Robotic arm and joint module thereof

Abstract

This application mainly relates to a robotic arm and its joint module. The joint module includes a drive assembly, a braking assembly, and a first elastic element. The drive assembly includes an output shaft, an upper bearing housing, and an upper bearing. The inner and outer rings of the upper bearing are connected to the output shaft and the upper bearing housing, respectively. The braking assembly is connected to the output shaft and presses the first elastic element onto the outer ring of the upper bearing. That is, the braking assembly also serves as a pressure ring in related technologies. This not only controls the clearance between the lower and upper bearings within a reasonable range, but also eliminates the need for a pressure ring, thereby making the joint module more compact in structure and reducing the cost of the joint module.

Description

Technical Field

[0001] This application relates to the technical field of robotic arms, specifically to robotic arms and their joint modules. Background Technology

[0002] With the continuous development of technology, manufacturing not only requires robotic arms to replace monotonous, repetitive, and dangerous tasks to improve automation and reduce labor costs, but also necessitates human-machine collaboration between robotic arms and operators to jointly complete more difficult, complex, and precise special tasks. Therefore, the performance and reliability of the drive components in the joint module of a robotic arm are particularly important. Based on this, bearings are generally installed on the output shaft of the drive component, and these bearings have a certain clearance to balance the rotation of the output shaft and its reliability. If the clearance is too small, it can easily lead to difficulty in rotating the output shaft; conversely, if the clearance is too large, it can easily lead to uneven rotation of the output shaft (e.g., "jamming"). To address this, related technologies typically use an additional pressure ring to press an elastic element onto the outer ring of the bearing to control the bearing clearance within a reasonable range. However, the introduction of the pressure ring not only increases the cost of the joint module but also hinders the reduction of the axial dimensions of the joint module because the pressure ring has a certain thickness. Summary of the Invention

[0003] This application provides a joint module for a robotic arm. The joint module includes a drive assembly, a braking assembly, and a first elastic element. The drive assembly includes an output shaft, an upper bearing housing, and an upper bearing. The inner and outer rings of the upper bearing are connected to the output shaft and the upper bearing housing, respectively. The braking assembly is connected to the output shaft and presses the first elastic element onto the outer ring of the upper bearing.

[0004] This application provides a joint module for a robotic arm. The joint module includes a drive assembly, a braking assembly, and a support. The drive assembly includes an output shaft, an upper bearing housing, and an upper bearing. The upper bearing housing includes an upper cylindrical portion, an upper fixed portion bent and connected to one end of the upper cylindrical portion, and an upper annular limiting portion connected to the upper fixed portion. The upper fixed portion extends outward from the upper cylindrical portion and is nested on the upper bearing. The upper bearing is nested on the output shaft. The braking assembly and the support are supported on the same side of the upper fixed portion. In the radial direction of the output shaft, the braking assembly is radially limited to the inner side of the upper annular limiting portion, and the support is radially limited to the outer side of the upper annular limiting portion.

[0005] This application also provides a robotic arm, which includes the joint module described in the above embodiments.

[0006] The beneficial effects of this application are: In the joint module provided by this application, the braking component is connected to the output shaft and simultaneously presses an elastic element onto the outer ring of the upper bearing. That is, the braking component also serves as a pressure ring in the related technology. This not only controls the clearance between the lower bearing and the upper bearing within a reasonable range, but also eliminates the need for a pressure ring, thereby making the joint module more compact in structure and reducing the cost of the joint module. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 This is a schematic diagram of the structure of an embodiment of the robotic arm provided in this application;

[0009] Figure 2 This is a cross-sectional structural schematic diagram of an embodiment of the joint module provided in this application;

[0010] Figure 3 This is a cross-sectional structural schematic diagram of an embodiment of the drive assembly and joint housing provided in this application;

[0011] Figure 4 This is a cross-sectional structural schematic diagram of an embodiment of the lower bearing housing provided in this application;

[0012] Figure 5 This is a cross-sectional structural schematic diagram of an embodiment of the upper bearing housing provided in this application;

[0013] Figure 6 This is a cross-sectional structural schematic diagram of an embodiment of the deceleration component provided in this application;

[0014] Figure 7 This is an exploded structural diagram of an embodiment of the braking assembly provided in this application;

[0015] Figure 8 This is a cross-sectional structural schematic diagram of an embodiment of the braking assembly and coding assembly provided in this application;

[0016] Figure 9 This is a top view of an embodiment of the friction pad provided in this application;

[0017] Figure 10 This is a top view of one embodiment of the adapter provided in this application;

[0018] Figure 11 This is a cross-sectional structural schematic diagram of an embodiment of the adapter provided in this application;

[0019] Figure 12 This is a cross-sectional structural schematic diagram of an embodiment of the bracket provided in this application;

[0020] Figure 13 This is a cross-sectional structural schematic diagram of an embodiment of the joint module provided in this application;

[0021] Figure 14 This is an exploded structural diagram of an embodiment of the encoding component provided in this application;

[0022] Figure 15 Figures (a) and (b) are schematic diagrams of various embodiments of the connection between the rotating shaft and the output shaft provided in this application;

[0023] Figure 16 This is a cross-sectional structural schematic diagram of an embodiment of the encoding component provided in this application;

[0024] Figure 17 This is a cross-sectional structural schematic diagram of an embodiment of the adapter provided in this application;

[0025] Figure 18 This is a cross-sectional structural diagram of an embodiment of the encoding component provided in this application. Detailed Implementation

[0026] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be noted that the following embodiments are for illustrative purposes only and do not limit the scope of the application. Similarly, the following embodiments are only some, not all, embodiments of the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0027] The reference to "embodiment" in this application means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0028] Combination Figure 1 The robotic arm 10 may include joint modules 11, connecting arms 12, and a base 13. Multiple joint modules 11 and connecting arms 12 can be present, and they can be directly or indirectly connected to the base 13 in a specific arrangement. This allows the end effector of the robotic arm 10, away from the base 13, to have different degrees of freedom and positions in three-dimensional space, thus meeting the operational needs of various application scenarios. The robotic arm 10 can be an industrial robotic arm. Compared to other robotic arms such as educational desktop robotic arms, industrial robotic arms handle heavier objects and have larger loads, thus requiring a more sophisticated design for structures such as the joint modules 11.

[0029] As an example, combined Figure 2 The joint module 11 may include a joint housing 111, a drive assembly 112, a reduction assembly 113, a braking assembly 114, and a coding assembly 115. The joint housing 111 can also serve as the housing for the drive assembly 112, meaning that all related structures of the drive assembly 112 can be directly mounted on the joint housing 111. The reduction assembly 113, braking assembly 114, and coding assembly 115 can also be directly or indirectly mounted on the joint housing 111 according to a specific assembly sequence, thus making the joint module 11 structurally integrated, i.e., an "integrated joint module." This simplifies the structure of the joint module 11, thereby reducing its cost. Of course, in other embodiments where integration is less critical, the drive assembly 112 may also have a housing independent of the joint housing 111, meaning that the drive assembly 112 can be used independently even after being detached from the joint housing 111.

[0030] Furthermore, the drive assembly 112 is mainly used to drive the joint module 11 or connecting arm 12 connected thereto to rotate; the deceleration assembly 113 is mainly used to achieve different speed matching and torque transmission between structures such as the joint module 11 and the connecting arm 12; the braking assembly 114 is mainly used to switch the drive assembly 112 between rotation and braking states; and the encoding assembly 115 is mainly used to detect the rotational state, such as speed and angular position, of at least one of the drive assembly 112 and the deceleration assembly 113. The deceleration assembly 113 and the braking assembly 114 can be located on opposite sides of the drive assembly 112, and the encoding assembly 115 can be located on the side of the braking assembly 114 opposite to the drive assembly 112.

[0031] As an example, combined Figure 2 and Figure 3The joint housing 111 may include a first housing 1111 and a second housing 1112 connected to the first housing 1111, which together form a cavity structure with a certain volume. The inner side of the first housing 1111 may be provided with an annular support platform 1113, the area where the annular support platform 1113 is located having a thicker wall than other areas of the first housing 1111, to increase the local structural strength of the first housing 1111. The outer side of the first housing 1111 may be provided with an assembly position for connecting to the joint module 11 or the connecting arm 12, the area where the assembly position is located also having a thicker wall than other areas of the first housing 1111, to increase the local structural strength of the first housing 1111. Based on this, compared to the second housing 1112, the first housing 1111 can have higher structural strength in both material and structural design. Thus, different housings in the joint housing 111 can be designed differently according to actual usage requirements, which helps to reduce the cost of the joint module 11. Furthermore, the second outer shell 1112 can be placed over the coding assembly 115 to protect the internal structure of the joint module 11.

[0032] As an example, combined Figure 3 The drive assembly 112 may include an output shaft 1121, a rotor 1122 connected to the output shaft 1121, a stator 1123 embedded in an annular bearing 1113, a lower bearing housing 1124 and an upper bearing housing 1125 connected to opposite sides of the annular bearing 1113 in the axial direction of the output shaft 1121, a lower bearing 1126 embedded in the lower bearing housing 1124 and an upper bearing 1127 embedded in the upper bearing housing 1125, and the rotor 1122 is located inside the stator 1123. The inner and outer rings of the lower bearing 1126 are connected to the output shaft 1121 and the lower bearing housing 1124, respectively. The inner and outer rings of the upper bearing 1127 are connected to the output shaft 1121 and the upper bearing housing 1125, respectively. That is, the lower bearing 1126 and the upper bearing 1127 are further nested on the output shaft 1121 and are located on both sides of the rotor 1122 along the axial direction of the output shaft 1121. Furthermore, the rotor 1122 may include magnets, and the stator 1123 may include coils. This eliminates the need for structural components such as carbon brushes, simplifies the wiring of the drive assembly 112, and reduces the cost of the drive assembly 112. To meet the speed and power output requirements of the drive assembly 112, the number of magnets can be multiple, and the number of coils can be multi-turn. Correspondingly, the reduction assembly 113 and the braking assembly 114 can be connected to both ends of the output shaft 1121, respectively, and the encoding assembly 115 can be connected to the end of the output shaft 1121 closest to the braking assembly 114.

[0033] It should be noted that all directional indications (such as up, down, left, right, forward, backward, etc.) in the embodiments of this application are only used to interpret a specific posture (as shown in the attached figure). Figure 2 The relative positions and movements of the components (as shown) will change if the specific orientation changes. For example: Figure 3 The components shown, such as the "lower bearing housing," "upper bearing housing," "lower bearing," and "upper bearing," are in... Figure 2 After the middle joint module is rotated 90°, it can correspond to "front bearing seat", "rear bearing seat", "front bearing" and "rear bearing", etc., or it can correspond to "left bearing seat", "right bearing seat", "left bearing" and "right bearing", etc.

[0034] In some embodiments, one of the lower bearing housing 1124 and the upper bearing housing 1125 may be an integral structural component with the first housing 1111, while the other may be a separate structural component. The two may be connected by one or a combination of assembly methods such as adhesive bonding, snap-fitting, welding, and threaded connection. This is beneficial for improving the assembly efficiency of the drive assembly 112.

