Double rigid wheel structure super small joint module

Abstract

The application belongs to the technical field of robot joint transmission, and discloses a double-rigid-gear structure ultra-small joint module, which comprises a harmonic structure, a driving assembly and a connecting assembly. The harmonic structure comprises a threading pipe, one side of the threading pipe is connected with a cross bearing inner ring, the outer circle of the cross bearing inner ring is connected with a bearing outer ring, one side of the bearing outer ring is connected with a fixed rigid gear, the cross bearing inner ring is provided with a ring flexible gear in the direction away from the bearing outer ring, one side of the ring flexible gear away from the bearing outer ring is connected with a flexible bearing, one side of the flexible bearing away from the ring flexible gear is connected with a generator, and one end of the generator is close to the threading pipe. The double-rigid-gear structure has a small size and light weight after being connected, and has advantages in height and outer diameter size. The double-rigid-gear structure module can realize size reduction without affecting the structural function.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robot joint transmission, and particularly relates to a double-rigid-wheel structure super-small joint module. BACKGROUND

[0002] When a robot structure is combined and designed, a joint is an important component of the robot, different specifications of joints are used to build different robot configurations according to different needs, wherein the joint module mainly comprises a harmonic reducer, a motor, a drive control unit and supporting parts, the harmonic reducer, the motor and the control unit are cooperated with each other to drive the executing mechanism of the robot to move.

[0003] Chinese invention patent 201810577552.7 has the title of a super-small integrated servo joint, although the bearing and the steel wheel are designed in an integrated manner, the number of constituent components is reduced and part of the use performance is improved, but at the same time, the steel wheel is directly contacted with the outside world, which is extremely easy to cause the outside impurities to block the connection between the steel wheels, thereby causing the situation that the steel wheels cannot be normally transmitted, and in the case that there is no support outside the steel wheel structure, in order to ensure the normal power transmission between the steel wheels, the inner diameter and the height of the double steel wheels need to be constant to meet the support force required for stable transmission, thereby the function expansion of the output collection shaft part cannot be realized, and in the process of steel wheel transmission, with the increase of working time, the transmission friction between the steel wheels increases, in order to meet the needs of subsequent work, the steel wheel structure needs to be artificially lubricated, and before lubrication, it is also necessary to judge whether lubrication is needed, which is a waste of human resources. SUMMARY

[0004] The purpose of the application is to solve the above problems, the application provides a double-rigid-wheel structure super-small joint module, which has the advantages of reducing the overall mass and volume of the joint module, and improving the service life of the double-rigid-wheel structure by actively lubricating the rigid wheel structure.

[0005] To achieve the above purpose, the application provides the following technical scheme: a double-rigid-wheel structure super-small joint module, comprising a harmonic structure, a drive assembly and a connecting assembly, the harmonic structure comprises a threading pipe, one side of the threading pipe is connected with a cross bearing inner ring, the outer circle of the cross bearing inner ring is connected with a bearing outer ring, one side of the bearing outer ring is connected with a fixed rigid wheel, the cross bearing inner ring is provided with a ring flexible wheel away from the bearing outer ring, one side of the ring flexible wheel away from the bearing outer ring is connected with a flexible bearing, one side of the flexible bearing away from the ring flexible wheel is connected with a generator, one end of the generator is close to the threading pipe;

[0006] The driving assembly comprises a motor, an output shaft of the motor is connected to the generator, one end of the motor is connected with a motor shell for limiting the position of the motor, and the motor shell is connected with a support bearing b at an end away from the fixed gear;

[0007] The connecting assembly comprises an encoder support connected to the support bearing b, a large magnetic ring support plate is connected between the support bearing b and the generator, a large magnetic ring is connected to one end of the large magnetic ring support plate, and a small magnetic ring is connected to the large magnetic ring.

[0008] A PCB control board is connected to the small magnetic ring, and a joint rear cover is connected to an end of the PCB control board away from the fixed gear.

[0009] Preferably, the harmonic structure further comprises a support bearing a connected to the fixed gear, and an inner side of the support bearing a is connected to the generator.

[0010] Preferably, a support bearing c is connected to an end of the generator away from the fixed gear, and an inner ring of the support bearing c is connected to the threading pipe.

[0011] Preferably, a "V"-shaped groove is formed in an inner side of the bearing outer ring and an outer side of the cross bearing inner ring, respectively, the "V"-shaped grooves in the inner side of the bearing outer ring and the outer side of the cross bearing inner ring are matched to form a rectangular groove, and a plurality of cylindrical rollers are assembled in the rectangular groove to form a completed cross roller bearing structure.

[0012] Preferably, the part of the generator located in the fixed gear is elliptical, the axial length of the ellipse is the total length of the telescopic cross bearing inner ring and the fixed gear, the generator is inserted into the ring flexible gear and expands the ring flexible gear to be elliptical, the outer side of the ring flexible gear is provided with a gear tooth, the inner side of the cross bearing inner ring and the fixed gear are provided with meshing gears, and the ring flexible gear can be meshed with the meshing gears on the cross bearing inner ring and the fixed gear.

[0013] Preferably, the motor drives the generator to input power, so as to realize the power output of the threading pipe and the cross bearing inner ring.

