a boss, and the electronic components and sensor heads of the input encoder and output encoder are integrated on the drive plate 230, forming an input and output closed loop, while reducing the components of the robot joint module of the present application, saving the space occupied by the encoder, and highly integrating the functions of the encoder, reducing the overall size and weight of the robot joint module of the present application, so that the robot joint module of the present application has higher applicability.

[0051] Furthermore, the boss radially extends to a certain height so that the input encoding disc 520 and the output encoding disc 510 are arranged on the same horizontal plane.

[0052] Furthermore, the input encoder and the output encoder may be magnetic encoders, photoelectric encoders or other encoders, and the encoder types of the input encoder and the output encoder may be the same or different, which is not limited here.

[0053] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A robot joint module, characterized in that: The robot joint module comprises: A housing, wherein a transfer shaft coaxially fixed to the housing is provided inside the housing, wherein the transfer shaft divides the accommodation space in the housing into an inner accommodation space and an outer accommodation space sleeved on the outer periphery of the inner accommodation space; A motor assembly is disposed in the outer accommodating space, and the motor assembly includes: a stator, a rotor, and a motor shaft coaxially fixed with the rotor; A harmonic reducer is arranged in the content storage space; the harmonic reducer comprises: a camshaft, a flexible wheel and a rigid wheel; the camshaft is fixedly connected to the motor shaft; the flexible wheel is a cylindrical structure and is sleeved on the outer periphery of the camshaft, and the rigid wheel is sleeved on the outer periphery of the lower side of the flexible wheel; the camshaft rotates to drive the flexible wheel to generate a deformation wave; A torque sensor is stacked with the rigid wheel in the content storage space, the torque sensor is fixedly connected to the adapter shaft, the torque sensor is sleeved on the upper periphery of the flexible wheel and meshed with the flexible wheel to detect the torque information output by the flexible wheel and fix the flexible wheel.

2. The robot joint module according to claim 1, characterized in that: It also includes an output flange, which is fixedly connected to the rigid wheel; The output flange comprises: a flange plate and a straight shaft, wherein the flange plate is coaxially fixedly connected to the straight shaft; and the straight shaft passes through the camshaft.

3. The robot joint module according to claim 2, characterized in that: The motor assembly further comprises a driving plate, and the driving plate is arranged at an end of the straight shaft away from the flange.

4. The robot joint module according to claim 3, characterized in that: It also includes an encoder assembly, which includes an input encoder and an output encoder; the electronic components in the input encoder and the output encoder are integrated into the driving board.

5. The robot joint module according to claim 4, characterized in that: The input encoder further comprises an input encoding disc, and the input encoding disc is arranged on a side of the motor shaft close to the driving plate; The output encoder further includes an output encoding disc, which is disposed at an end of the direct shaft close to the driving plate.

6. The robot joint module according to claim 5, characterized in that: The input encoding disc and the output encoding disc face the same direction along the axial direction.

7. The robot joint module according to claim 1, characterized in that: The rigid wheel is the inner wheel of the reduction bearing, the outer wheel of the reduction bearing is fixedly connected to the transfer shaft; the inner wheel is meshingly connected to the flexible wheel.

8. The robot joint module according to claim 1, characterized in that: The rotor is sleeved on the outer periphery of the stator, and the stator is sleeved on the outer periphery of the transfer shaft and fixedly connected to the transfer shaft.

9. The robot joint module according to claim 1, characterized in that: The harmonic reducer also includes a flexible bearing, a plurality of the flexible bearings are arranged between the camshaft and the flexible wheel, and at least one flexible bearing is arranged at a position corresponding to the rigid wheel and the torque sensor.

10. A robot, characterized in that: The robot joint module comprises the robot joint module as described in any one of claims 1 to 9, wherein the robot joint module is installed on the robot arm joint of the robot.

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