Robotic arm and joint module thereof

Abstract

The application mainly relates to a mechanical arm and a joint module thereof. The joint module comprises a joint shell, a driving assembly and a speed reduction assembly. The driving assembly comprises an output shaft, a rotor connected with the output shaft and a stator connected with the joint shell. The rotor is located at the inner side of the stator. The input shaft of the speed reduction assembly is fixed on the output shaft. The driving assembly further comprises an upper bearing seat and an upper bearing. The upper bearing seat is located at the side of the driving assembly away from the speed reduction assembly and is connected with the joint shell. The inner ring and the outer ring of the upper bearing are connected with the output shaft and the upper bearing seat respectively. The upper bearing and the stator partially overlap in the radial direction of the output shaft.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arms, in particular to a mechanical arm and a joint module thereof. BACKGROUND

[0002] With the continuous development of science and technology, production and manufacturing not only need mechanical arms to replace monotonous, high-repetitive and dangerous work to improve the degree of automation and reduce labor costs, but also need mechanical arms to realize man-machine cooperation with operators to collaboratively complete more difficult, more complex and more high-precision special tasks. Therefore, the performance and reliability of components such as a driving assembly and a speed reduction assembly in a joint module of a mechanical arm are particularly important. However, in the related technology (for example, CN214520197U), the rotor of the driving assembly is fixed on the input shaft of the speed reduction assembly, that is, the driving assembly does not have an independent output shaft, which makes it difficult for the driving assembly to perform relevant performance tests independently, and makes it difficult to ensure its reliability. Based on this, the driving assembly can only be assembled with the speed reduction assembly and the housing to perform relevant performance tests. If the performance of the driving assembly is unqualified, it needs to be disassembled from the speed reduction assembly. This not only has the problem of multiple assembly and disassembly, but also may have the risk of damage to some components during the assembly and disassembly process, which greatly reduces the production efficiency and increases the production cost. SUMMARY

[0003] The joint module of the mechanical arm provided in the embodiments of the present application includes a joint housing, a driving assembly and a speed reduction assembly. The driving assembly includes an output shaft, a rotor connected with the output shaft and a stator connected with the joint housing. The rotor is located on the inner side of the stator. The input shaft of the speed reduction assembly is fixed on the output shaft. The driving assembly further includes an upper bearing seat and an upper bearing. The upper bearing seat is located on the side of the driving assembly away from the speed reduction assembly and is connected with the joint housing. The inner ring and the outer ring of the upper bearing are connected with the output shaft and the upper bearing seat, respectively. The upper bearing and the stator partially overlap in the radial projection.

[0004] In some embodiments, the upper bearing seat includes an upper cylindrical portion and an upper fixed portion bent and connected with one end of the upper cylindrical portion. The upper cylindrical portion is nested on the upper bearing. The upper cylindrical portion and the stator partially overlap in the radial projection. The upper fixed portion extends to the outer side of the upper cylindrical portion to be connected with the joint housing.

[0005] In some embodiments, the inner side of the joint housing is provided with a first annular bearing platform. The joint module further includes a fastener. The fastener passes through the upper fixed portion from the side of the upper fixed portion away from the first annular bearing platform and is connected with the first annular bearing platform, thereby pressing and holding the upper bearing seat on the first annular bearing platform.

[0006] In some embodiments, the joint module further comprises a brake assembly and a first elastic member, the brake assembly is connected with the output shaft and presses the first elastic member on the outer ring of the upper bearing.

[0007] In some embodiments, the joint module further comprises a bracket, the upper bearing seat comprises an upper annular limiting portion connected with the upper fixed portion, the brake assembly and the bracket are supported on the same side of the upper fixed portion, in the radial direction, the brake 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.

[0008] In some embodiments, in the axial direction of the output shaft, the inner support surface of the brake assembly supported by the upper fixed portion is closer to the upper bearing than the outer support surface of the bracket supported by the upper fixed portion.

[0009] In some embodiments, the joint module further comprises a first encoding assembly arranged on the side of the brake assembly away from the driving assembly, the first encoding assembly comprises a first encoding disc connected with the output shaft and a first reading head connected with the bracket, the first reading head cooperates with the first encoding disc to detect at least one of the rotation speed and the angular position of the output shaft.

[0010] In some embodiments, the joint shell comprises a first shell and a second shell connected with the first shell, and the upper bearing seat is an integral structure with the first shell.

[0011] In some embodiments, the driving assembly further comprises a lower bearing seat and a lower bearing, the lower bearing seat is located on the side of the driving assembly facing the speed reducer assembly, and comprises a lower cylindrical portion and a lower fixed portion bent and connected with one end of the lower cylindrical portion, the lower fixed portion extends to the outer side of the lower cylindrical portion to be connected with the joint shell, and the inner ring and the outer ring of the lower bearing are connected with the output shaft and the lower cylindrical portion respectively; wherein, the lower cylindrical portion and the lower bearing are at least partially located in the speed reducer assembly.

[0012] The application further provides a mechanical arm, which comprises the joint module described in the above embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 FIG. 1 is a structural schematic diagram of an embodiment of the mechanical arm provided by the application;

[0014] Figure 2 FIG. 3 is a sectional structural schematic diagram of an embodiment of the joint module provided by the application;

[0015] Figure 3 FIG. 5 is a sectional structural schematic diagram of an embodiment of the driving assembly and the joint shell provided by the application;

[0016] Figure 4 FIG. 7 is a sectional structural schematic diagram of an embodiment of the lower bearing seat provided by the application;

[0017] Figure 5 is a cross-sectional structural schematic diagram of an embodiment of the upper bearing seat provided in the present application;

[0018] Figure 6 is a cross-sectional structural schematic diagram of an embodiment of the speed reduction assembly provided in the present application;

[0019] Figure 7 is an exploded structural schematic diagram of an embodiment of the brake assembly provided in the present application;

[0020] Figure 8 is a cross-sectional structural schematic diagram of an embodiment of the brake assembly and the encoding assembly provided in the present application;

[0021] Figure 9 is a top structural schematic diagram of an embodiment of the friction plate provided in the present application;

[0022] Figure 10 is a top structural schematic diagram of an embodiment of the adapter provided in the present application;

[0023] Figure 11 is a cross-sectional structural schematic diagram of an embodiment of the adapter provided in the present application;

[0024] Figure 12 is a cross-sectional structural schematic diagram of an embodiment of the bracket provided in the present application;

[0025] Figure 13 is a cross-sectional structural schematic diagram of an embodiment of the joint module provided in the present application;

[0026] Figure 14 is an exploded structural schematic diagram of an embodiment of the encoding assembly provided in the present application;

[0027] Figure 15 is a structural schematic diagram of various embodiments of the adapter provided in the present application;

[0028] Figure 16 is a cross-sectional structural schematic diagram of an embodiment of the encoding assembly provided in the present application;

[0029] Figure 17 is a cross-sectional structural schematic diagram of an embodiment of the adapter provided in the present application;

[0030] Figure 18 is a cross-sectional structural schematic diagram of an embodiment of the encoding assembly provided in the present application. DETAILED DESCRIPTION

[0031] The application will be described in further detail below with reference to the drawings and embodiments. It is particularly pointed out that the following embodiments are only for illustration of the application, but do not limit the scope of the application. Similarly, the following embodiments are only part of the embodiments of the application, and all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the application.

[0032] Reference to "embodiments" in this application means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of the application. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the application can be combined with other embodiments.

[0033] In combination Figure 1 The mechanical arm 10 can include joint modules 11, connecting arms 12 and a base 13. The number of joint modules 11 and connecting arms 12 can be multiple, which can be directly or indirectly connected to the base 13 in a certain arrangement, so that the end of the mechanical arm 10 away from the base 13 has different degrees of freedom and positions in three-dimensional space, thereby meeting the operation requirements of various application scenarios. Among them, the mechanical arm 10 can be an industrial robot. Compared with other mechanical arms such as educational desktop mechanical arms, the objects grasped by the end of the industrial robot are heavier and have larger load, so the joint module 11 and other structures need to be reasonably designed.

[0034] As an example, in combination Figure 2 The joint module 11 can include a joint shell 111, a driving assembly 112, a speed reduction assembly 113, a brake assembly 114 and a coding assembly 115. Among them, the joint shell 111 can also serve as the housing of the driving assembly 112, that is, the relevant structures of the driving assembly 112 can be directly installed on the joint shell 111, and the speed reduction assembly 113, the brake assembly 114 and the coding assembly 115 and other structures can be directly or indirectly installed on the joint shell 111 in a certain assembly order, so that the joint module 11 is integrated in structure, that is, "integrated joint module". In this way, it is beneficial to simplify the structure of the joint module 11, thereby reducing the cost of the joint module 11. Of course, in other embodiments such as embodiments with low integration requirements, the driving assembly 112 can also have a housing independent of the joint shell 111, that is, the driving assembly 112 can also be used independently after being separated from the joint shell 111.