[0035] In some embodiments, the lower bearing housing 1124 and the upper bearing housing 1125 can be separate structural components relative to the joint housing 111. They can be connected to the annular support 1113 respectively through one or a combination of assembly methods such as adhesive bonding, snap-fitting, welding, and threaded connection. Similarly, the first housing 1111, the lower bearing housing 1124, and the upper bearing housing 1125 can be differentiated in terms of materials, structural design, and molding processes, which helps to reduce the cost of the joint module 11.

[0036] As an example, combined Figure 3 The lower bearing housing 1124 can be a separate structural component, and can therefore be secured to the joint housing 111 by fasteners 1161. Specifically, fasteners 1161 pass through the lower bearing housing 1124 and connect to the annular bearing platform 1113 to press the lower bearing housing 1124 onto the annular bearing platform 1113. Similarly, the upper bearing housing 1125 can also be a separate structural component, and can therefore be secured to the joint housing 111 by another fastener. The lower bearing housing 1124 and the upper bearing housing 1125 can be radially limited at different positions on the first housing 1111 in the radial direction of the output shaft 1121.

[0037] Furthermore, the output shaft 1121 can be divided along its axial direction into a lower fixed section 11211, an upper fixed section 11212, and an intermediate fixed section 11213 located between the lower fixed section 11211 and the upper fixed section 11212. The outer diameter of the intermediate fixed section 11213 can be larger than the outer diameters of the lower fixed section 11211 and the upper fixed section 11212, respectively, so that the output shaft 1121 forms a first outer stepped surface 11214 between the intermediate fixed section 11213 and the lower fixed section 11211 and a second outer stepped surface 11215 between the intermediate fixed section 11213 and the upper fixed section 11212. The rotor 1122 can be fixed to the intermediate fixed section 11213. The lower bearing 1126 and the upper bearing 1127 can be nested on the lower fixed section 11211 and the upper fixed section 11212, respectively. The inner ring of the lower bearing 1126 can be supported on the first outer stepped surface 11214, and the inner ring of the upper bearing 1127 can be supported on the second outer stepped surface 11215. Further, the drive assembly 112 can include a lower retaining ring 11281 connected to the lower fixed section 11211. For example, the lower retaining ring 11281 is engaged in the limiting groove of the lower fixed section 11211, and the lower retaining ring 11281, together with the intermediate fixed section 11213, can clamp the inner ring of the lower bearing 1126. Similarly, the drive assembly 112 can include an upper retaining ring connected to the upper fixed section 11212, and the upper retaining ring, together with the intermediate fixed section 11213, can clamp the inner ring of the upper bearing 1127.

[0038] Furthermore, the output shaft 1121 can be configured as a hollow structure to facilitate the wiring structure of the joint module 11. The inner diameter of the lower fixed section 11211 can be smaller than the inner diameter of the middle fixed section 11213, so that the end of the lower fixed section 11211 has sufficient wall thickness for assembling the input shaft of the deceleration assembly 113.

[0039] As an example, combined Figure 4 and Figure 3The lower bearing housing 1124 may include a lower cylindrical portion 11241 and a lower fixing portion 11242 bent and connected to one end of the lower cylindrical portion 11241. The lower fixing portion 11242 extends outward from the lower cylindrical portion 11241 to connect with the joint housing 111. The lower cylindrical portion 11241 is nested on the lower bearing 1126. Specifically, a fastener 1161 passes through the lower fixing portion 11242 and is connected to the annular bearing platform 1113 to press the lower bearing housing 1124 onto the annular bearing platform 1113; the lower cylindrical portion 11241 is connected to the outer ring of the lower bearing 1126. The end of the fastener 1161 that is not inserted into the annular bearing 1113 may not protrude from the lower bearing seat 1124. That is, the side of the fastener 1161 facing the deceleration assembly 113 may be recessed into the lower bearing seat 1124 or flush with the end face of the lower bearing seat 1124. This facilitates the subsequent assembly of the deceleration assembly 113 and also helps to increase the structural compactness of the joint module 11.

[0040] Furthermore, the lower bearing housing 1124 may include a lower flange portion 11243 bent and connected to the other end of the lower cylindrical portion 11241. The lower flange portion 11243 and the lower fixing portion 11242 extend in opposite directions, and the outer ring of the lower bearing 1126 can be supported on the lower flange portion 11243. Based on this, the drive assembly 112 may include a lower pressure ring 11282 connected to the lower fixing portion 11242. The lower pressure ring 11282 can clamp the outer ring of the lower bearing 1126 together with the lower flange portion 11243. The lower pressure ring 11282 may not protrude from the lower fixing portion 11242 to avoid structural interference or collision between the lower pressure ring 11282 and structural components such as the rotor 1122.

[0041] In some implementations, for example Figure 13The first outer stepped surface 11214 and the lower flange 11243 can be located on the same side of the lower bearing 1126 in the axial direction of the output shaft 1121, for example, the side of the lower bearing 1126 facing the upper bearing 1127. Correspondingly, the lower retaining ring 11281 and the lower pressure ring 11282 can be located on the same side of the lower bearing 1126 in the axial direction of the output shaft 1121, for example, the side of the lower bearing 1126 away from the upper bearing 1127. In this case, the lower bearing 1126 can be at least partially located on the side of the lower fixing portion 11242 away from the reduction assembly 113 (that is, the other side of the lower fixing portion 11242 facing the braking assembly 114), for example, when the lower bearing 1126 is radially projected onto the inner side of the joint housing 111 along the output shaft 1121, it partially overlaps with the annular bearing 1113. The rotor 1122 or stator 1123 can maintain a certain safety distance radially from the lower bearing 1126 and lower bearing housing 1124 on the output shaft 1121. The lower bearing 1126 and lower bearing housing 1124 can also extend axially into the gap between the rotor 1122 and stator 1123 along the output shaft 1121 to avoid structural interference or collision. Therefore, when assembling the reduction assembly 113 on the side where the lower bearing housing 1124 is located, the lower bearing 1126 can be located outside the reduction assembly 113. This eliminates the need to consider the assembly requirement of the lower bearing 1126 extending into the reduction assembly 113, making the selection of the reduction assembly 113 more flexible. Furthermore, during the assembly of the drive assembly 112, the lower bearing 1126 can be nested on the lower fixed section 11211 of the output shaft 1121 along the assembly direction, and then the lower retaining ring 11281 can be snapped into the limiting groove of the lower fixed section 11211, so that the lower retaining ring 11281 and the intermediate fixed section 11213 together clamp the inner ring of the lower bearing 1126; then, the lower bearing seat 1124 can be nested on the lower bearing 1126 in the opposite direction of the aforementioned assembly direction, or the lower bearing 1126 and the output shaft 1121 can be embedded as a whole in the lower cylindrical part 11241 of the lower bearing seat 1124 along the aforementioned assembly direction, and then the lower pressure ring 11282 can be fixed on the lower fixed part 11242 of the lower bearing seat 1124, so that the lower pressure ring 11282 and the lower flange part 11243 of the lower bearing seat 1124 together clamp the outer ring of the lower bearing 1126. Obviously, regardless of how the lower bearing housing 1124 and the lower bearing 1126 are assembled, the lower bearing 1126 will press against the lower retaining ring 11281, causing the lower retaining ring 11281 to be subjected to greater pressure during the assembly process, which poses a certain risk of structural failure.

[0042] In some implementations, for example Figure 2 and Figure 3The first outer stepped surface 11214 and the lower flange 11243 can be located on both sides of the lower bearing 1126 in the axial direction of the output shaft 1121. Correspondingly, the lower retaining ring 11281 and the lower pressure ring 11282 can be located on both sides of the lower bearing 1126 in the axial direction of the output shaft 1121. At this time, the lower bearing 1126 can be at least partially located on the side of the lower fixing portion 11242 away from the upper bearing seat 1125, that is, the lower bearing 1126 is at least partially located outside the drive assembly 112. In other words, the orthographic projections of the stator 1123 and the lower bearing 1126 along the radial direction of the output shaft 1121 can not overlap, that is, the stator 1123 and the lower bearing 1126 are spaced apart in the axial direction of the output shaft 1121. Based on this, when the reduction assembly 113 is assembled on the side where the lower bearing seat 1124 is located, the lower bearing 1126 can be at least partially located inside the reduction assembly 113. In this way, there is no need to worry about structural interference or collision between the lower bearing 1126 and the lower bearing housing 1124 and the rotor 1122 or stator 1123, making the drive assembly 112 more compact in the axial and radial directions of the output shaft 1121, thereby allowing the drive assembly 112 to be designed with a larger rotor 1122 or stator 1123. Furthermore, during the assembly of the drive assembly 112, the lower bearing 1126 can be nested on the lower fixed section 11211 of the output shaft 1121 along the assembly direction, and then the lower retaining ring 11281 can be snapped into the limiting groove of the lower fixed section 11211, so that the lower retaining ring 11281 and the intermediate fixed section 11213 together clamp the inner ring of the lower bearing 1126; then, the lower bearing seat 1124 can be nested on the lower bearing 1126 along the aforementioned assembly direction, or the lower bearing 1126 and the output shaft 1121 can be embedded as a whole in the lower cylindrical part 11241 of the lower bearing seat 1124 along the opposite direction of the aforementioned assembly direction, and then the lower pressure ring 11282 can be fixed on the lower fixed part 11242 of the lower bearing seat 1124, so that the lower pressure ring 11282 and the lower flange part 11243 of the lower bearing seat 1124 together clamp the outer ring of the lower bearing 1126. Obviously, regardless of how the lower bearing housing 1124 and the lower bearing 1126 are assembled, the lower bearing 1126 will be pressed against the lower fixed section 11211, rather than against the lower retaining ring 11281. This means that the lower retaining ring 11281 does not need to bear pressure during the assembly process, which helps to ensure the reliability of the lower retaining ring 11281.

[0043] As an example, combined Figure 5 and Figure 3The upper bearing housing 1125 may include an upper cylindrical portion 11251 and an upper fixing portion 11252 bent and connected to one end of the upper cylindrical portion 11251. The upper fixing portion 11252 extends outward from the upper cylindrical portion 11251 to connect with the joint housing 111. The upper cylindrical portion 11251 is nested on the upper bearing 1127. Specifically, a fastener passes through the upper fixing portion 11252 and is connected to the annular bearing platform 1113 to press the upper bearing housing 1125 onto the annular bearing platform 1113; the upper cylindrical portion 11251 is connected to the outer ring of the upper bearing 1127. The upper bearing 1127 may be at least partially located within the drive assembly 112, which facilitates subsequent assembly of structural components such as the brake assembly 114. Furthermore, the orthographic projections of the upper bearing 1127 and the stator 1123 along the radial direction of the output shaft 1121 can partially overlap. For example, the related structures of the upper bearing 1127 and the upper bearing housing 1125 can extend into the gap between the output shaft 1121 and the stator 1123 along the axial direction of the output shaft 1121. This can avoid structural interference or collision between related structural components and also help to increase the structural compactness of the joint module 11.