[0035] Further, the driving assembly 112 is mainly used to drive the joint module 11 or the connecting arm 12 connected thereto to rotate, the deceleration assembly 113 is mainly used to realize different speed matching and torque transmission between the joint module 11, the connecting arm 12 and other structures, the brake assembly 114 is mainly used to realize the switching between the rotating state and the braking state of the driving assembly 112, and the encoding assembly 115 is mainly used to detect the rotating state such as the rotating speed and the angular position of at least one of the driving assembly 112 and the deceleration assembly 113. The deceleration assembly 113 and the brake assembly 114 can be arranged on the opposite sides of the driving assembly 112, and the encoding assembly 115 can be arranged on the side of the brake assembly 114 away from the driving assembly 112.

[0036] As an example, in combination with Figure 2 and Figure 3 The joint shell 111 can include a first shell 1111 and a second shell 1112 connected to the first shell 1111, and the two can form a cavity structure with a certain volume. The inner side of the first shell 1111 can be provided with a first annular abutment 1113, and the area where the first annular abutment 1113 is located has a thicker wall thickness than other areas of the first shell 1111, so as to increase the local structural strength of the first shell 1111. The outer side of the first shell 1111 can be provided with a mounting position for connecting with the joint module 11 or the connecting arm 12, and the area where the mounting position is located also has a thicker wall thickness than other areas of the first shell 1111, so as to increase the local structural strength of the first shell 1111. Based on this, compared with the second shell 1112, the first shell 1111 can have higher structural strength in terms of material and structural design. In this way, the different shells in the joint shell 111 are designed differently according to actual use requirements, which is conducive to reducing the cost of the joint module 11. Further, the second shell 1112 can cover the outside of the encoding assembly 115 to protect the structure inside the joint module 11.

[0037] As an example, in combination with Figure 3The drive assembly 112 may include an output shaft 1121, a rotor 1122 connected to the output shaft 1121, a stator 1123 embedded in the first annular support 1113, a lower bearing seat 1124 and an upper bearing seat 1125 connected to opposite sides of the first annular support 1113 in the axial direction of the output shaft 1121, a lower bearing 1126 embedded in the lower bearing seat 1124 and an upper bearing 1127 embedded in the upper bearing seat 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.

[0038] 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 11 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.

[0039] 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.

[0040] In some embodiments, the lower bearing seat 1124 and the upper bearing seat 1125 can be separate structural members, both of which can be connected with the first annular support 1113 by one or a combination of assembly methods such as gluing, clamping, welding, screwing, etc. Similarly, the first housing 1111, the lower bearing seat 1124 and the upper bearing seat 1125 can be designed differently in terms of material, structural design and forming process, which is conducive to reducing the cost of the joint module 11.

[0041] As an example, in combination with Figure 3 The lower bearing seat 1124 can be a separate structural member, and the lower bearing seat 1124 can thus be fixed to the joint housing 111 by the first fastener 1161. Specifically, the first fastener 1161 passes through the lower bearing seat 1124 and is connected with the first annular support 1113 to press the lower bearing seat 1124 on the first annular support 1113. Similarly, the upper bearing seat 1125 can also be a separate structural member, and the upper bearing seat 1125 can thus be fixed to the joint housing 111 by another fastener. Wherein the lower bearing seat 1124 and the upper bearing seat 1125 can be respectively radially limited by different positions of the first housing 1111 in the radial direction of the output shaft 1121.

[0042] Further, the output shaft 1121 can be divided 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 along the axial direction thereof. The outer diameter of the intermediate fixed section 11213 can be greater than the outer diameter of the lower fixed section 11211 and the outer diameter of the upper fixed section 11212, respectively, so that the output shaft 1121 forms an outer stepped surface 11214 between the intermediate fixed section 11213 and the lower fixed section 11211 and an outer stepped surface 11215 between the intermediate fixed section 11213 and the upper fixed section 11212. Wherein the rotor 1122 can be fixed to the intermediate fixed section 11213, the lower bearing 1126 and the upper bearing 1127 can be respectively nested on the lower fixed section 11211 and the upper fixed section 11212, and the inner ring of the lower bearing 1126 can be supported on the outer stepped surface 11214, and the inner ring of the upper bearing 1127 can be supported on the outer stepped surface 11215. Further, the drive assembly 112 can include a lower snap ring 11281 connected with the lower fixed section 11211, for example, the lower snap ring 11281 is clamped in the limiting groove of the lower fixed section 11211, and the lower snap ring 11281 can clamp the inner ring of the lower bearing 1126 together with the intermediate fixed section 11213. Similarly, the drive assembly 112 can include an upper snap ring connected with the upper fixed section 11212, and the upper snap ring can clamp the inner ring of the upper bearing 1127 together with the intermediate fixed section 11213.

[0043] Further, the output shaft 1121 can be provided 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 to assemble the input shaft of the reduction assembly 113.

[0044] As an example, in combination with Figure 4 and Figure 3 The lower bearing seat 1124 can include a lower cylindrical portion 11241 and a lower fixed portion 11242 bent and connected to one end of the lower cylindrical portion 11241, the lower fixed portion 11242 extends outwardly of the lower cylindrical portion 11241 to connect with the joint shell 111, and the lower cylindrical portion 11241 is nested on the lower bearing 1126. Specifically, the first fastener 1161 passes through the lower fixed portion 11242 and connects with the first annular abutment 1113 to press the lower bearing seat 1124 on the first annular abutment 1113; the lower cylindrical portion 11241 is connected with the outer ring of the lower bearing 1126. Wherein, the end of the first fastener 1161 not inserted into the first annular abutment 1113 can not protrude from the lower bearing seat 1124, that is, the side of the first fastener 1161 facing the reduction assembly 113 can be sunken into the lower bearing seat 1124 or flush with the end surface of the lower bearing seat 1124, which facilitates the subsequent assembly of the reduction assembly 113 and is also conducive to increasing the structural compactness of the joint module 11.

[0045] Further, the lower bearing seat 1124 can 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 fixed 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 can include a lower pressing ring 11282 connected with the lower fixed portion 11242, and the lower pressing ring 11282 can clamp the outer ring of the lower bearing 1126 together with the lower flange portion 11243. Wherein, the lower pressing ring 11282 can not protrude from the lower fixed portion 11242 to avoid structural interference or collision with structural members such as the rotor 1122.

[0046] In some embodiments, for example Figure 13, the outer step surface 11214 and the lower flange portion 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 snap ring 11281 and the lower pressing 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. At this time, the lower bearing 1126 can be at least partially located on the side of the lower fixed portion 11242 away from the reduction assembly 113 (i.e., the other side of the lower fixed portion 11242 facing the brake assembly 114), for example, the lower bearing 1126 partially overlaps with the first annular support platform 1113 when the lower bearing 1126 is orthogonally projected to the inner side of the joint housing 111 along the radial direction of the output shaft 1121. The rotor 1122 or the stator 1123 can reserve a certain safety distance from the relevant structures of the lower bearing 1126 and the lower bearing seat 1124 in the radial direction of the output shaft 1121, and the relevant structures of the lower bearing 1126 and the lower bearing seat 1124 can also extend into the gap between the rotor 1122 and the stator 1123 along the axial direction of the output shaft 1121, so as to avoid structural interference or collision of the relevant structural members. 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 located outside the reduction assembly 113. In this way, the assembly requirement of the lower bearing 1126 extending into the reduction assembly 113 does not need to be considered, so that the selection of the reduction assembly 113 is more flexible. Further, 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 snap ring 11281 can be clamped in the limiting groove of the lower fixed section 11211, so that the lower snap 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 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 portion 11241 of the lower bearing seat 1124 along the aforementioned assembly direction, and then the lower pressing ring 11282 can be fixed on the lower fixed portion 11242 of the lower bearing seat 1124, so that the lower pressing ring 11282 and the lower flange portion 11243 of the lower bearing seat 1124 together clamp the outer ring of the lower bearing 1126. Obviously, no matter how the lower bearing seat 1124 and the lower bearing 1126 are assembled, the lower bearing 1126 will be pressed on the lower snap ring 11281, so that the lower snap ring 11281 will bear a large pressure during the assembly process, and there is a risk of structural failure to a certain extent.

[0047] In some embodiments, for example Figure 2 and Figure 3The outer stepped surface 11214 and the lower flange portion 11243 can be located on both sides of the lower bearing 1126 in the axial direction of the output shaft 1121. Correspondingly, the lower snap ring 11281 and the lower pressing 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 projection 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 side where the lower bearing seat 1124 is located is assembled with the reduction assembly 113, 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 the interference or collision between the relevant structures of the lower bearing 1126 and the lower bearing seat 1124 and the rotor 1122 or the stator 1123, so that the drive assembly 112 is more compact in the axial and radial directions of the output shaft 1121, thereby allowing the drive assembly 112 to design a larger size rotor 1122 or stator 1123. Further, during the assembly of the drive assembly 112, the lower bearing 1126 can be nested on the lower fixed segment 11211 of the output shaft 1121 along the assembly direction, and then the lower snap ring 11281 is clamped in the limiting groove of the lower fixed segment 11211, so that the lower snap ring 11281 and the intermediate fixed segment 11213 together clamp the inner ring of the lower bearing 1126; then the lower bearing seat 1124 is nested on the lower bearing 1126 along the aforementioned assembly direction or the lower bearing 1126 and the output shaft 1121 are embedded as a whole in the lower cylindrical portion 11241 of the lower bearing seat 1124 in the opposite direction of the aforementioned assembly direction, and then the lower pressing ring 11282 is fixed on the lower fixed portion 11242 of the lower bearing seat 1124, so that the lower pressing ring 11282 and the lower flange portion 11243 of the lower bearing seat 1124 together clamp the outer ring of the lower bearing 1126. Obviously, no matter how the lower bearing seat 1124 and the lower bearing 1126 are assembled, the lower bearing 1126 will be pressed on the lower fixed segment 11211, not on the lower snap ring 11281, so that the lower snap ring 11281 does not need to bear pressure during the assembly process, which is beneficial to ensure the reliability of the lower snap ring 11281.

[0048] As an example, in combination with Figure 5 and Figure 3The upper bearing seat 1125 can include an upper cylindrical portion 11251 and an upper fixed portion 11252 connected to one end of the upper cylindrical portion 11251 by bending, the upper fixed portion 11252 extending to the outside of the upper cylindrical portion 11251 to be connected with the joint shell 111, and the upper cylindrical portion 11251 is nested on the upper bearing 1127. Specifically, a fastener passes through the upper fixed portion 11252 and is connected with the first annular support 1113 to press the upper bearing seat 1125 on the first annular support 1113; the upper cylindrical portion 11251 is connected with the outer ring of the upper bearing 1127. Wherein, the upper bearing 1127 can be at least partially located in the driving assembly 112, so as to facilitate subsequent assembly of the brake assembly 114 and other structural members. Further, the upper bearing 1127 and the stator 1123 can partially overlap in the radial projection of the output shaft 1121, for example, the relevant structure of the upper bearing 1127 and the upper bearing seat 1125 extends into the gap between the output shaft 1121 and the stator 1123 along the axial direction of the output shaft 1121, so as to avoid structural interference or collision of the relevant structural members, and also facilitate the compactness of the joint module 11 in structure.

[0049] Further, the upper bearing seat 1125 can include an upper annular limiting portion 11253 connected with the upper fixed portion 11252, and the upper annular limiting portion 11253 can limit the radial direction of the structural member such as the brake assembly 114 in the radial direction of the output shaft 1121, which will be exemplarily described below.

[0050] Based on the above description, and in combination with Figure 2 to Figure 6The joint shell 111 can serve as a housing of the driving assembly 112, so that the components in the driving assembly 112 can be assembled with the joint shell 111 and then the relevant performance test can be performed. The first fastener 1161 can fix the lower bearing seat 1124 on the joint shell 111, and the upper bearing seat 1125 can also be fixed on the joint shell 111 by another fastener. Based on this, the second fastener 1162 can fix the reduction assembly 113 on the joint shell 111 and pass through the lower bearing seat 1124, and the third fastener 1163 can fix the input shaft 1131 of the reduction assembly 113 on the output shaft 1121. In other words, the driving assembly 112 can be detachably connected with the joint shell 111 through the first fastener 1161, and the reduction assembly 113 can be detachably connected with the joint shell 111 and the driving assembly 112 through the second fastener 1162 and the third fastener 1163 respectively, so as to modularize the components in the joint module 11. In the related art, the output shaft of the driving assembly 112 and the input shaft of the reduction assembly 113 are integrated components, for example, the rotor 1122 of the driving assembly 112 is fixed on the input shaft of the reduction assembly 113, that is, the driving assembly 112 does not have an independent output shaft, which makes it difficult to perform the relevant performance test. Different from the related art, in the present application, the output shaft 1121 of the driving assembly 112 and the input shaft 1131 of the reduction assembly 113 can be separate components, and the two are detachably connected through the third fastener 1163, which not only allows the driving assembly 112 and the reduction assembly 113 to be tested separately before assembly, but also facilitates the later maintenance, and also helps to reduce the vibration and noise of the reduction assembly 113.

[0051] As an example, the first fastener 1161 passes through the lower fixing portion 11242 and is connected with the first annular support 1113 to press the lower bearing seat 1124 on the first annular support 1113. The second fastener 1162 passes through the speed reducer assembly 113 and the lower fixing portion 11242 in turn and is connected with the first annular support 1113 to press the speed reducer assembly 113 and the lower bearing seat 1124 on the first annular support 1113, that is, the speed reducer assembly 113 and the lower bearing seat 1124 are fixed on the first annular support 1113 by the second fastener 1162. Further, the input shaft 1131 can be provided in a hollow structure to facilitate the wiring structure of the joint module 11; and the inside of the input shaft 1131 is provided with a second annular support 11311. The output shaft 1121 is inserted into the input shaft 1131, and the end surface of the output shaft 1121 abuts against the second annular support 11311, and the third fastener 1163 connects the second annular support 11311 and the output shaft 1121 in the axial direction of the output shaft 1121, that is, the third fastener 1163 fixes the input shaft 1131 on the end of the lower fixed section 11211. In this way, not only the output shaft 1121 can be radially limited by the input shaft 1131, but also the coaxiality between the input shaft 1131 and the output shaft 1121 can be improved.

[0052] Further, the output shaft 1121 can extend out of the lower bearing seat 1124, and the assembly surface between the input shaft 1131 and the output shaft 1121 can be located in the speed reducer assembly 113 in the axial direction of the output shaft 1121, so that the relevant structure of the lower bearing 1126 and the lower bearing seat 1124 is at least partially located in the speed reducer assembly 113.

[0053] As an example, in combination with Figure 6 and Figure 2 , the speed reducer assembly 113 can include a wave generator 1132 connected with the input shaft 1131, a flexspline 1133 nested on the wave generator 1132, and a rigid wheel 1134 nested on the flexspline 1133. The rigid wheel 1134 partially engages with the flexspline 1133 to facilitate the speed reducer assembly 113 to achieve a corresponding transmission ratio. Further, the speed reducer assembly 113 can include a flange plate 1135, which can serve as an output end of the speed reducer assembly 113 to be connected with other joint modules 11 or connecting arms 12.

[0054] In some embodiments, the flexspline 1133 can be provided in a cylindrical structure. Based on this, the side wall of the flexspline 1133 partially engages with the rigid wheel 1134, and the bottom wall of the flexspline 1133 is connected with the flange plate 1135. Accordingly, the rigid wheel 1134 can be fixed on the first annular support 1113 by the second fastener 1162.

[0055] In some embodiments, the flexible gear 1133 can be arranged in a hollow top hat structure. Based on this, the speed reduction assembly 113 can include an outer bearing 1136, the flexible gear 1133 can include a cylindrical engaging portion 11331 and a ring-shaped folded portion 11332 bent and connected to one end of the cylindrical engaging portion 11331, the ring-shaped folded portion 11332 extending outward of the cylindrical engaging portion 11331. Among them, the cylindrical engaging portion 11331 is partially engaged with the rigid gear 1134, the ring-shaped folded portion 11332 is connected with the outer ring of the outer bearing 1136, and the rigid gear 1134 is connected with the inner ring of the outer bearing 1136. Further, the second fastener 1162 fixes one of the inner ring and the outer ring of the outer bearing 1136 on the first annular support 1113, and the flange plate 1135 is connected with the other one of the inner ring and the outer ring of the outer bearing 1136.

[0056] Based on the above description, and in combination with Figure 2 , Figure 3 and Figure 6 , the related structure of the lower bearing 1126 and the lower bearing seat 1124 can be at least partially located in the speed reduction assembly 113, for example, the lower bearing 1126 is located on the inner side of the flexible gear 1133 away from the rigid gear 1134 in the radial direction of the output shaft 1121, which causes the lower bearing 1126 to occupy the internal space of the speed reduction assembly 113 to some extent. Based on this, in order to avoid the related structure of the lower bearing 1126 and the lower bearing seat 1124 from interfering or colliding with the flexible gear 1133 or the input shaft 1131, the technical solution that the person skilled in the art can easily think of is to increase the radial size of the speed reduction assembly 113 to increase the gap between the flexible gear 1133 and the input shaft 1131 in the radial direction of the output shaft 1121, thereby reserving sufficient safety distance. Unlike this, in the present application, in combination with Figure 4 , the thickness of the lower cylindrical portion 11241 in the radial direction of the output shaft 1121 is less than the thickness of the lower flange portion 11243 in the axial direction of the output shaft 1121 and the thickness of the lower fixed portion 11242 in the axial direction of the output shaft 1121, that is, the lower cylindrical portion 11241 is thinned, which not only avoids the above interference or collision, but also takes into account the radial size of the speed reduction assembly 113. Among them, the corners of the lower cylindrical portion 11241 and the lower fixed portion 11242 away from the lower bearing 1126 side can be arranged in a round corner to avoid large stress concentration, thereby increasing the structural strength and reliability of the lower bearing seat 1124.

[0057] Further, in combination with Figure 6 , the speed reduction assembly 113 can include a hollow shaft 1137 and an inner bearing 1138, one end of the hollow shaft 1137 is connected with the flange plate 1135, and the inner ring and the outer ring of the inner bearing 1138 are connected with the hollow shaft 1137 and the input shaft 1131 respectively. Among them, in combination with Figure 2The hollow shaft 1137 passes through the input shaft 1131, the output shaft 1121 and the brake assembly 114 in sequence and is inserted into the encoding assembly 115. In this way, the wiring structure of the joint module 11 is facilitated, and the wear of the wiring structure is reduced. In addition, the encoding assembly 115 can detect the rotation speed and / or angular position of the output end (for example, the flange 1135) of the speed reduction assembly 113.