[0044] Furthermore, the upper bearing housing 1125 may include an upper annular limiting portion 11253 connected to the upper fixing portion 11252. The upper annular limiting portion 11253 can radially limit structural members such as the brake assembly 114 in the radial direction of the output shaft 1121, as will be described exemplarily below.

[0045] Based on the above descriptions, and in conjunction with Figures 2 to 6The joint housing 111 can also serve as the housing for the drive assembly 112, allowing for performance testing of each component in the drive assembly 112 after assembly with the joint housing 111. Fastener 1161 secures the lower bearing housing 1124 to the joint housing 111, and the upper bearing housing 1125 can also be secured to the joint housing 111 by another fastener. Based on this, fastener 1162 secures the reduction assembly 113 to the joint housing 111, passing through the lower bearing housing 1124; fastener 1163 secures the input shaft 1131 of the reduction assembly 113 to the output shaft 1121. In other words, the drive assembly 112 can be detachably connected to the joint housing 111 via fastener 1161, and the reduction assembly 113 can be detachably connected to both the joint housing 111 and the drive assembly 112 via fasteners 1162 and 1163 respectively, thus modularizing the various structural components in the joint module 11. In related technologies, the output shaft of the drive assembly 112 and the input shaft of the reduction assembly 113 are integral structural components. For example, the rotor 1122 of the drive assembly 112 is fixed on the input shaft of the reduction assembly 113. That is, the drive assembly 112 does not have an independent output shaft, making it difficult to perform relevant performance tests on the drive assembly 112. Unlike related technologies, in this application, the output shaft 1121 of the drive assembly 112 and the input shaft 1131 of the reduction assembly 113 can be separate structural components, which are detachably connected by fasteners 1163. This not only allows the drive assembly 112 and the reduction assembly 113 to be tested separately before assembly, but also facilitates later maintenance and reduces the vibration and noise of the reduction assembly 113.

[0046] As an example, fastener 1161 passes through lower fixing part 11242 and connects to annular support 1113 to press lower bearing seat 1124 onto annular support 1113. Fastener 1162 passes through reduction assembly 113 and lower fixing part 11242 in sequence and connects to annular support 1113 to press reduction assembly 113 and lower bearing seat 1124 onto annular support 1113, that is, reduction assembly 113 and lower bearing seat 1124 are fixed together on annular support 1113 by fastener 1162. Further, input shaft 1131 can be configured as a hollow structure to facilitate the wiring structure of joint module 11; and annular support 11311 is provided on the inner side of input shaft 1131. The output shaft 1121 is inserted into the input shaft 1131, and the end face of the output shaft 1121 abuts against the annular support 11311. A fastener 1163 connects the annular support 11311 and the output shaft 1121 along the axial direction of the output shaft 1121, meaning the fastener 1163 fixes the input shaft 1131 to the end of the lower fixed section 11211. This not only allows for radial limiting of the output shaft 1121 via the input shaft 1131, but also helps increase the coaxiality between the input shaft 1131 and the output shaft 1121.

[0047] Furthermore, the output shaft 1121 can extend out of the lower bearing housing 1124, and the mounting surface between the input shaft 1131 and the output shaft 1121 can be located within the reduction assembly 113 in the axial direction of the output shaft 1121, so that the related structures of the lower bearing 1126 and the lower bearing housing 1124 are at least partially located within the reduction assembly 113.

[0048] As an example, combined Figure 6 and Figure 2 The reduction assembly 113 may include a wave generator 1132 connected to the input shaft 1131, a flexible wheel 1133 nested on the wave generator 1132, and a rigid wheel 1134 nested on the flexible wheel 1133. The rigid wheel 1134 partially meshes with the flexible wheel 1133 to achieve a corresponding transmission ratio. Furthermore, the reduction assembly 113 may include a flange 1135, which can serve as the output end of the reduction assembly 113 for connection to other joint modules 11 or connecting arms 12.

[0049] In some embodiments, the flexible wheel 1133 can be configured as a cylindrical structure. Based on this, the sidewall of the flexible wheel 1133 partially meshes with the rigid wheel 1134, and the bottom wall of the flexible wheel 1133 is connected to the flange 1135. Correspondingly, the rigid wheel 1134 can be fixed to the annular support 1113 by fasteners 1162.

[0050] In some embodiments, the flexible wheel 1133 can be configured as a hollow top hat-shaped structure. Based on this, the reduction assembly 113 may include an outer bearing 1136, and the flexible wheel 1133 may include a cylindrical engagement portion 11331 and an annular folded portion 11332 bent and connected to one end of the cylindrical engagement portion 11331. The annular folded portion 11332 extends outward from the cylindrical engagement portion 11331. The cylindrical engagement portion 11331 partially engages with the rigid wheel 1134, the annular folded portion 11332 is connected to the outer ring of the outer bearing 1136, and the rigid wheel 1134 is connected to the inner ring of the outer bearing 1136. Further, a fastener 1162 secures one of the inner and outer rings of the outer bearing 1136 to the annular support 1113, and a flange 1135 is connected to the other of the inner and outer rings of the outer bearing 1136.

[0051] Based on the above descriptions, and in conjunction with Figure 2 , Figure 3 and Figure 6 The lower bearing 1126 and its housing 1124 can be at least partially located within the reduction assembly 113. For example, the lower bearing 1126 may be located radially on the output shaft 1121, inside the flex wheel 1133 away from the rigid wheel 1134, causing the lower bearing 1126 to encroach on the internal space of the reduction assembly 113 to some extent. Therefore, to avoid structural interference or collision between the lower bearing 1126 and its housing 1124 and the flex wheel 1133 or the input shaft 1131, a technical solution readily conceived by those skilled in the art is to increase the radial dimension of the reduction assembly 113 to increase the gap between the flex wheel 1133 and the input shaft 1131 radially on the output shaft 1121, thereby reserving a sufficient safety distance. In contrast, in this application, combined with... Figure 4 The thickness of the lower cylindrical portion 11241 in the radial direction of the output shaft 1121 is smaller than the thickness of the lower flange portion 11243 in the axial direction of the output shaft 1121 and the thickness of the lower fixing portion 11242 in the axial direction of the output shaft 1121. This thinning of the lower cylindrical portion 11241 not only avoids the aforementioned interference or collision but also accommodates the radial dimensions of the reduction assembly 113. The corners of the lower cylindrical portion 11241 and the lower fixing portion 11242 on the side away from the lower bearing 1126 can be rounded to avoid significant stress concentration, thereby increasing the structural strength and reliability of the lower bearing housing 1124.

[0052] Furthermore, combined Figure 6 The reduction gear assembly 113 may include a hollow shaft 1137 and an inner bearing 1138. One end of the hollow shaft 1137 is connected to a flange 1135, and the inner ring and outer ring of the inner bearing 1138 are respectively connected to the hollow shaft 1137 and the input shaft 1131. (The last sentence appears to be incomplete and possibly refers to a combination of two parts.) Figure 2The hollow shaft 1137 passes sequentially through the input shaft 1131, the output shaft 1121, and the braking assembly 114 until it is inserted into the encoder assembly 115. This facilitates the wiring structure of the joint module 11 and helps reduce wear on the wiring structure. In addition, it also facilitates the encoder assembly 115 in detecting the rotational speed and / or angular position of the output end (e.g., flange 1135) of the deceleration assembly 113.

[0053] As an example, combined Figure 6 and Figure 2 Fastener 1162 secures the outer ring of the outer bearing 1136 to the annular bearing 1113, and flange 1135 is connected to the inner ring of the outer bearing 1136 via rigid wheel 1134. Fastener 1164 can also secure the annular folded portion 11332 to the outer ring of the outer bearing 1136, allowing the reduction assembly 113 to undergo relevant performance tests. Correspondingly, fastener 1162 passes sequentially through the outer ring of the outer bearing 1136, the annular folded portion 11332, and the lower bearing housing 1124, and connects to the annular bearing 1113 to press the reduction assembly 113 and the lower bearing housing 1124 onto the annular bearing 1113. Further, combined with... Figure 4 The lower bearing housing 1124 (specifically its lower fixed portion 11242) is provided with a clearance hole 11244. The portion of the fastener 1164 protruding from the annular folded portion 11332 can be located within the clearance hole 11244 to increase the structural compactness of the joint module 11. Preferably, the clearance hole 11244 can penetrate the lower fixed portion 11242 along the axial direction of the output shaft 1121 to allow the fastener 1164 to contact the annular bearing platform 1113 via the clearance hole 11244. This facilitates heat dissipation of the reduction assembly 113, thereby increasing the reliability of the reduction assembly 113.

[0054] Furthermore, combined Figure 2 , Figure 3 and Figure 6 Fasteners 1164 and 1161 are assembled in opposite directions, while fasteners 1162 and 1161 are assembled in the same direction, so as to allow the various components in the drive assembly 112 and the deceleration assembly 113 to be assembled with the joint housing 111 in a certain sequence.

[0055] Furthermore, fasteners 1161, 1162, and 1164 can be spaced apart around the output shaft 1121. Between two adjacent fasteners 1164 arranged around the output shaft 1121, the number of fasteners 1162 can be greater than the number of fasteners 1161. Thus, fasteners 1161 can fix the lower bearing housing 1124 to the annular bearing platform 1113, with a number sufficient for performance testing of the drive assembly 112 alone. Fasteners 1164 can fix the annular folded portion 11332 to the outer ring of the outer bearing 1136, with a number also sufficient for performance testing of the reduction assembly 113 alone. Finally, a relatively large number of fasteners 1162 securely fix the reduction assembly 113 and the lower bearing housing 1124 together to the annular bearing platform 1113, thereby simplifying the structure to the greatest extent while ensuring structural reliability.

[0056] As an example, the number of fasteners 1161 can be four, the number of fasteners 1162 can be twelve, and the number of fasteners 1164 can be four. Since fasteners 1161, 1162, and 1164 are structurally directly or indirectly related to the lower bearing housing 1124, their number can be characterized by the number of corresponding through holes on the lower fixing portion 11242. Based on this, combined with... Figure 4 In addition to the clearance hole 11244 corresponding to the fastener 1164, the lower fixing part 11242 may also be provided with a countersunk hole 11245 corresponding to the fastener 1161 and a through hole 11246 corresponding to the fastener 1162. Obviously, the number of clearance holes 11244, countersunk holes 11245, and through holes 11246 are four, four, and twelve, respectively. It is worth noting that since the reduction gear assembly 113 needs to be assembled on the side where the lower bearing housing 1124 is located, the side of the fastener 1161 facing the reduction gear assembly 113 can be recessed into the lower bearing housing 1124 or flush with the end face of the lower bearing housing 1124. Clearly, the countersunk hole 11245 can better accommodate the fastener 1161. Furthermore, viewed axially along the output shaft 1121, the distance from fastener 1161 to the center of the lower bearing housing 1124 can be less than the distance from fastener 1162 to the center of the lower bearing housing 1124. That is, fastener 1161 is closer to the output shaft 1121 radially than fastener 1162. In other words, radially along the output shaft 1121, the countersunk hole 11245 is closer to the center of the lower bearing 1126 and farther from the edge of the lower fixing part 11242 than the through hole 11246. This helps ensure the structural strength of the lower fixing part 11242 in the area where the countersunk hole 11245 is located, thereby increasing the structural reliability of the drive assembly 112.