[0058] As an example, in combination with Figure 6 and Figure 2 , the second fastener 1162 fixes the outer ring of the outer bearing 1136 on the first annular support platform 1113, and the flange 1135 is connected to the inner ring of the outer bearing 1136 through the ratchet 1134. The fourth fastener 1164 can fix the annular folded portion 11332 on the outer ring of the outer bearing 1136 to allow the speed reduction assembly 113 to perform relevant performance tests. Accordingly, the second fastener 1162 passes through the outer ring of the outer bearing 1136, the annular folded portion 11332 and the lower bearing seat 1124 in sequence and is connected to the first annular support platform 1113 to press the speed reduction assembly 113 and the lower bearing seat 1124 on the first annular support platform 1113. Further, in combination with Figure 4 , the lower bearing seat 1124 (specifically, the lower fixed portion 11242 thereof) is provided with a relief hole 11244, and the portion of the fourth fastener 1164 protruding from the annular folded portion 11332 can be located in the relief hole 11244 to increase the compactness of the joint module 11 in structure. Preferably, the relief hole 11244 can pass through the lower fixed portion 11242 in the axial direction of the output shaft 1121 to allow the fourth fastener 1164 to contact the first annular support platform 1113 via the relief hole 11244, which is conducive to heat dissipation of the speed reduction assembly 113, thereby increasing the reliability of the speed reduction assembly 113.

[0059] Further, in combination with Figure 2 , Figure 3 and Figure 6 , the assembly direction of the fourth fastener 1164 and the first fastener 1161 is opposite, and the assembly direction of the second fastener 1162 and the first fastener 1161 is the same, to allow the components in the drive assembly 112 and the speed reduction assembly 113 to be assembled in a certain order with the joint shell 111.

[0060] Further, the first fasteners 1161, the second fasteners 1162 and the fourth fasteners 1164 can be arranged in multiple around the output shaft 1121 respectively, and the number of the second fasteners 1162 between two adjacent fourth fasteners 1164 around the output shaft 1121 can be greater than the number of the first fasteners 1161. In this way, the first fasteners 1161 can fix the lower bearing seat 1124 to the first annular support 1113, and the number thereof can meet the performance test of the drive assembly 112 alone, and the fourth fasteners 1164 can fix the annular folded portion 11332 to the outer ring of the outer bearing 1136, and the number thereof can also meet the performance test of the speed reduction assembly 113 alone; finally, the speed reduction assembly 113 and the lower bearing seat 1124 are fixed to the first annular support 1113 by the relatively large number of second fasteners 1162, so as to simplify the structure to the greatest extent and take into account the reliability of the structure.

[0061] For example, the number of the first fasteners 1161 can be four, the number of the second fasteners 1162 can be twelve, and the number of the fourth fasteners 1164 can be four. Since the first fasteners 1161, the second fasteners 1162 and the fourth fasteners 1164 are directly or indirectly associated with the lower bearing seat 1124 in structure, the number thereof can be represented by the number of the through holes corresponding thereto on the lower fixing portion 11242. Based on this, in combination with the above description Figure 4 , in addition to the avoiding holes 11244 corresponding to the fourth fasteners 1164, the lower fixing portion 11242 can also be respectively provided with the counterbores 11245 corresponding to the first fasteners 1161 and the through holes 11246 corresponding to the second fasteners 1162. Obviously, the number of the avoiding holes 11244, the counterbores 11245 and the through holes 11246 is four, four and twelve respectively. It is worth noting that: since the side where the lower bearing seat 1124 is located needs to assemble the speed reduction assembly 113, the side of the first fasteners 1161 facing the speed reduction assembly 113 can be sunken into the lower bearing seat 1124 or flush with the end face of the lower bearing seat 1124. Obviously, the counterbores 11245 can better accommodate the first fasteners 1161. Further, in the axial direction of the output shaft 1121, the distance from the first fasteners 1161 to the center of the lower bearing seat 1124 can be less than the distance from the second fasteners 1162 to the center of the lower bearing seat 1124, that is, the first fasteners 1161 are closer to the output shaft 1121 in the radial direction of the output shaft 1121 than the second fasteners 1162. In other words, in the radial direction of the output shaft 1121, the counterbores 11245 are closer to the center of the lower bearing 1126 and farther away from the edge of the lower fixing portion 11242 than the through holes 11246, which is conducive to ensuring the structural strength of the lower fixing portion 11242 in the area where the counterbores 11245 are located, thereby increasing the structural reliability of the drive assembly 112.

[0062] It should be noted that in other embodiments in which the drive assembly 112 and / or the deceleration assembly 113 do not need to be tested separately, the first fastener 1161 and the fourth fastener 1164 can be omitted, i.e., the assembly of the various components of the drive assembly 112 and the deceleration assembly 113 to the joint housing 111 is achieved only by the second fastener 1162.

[0063] In combination Figure 3 The two ends of the output shaft 1121 are connected to the joint housing 111 by a lower bearing 1126 and an upper bearing 1127, respectively, so as to make the output of the drive assembly 112 more stable. Therefore, the lower bearing 1126 and the upper bearing 1127 both need to have a certain amount of play after assembly. However, if the aforementioned play is too small, the output shaft 1121 can be difficult to rotate; on the contrary, if the aforementioned play is too large, the output shaft 1121 can not rotate smoothly (e.g., “jitter”). Therefore, the joint module 11 can include a first elastic member 117, which can press the outer ring of the upper bearing 1127, so as to control the play of the lower bearing 1126 and the upper bearing 1127 within a reasonable range. The first elastic member 117 can be a wave spring. Based on this, in order to press the first elastic member 117, those skilled in the art can easily think of a technical solution of pressing the first elastic member 117 by an additional upper pressing ring connected to the upper bearing seat 1125. However, in the present application, in combination Figure 2 and Figure 3 The brake assembly 114 can be fixed to the upper bearing seat 1125 and can simultaneously press the first elastic member 117 against the outer ring of the upper bearing 1127, i.e., the brake assembly 114 can replace the upper pressing ring, so as to not only control the play of the lower bearing 1126 and the upper bearing 1127 within a reasonable range, but also omit the upper pressing ring, thereby making the joint module 11 more compact in structure and reducing the cost of the joint module 11.

[0064] As an example, in combination Figure 7The brake assembly 114 can include a mounting base 1141 connected with the upper bearing seat 1125, a second elastic member 1142 and an excitation coil 1143 arranged in the mounting base 1141, and an armature disc 1144, a friction plate 1145 and a cover plate 1146 arranged in the axial direction of the output shaft 1121 in sequence, that is, the armature disc 1144 and the cover plate 1146 are respectively located on both sides of the friction plate 1145 in the axial direction of the output shaft 1121. The friction plate 1145 is connected with the output shaft 1121 to rotate with the output shaft 1121; the cover plate 1146 can be connected with the mounting base 1141 to remain relatively static. Further, the armature disc 1144 and the friction plate 1145 can be separate structural members, that is, the two can move relative to each other; the armature disc 1144 and the friction plate 1145 can also be connected together by one or a combination of assembly methods such as gluing, clamping, threaded connection, etc., that is, the two remain relatively static.

[0065] The working principle of the brake assembly 114 can be that Figure 8 When the excitation coil 1143 is de-energized, the armature disc 1144 pushes the friction plate 1145 to contact the cover plate 1146 in the axial direction of the output shaft 1121 under the elastic force of the second elastic member 1142, so that the output shaft 1121 is switched from the rotating state to the 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, so that the friction plate 1145 and the cover plate 1146 are separated, to release the braking state of the output shaft 1121, that is, the output shaft 1121 continues to rotate. In this way, compared with the related art which stops the output shaft 1121 by a pin to brake, the brake assembly 114 in the application brakes the output shaft 1121 by friction resistance, which has the advantages of no idle stroke, fast response, no abnormal sound, etc. After the excitation coil 1143 is de-energized, the elastic potential energy stored by the second elastic member 1142 can not only push the armature disc 1144 and the friction plate 1145, but also make the armature disc 1144 and the friction plate 1145 and the friction plate 1145 and the cover plate 1146 have a certain normal pressure, thereby providing a friction resistance of a preset size to maintain the braking state of the output shaft 1121. Further, after the excitation coil 1143 is energized, the magnetic field generated by the excitation coil 1143 can attract the armature disc 1144 to move away from the cover plate 1146, to at least release the normal pressure between the friction plate 1145 and the cover plate 1146.

[0066] It should be noted that after the brake assembly 114 is assembled, for example, the mounting seat 1141 is fixed on the upper fixed portion 11252, and the brake assembly 114 is pressed and held by the mounting seat 1141. Correspondingly, the second elastic member 1142 is arranged on the side of the mounting seat 1141 away from the first elastic member 117; and the mounting seat 1141 is radially limited to the inside of the upper annular limiting portion 11253. Further, the mounting seat 1141 can be made of a soft magnetic material, for example, the same as the armature disc 1144, so as to adjust the magnetic field generated by the exciting coil 1143 and make it more concentrated.