[0057] It should be noted that in other embodiments, such as drive assembly 112 and / or deceleration assembly 113, where no separate performance testing is required, fasteners 1161 and 1164 can be omitted. That is, the assembly of each component in drive assembly 112 and deceleration assembly 113 with joint housing 111 can be achieved solely through fastener 1162.

[0058] Combination Figure 3 The two ends of the output shaft 1121 are connected to the joint housing 111 via a lower bearing 1126 and an upper bearing 1127, respectively, to make the output of the drive assembly 112 more stable. Therefore, both the lower bearing 1126 and the upper bearing 1127 need to have a certain clearance after assembly. However, if the clearance is too small, it will be difficult for the output shaft 1121 to rotate; conversely, if the clearance is too large, it will be difficult for the output shaft 1121 to rotate smoothly (e.g., "staggering"). To this end, the joint module 11 may include a first elastic element 117, which can press the outer ring of the upper bearing 1127, which helps to control the clearance of the lower bearing 1126 and the upper bearing 1127 within a reasonable range. The first elastic element 117 can be a wave spring. Based on this, in order to press the first elastic element 117, a technical solution that is easy for those skilled in the art to think of is to press the first elastic element 117 by an additional upper pressure ring connected to the upper bearing seat 1125. Unlike the others, in this application, combined with Figure 2 and Figure 3 The braking assembly 114 can be fixed on the upper bearing seat 1125 and can simultaneously press the first elastic element 117 onto the outer ring of the upper bearing 1127. That is, the braking assembly 114 can replace the upper pressure ring. This not only controls the clearance between the lower bearing 1126 and the upper bearing 1127 within a reasonable range, but also eliminates the need for the upper pressure ring, thereby making the joint module 11 more compact in structure and reducing the cost of the joint module 11.

[0059] As an example, combined Figure 7The braking assembly 114 may include a mounting base 1141 connected to the upper bearing housing 1125, a second elastic element 1142 disposed within the mounting base 1141, and an excitation coil 1143, as well as an armature disk 1144, a friction plate 1145, and a cover plate 1146 sequentially stacked along the axial direction of the output shaft 1121. Specifically, the armature disk 1144 and the cover plate 1146 are located on opposite sides of the friction plate 1145 along the axial direction of the output shaft 1121. The friction plate 1145 is connected to the output shaft 1121 to rotate with it; the cover plate 1146 can be connected to the mounting base 1141 to maintain relative stillness. Furthermore, the armature disk 1144 and the friction plate 1145 can be separate structural components, meaning they can move relative to each other; the armature disk 1144 and the friction plate 1145 can also be connected together by one or a combination of assembly methods such as adhesive bonding, snap-fit, and threaded connection, meaning they remain relatively still.

[0060] The working principle of the braking assembly 114 can be summarized as follows: (The text abruptly ends here, so the translation stops as well.) Figure 8 When the excitation coil 1143 is de-energized, the armature disc 1144, under the elastic force of the second elastic element 1142, pushes the friction plate 1145 along the axial direction of the output shaft 1121 to contact the cover plate 1146, thereby switching the output shaft 1121 from a rotating state to a braking state, that is, the output shaft 1121 stops rotating. When the excitation coil 1143 is energized, the magnetic field generated by the excitation coil 1143 acts on the armature disc 1144, causing the friction plate 1145 to separate from the cover plate 1146, thereby releasing the braking state of the output shaft 1121, that is, the output shaft 1121 continues to rotate. Thus, compared with the related technology that uses a pin to stop the output shaft 1121 for braking, the braking assembly 114 in this application brakes the output shaft 1121 by means of frictional resistance, which has the advantages of no idle stroke, fast response, and no abnormal noise. When the excitation coil 1143 is de-energized, the elastic potential energy stored in the second elastic element 1142 can not only push the armature disk 1144 and the friction plate 1145, but also create a certain positive pressure between the armature disk 1144 and the friction plate 1145, and between the friction plate 1145 and the cover plate 1146, thereby providing a preset amount of frictional resistance to maintain the braking state of the output shaft 1121. Furthermore, when the excitation coil 1143 is energized, the magnetic field generated by the excitation coil 1143 can attract the armature disk 1144 away from the cover plate 1146, thereby at least releasing the positive pressure between the friction plate 1145 and the cover plate 1146.

[0061] It should be noted that after the braking assembly 114 is assembled, for example, the mounting base 1141 is fixed on the upper fixing part 11252, and the braking assembly 114 presses the first elastic member 117 through the mounting base 1141. Correspondingly, the second elastic member 1142 is disposed on the side of the mounting base 1141 opposite to the first elastic member 117; the mounting base 1141 is radially limited inside the upper annular limiting part 11253. Furthermore, the material of the mounting base 1141 can be a soft magnetic material, such as the same as that of the armature disk 1144, to adjust the magnetic field generated by the excitation coil 1143 and make it more concentrated.

[0062] The braking assembly 114 may include guide posts 1147 supported between the mounting base 1141 and the cover plate 1146. The armature disc 1144 can move closer to or further away from the cover plate 1146 under the guidance of the guide posts 1147 to prevent the braking assembly 1144 from jamming. There can be multiple guide posts 1147, which can be spaced apart around the output shaft 1121. For example, three guide posts 1147 can be evenly spaced around the output shaft 1121.

[0063] Furthermore, the mounting base 1141 may include a bottom wall 11411, and an inner side wall 11412 and an outer side wall 11413 connected to the bottom wall 11411. The inner side wall 11412 is located around the output shaft 1121, and the outer side wall 11413 is located around the inner side wall 11412 and extends in the same direction as the inner side wall 11412. Accordingly, the guide post 1147 may be supported between the outer side wall 11413 and the cover plate 1146. Based on this, when the armature disk 1144 moves away from the cover plate 1146 under the action of the magnetic field generated by the excitation coil 1143, it can be stopped by at least one of the inner side wall 11412 and the outer side wall 11413 to limit the movement of the armature disk 1144.

[0064] In some embodiments, the second elastic element 1142 can be disposed within a blind hole in the outer wall 11413, and the excitation coil 1143 can be disposed between the inner wall 11412 and the outer wall 11413, for example, the excitation coil 1143 is wound around the inner wall 11412. The number of second elastic elements 1142 can be multiple, and these multiple second elastic elements 1142 can be spaced apart around the output shaft 1121, for example, four second elastic elements 1142 are evenly spaced apart around the output shaft 1121.

[0065] In some embodiments, the second elastic element 1142 and the excitation coil 1143 may be disposed between the inner sidewall 11412 and the outer sidewall 11413. For example, there may be multiple second elastic elements 1142 and multiple excitation coils 1143, which are spaced apart around the output shaft 1121.

[0066] Combination Figure 8 The drive assembly 112 may include an adapter 1129 connected to the output shaft 1121, and a friction plate 1145 may be sleeved on the adapter 1129. Wherein, combined Figure 9 and Figure 10 Viewed axially along the output shaft 1121, the outer contour of the adapter 1129 and the inner contour of the friction plate 1145 are non-circular, allowing the friction plate 1145 to rotate with the adapter 1129 and to move relative to the adapter 1129 along the output shaft 1121. For example, the inner contour of the friction plate 1145, viewed axially along the output shaft 1121, is a first square with rounded corners; while the outer contour of the adapter 1129, viewed axially along the output shaft 1121, is a second square with chamfered corners. This allows the corners of the adapter 1129 to effectively avoid the corners of the friction plate 1145, preventing the friction plate 1145 from jamming while moving along the adapter 1129, thus increasing the reliability of the braking assembly 114; at the same time, it also maximizes the area of ​​the friction plate 1145, resulting in a faster response of the braking assembly 114.

[0067] Specifically, when the output shaft 1121 switches from a braking state to a rotating state, the friction plate 1145 rotates with the adapter 129, and then with the output shaft 1121, to avoid the braking assembly 114 applying unnecessary resistance to the rotation of the output shaft 1121. During the switching from a rotating state to a braking state, the friction plate 1145, pushed by the second elastic member 1142 and the armature disk 1144, moves relative to the adapter 1129 along the axial direction of the output shaft 1121 to contact the cover plate 1146, thereby braking the output shaft 1121 through frictional resistance. In other words, the adapter 1129 has no degree of freedom relative to the output shaft 1121, while the friction plate 1145 has a degree of freedom along the axial direction of the output shaft 1121 relative to the adapter 1129. Therefore, compared to the adapter 1129 and the output shaft 1121 being an integral structural component, processing the adapter 1129 and the output shaft 1121 separately and then assembling them not only simplifies the structure of the output shaft 1121, thereby reducing the processing difficulty of the output shaft 1121, but also facilitates differentiated design in the selection of materials for the adapter 1129 and the output shaft 1121, thereby taking into account the cost of the joint module 11.

[0068] Furthermore, combined Figure 8The encoding component 115 can be used to detect the rotational state of the drive component 112, specifically at least one of the rotational speed and angular position of the output shaft 1121. The encoding component 115 can include an encoding disk 1151A and a read head 1152A, with the read head 1152A cooperating with the encoding disk 1151A to detect the rotational speed and / or angular position of the output shaft 1121. Based on this, the encoding component 115 can be configured as a magneto-electric encoder, with the encoding disk 1151A correspondingly configured as a magnetic grating disk; or the encoding component 115 can be configured as a photoelectric encoder, with the encoding disk 1151A correspondingly configured as an optical grating disk. Whether it is a magneto-electric encoder or not, it can be further configured as incremental or absolute type according to actual needs. The relevant principles and specific structures are well known to those skilled in the art and will not be elaborated here. It is worth noting that compared to magneto-electric encoders, photoelectric encoders have more stringent requirements for the external environment. For example, photoelectric encoders have higher dustproof requirements, which will be illustrated later.

[0069] In some embodiments, the encoder disk 1151A and the adapter 1129 can be connected to the output shaft 1121 separately, thereby rotating with the output shaft 1121. This helps to reduce interference from the braking assembly 114 to the encoding assembly 115. As an example, the encoder disk 1151A and the adapter 1129 can be connected to the output shaft 1121 separately through their respective adapters, that is, there are two adapters.

[0070] In some embodiments, the encoder disk 1151A can be connected to the adapter 1129, thereby connecting to the output shaft 1121 via the adapter 1129. That is, both the encoder disk 1151A and the friction plate 1145 are connected to the output shaft 1121 via the adapter 1129, making the adapter 1129 "dual-purpose," which simplifies the structure of the joint module 11. Based on this, and in conjunction with... Figure 8 After the drive assembly 112 is assembled with the joint housing 111, the brake assembly 114 can be assembled with the drive assembly 112 first. Then, the encoder disk 1151A and the adapter 1129 can be assembled as a whole with the brake assembly 114. Subsequently, the bracket 118, the reader 1152A, and its circuit board, as well as other structures, can be assembled as a whole with the joint housing 111 or the upper bearing seat 1125. In this way, compared to the embodiment where the encoder disk 1151A and the adapter 1129 are connected to the output shaft 1121 separately through their respective adapters, in the embodiment where both the encoder disk 1151A and the friction plate 1145 are connected to the output shaft 1121 through the adapter 1129, the adapter 1129 only needs to be installed and removed once, which is beneficial to improving production efficiency.

[0071] As an example, combined Figure 11The adapter 1129 may include a cylindrical body 11291, and an inner flange portion 11292 and an outer flange portion 11293 connected to the cylindrical body 11291, wherein the outer flange portion 11293 and the inner flange portion 11292 extend in opposite directions. Wherein, combined with Figure 10 The outer contour of the cylindrical body 11291, when viewed along the axial direction of the output shaft 1121, is non-circular, for example, a square with chamfered corners. The friction plate 1145 is sleeved on the cylindrical body 11291 to rotate with the adapter 1129 or move relative to the adapter 1129 along the axial direction of the output shaft 1121. The encoder disk 1151A is connected to the outer flange portion 11293 to rotate with the adapter 1129. Preferably, the adapter 1129 may include an annular flange 11294 connected to the outer flange portion 11293. When the encoder disk 1151A is connected to the outer flange portion 11293, it is further sleeved on the annular flange 11294 to radially position the encoder disk 1151A via the annular flange 11294. Further, combined with... Figure 8 The output shaft 1121 is inserted into the cylindrical body 11291, and the end face of the output shaft 1121 abuts against the inner flange portion 11292. For example, the inner flange portion 11292 is fixed to the end of the upper fixed section 11212 by a fastener 1165, so as to allow the adapter 1129 to rotate with the output shaft 1121. Since the output shaft 1121 is inserted into the cylindrical body 11291, not only can the cylindrical body 11291 radially limit the output shaft 1121, but it also helps to increase the coaxiality between the adapter 1129 and the output shaft 1121.

[0072] The instruction manual is required: In this application, fasteners 1161, 1162, 1163, 1164, and 1165 can be bolts, and can be selected according to specific needs, such as hexagonal head, round head, square head, countersunk head, etc.

[0073] Furthermore, combined Figure 8 The encoding component 115 can be used to detect the rotational state of the deceleration component 113, specifically at least one of the rotational speed and angular position of the flange 1135. The encoding component 115 may include an encoding disk 1151B connected to the hollow shaft 1137 and a read head 1152B cooperating with the encoding disk 1151B. The read head 1152B detects the rotational speed and / or angular position of the flange 1135 as the encoding disk 1151B rotates with the hollow shaft 1137. Similarly, the encoding disk 1151B can be configured as a magnetic grating disk or an optical grating disk.

[0074] As an example, combined Figure 8 and Figure 5The joint module 11 may include a bracket 118 connected to the joint housing 111. The bracket 118 may cover the braking assembly 114, that is, be located on the periphery of the braking assembly 114, to facilitate the installation of the encoding assembly 115, thereby simplifying the structure of the joint module 11. In other words, the bracket 118 and the braking assembly 114 are supported on the same side of the upper fixing part 11252. The reader head 1152A and its circuit board may be connected to the bracket 118, and the reader head 1152B and its circuit board may also be connected to the bracket 118. This facilitates the adjustment of the axial distance between the reader head 1152A and the encoding disk 1151A on the output shaft 1121, as well as the axial distance between the reader head 1152B and the encoding disk 1151B on the output shaft 1121, thereby increasing the reliability of the encoding assembly 115. Of course, the reader 1152A and the reader 1152B can also be set on the same circuit board. The encoder disk 1151A, the circuit board and the encoder disk 1151B are arranged sequentially and at intervals along the axial direction of the output shaft 1121, which helps to simplify the structure of the encoder assembly 115.

[0075] Furthermore, in the radial direction of the output shaft 1121, the braking assembly 114 is radially confined to the inner side of the upper annular limiting portion 11253, and the bracket 118 is radially confined to the outer side of the upper annular limiting portion 11253. This not only helps to improve the assembly accuracy of the braking assembly 114 and the bracket 118, but also helps to simplify the structure of the joint module 11. In the axial direction of the output shaft 1121, the inner support surface of the upper fixing portion 11252 for supporting the braking assembly 114 can be closer to the upper bearing than the outer support surface of the upper fixing portion 11252 for supporting the bracket 118. This helps to increase the structural compactness of the joint module 11.

[0076] As an example, combined Figure 12 The bracket 118 may include a cylindrical body 1181, and an outer bottom wall 1182 and an inner top wall 1183 that are bent and connected to both ends of the cylindrical body 1181, with the outer bottom wall 1182 and the inner top wall 1183 extending in opposite directions. The cylindrical body 1181 is located around the braking assembly 114; the outer bottom wall 1182 is connected to the upper fixing part 11252 and is radially limited to the outside of the upper annular limiting part 11253; the reading head 1152A, the reading head 1152B, and their respective circuit boards are connected to the inner top wall 1183. Alternatively, the bracket 118 may not include the inner top wall 1183, as long as the encoding assembly 115 can be assembled into the bracket 118. Furthermore, the inner side of the corner of the outer bottom wall 1182 and the cylinder 1181 can be provided with a relief groove 1184 for avoiding the upper annular limiting part 11253. That is, after the bracket 118 and the upper bearing seat 1125 are assembled, the upper annular limiting part 11253 is located in the relief groove 1184. This is beneficial to increase the structural compactness of the joint module 11, especially in the radial direction of the output shaft 1121.

[0077] It should be noted that: in cases such as Figure 2 In the illustrated embodiment, for ease of distinction, the encoding component used to detect the rotational state of the drive component 112 can be defined as the first encoding component, and the encoding component used to detect the rotational state of the deceleration component 113 can be defined as the second encoding component. The first encoding component may include a first encoding disk (i.e., encoding disk 1151A) and a first reading head (i.e., reading head 1152A), and the second encoding component may include a second encoding disk (i.e., encoding disk 1151B) and a second reading head (i.e., reading head 1152B). Based on this, the connection relationships between the first encoding disk and the first reading head, as well as the second encoding disk and the second reading head, and other related structures are as described above and will not be repeated here.

[0078] Based on the above description, the encoding component 115 can be used to detect the rotational state of a shaft to be detected, such as the output shaft 1121 or the hollow shaft 1137, specifically at least one of the rotational speed and angular position of the shaft to be detected. In conjunction with... Figure 8 When the encoding component 115 is used to detect the rotation state of the output shaft 1121, the encoding disk 1151A and the reader head 1152A are two separate structural components, assembled one after the other with the adapter 1129 and the bracket 118. This means the relative position between the encoding disk 1151A and the reader head 1152A (especially the axial spacing of the output shaft 1121) is closely related to the subsequent assembly accuracy. A similar problem exists when the encoding component 115 is used to detect the rotation state of the output shaft 1121, which can easily lead to poor detection accuracy of the encoding component 115. In contrast, when combined with… Figure 14 and Figure 16 Furthermore, the encoding component 115 can be designed as an integrated unit, allowing the axial spacing between the encoding disk 1151A and the reader 1152A (or the axial spacing between the encoding disk 1151B and the reader 1152B) to be adjusted and determined before assembly into the joint module 11. This improves the detection accuracy of the encoding component 115. Further, combined with... Figure 13 For ease of description, this application uses the output shaft 1121 as the shaft to be detected as an example for illustrative purposes.

[0079] As an example, combined Figure 14 and Figure 16The encoding component 115 may include a base 1153, a rotating shaft 1154, an encoding disk 1151A, and a reader head 1152B. The rotating shaft 1154 is rotatably supported on the base 1153 and is used to connect to the shaft to be detected, such as an output shaft 1121 or a hollow shaft 1137. The encoding disk 1151A is connected to the rotating shaft 1154, and the reader head 1152B (and its circuit board) is relatively fixed to the base 1153, so that the encoding component 115 is a modular structural component. Thus, the axial distance between the encoding disk 1151A and the reader head 1152A can be adjusted and determined before the encoding component 115 is assembled and used, thereby improving the detection accuracy of the encoding component 115. The base 1153 is configured to remain relatively stationary with respect to the output shaft 1121, and the rotating shaft 1154 is configured to rotate synchronously with the output shaft 1121, so that the encoding component 115 can detect the rotational speed and / or angular position of the output shaft 1121.

[0080] Furthermore, combined Figure 13 The rotating shaft 1154 is configured as a hollow structure. After the hollow shaft 1137 passes through the input shaft 1131 and the output shaft 1121 in sequence, it can be partially inserted into the rotating shaft 1154 to facilitate the wiring structure of the joint module 11.

[0081] As an example, combined Figure 15 One of the rotating shaft 1154 and the output shaft 1121 is partially inserted into the other, forming a pair of contact surfaces. Specifically, when the rotating shaft 1154 is partially inserted into the output shaft 1121, for example... Figure 15 In (a), a pair of contact surfaces refers to the outer contour surface of the rotating shaft 1154 and the inner contour surface of the output shaft 1121 that are in contact with each other; conversely, when the output shaft 1121 is partially inserted into the rotating shaft 1154, the contact surfaces are... Figure 15 In (b), the pair of contact surfaces refers to the outer contour surface of the output shaft 1121 and the inner contour surface of the rotating shaft 1154 that are in contact with each other. Further, the cross-sectional area of ​​the pair of contact surfaces in the axial direction perpendicular to the output shaft 1121 gradually increases or decreases along the axial direction of the output shaft 1121. After the base 1153 is fixed, it provides a clamping force to the pair of contact surfaces along the axial direction of the output shaft 1121, so that the rotating shaft 1154 rotates with the output shaft 1121 under the action of the frictional force between the pair of contact surfaces. Specifically, the clamping force F can be decomposed into a first component F1 perpendicular to the pair of contact surfaces and a second component F2 parallel to the pair of contact surfaces. Since the static friction coefficient of the rotating shaft 1154 and the output shaft 1121 at the pair of contact surfaces is μ, the magnitude f of the frictional force f between the rotating shaft 1154 and the output shaft 1121 at the pair of contact surfaces can be the product of the first component F1 and the static friction coefficient μ. Wherein, combined with... Figure 16 This application uses the insertion of the rotating shaft 1154 into the output shaft 1121 as an example for illustrative purposes, which helps to reduce the radial dimension of the encoding component 115.