[0067] The brake assembly 114 can include guide columns 1147 supported between the mounting seat 1141 and the cover plate 1146, and the armature disc 1144 can be guided by the guide columns 1147 to approach or move away from the cover plate 1146, so as to avoid the brake assembly 114 from being stuck. The number of the guide columns 1147 can be multiple, and the multiple guide columns 1147 can be arranged at intervals around the output shaft 1121, for example, three guide columns 1147 are uniformly and evenly distributed around the output shaft 1121.

[0068] Further, the mounting seat 1141 can include a bottom wall 11411, and an inner side wall 11412 and an outer side wall 11413 connected with the bottom wall 11411. The inner side wall 11412 is located at the periphery of the output shaft 1121, and the outer side wall 11413 is located at the periphery of the inner side wall 11412 and extends in the same direction as the inner side wall 11412. Correspondingly, the guide columns 1147 can be supported between the outer side wall 11413 and the cover plate 1146. Based on this, when the armature disc 1144 moves away from the cover plate 1146 under the action of the magnetic field generated by the exciting coil 1143, it can be stopped by at least one of the inner side wall 11412 and the outer side wall 11413, so as to limit the movement of the armature disc 1144.

[0069] In some embodiments, the second elastic member 1142 can be arranged in the blind hole of the outer side wall 11413, and the exciting coil 1143 can be arranged between the inner side wall 11412 and the outer side wall 11413, for example, the exciting coil 1143 is arranged around the inner side wall 11412. The number of the second elastic member 1142 can be multiple, and the multiple second elastic members 1142 can be arranged at intervals around the output shaft 1121, for example, four second elastic members 1142 are uniformly and evenly distributed around the output shaft 1121.

[0070] In some embodiments, the second elastic member 1142 and the exciting coil 1143 can be arranged between the inner side wall 11412 and the outer side wall 11413. For example, the number of the second elastic member 1142 and the exciting coil 1143 is multiple, respectively, and the multiple second elastic members 1142 and the multiple exciting coils 1143 are arranged at intervals around the output shaft 1121, respectively.

[0071] In combination Figure 8 The driving assembly 112 can include an adapter 1129 connected with the output shaft 1121, and the friction plate 1145 can be sleeved on the adapter 1129. In combination Figure 9 and Figure 10 In an axial direction of the output shaft 1121, an outer profile of the adapter 1129 and an inner profile of the friction plate 1145 are matched non-circular shapes to allow the friction plate 1145 to rotate with the adapter 1129 and to move relative to the adapter 1129 in the axial direction of the output shaft 1121. For example, the inner profile of the friction plate 1145 is a first square shape in the axial direction of the output shaft 1121, and four corners of the first square shape are all rounded. The outer profile of the adapter 1129 is a second square shape in the axial direction of the output shaft 1121, and four corners of the second square shape are all chamfered. In this way, the corners of the adapter 1129 effectively avoid the corners of the friction plate 1145, thereby avoiding the friction plate 1145 from being stuck when moving along the adapter 1129, and thus increasing the reliability of the brake assembly 114. Meanwhile, the area of the friction plate 1145 can be as large as possible, so that the brake assembly 114 responds faster.

[0072] Specifically, after the output shaft 1121 is switched from the braking state to the rotating state, the friction plate 1145 rotates with the adapter 1129 and then rotates with the output shaft 1121, so as to avoid unnecessary resistance of the brake assembly 114 to the rotation of the output shaft 1121. When the output shaft 1121 is switched from the rotating state to the braking state, the friction plate 1145 moves relative to the adapter 1129 in the axial direction of the output shaft 1121 under the pushing of the second elastic member 1142 and the armature disc 1144, so as to contact the cover plate 1146 and then brake the output shaft 1121 through friction 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 in the axial direction of the output shaft 1121 relative to the adapter 1129. In this way, compared with the adapter 1129 and the output shaft 1121 being an integral structure, separately processing the adapter 1129 and the output shaft 1121 and then assembling them not only facilitates simplifying the structure of the output shaft 1121, thereby reducing the processing difficulty of the output shaft 1121, but also facilitates differentiating the adapter 1129 and the output shaft 1121 in material selection, so as to balance the cost of the joint module 11.

[0073] Further, in combination Figure 8The encoding assembly 115 can be configured to detect the rotation state of the driving assembly 112, specifically at least one of the rotation speed and the angular position of the output shaft 1121. The encoding assembly 115 can include an encoding disc 1151A and a reading head 1152A, and the reading head 1152A cooperates with the encoding disc 1151A to detect the rotation speed and / or the angular position of the output shaft 1121. Based on this, the encoding assembly 115 can be configured as a magneto-electric encoder, and the encoding disc 1151A is correspondingly configured as a magnetic grating disc; or the encoding assembly 115 can be configured as an opto-electric encoder, and the encoding disc 1151A is correspondingly configured as an optical grating disc. Regardless of whether it is a magneto-electric encoder or an opto-electric encoder, it can be further configured as an incremental type or an absolute type according to actual needs, and the related principles and specific structures are well known to those skilled in the art, and will not be described here. It is worth noting that compared with the magneto-electric encoder, the opto-electric encoder has more stringent requirements for the external environment, for example, the opto-electric encoder has higher dustproof requirements, which will be exemplarily illustrated later.

[0074] In some embodiments, the encoding disc 1151A and the adapter 1129 can be respectively connected to the output shaft 1121 to rotate with the output shaft 1121, which is conducive to reducing the interference of the brake assembly 114 on the encoding assembly 115. As an example, the encoding disc 1151A and the adapter 1129 can be respectively connected to the output shaft 1121 through respective adapters, that is, the number of adapters is two.

[0075] In some embodiments, the encoding disc 1151A can be connected to the adapter 1129 to be connected to the output shaft 1121 through the adapter 1129, that is, the encoding disc 1151A and the friction plate 1145 are both connected to the output shaft 1121 through the adapter 1129, so that the adapter 1129 is "dual-purpose", which is conducive to simplifying the structure of the joint module 11. Based on this, and in combination with Figure 8 After the driving assembly 112 and the joint shell 111 are assembled, the brake assembly 114 can be assembled with the driving assembly 112 first, then the encoding disc 1151A and the adapter 1129 are assembled as a whole with the brake assembly 114, and then the bracket 118, the reading head 1152A and other structures such as the circuit board are assembled as a whole with the joint shell 111 or the upper bearing seat 1125. In this way, compared with the encoding disc 1151A and the adapter 1129 being respectively connected to the output shaft 1121 through respective adapters, in the embodiment in which the encoding disc 1151A and the friction plate 1145 are both connected to the output shaft 1121 through the adapter 1129, the adapter 1129 only needs to be assembled and disassembled once, which is conducive to improving production efficiency.

[0076] As an example, in combination with 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 fifth 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.

[0077] The instruction manual is required to specify that the first to fifth fasteners in this application can be bolts, and can be selected from hexagonal head, round head, square head, countersunk head, etc., according to specific needs.

[0078] 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.

[0079] As an example, combined Figure 8 and Figure 5, the joint module 11 can comprise a bracket 118 connected with the joint shell 111, the bracket 118 can be covered outside the brake assembly 114, that is, located in the periphery of the brake assembly 114, so as to set the encoding assembly 115, thereby simplifying the structure of the joint module 11. In other words, the bracket 118 and the brake assembly 114 are supported on the same side of the upper fixing portion 11252. Among them, the read head 1152A and its circuit board can be connected with the bracket 118, and the read head 1152B and its circuit board can also be connected with the bracket 118. In this way, it is beneficial to adjust the spacing of the read head 1152A and the encoding disc 1151A in the axial direction of the output shaft 1121 and the spacing of the read head 1152B and the encoding disc 1151B in the axial direction of the output shaft 1121, thereby increasing the reliability of the encoding assembly 115. Of course, the read head 1152A and the read head 1152B can also be provided on the same circuit board, and the encoding disc 1151A, the circuit board and the encoding disc 1151B are sequentially spaced in the axial direction of the output shaft 1121, which is beneficial to simplify the structure of the encoding assembly 115.

[0080] Further, in the radial direction of the output shaft 1121, the brake assembly 114 is radially limited to the inside of the upper annular limiting portion 11253, and the bracket 118 is radially limited to the outside of the upper annular limiting portion 11253, which not only facilitates to improve the assembly precision of the brake assembly 114 and the bracket 118, but also facilitates to simplify the structure of the joint module 11. Among them, in the axial direction of the output shaft 1121, the inner support surface of the upper fixing portion 11252 for supporting the brake assembly 114 can be closer to the upper bearing 1127 than the outer support surface of the upper fixing portion 11252 for supporting the bracket 118, which facilitates to increase the compactness of the joint module 11 in structure.

[0081] As an example, in combination with Figure 12 The bracket 118 can comprise a cylinder body 1181, and an outer bottom wall 1182 and an inner top wall 1183 respectively connected with both ends of the cylinder body 1181 and reversely extended. Among them, the cylinder body 1181 is located in the periphery of the brake assembly 114; the outer bottom wall 1182 is connected with the upper fixing portion 11252 and is radially limited to the outside of the upper annular limiting portion 11253; the read head 1152A, the read head 1152B and their respective circuit boards are respectively connected with the inner top wall 1183. Of course, the bracket 118 can also not comprise the inner top wall 1183, as long as the encoding assembly 115 can be assembled in the bracket 118. Further, the inner side of the corner between the outer bottom wall 1182 and the cylinder body 1181 can be provided with an avoiding groove 1184 for avoiding the upper annular limiting portion 11253, that is, the upper annular limiting portion 11253 is located in the avoiding groove 1184 after the bracket 118 is assembled with the upper bearing seat 1125, which facilitates to increase the compactness of the joint module 11 in structure, especially in the radial direction of the output shaft 1121.