[0082] In this way, compared to the direct connection between the rotating shaft 1154 and the output shaft 1121 via fasteners such as bolts, this embodiment does not need to consider the minimum wall thickness of the rotating shaft 1154 or the output shaft 1121, nor the space occupied by the fasteners. This makes the design of the rotating shaft 1154 and the output shaft 1121 more flexible, and the overall structure of the encoding component 115 and the drive component 112 more compact. Compared to the direct connection between the rotating shaft 1154 and the output shaft 1121 via glue, this embodiment does not have the problem of glue aging, and the overall structure is more reliable. Compared to the rotating shaft 1154 and the output shaft 1121 being set with matching non-circular holes for direct insertion, this embodiment does not have the fitting gap of insertion, making the synchronization of the rotating shaft 1154 with the output shaft 1121 rotation higher, and the assembly and disassembly of the encoding component 115 more convenient.

[0083] It should be noted that, in order to increase the reliability of the encoding component 115 in detecting the rotational state of the output shaft 1121, the coaxiality between the rotating shaft 1154 and the output shaft 1121 is relatively high, so that the axis of the rotating shaft 1154 and the axis of the output shaft 1121 can be simply regarded as coincident. Therefore, the axial direction of the output shaft 1121 can be simply regarded as the axial direction of the rotating shaft 1154, and the radial direction of the output shaft 1121 can also be simply regarded as the radial direction of the rotating shaft 1154.

[0084] Furthermore, combined Figure 16 The other end of the rotating shaft 1154, away from the encoder disk 1151A, passes through the adapter 1129 under the guidance of the adapter 1129 and partially inserts into the output shaft 1121. This allows the adapter 1129 to radially limit the rotating shaft 1154 in the radial direction of the output shaft 1121. This helps to increase the coaxiality between the rotating shaft 1154 and the output shaft 1121, especially when the end of the rotating shaft 1154 is designed with a gradient structure. In conjunction with the above description, the friction plate 1145 can also be sleeved on the adapter 1129 and then connected to the output shaft 1121, making the adapter 1129 "two-in-one," which helps to simplify the structure of the joint module 11.

[0085] As an example, combined Figure 17 The adapter 1129 can be configured as a ring structure, and the rotating shaft 1154 can be inserted into the output shaft 1121 along the inner ring surface of the adapter 1129. The radius of the aforementioned inner ring surface remains constant in the axial direction of the output shaft 1121. Correspondingly, the outer diameter of the portion of the rotating shaft 1154 that mates with the adapter 1129 remains constant in the axial direction of the output shaft 1121. Thus, compared to a gradient structure, this cylindrical constant-diameter structure is more advantageous in increasing the coaxiality between the rotating shaft 1154 and the output shaft 1121.

[0086] Similarly, the adapter 1129 may include a cylindrical body 11291 and an inner flange 11292 connected to the cylindrical body 11291. The radius of the inner annular surface of the cylindrical body 11291 remains constant in the axial direction of the output shaft 1121 to facilitate the adapter 1129 guiding the rotating shaft 1154; the outer contour of the cylindrical body 11291 is non-circular when viewed along the axial direction of the output shaft 1121 to facilitate the friction plate 1145 being fitted onto the adapter 1129.

[0087] Furthermore, the inner flange portion 11292 may be provided with a plurality of countersunk holes 11295 spaced apart around the pivot shaft 1154, for example, six countersunk holes 11295, to allow the fastener 1165 to fix the inner flange portion 11292 to the output shaft 1121 via the countersunk holes 11295. In other words, the fastener 1165 does not protrude from the adapter 1129 in the axial direction of the output shaft 1121, which helps to increase the structural compactness of the joint module 11.

[0088] As an example, combined Figure 14 and Figure 16 The base 1153 may be provided with a bearing hole 11531; the encoding component 115 may include a bearing 11551 embedded in the bearing hole 11531, so that the rotating shaft 1154 can be rotatably supported on the base 1153. Of course, if the rotational speed of the shaft to be detected is not high, for example, the rotational speed of the hollow shaft 1137 is much lower than the rotational speed of the output shaft 1121, then the encoding component 115 may not include the bearing 11551, that is, the rotating shaft 1154 and the bearing hole 11531 are directly fitted together, for example, with a clearance fit, and the rotating shaft 1154 can still be rotatably supported on the base 1153.

[0089] Further, the rotating shaft 1154 may include a connecting portion 11541, a insertion portion 11542, and an extension portion 11543, with the insertion portion 11542 and the extension portion 11543 respectively connected to both ends of the connecting portion 11541. The connecting portion 11541 may be embedded in the inner ring of the bearing 11551, and the insertion portion 11542 and the extension portion 11543 may extend from both sides of the bearing 11551. The extension portion 11543 may press against the inner ring of the bearing 11551 along the axial direction of the output shaft 1121, and the encoder disk 1151A may be connected to the extension portion 11543. Further, the outer diameter of the insertion portion 11542 gradually decreases in the direction along the axial direction of the output shaft 1121 and away from the extension portion 11543, allowing the insertion portion 11542 to be inserted into the output shaft 1121, thereby forming a pair of contact surfaces. Based on the above description, the outer diameter of the connector 11542 can remain constant and then gradually decrease in the direction along the axial direction of the output shaft 1121 and away from the extension 11543, so as to allow the connector 11542 to pass through the adapter 1129 and be partially inserted into the output shaft 1121 under the guidance of the adapter 1129.

[0090] As an example, combined Figure 15 The angle θ between the outer contour surface of the connector 11542 and the axial direction of the output shaft 1121 can be between 2° and 33°. When the magnitude of the clamping force F and other parameters are constant, the magnitude of the angle θ determines the magnitude of the first component force F1, i.e., F1 = F × sinθ. It is worth noting that while a larger angle θ is more conducive to obtaining a larger first component force F1, thus providing sufficient friction, the outer contour surface of the connector 11542 and the inner contour surface of the output shaft 1121 will also become sharper, leading to a deterioration in the structural strength of the ends of the connector 11542 and the output shaft 1121. Conversely, while a smaller angle θ is more conducive to ensuring the structural strength of the ends of the connector 11542 and the output shaft 1121, it also carries the risk of a deterioration in the synchronicity of the rotation of the shaft 1154 following the output shaft 1121.

[0091] In some embodiments, the ratio between the absolute value of the difference between the minimum and maximum outer diameters of the connector 11542 and the maximum outer diameter of the connector 11542 can be between 0.05 and 0.2, so that the included angle θ is within a suitable range. Furthermore, for a given included angle θ, this also helps to ensure the structural strength of the ends of the connector 11542 and the output shaft 1121.

[0092] In some embodiments, the insertion depth of the connector 11542 into the output shaft 1121 in the axial direction can be between 6 mm and 10 mm, so that the included angle θ is within a suitable range.

[0093] Combination Figure 16 and Figure 14 Viewed axially along the output shaft 1121, the edge region of the base 1153 may be provided with a plurality of mounting holes 11532 spaced apart around the rotating shaft 1154. The base 1153 is fixed to the joint housing 111 or the bracket 118 at the mounting holes 11532 by fasteners such as bolts. The center of the mounting hole 11532 and the center of the bearing hole 11531 have a first distance in the radial direction of the output shaft 1121. The mounting hole 11532 moves a second distance axially along the output shaft 1121 before and after the base 1153 is fixed. The first distance can be between 26mm and 40mm, and the second distance can be between 0.1mm and 1mm. It should be noted that in the embodiment where the base 1153 is fixed to the bracket 118, before the base 1153 is fixed, there is a gap between the mounting hole 11532 and the bracket 118 in the axial direction of the output shaft 1121, which can be the second distance. Figure 16When parameters such as the included angle θ and the stiffness of the base 1153 are constant, the ratio of the second distance to the first distance and the ratio between them determine the magnitude of the clamping force F. It is worth noting that: although a larger ratio between the second distance and the first distance is more conducive to obtaining a larger clamping force F, and thus more conducive to providing sufficient friction, it also carries the risk of the output shaft 1121 being "locked up" along its axial direction; conversely, although a smaller ratio between the second distance and the first distance is more conducive to avoiding the output shaft 1121 being "locked up" along its axial direction, it also carries the risk of insufficient clamping force F.

[0094] Furthermore, combined Figure 14 The extension portion 11543 may include a first extension segment 11544 connected to the connecting portion 11541 and a second extension segment 11545 connected to the first extension segment 11544. The first extension segment 11544 surrounds the connecting portion 11541, and the second extension segment 11545 surrounds the first extension segment 11544. The thickness of the second extension segment 11545 in the axial direction of the output shaft 1121 may be less than the thickness of the first extension segment 11544 in the axial direction of the output shaft 1121. This allows the first extension segment 11544 to press against the inner ring of the bearing 11551 along the axial direction of the output shaft 1121. Furthermore, the second extension segment 11545 is spaced apart from the outer ring of the bearing 11551 and the base 1153 in the axial direction of the output shaft 1121. This helps to avoid unnecessary collisions between the rotating shaft 1154 and the bearing 11551 or the base 1153. Similarly, the encoding assembly 115 may include a retaining ring nested on the connecting portion 11541, the retaining ring and the first outer extension 11544 together clamping the inner ring of the bearing 11551. Further, the encoding disk 1151A may be connected to the side of the second outer extension 11545 opposite to the bearing 11551. This side of the encoding disk 1151A may not protrude from the first outer extension 11544 in the axial direction of the output shaft 1121. This helps to avoid structural interference or collision between the encoding disk 1151A and other structural components, especially when the encoding disk 1151A is configured as a grating disk. In other words, the encoding disk 1151A is configured as a ring structure and can be nested on the rotating shaft 1154.

[0095] Furthermore, at least two bearings 11551 can be stacked in the axial direction of the output shaft 1121 to increase the coaxiality of the shaft 1154 relative to the bearing bore 11531, and the rotation of the shaft 1154 relative to the base 1153 is also more stable. A shim 11552 can be clamped between the outer or inner rings of two adjacent bearings 11551. The shim 11552 makes the gap between the outer rings and the gap between the inner rings of two adjacent bearings 11551 different, that is, the outer and inner rings of the bearings 11551 are offset by a distance in the axial direction of the output shaft 1121. This helps to control the clearance of the bearings 11551 within a reasonable range, thereby increasing the rotational stability of the shaft 1154.

[0096] Based on the above descriptions, in such cases Figure 13 In the illustrated embodiment, the encoding component 115 can be a magnetoelectric encoder or a photoelectric encoder, and the encoding disk 1151A is correspondingly configured as a magnetic grating disk or an optical grating disk. Compared to magnetoelectric encoders, photoelectric encoders have more stringent requirements regarding the external environment; for example, photoelectric encoders have higher dustproof requirements. The following description uses an example where the encoding disk 1151A is configured as an optical grating disk.

[0097] Combination Figure 16 and Figure 14 The extension portion 11543 is configured such that when projected axially along the output shaft 1121 onto the base 1153, it completely covers the bearing hole 11531. This, to a certain extent, prevents external debris (such as grinding dust generated by the friction plate 1145 during operation) from entering the encoding assembly 115 through the bearing hole 11531 and contaminating the encoding disk 1151A. This helps to increase the dustproof performance of the encoding assembly 115. Specifically, when the first extension portion 11544 is projected axially along the output shaft 1121 onto the base 1153, it falls into the bearing hole 11531. When the second extension portion 11545 is projected axially along the output shaft 1121 onto the base 1153, it partially overlaps with the base 1153, so that the extension portion 11543 completely covers the bearing hole 11531.