[0082] 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 an encoding disk 1151A and a read head 1152A, and the second encoding component may include an encoding disk 1151B and a read head 1152B.

[0083] 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.

[0084] As an example, combined Figure 14 and Figure 16The encoding assembly 115 can include a base 1153, a rotating shaft 1154, an encoding disc 1151A and a reading head 1152B. The rotating shaft 1154 is arranged to rotate and support on the base 1153, and is configured to be connected with the shaft to be detected, such as the output shaft 1121 or the hollow shaft 1137. The encoding disc 1151A is connected with the rotating shaft 1154, and the reading head 1152B (and the circuit board thereof) is arranged to be relatively fixed with the base 1153, so that the encoding assembly 115 is arranged as a modular structural assembly. In this way, the axial distance between the encoding disc 1151A and the reading head 1152A can be debugged and determined before the encoding assembly 115 is assembled and used, so as to improve the detection accuracy of the encoding assembly 115. In this embodiment, the base 1153 is arranged to be relatively stationary with the output shaft 1121, and the rotating shaft 1154 is arranged to rotate synchronously with the output shaft 1121, so as to facilitate the encoding assembly 115 to detect the rotation speed and / or the angular position of the output shaft 1121.

[0085] Further, in combination with Figure 13 , the rotating shaft 1154 is arranged as a hollow structure, and the hollow shaft 1137 can be partially inserted into the rotating shaft 1154 after sequentially passing through the input shaft 1131 and the output shaft 1121, so as to facilitate the arrangement of the wiring structure of the joint module 11.

[0086] For example, in combination with Figure 15 , one of the rotating shaft 1154 and the output shaft 1121 is partially inserted into the other, and a pair of contact surfaces are formed. In this embodiment, when the rotating shaft 1154 is partially inserted into the output shaft 1121, for example, Figure 15 (a), the pair of contact surfaces refer to the outer profile surface of the rotating shaft 1154 and the inner profile surface of the output shaft 1121 which are in contact with each other. Conversely, when the output shaft 1121 is partially inserted into the rotating shaft 1154, in combination with Figure 15 (b), the pair of contact surfaces refer to the outer profile surface of the output shaft 1121 and the inner profile surface of the rotating shaft 1154 which are in contact with each other. Further, the cross-sectional area of the pair of contact surfaces in the direction perpendicular to the axial direction of the output shaft 1121 gradually increases or decreases along the axial direction of the output shaft 1121, and the base 1153 provides a pressing force to the pair of contact surfaces after being fixed, so that the rotating shaft 1154 rotates with the output shaft 1121 under the action of the friction between the rotating shaft 1154 and the pair of contact surfaces. Specifically, the pressing 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, and the static friction coefficient between the rotating shaft 1154 and the output shaft 1121 at the pair of contact surfaces is μ, so that the friction 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. In combination with Figure 16 , the rotating shaft 1154 is partially inserted into the output shaft 1121, which is advantageous to reduce the radial dimension of the encoding assembly 115.

[0087] In this way, compared with the direct connection of the rotating shaft 1154 and the output shaft 1121 by the fastener such as a bolt, the embodiment does not need to consider the minimum wall thickness of the rotating shaft 1154 or the output shaft 1121 and the space occupied by the fastener, so that the design of the rotating shaft 1154 and the output shaft 1121 is more flexible, and the overall structure of the encoding assembly 115 and the driving assembly 112 is also more compact; compared with the direct connection of the rotating shaft 1154 and the output shaft 1121 by the glue, the embodiment does not have the problem of aging of the glue, and the overall structure is more reliable; compared with the direct insertion of the rotating shaft 1154 and the output shaft 1121 by setting into matching non-circular holes, the embodiment does not have the fitting gap of the insertion, so that the synchronicity of the rotating shaft 1154 following the output shaft 1121 is higher, and the encoding assembly 115 is also more convenient to assemble and disassemble.

[0088] It should be noted that: in order to increase the reliability of the rotating state of the output shaft 1121 detected by the encoding assembly 115, the coaxiality between the rotating shaft 1154 and the output shaft 1121 is higher, so that the axis of the rotating shaft 1154 and the axis of the output shaft 1121 can be simply regarded as coinciding. 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 be simply regarded as the radial direction of the rotating shaft 1154.

[0089] Further, in combination with Figure 16 , the other end of the rotating shaft 1154 away from the encoding disc 1151A is partially inserted into the output shaft 1121 under the guidance of the adapter 1129, so as to allow the adapter 1129 to limit the rotating shaft 1154 in the radial direction of the output shaft 1121, which is beneficial to increase the coaxiality between the rotating shaft 1154 and the output shaft 1121, especially in the case that the end of the rotating shaft 1154 is set to a tapered structure. In combination with the above related description, the friction plate 1145 can also be sleeved on the adapter 1129, and then connected with the output shaft 1121, so that the adapter 1129 is "one thing with two purposes", which is beneficial to simplify the structure of the joint module 11.

[0090] As an example, in combination with Figure 17 , the adapter 1129 can be set to 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, and the radius of the foregoing inner ring surface remains unchanged in the axial direction of the output shaft 1121. Accordingly, the outer diameter of the portion of the rotating shaft 1154 cooperating with the adapter 1129 remains unchanged in the axial direction of the output shaft 1121. In this way, compared with the tapered structure, this cylindrical equal-diameter structure is more beneficial to increase the coaxiality between the rotating shaft 1154 and the output shaft 1121.

[0091] Similarly, the adapter 1129 can include a cylindrical body 11291 and an inner flange portion 11292 connected with the cylindrical body 11291. Wherein, the inner annular surface of the cylindrical body 11291 keeps constant in the axial direction of the output shaft 1121, so as to guide the rotation shaft 1154 by the adapter 1129; the outer contour of the cylindrical body 11291 is non-circular when viewed in the axial direction of the output shaft 1121, so as to facilitate the friction plate 1145 to be sleeved on the adapter 1129.

[0092] Further, the inner flange portion 11292 can be provided with a plurality of counterbores 11295 spaced around the rotation shaft 1154, for example, the number of the counterbores 11295 is six, so as to allow the fifth fastener 1165 to fix the inner flange portion 11292 on the output shaft 1121 via the counterbores 11295. In other words, the fifth fastener 1165 does not protrude out of the adapter 1129 in the axial direction of the output shaft 1121, which is conducive to increase the structural compactness of the joint module 11.

[0093] As an example, in combination with Figure 14 and Figure 16 , the base 1153 can be provided with a bearing hole 11531; the encoding assembly 115 can include a bearing 11551 embedded in the bearing hole 11531, so as to rotatably support the rotation shaft 1154 on the base 1153. Of course, if the rotation speed of the shaft to be detected is not high, for example, the rotation speed of the hollow shaft 1137 is much smaller than that of the output shaft 1121, then the encoding assembly 115 can not include the bearing 11551, that is, the rotation shaft 1154 is directly in shaft hole cooperation with the bearing hole 11531, for example, clearance fit therebetween, the rotation shaft 1154 can also be rotatably supported on the base 1153.

[0094] Further, the rotating shaft 1154 can include a connecting portion 11541, a splicing portion 11542, and an extending portion 11543, the splicing portion 11542 and the extending portion 11543 being connected with two ends of the connecting portion 11541 respectively. The connecting portion 11541 can be embedded on the inner ring of the bearing 11551, and the splicing portion 11542 and the extending portion 11543 can extend from two sides of the bearing 11551 respectively; the extending portion 11543 can press the inner ring of the bearing 11551 along the axial direction of the output shaft 1121, and the encoding disc 1151A can be connected with the extending portion 11543. Further, the outer diameter of the splicing portion 11542 gradually decreases in the direction away from the extending portion 11543 along the axial direction of the output shaft 1121, so as to allow the splicing portion 11542 to be inserted into the output shaft 1121, and further to form a pair of contact surfaces. Based on the above description, the outer diameter of the splicing portion 11542 can first remain unchanged and then gradually decrease in the direction away from the extending portion 11543 along the axial direction of the output shaft 1121, so as to allow the splicing portion 11542 to pass through the adapter 1129 and be partially inserted into the output shaft 1121 under the guidance of the adapter 1129.

[0095] As an example, in combination with Figure 15 The angle θ between the outer profile surface of the splicing portion 11542 and the axial direction of the output shaft 1121 can be between 2° and 33°. When the size of the pressing force F and other parameters are constant, the size of the angle θ determines the size of the first component force F1, that is, F1=F×sinθ. It is worth noting that although the larger the angle θ is, the greater the first component force F1 is, and thus the more sufficient the friction force is, the outer profile surface of the splicing portion 11542 and the inner profile surface of the output shaft 1121 will also become sharper, which will cause the structural strength of the end portions of the splicing portion 11542 and the output shaft 1121 to deteriorate; on the contrary, although the smaller the angle θ is, the more the structural strength of the end portions of the splicing portion 11542 and the output shaft 1121 is ensured, the risk of the synchronization of the rotating shaft 1154 following the rotation of the output shaft 1121 being poor will also exist.

[0096] In some embodiments, the ratio between the absolute value of the difference between the minimum outer diameter and the maximum outer diameter of the splicing portion 11542 and the maximum outer diameter of the splicing portion 11542 can be between 0.05 and 0.2, so that the angle θ is within a suitable range. In addition, for a certain angle θ, this is also conducive to ensuring the structural strength of the end portions of the splicing portion 11542 and the output shaft 1121.

[0097] In some embodiments, the depth of the splicing portion 11542 inserted into the output shaft 1121 along the axial direction of the output shaft 1121 can be between 6 mm and 10 mm, so that the angle θ is within a suitable range.

[0098] In combination withFigure 16 and Figure 14 The edge region of the base 1153 can be provided with a plurality of mounting holes 11532 spaced apart around the rotation shaft 1154, and the base 1153 is fixed to the joint shell 111 or the bracket 118 at the mounting holes 11532 by fasteners such as bolts, as viewed along the axial direction of the output shaft 1121. 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, and the mounting hole 11532 moves a second distance in the axial direction of the output shaft 1121 before and after the base 1153 is fixed. The first distance can be between 26 mm and 40 mm, and the second distance can be between 0.1 mm and 1 mm. It should be noted that in the embodiment in which the base 1153 is fixed to the bracket 118, the mounting hole 11532 and the bracket 118 have a gap in the axial direction of the output shaft 1121 before the base 1153 is fixed, and the gap can be the second distance. In combination with Figure 16 When the included angle θ and the rigidity of the base 1153 and other parameters are constant, the second distance and the ratio between the first distance and the second distance determine the size of the pressing force F. It should be noted that although the larger the ratio between the second distance and the first distance, the more conducive to obtaining a larger pressing force F, thereby more conducive to providing sufficient friction, but also prone to the risk of the output shaft 1121 being "dead" in the axial direction thereof; on the contrary, although the smaller the ratio between the second distance and the first distance, the more conducive to avoiding the output shaft 1121 being "dead" in the axial direction thereof, but also prone to the risk of insufficient pressing force F.

[0099] Further, in combination with Figure 14The 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.

[0100] 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.

[0101] 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.

[0102] in combination Figure 16 and Figure 14 , the extension part 11543 is arranged to completely cover the bearing hole 11531 when orthogonally projected onto the base 1153 along the axial direction of the output shaft 1121, so as to hinder the foreign matters (e.g. the grinding dust generated by the friction plate 1145 during operation) from entering the encoding assembly 115 via the bearing hole 11531 and polluting the encoding disc 1151A, which is conducive to increasing the dustproof performance of the encoding assembly 115. Specifically, the first extension segment 11544 falls into the bearing hole 11531 when orthogonally projected onto the base 1153 along the axial direction of the output shaft 1121, and the second extension segment 11545 partially overlaps with the base 1153 when orthogonally projected onto the base 1153 along the axial direction of the output shaft 1121, so that the extension part 11543 completely covers the bearing hole 11531.

[0103] As an example, in combination Figure 14 , the base 1153 can include an intermediate step part 11533 and an inner step part 11534 connected with the intermediate step part 11533, the inner step part 11534 is closer to the rotating shaft 1154 than the intermediate step part 11533 in the radial direction of the output shaft 1121, and the thickness of the inner step part 11534 in the axial direction of the output shaft 1121 is greater than the thickness of the intermediate step part 11533 in the axial direction of the output shaft 1121. Wherein, the bearing hole 11531 is arranged in the inner step part 11534 to allow at least two bearings 11551 to be embedded in the bearing hole 11531 in a stacked manner 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 the rotation of the rotating shaft 1154 relative to the base 1153 is more stable. Further, in combination Figure 16 , the encoding disc 1151A partially overlaps with the intermediate step part 11533 when orthogonally projected onto the base 1153 along the axial direction of the output shaft 1121, and the spacing between the encoding disc 1151A and the intermediate step part 11533 in the axial direction of the output shaft 1121 is greater than the spacing between the encoding disc 1151A and the inner step part 11534 in the axial direction of the output shaft 1121. In other words, the edge region of the encoding disc 1151A away from the rotating shaft 1154 has a larger safety gap with the base 1153 in the axial direction of the output shaft 1121, which is conducive to avoiding unnecessary collision between the encoding disc 1151A and the base 1153, especially when the encoding disc 1151A is arranged as a grating disc. In this way, by arranging at least part of the base 1153 as a stepped structure, the stability of the rotating shaft 1154 and the anti-collision performance of the encoding disc 1151A can be considered at the same time, achieving "two birds with one stone". Of course, the weight of the encoding assembly 115 can also be reduced to a certain extent.

[0104] Further, the second extension segment 11545 is arranged in the axial direction of the output shaft 1121 and spaced apart from the outer ring of the bearing 11551 and the inner step portion 11534, respectively, to avoid unnecessary collision between the rotating shaft 1154 and the bearing 11551 or the base 1153. The second extension segment 11545 can partially overlap the inner step portion 11534 when projected onto the base 1153 in the axial direction of the output shaft 1121, that is, the extension portion 11543 completely covers the bearing hole 11531, which is conducive to increasing the dustproof performance of the encoding assembly 115.

[0105] In combination Figure 18 The extension portion 11543 can include a third extension segment 11546 connected to the second extension segment 11545 by bending, and the third extension segment 11546 surrounds the inner step portion 11534 to further lengthen the path of foreign matter entering the encoding assembly 115, which is also conducive to increasing the dustproof performance of the encoding assembly 115. The intermediate step portion 11533 can be provided with a sink 11535 surrounding the inner step portion 11534, and the third extension segment 11546 can be partially inserted into the sink 11535. In this way, not only is the path of foreign matter entering the encoding assembly 115 lengthened, but also foreign matter that has passed through the bearing 11551 is collected in the sink 11535, thereby increasing the difficulty of foreign matter further entering the encoding assembly 115. It should be noted that whether the intermediate step portion 11533 is provided with the sink 11535 or not, the third extension segment 11546 can be arranged in the axial direction of the output shaft 1121 and spaced apart from the intermediate step portion 11533 to avoid unnecessary collision between the rotating shaft 1154 and the base 1153.

[0106] In combination Figure 14 And Figure 16 The encoding assembly 115 can 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 the encoding disc 1151A, the circuit board 1157, and other structural components. The light source 1158 is configured to emit a detection signal to the encoding disc 1151A, and the read head 1152A is arranged on the circuit board 1157 and configured to receive the detection signal. Further, the light source 1158 and the read head 1152A (and the circuit board 1157 connected thereto) can be arranged on opposite sides of the encoding disc 1151A, so that the read head 1152A receives the detection signal emitted by the light source 1158 and passing through the encoding disc 1151A, thereby forming a transmissive photoelectric encoder. The light source 1158 and the read head 1152A (and the circuit board 1157 connected thereto) can also be arranged on the same side of the encoding disc 1151A, so that the read head 1152A receives the detection signal emitted by the light source 1158 and reflected by the encoding disc 1151A, thereby forming a reflective photoelectric encoder.

[0107] As an example, the upper cover 1156 can include an outer cylindrical sidewall 11561 and a top cover 11562 connected to one end of the outer cylindrical sidewall 11561, and the outer cylindrical sidewall 11561 can surround the middle stepped portion 11533. At this time, since the thickness of the middle 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, compared to the outer cylindrical sidewall 11561 supported on the middle stepped portion 11533, the outer cylindrical sidewall 11561 surrounding the middle stepped portion 11533 is more conducive to increasing the fitting area between the two, thereby more conducive to improving the dustproof performance of the encoding assembly 115. Of course, increasing the fitting area between the outer cylindrical sidewall 11561 and the middle stepped portion 11533 is also conducive to increasing the reliability of the connection between the upper cover 1156 and the base 1153.

[0108] Further, the base 1153 can include an outer stepped portion 11536 connected to the middle stepped portion 11533, the middle stepped portion 11533 is closer to the rotating shaft 1154 in the radial direction of the output shaft 1121 than the outer stepped portion 11536, and the thickness of the middle stepped portion 11533 in the axial direction of the output shaft 1121 is greater than the thickness of the outer stepped portion 11536 in the axial direction of the output shaft 1121. In other words, when the base 1153 includes the outer stepped portion 11536, the middle stepped portion 11533, and the inner stepped portion 11534, the outer stepped portion 11536, the middle stepped portion 11533, and the inner stepped portion 11534 gradually approach the rotating shaft 1154 in the radial direction of the output shaft 1121 and gradually increase in thickness in the axial direction of the output shaft 1121. Among them, the outer stepped portion 11536 can be fixed on the bracket 118 or the joint shell 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. Accordingly, the encoding disc 1151A and the circuit board 1157 can be provided inside the outer cylindrical sidewall 11561.