[0098] As an example, combined Figure 14The base 1153 may include a middle stepped portion 11533 and an inner stepped portion 11534 connected to the middle stepped portion 11533. The inner stepped portion 11534 is closer to the rotating shaft 1154 in the radial direction of the output shaft 1121 than the middle stepped portion 11533, and the thickness of the inner stepped portion 11534 in the axial direction of the output shaft 1121 is greater than the thickness of the middle stepped portion 11533 in the axial direction of the output shaft 1121. A bearing hole 11531 is provided in the inner stepped portion 11534 to allow at least two bearings 11551 to be stacked and embedded in the bearing hole 11531 along the axial direction of the output shaft 1121, thereby increasing the coaxiality of the rotating shaft 1154 relative to the bearing hole 11531, and making the rotation of the rotating shaft 1154 relative to the base 1153 smoother. Furthermore, combined with... Figure 16 When the encoder disk 1151A is projected orthographically along the output shaft 1121 onto the base 1153, it partially overlaps with the intermediate step portion 11533. The distance between the encoder disk 1151A and the intermediate step portion 11533 along the output shaft 1121 is greater than the distance between the encoder disk 1151A and the inner step portion 11534 along the output shaft 1121. In other words, the edge region of the encoder disk 1151A away from the rotating shaft 1154 and the base 1153 have a larger safety clearance along the output shaft 1121. This helps to avoid unnecessary collisions between the encoder disk 1151A and the base 1153, especially when the encoder disk 1151A is configured as a grating disk. Thus, by configuring at least a portion of the base 1153 as a stepped structure, both the stability of the rotating shaft 1154 and the anti-collision of the encoder disk 1151A can be achieved simultaneously, achieving two goals at once. Of course, it can also reduce the weight of the encoding assembly 115 to a certain extent.

[0099] Furthermore, the second extension 11545 is spaced apart from the outer ring and inner stepped portion 11534 of the bearing 11551 along the axial direction of the output shaft 1121 to avoid unnecessary collisions between the shaft 1154 and the bearing 11551 or the base 1153. When the second extension 11545 is projected orthogonally along the axial direction of the output shaft 1121 onto the base 1153, it can partially overlap with the inner stepped portion 11534, meaning the extension 11543 completely covers the bearing hole 11531. This improves the dustproof performance of the encoding assembly 115.

[0100] Combination Figure 18The outer extension 11543 may include a third outer extension 11546 that is bent and connected to the second outer extension 11545. The third outer extension 11546 surrounds the inner step 11534 to further extend the path for external debris to enter the coding assembly 115, which also helps to increase the dustproof performance of the coding assembly 115. The middle step 11533 may have a groove 11535 surrounding the inner step 11534, and the third outer extension 11546 may be partially inserted into the groove 11535. This not only helps to extend the path for external debris to enter the coding assembly 115, but also helps to collect external debris that has already passed through the bearing 11551 in the groove 11535, thereby increasing the difficulty for external debris to further enter the coding assembly 115. It is worth noting that, regardless of whether the intermediate step portion 11533 is provided with a recess 11535, the third extension 11546 and the intermediate step portion 11533 can be spaced apart in the axial direction of the output shaft 1121 to avoid unnecessary collisions between the rotating shaft 1154 and the base 1153.

[0101] Combination Figure 14 and Figure 16 The encoding component 115 may include an upper cover 1156, a circuit board 1157, and a light source 1158. The upper cover 1156 is connected to the base 1153 to form a cavity for accommodating structural components such as the encoding disk 1151A and the circuit board 1157. The light source 1158 is used to emit detection signals to the encoding disk 1151A, and the reader 1152A is disposed on the circuit board 1157 and is used to receive the aforementioned detection signals. Furthermore, the light source 1158 and the reader 1152A (and the circuit board 1157 connected thereto) can be respectively arranged on opposite sides of the encoder disk 1151A, so that the reader 1152A receives the detection signal emitted by the light source 1158 and passing through the encoder disk 1151A, thereby forming a through-beam photoelectric encoder; the light source 1158 and the reader 1152A (and the circuit board 1157 connected thereto) can also be arranged on the same side of the encoder disk 1151A, so that the reader 1152A receives the detection signal emitted by the light source 1158 and reflected by the encoder disk 1151A, thereby forming a reflective photoelectric encoder.

[0102] As an example, the upper cover 1156 may include an outer cylindrical sidewall 11561 and a top cover 11562 connected to one end of the outer cylindrical sidewall 11561. The outer cylindrical sidewall 11561 may surround the intermediate stepped portion 11533. In this case, since the thickness of the intermediate stepped portion 11533 in the axial direction of the output shaft 1121 is generally greater than the thickness of the outer cylindrical sidewall 11561 in the radial direction of the output shaft 1121, the outer cylindrical sidewall 11561 surrounding the intermediate stepped portion 11533 is more advantageous in increasing the mating area between the two than the outer cylindrical sidewall 11561 being supported on the intermediate stepped portion 11533. This is more beneficial in improving the dustproof performance of the coding assembly 115. Of course, increasing the mating area between the outer cylindrical sidewall 11561 and the intermediate stepped portion 11533 also helps to increase the reliability of the connection between the upper cover 1156 and the base 1153.

[0103] Furthermore, the base 1153 may include an outer step portion 11536 connected to the intermediate step portion 11533. The intermediate step portion 11533 is closer to the rotating shaft 1154 in the radial direction of the output shaft 1121 than the outer step portion 11536, and the thickness of the intermediate step portion 11533 in the axial direction of the output shaft 1121 is greater than the thickness of the outer step portion 11536 in the axial direction of the output shaft 1121. In other words, when the base 1153 includes the outer step portion 11536, the intermediate step portion 11533, and the inner step portion 11534, the outer step portion 11536, the intermediate step portion 11533, and the inner step portion 11534 gradually approach the rotating shaft 1154 in the radial direction of the output shaft 1121, and their thickness gradually increases in the axial direction of the output shaft 1121. The outer stepped portion 11536 can be fixed to the bracket 118 or the joint housing 111, that is, the mounting hole 11532 can be provided on the outer stepped portion 11536; the outer cylindrical sidewall 11561 can also be supported on the outer stepped portion 11536. Correspondingly, the encoder disk 1151A and the circuit board 1157 can be provided on the inner side of the outer cylindrical sidewall 11561.

[0104] In some embodiments, the light source 1158 can be disposed in the intermediate step portion 11533. The intermediate step portion 11533, on the side facing away from the encoder disk 1151A, can have a mounting groove, and the light source 1158 is disposed within the mounting groove. In other words, the light source 1158 is disposed outside the encoder assembly 115, which simplifies the wiring of the light source 1158 and makes its assembly easier. In this case, for a through-beam photoelectric encoder, the circuit board 1157 can be disposed on the side of the encoder disk 1151A facing away from the base 1153, that is, the circuit board 1157 is located axially between the encoder disk 1151A and the top cover 11562 on the output shaft 1121. The outer diameter of the circuit board 1157 in the radial direction of the output shaft 1121 can be larger than the outer diameter of the encoder disk 1151A in the radial direction of the output shaft 1121. Furthermore, the encoding component 115 may include a plurality of support columns 1159 spaced apart around the pivot 1154, for example, three support columns 1159, which are supported between the intermediate step portion 11533 and the circuit board 1157 and located on the periphery of the encoding disk 1151A. Of course, the circuit board 1157 may also be fixed on the top cover 11562.

[0105] In some embodiments, the light source 1158 can be disposed on the circuit board 1157, that is, both the light source 1158 and the reader 1152A are disposed on the circuit board 1157, thereby forming a reflective photoelectric encoder. In this case, the circuit board 1157 can be disposed on the side of the encoder disk 1151A away from the base 1153, for example, it is also supported by the support column 1159 on the middle step portion 11533, or it can be fixed to the top cover 11562; the circuit board 1157 can also be disposed on the side of the encoder disk 1151A close to the base 1153, for example, it can be fixed to the middle step portion 11533.

[0106] Based on the above description, in order to facilitate the wiring structure of the joint module 11, the rotating shaft 1154 needs to communicate with the outside of the encoding assembly 115 through the clearance holes on the encoder disk 1151A, the circuit board 1157, and the top cover 11562. At this time, there is a risk that external debris (such as grinding dust generated by the friction plate 1145 during operation) will enter the encoding assembly 115 through the clearance holes on the top cover 11562 and contaminate the encoder disk 1151A. Therefore, it is necessary to improve the relevant structure to improve the dustproof performance of the encoding assembly 115.

[0107] Combination Figure 16The upper cover 1156 may include an inner cylindrical sidewall 11563 connected to the top cover 11562, with the inner cylindrical sidewall 11563 and the outer cylindrical sidewall 11561 extending in the same direction and on the same side as the top cover 11562. The inner cylindrical sidewall 11563 can be inserted into the rotating shaft 1154 along the axial portion of the output shaft 1121 to extend the path for external debris to enter the encoding assembly 115, thereby increasing the dustproof performance of the encoding assembly 115. Correspondingly, the circuit board 1157 is configured in a ring shape and can be nested on the inner cylindrical sidewall 11563. Since the circuit board 1157 and the upper cover 1156 can remain relatively stationary, the gap between the inner circumferential surface of the circuit board 1157 and the outer circumferential surface of the inner cylindrical sidewall 11563 in the radial direction of the output shaft 1121 can be minimized to meet the gap requirements for assembling the circuit board 1157 and the upper cover 1156.

[0108] In some embodiments, the depth to which the inner cylindrical sidewall 11563 is inserted into the rotating shaft 1154 along the axial direction of the output shaft 1121 can be between 1 mm and 3 mm. While a greater depth, i.e., a deeper insertion of the inner cylindrical sidewall 11563 into the rotating shaft 1154 along the axial direction of the output shaft 1121, is more beneficial for extending the path for external debris to enter the encoding assembly 115, the rotating shaft 1154 can rotate at the same speed as the output shaft 1121, which also increases the risk of unnecessary collisions between the rotating shaft 1154 and the inner cylindrical sidewall 11563. Conversely, a smaller depth, i.e., a shallower insertion of the inner cylindrical sidewall 11563 into the rotating shaft 1154 along the axial direction of the output shaft 1121, is more beneficial for avoiding collisions between the rotating shaft 1154 and the inner cylindrical sidewall 11563, but it can also weaken the effect of improving the dustproof performance of the encoding assembly 115.