[0109] In some embodiments, the light source 1158 can be arranged on the middle step portion 11533. In this case, the side of the middle step portion 11533 away from the code disc 1151A can be provided with a mounting groove, and the light source 1158 is arranged in the mounting groove. In other words, the light source 1158 is arranged outside the code assembly 115, which is conducive to simplifying the wiring of the light source 1158, and of course makes the assembly of the light source 1158 more convenient. At this time, for the through-beam type photoelectric encoder, the circuit board 1157 can be arranged on the side of the code disc 1151A away from the base 1153, that is, the circuit board 1157 is located between the code disc 1151A and the top cover 11562 in the axial direction of the output shaft 1121. In this case, the outer diameter of the circuit board 1157 in the radial direction of the output shaft 1121 can be greater than the outer diameter of the code disc 1151A in the radial direction of the output shaft 1121. Further, the code assembly 115 can include a plurality of support columns 1159 arranged at intervals around the rotation shaft 1154, for example, the number of support columns 1159 is three, and the support columns 1159 are supported between the middle step portion 11533 and the circuit board 1157 and located at the periphery of the code disc 1151A. Of course, the circuit board 1157 can also be fixed on the top cover 11562.

[0110] In some embodiments, the light source 1158 can be arranged on the circuit board 1157, that is, the light source 1158 and the read head 1152A are both arranged on the circuit board 1157, thereby constituting a reflective type photoelectric encoder. At this time, the circuit board 1157 can be arranged on the side of the code disc 1151A away from the base 1153, for example, also supported by the support column 1159 on the middle step portion 11533, and for example, fixed on the top cover 11562; the circuit board 1157 can also be arranged on the side of the code disc 1151A close to the base 1153, for example, fixed on the middle step portion 11533.

[0111] Based on the above description, in order to facilitate the wiring structure of the joint module 11, the rotation shaft 1154 needs to pass through the code disc 1151A, the circuit board 1157 and the top cover 11562 in sequence and communicate with the outside of the code assembly 115 through the avoiding hole. At this time, there is a risk that foreign matter (such as grinding dust generated by the friction plate 1145 during operation) enters the code assembly 115 through the avoiding hole on the top cover 11562 and contaminates the code disc 1151A, so it is necessary to improve the related structure to improve the dustproof performance of the code assembly 115.

[0112] In combination Figure 16The upper cover 1156 can include an inner cylindrical sidewall 11563 connected to the top cover 11562, which extends in the same direction as the outer cylindrical sidewall 11561 towards the top cover 11562. The inner cylindrical sidewall 11563 can be partially inserted into the rotating shaft 1154 along the axial direction of the output shaft 1121 to extend the path of foreign matter entering the encoding assembly 115, thereby increasing the dustproof performance of the encoding assembly 115. Correspondingly, the circuit board 1157 is arranged in a ring structure 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 as small as possible, meeting the gap requirement of the assembly of the circuit board 1157 and the upper cover 1156.

[0113] In some embodiments, the depth of the insertion of the inner cylindrical sidewall 11563 into the rotating shaft 1154 along the axial direction of the output shaft 1121 can be between 1 mm and 3 mm. Although 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 conducive to extending the path of foreign matter entering the encoding assembly 115, the rotating shaft 1154 and the inner cylindrical sidewall 11563 are more likely to collide unnecessarily because the rotating speed of the rotating shaft 1154 can be consistent with that of the output shaft 1121. Conversely, although 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 conducive to avoiding the collision between the rotating shaft 1154 and the inner cylindrical sidewall 11563, the effect of improving the dustproof performance of the encoding assembly 115 is weakened.

[0114] 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. Although a smaller gap is more conducive to hindering foreign matter from entering the encoding assembly 115, the rotating shaft 1154 and the inner cylindrical sidewall 11563 are more likely to collide unnecessarily because the rotating speed of the rotating shaft 1154 can be consistent with that of the output shaft 1121. Conversely, although a larger gap is more conducive to avoiding the collision between the rotating shaft 1154 and the inner cylindrical sidewall 11563, the effect of improving the dustproof performance of the encoding assembly 115 is weakened.

[0115] In some embodiments, similar to the tapering structure of the end portion of the rotating shaft 1154, the outer diameter of the portion of the inner cylindrical sidewall 11563 inserted into the rotating shaft 1154 gradually decreases in the axial direction of the output shaft 1121 and away from the top cover 11562, so as to form a tapering structure. Correspondingly, the inner diameter of the portion of the rotating shaft 1154 for receiving the inner cylindrical sidewall 11563 gradually decreases in the axial direction of the output shaft 1121 and away from the top cover 11562, so as to form a tapering structure matching the inner cylindrical sidewall 11563. In this way, compared with a cylindrical constant-diameter structure, such a tapering structure is also conducive to prolonging the path of foreign matter into the encoding assembly 115, thereby increasing the dustproof performance of the encoding assembly 115.

[0116] Further, since the circuit board 1157 can be located on the side of the encoding disc 1151A away from the base 1153, the orthographic projection of the circuit board 1157 in the axial direction of the output shaft 1121 can completely cover the encoding disc 1151A, so that foreign matter falls on the circuit board 1157 first when entering the encoding assembly 115, thereby prolonging the path of foreign matter falling on the encoding disc 1151A, which is also conducive to improving the dustproof performance of the encoding assembly 115, especially in the case where the upper cover 1156 is provided with a relief hole for wiring and does not include the inner cylindrical sidewall 11563.

[0117] For 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 encoding disc 1151A in the radial direction of the output shaft 1121 can be between 1 and 1.8. Although the larger the aforementioned ratio is, the more conducive it is to prolong the path of foreign matter falling on the encoding disc 1151A, it is also easy to cause the radial size of the encoding assembly 115 to be too large, which is not conducive to the miniaturization of the encoding assembly 115; on the contrary, although the smaller the aforementioned ratio is, the more conducive it is to the miniaturization of the encoding assembly 115, it is also easy to weaken the effect of improving the dustproof performance of the encoding assembly 115, and it is also inconvenient to set the support column 1159. Further, the spacing between the outer circumferential surface of the circuit board 1157 and the outer circumferential surface of the encoding disc 1151A in the radial direction of the output shaft 1121 can be greater than or equal to 3 mm, so as to take into account the setting of the support column 1159 and the anti-collision of the encoding disc 1151A on the basis of improving the dustproof performance of the encoding assembly 115.

[0118] The above only describes some embodiments of the present application, and does not limit the protection scope of the present application, and any equivalent device or equivalent process transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A joint module of a robot arm, characterized in that, The joint module comprises a joint shell, a driving assembly, a deceleration assembly, a support and a brake assembly, the driving assembly comprises an output shaft, a rotor connected with the output shaft and a stator connected with the joint shell, the rotor is located inside the stator, an input shaft of the deceleration assembly is fixed on the output shaft, the support is connected with the joint shell, the support is located outside the brake assembly, and the brake assembly is connected with the output shaft; wherein the driving assembly comprises an upper bearing seat and an upper bearing, the upper bearing seat is located on a side of the driving assembly away from the deceleration assembly, the support and the brake assembly are located on a side away from the driving assembly, the upper bearing seat comprises an upper cylindrical portion, an upper fixed portion which is connected with one end of the upper cylindrical portion by bending, and an upper annular limiting portion connected with the upper fixed portion, the upper fixed portion is connected with the joint shell, the inner ring and the outer ring of the upper bearing are connected with the output shaft and the upper cylindrical portion respectively, and the upper bearing and the stator partially overlap in the radial direction of the output shaft; in the radial direction, the brake assembly is radially limited inside the upper annular limiting portion, and the support is radially limited outside the upper annular limiting portion.

2. The joint module according to claim 1, characterized in that The upper cylindrical portion is nested on the upper bearing, the upper cylindrical portion and the stator partially overlap in the radial direction, and the upper fixed portion extends to the outside of the upper cylindrical portion.

3. The joint module according to claim 2, characterized in that The inner side of the joint shell is provided with a first annular bearing platform, the joint module comprises a fastener, the fastener passes through the upper fixed portion from a side of the upper fixed portion away from the first annular bearing platform and is connected with the first annular bearing platform, thereby pressing the upper bearing seat on the first annular bearing platform.

4. The joint module of claim 1, wherein The joint module comprises a first elastic member, and the first elastic member is pressed on the outer ring of the upper bearing.

5. The joint module of claim 1, wherein, In the axial direction of the output shaft, the inner support surface of the upper fixed portion for supporting the brake assembly is closer to the upper bearing than the outer support surface of the upper fixed portion for supporting the support.

6. The joint module of claim 1, wherein, The joint module comprises a first encoding assembly arranged on a side of the brake assembly away from the driving assembly, the first encoding assembly comprises a first encoding disc connected with the output shaft and a first read head connected with the support, and the first read head cooperates with the first encoding disc to detect at least one of the rotation speed and the angular position of the output shaft.

7. The joint module of claim 1, wherein, The joint shell comprises a first shell and a second shell connected with the first shell, and the upper bearing seat and the first shell are an integral structure.

8. The joint module of claim 1, wherein, The driving assembly comprises a lower bearing seat and a lower bearing, the lower bearing seat is located on a side of the driving assembly towards the deceleration assembly, and comprises a lower cylindrical portion and a lower fixed portion which is connected with one end of the lower cylindrical portion by bending, the lower fixed portion extends to the outside of the lower cylindrical portion to be connected with the joint shell, and the inner ring and the outer ring of the lower bearing are connected with the output shaft and the lower cylindrical portion respectively; wherein the lower cylindrical portion and the lower bearing are at least partially located in the deceleration assembly.

9. A robot arm, characterized in that, The mechanical arm comprises the joint module according to any one of claims 1-8.

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