[0109] In some embodiments, the gap between the inner cylindrical sidewall 11563 and the rotating shaft 1154 in the radial direction of the output shaft 1121 can be between 0.1 mm and 1 mm. While a smaller gap is more conducive to preventing external debris from entering the encoding assembly 115, the rotating shaft 1154 can rotate at the same speed as the output shaft 1121, which also increases the risk of unnecessary collisions between the rotating shaft 1154 and the inner cylindrical sidewall 11563. Conversely, while a larger gap is more conducive to avoiding collisions between the rotating shaft 1154 and the inner cylindrical sidewall 11563, it can also weaken the effect of improving the dustproof performance of the encoding assembly 115.

[0110] In some embodiments, the end of the shaft 1154 is provided with a gradient structure, and the outer diameter of the portion of the inner cylindrical sidewall 11563 inserted into the shaft 1154 gradually decreases in the axial direction along the output shaft 1121 and away from the top cover 11562 to form a gradient structure. Correspondingly, the inner diameter of the portion of the shaft 1154 used to receive the inner cylindrical sidewall 11563 gradually decreases in the axial direction along the output shaft 1121 and away from the top cover 11562 to form a gradient structure that matches the inner cylindrical sidewall 11563. Thus, compared to a cylindrical constant-diameter structure, this gradient structure also helps to extend the path for external debris to enter the coding assembly 115, thereby increasing the dustproof performance of the coding assembly 115.

[0111] Furthermore, since the circuit board 1157 can be located on the side of the encoder disk 1151A away from the base 1153, the orthogonal projection of the circuit board 1157 along the axial direction of the output shaft 1121 can completely cover the encoder disk 1151A, so that when external debris enters the encoder assembly 115, it first falls on the circuit board 1157, thereby extending the path of external debris falling on the encoder disk 1151A, which also helps to improve the dustproof performance of the encoder assembly 115, especially when the upper cover 1156 is provided with a clearance hole for wiring and does not include the inner cylindrical sidewall 11563.

[0112] As an example, the ratio between the outer diameter of the circuit board 1157 in the radial direction of the output shaft 1121 and the outer diameter of the encoder disk 1151A in the radial direction of the output shaft 1121 can be between 1 and 1.8. While a larger ratio is more beneficial for extending the path of external debris falling onto the encoder disk 1151A, it can also lead to an excessively large radial dimension of the encoder assembly 115, hindering its miniaturization. Conversely, a smaller ratio is more beneficial for miniaturization of the encoder assembly 115, but it can also weaken the effect of improving the dustproof performance of the encoder assembly 115 and make it inconvenient to install the support post 1159. Furthermore, the radial distance between the outer peripheral surface of the circuit board 1157 and the outer peripheral surface of the encoder disk 1151A on the output shaft 1121 can be greater than or equal to 3 mm, so as to improve the dustproof performance of the encoder assembly 115 while also considering the installation of the support post 1159 and the impact resistance of the encoder disk 1151A.

[0113] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. Any equivalent device or equivalent process transformation made based on the content of this application specification and drawings, or direct or indirect application in other related technical fields, are similarly included in the patent protection scope of this application.

Claims

1. A joint module for a robotic arm, characterized in that, The joint module includes a drive assembly, a braking assembly, a deceleration assembly, a first elastic element, and a bracket. The drive assembly includes an output shaft, an upper bearing housing, and an upper bearing. The inner and outer rings of the upper bearing are connected to the output shaft and the upper bearing housing, respectively. The braking assembly is connected to the output shaft and presses the first elastic element onto the outer ring of the upper bearing. The deceleration assembly includes a hollow shaft and a flange. The joint module includes a first encoding component disposed on the side of the braking assembly opposite to the driving assembly. The first encoding component includes a first encoding disk connected to the output shaft and a first reading head connected to the bracket. The first reading head cooperates with the first encoding disk to detect at least one of the rotational speed and angular position of the output shaft. The joint module further includes a second encoding component, which includes a second encoding disk connected to the other end of the hollow shaft and a second reading head connected to the bracket. The second reading head cooperates with the second encoding disk to detect at least one of the rotational speed and angular position of the flange. The second read head and the first read head are mounted on the same circuit board, which is connected to the bracket. The upper bearing housing includes an upper fixing part and an upper annular limiting part connected to the upper fixing part. The braking assembly and the bracket are supported on the same side of the upper fixing part. In the radial direction of the output shaft, the braking assembly is radially limited to the inner side of the upper annular limiting part, and the bracket is radially limited to the outer side of the upper annular limiting part. The bracket includes a cylindrical body and an inner top wall that is bent and connected to one end of the cylindrical body. The cylindrical body is located on the periphery of the braking assembly, and the first reading head, the second reading head and their respective circuit boards are connected to the inner top wall.

2. The joint module according to claim 1, characterized in that, In the axial direction of the output shaft, the inner support surface of the upper fixing part for supporting the braking assembly is closer to the upper bearing than the outer support surface of the upper fixing part for supporting the bracket.

3. The joint module according to claim 1, characterized in that, The upper bearing housing includes an upper cylindrical portion connected to the upper fixing portion, the upper cylindrical portion being nested on the upper bearing, and the upper bearing being at least partially located on the side of the upper fixing portion opposite to the braking assembly.

4. The joint module according to claim 3, characterized in that, The upper bearing and the stator of the drive assembly overlap in the radial orthogonal projection of the output shaft.

5. The joint module according to claim 4, characterized in that, The braking assembly includes a mounting base connected to the upper bearing seat, a second elastic element disposed on the side of the mounting base opposite to the first elastic element, an excitation coil, and an armature disk, a friction plate, and a cover plate stacked sequentially along the axial direction of the output shaft. The braking assembly holds the first elastic element by the mounting base, and the mounting base is radially limited to the inner side of the upper annular limiting portion. The friction plate is connected to the output shaft. When the excitation coil is de-energized, the armature disk, under the elastic force of the second elastic element, pushes the friction plate to contact the cover plate along the axial direction of the output shaft, so that the output shaft switches from a rotating state to a braking state. When the excitation coil is energized, the magnetic field generated by the excitation coil acts on the armature disk, causing the friction plate to separate from the cover plate, thereby releasing the braking state of the output shaft.

6. The joint module according to claim 5, characterized in that, The drive assembly includes an adapter connected to the output shaft, a friction pad sleeved on the adapter, and, viewed along the axial direction of the output shaft, the outer contour of the adapter and the inner contour of the friction pad are non-circular to allow the friction pad to rotate with the adapter and to allow the friction pad to move relative to the adapter along the axial direction of the output shaft. The first encoder disk is connected to the adapter.

7. The joint module according to claim 6, characterized in that, The adapter includes a cylindrical body, an inner flange and an outer flange connected to the cylindrical body, the outer flange and the inner flange extending in opposite directions, the outer contour of the cylindrical body being non-circular when viewed along the axial direction of the output shaft, the friction pad being sleeved on the cylindrical body, the output shaft being inserted into the cylindrical body, and the end face of the output shaft abutting against the inner flange, and the first encoder disk being connected to the outer flange.

8. The joint module according to claim 1, characterized in that, In the axial direction of the output shaft, the mounting surface between the input shaft and the output shaft of the reduction assembly is located within the reduction assembly.

9. The joint module according to claim 8, characterized in that, The drive assembly includes a lower bearing housing and a lower bearing. The lower bearing housing includes a lower cylindrical portion and a lower fixed portion that is bent and connected to one end of the lower cylindrical portion. The lower fixed portion extends outward from the lower cylindrical portion. The inner ring and outer ring of the lower bearing are respectively connected to the output shaft and the lower cylindrical portion. The lower bearing is at least partially located within the reduction assembly.

10. The joint module according to claim 9, characterized in that, The joint module includes a joint housing, and an annular support is provided on the inner side of the joint housing. The drive assembly includes a stator embedded in the annular support and a rotor connected to the output shaft. The rotor is located inside the stator. The lower bearing seat and the upper bearing seat are respectively connected to opposite sides of the annular support in the axial direction of the output shaft.

11. The joint module according to claim 10, characterized in that, The lower bearing housing includes a lower flange portion that is bent and connected to the other end of the lower cylindrical portion. The lower flange portion and the lower fixed portion extend in opposite directions, and the outer ring of the lower bearing is supported on the lower flange portion.

12. The joint module according to claim 11, characterized in that, The output shaft is divided along its axial direction into a lower fixed section, an upper fixed section, and an intermediate fixed section located between the lower fixed section and the upper fixed section. The outer diameter of the intermediate fixed section is larger than the outer diameters of the lower fixed section and the upper fixed section, respectively, so that the output shaft forms a first outer stepped surface between the intermediate fixed section and the lower fixed section and a second outer stepped surface between the intermediate fixed section and the upper fixed section. The rotor is fixed on the intermediate fixed section. The lower bearing is nested on the lower fixed section. The inner ring of the lower bearing is supported on the first outer stepped surface. The first outer stepped surface and the lower flange are located on both sides of the lower bearing in the axial direction of the output shaft. The upper bearing is nested on the upper fixed section. The inner ring of the upper bearing is supported on the second outer stepped surface.

13. The joint module according to claim 10, characterized in that, The deceleration assembly includes a wave generator connected to the input shaft, a flexible wheel nested on the wave generator, and a rigid wheel nested on the flexible wheel. The rigid wheel partially meshes with the flexible wheel, and the lower bearing is located radially on the output shaft on the inner side of the flexible wheel away from the rigid wheel.

14. The joint module according to claim 13, characterized in that, The flexible wheel includes a cylindrical engagement portion and an annular folded portion bent and connected to one end of the cylindrical engagement portion. The annular folded portion extends outward from the cylindrical engagement portion. The cylindrical engagement portion partially engages with the rigid wheel. The reduction assembly includes an outer bearing. The annular folded portion is connected to the outer ring of the outer bearing. The rigid wheel is connected to the inner ring of the outer bearing. One of the inner and outer rings of the outer bearing is connected to the annular bearing platform. The flange is connected to the other of the inner and outer rings of the outer bearing.

15. The joint module according to claim 14, characterized in that, One end of the hollow shaft is connected to the flange and passes through the input shaft and the output shaft in sequence.

16. The joint module according to claim 15, characterized in that, The first encoder disk, the circuit board, and the second encoder disk are arranged sequentially at intervals along the axial direction of the output shaft.

17. A joint module for a robotic arm, characterized in that, The joint module includes a drive assembly, a braking assembly, and a bracket. The drive assembly includes an output shaft, an upper bearing housing, and an upper bearing. The upper bearing housing includes an upper cylindrical portion, an upper fixing portion bent and connected to one end of the upper cylindrical portion, and an upper annular limiting portion connected to the upper fixing portion. The upper fixing portion extends outward from the upper cylindrical portion. The upper cylindrical portion is nested on the upper bearing, and the upper bearing is nested on the output shaft. The braking assembly and the bracket are supported on the same side of the upper fixing portion. In the radial direction of the output shaft, the braking assembly is radially limited to the inner side of the upper annular limiting portion, and the bracket is radially limited to the outer side of the upper annular limiting portion.

18. A robotic arm, characterized in that, The robotic arm includes the joint module as described in any one of claims 1-17.

19. The robotic arm according to claim 18, characterized in that, The robotic arm is an industrial robotic arm.

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