[0014] Preferably, the cross bearing inner ring is provided with a lubricating cavity, the lubricating cavity is away from the fixed rigid wheel and the bearing outer ring by the same distance, two pipes are arranged on the lubricating cavity, one end of the pipes is communicated with the connection position of the fixed rigid wheel and the cross bearing inner ring and the connection position of the bearing outer ring and the cross bearing inner ring respectively, and an electromagnetic valve is arranged in the pipes.

[0015] Compared with the prior art, the present application has the following advantages:

[0016] 1. The double rigid wheel structure has small size and light weight, and has advantages in height and outer diameter size, so that the size of the double rigid wheel structure module can be reduced without affecting the structure function.

[0017] 2. The connection of the cross bearing inner ring with the fixed rigid wheel and the bearing outer ring makes the connection structure stable, the transmission power stable, and the double flexible bearing support can bear greater torque and achieve higher performance.

[0018] 3. The diameter of the threading hole of the double rigid wheel structure can be increased adaptively according to actual use requirements, and more control lines can be used when the diameter of the threading hole is increased, thereby providing more work possibilities for the overall design of the joint module.

[0019] 4. The lubricating cavity and the pipes can avoid the shortening of the transmission distance of the cross bearing inner ring due to insufficient lubrication during use of the double rigid wheel module, lubricate the connection part of the cross bearing inner ring through the lubricating cavity and the pipes, reduce the probability of wear caused by direct contact between components, improve the service life of the device, and determine whether a fault occurs between the cross bearing inner ring and the connection part according to the rotation state of the cross bearing inner ring after lubrication. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic diagram of the three-dimensional structure of the harmonic structure of the present application;

[0021] Figure 2 is Figure 1 is a schematic diagram of the cross-sectional structure of the overall structure;

[0022] Figure 3 is a schematic diagram of the connection structure of the flexible bearing;

[0023] Figure 4 is Figure 3 is a schematic diagram of the cross-sectional structure of the flexible bearing;

[0024] Figure 5 Figure 1 is a cross-sectional view of the connection structure of the harmonic structure, the connecting assembly and the driving assembly of the application.

[0025] BRIEF DESCRIPTION OF DRAWINGS: 1, threading tube; 2, generator; 3, ring flexspline; 4, cross bearing inner ring; 5, flexible bearing; 6, fixed rigid wheel; 7, support bearing a; 8, motor housing; 9, support bearing b; 10, encoder support; 11, joint rear cover; 12, PCB control board; 13, small magnetic ring; 14, large magnetic ring; 15, large magnetic ring support plate; 16, support bearing c; 17, motor; 18, bearing outer ring. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0027] As shown in Figures 1-5 the application provides a double-rigid-wheel structure ultra-small joint module, which comprises a harmonic structure, a driving assembly and a connecting assembly.

[0028] The harmonic structure mainly comprises a threading tube 1, a generator 2, a ring flexspline 3, a cross bearing inner ring 4, a flexible bearing 5, a fixed rigid wheel 6, a support bearing a 7 and a bearing outer ring 18; wherein the double-rigid-wheel harmonic transmission structure mainly comprises the generator 2, the ring flexspline 3, the cross bearing inner ring 4, the flexible bearing 5, the fixed rigid wheel 6 and the bearing outer ring 18.

[0029] The driving assembly mainly comprises a motor 17 and a motor housing 8.

[0030] The connecting assembly mainly comprises a support bearing b 9, an encoder support 10, a joint rear cover 11, a PCB control board 12, a small magnetic ring 13, a large magnetic ring 14, a large magnetic ring support plate 15 and a support bearing c 16, wherein the support bearing c 6 and the support bearing a 7 are matched with each other to support the distal end of the generator 2 and ensure the rotation stability of the entire internal system.

[0031] The extension end of the threading pipe 1 penetrates through the whole joint module, the harmonic structure, the driving assembly and the connecting assembly are sequentially connected on the threading pipe 1, the threading hole 1 has a large diameter and can pass more control lines, thereby providing more control possibilities for the overall design of the joint module, the cross bearing inner ring 4 is connected on one side of the threading pipe 1, the cross bearing inner ring 4 is generally composed of a composite part, and has two working parts of a movable rigid gear inner tooth and a bearing inner ring channel, so that two works can be realized at the same time, in the embodiment, the cross bearing inner ring 4 is a movable rigid gear, the fixed rigid gear 6 is rotationally connected on one side of the cross bearing inner ring 4, the outer side of the cross bearing inner ring 4 and the bearing outer ring 18 are respectively provided with a V-shaped groove, the V-shaped groove on the outer side of the cross bearing inner ring 4 cooperates with the V-shaped groove of the bearing outer ring 18 to form a rectangular groove, the cross bearing roller is filled in the rectangular groove, and a bearing structure is formed, which is used as a bearing, at this time, the cross bearing inner ring 4 can rotate relative to the bearing outer ring 18, the cross bearing inner ring 4 and the fixed rigid gear 6 are connected in an up-down structure and have different numbers of teeth, and differential motion is formed when the cross bearing inner ring 4 meshes with the ring flexible gear 3; the cross bearing inner ring 4 and the bearing outer ring 18 are connected in an inner-outer structure and cooperate to form a cross bearing.

[0032] It should be noted that the fixed rigid gear 6 is connected with the motor shell 8 in a blind hole gear cutting structure.

[0033] The ring flexible gear 3 is connected on the cross bearing inner ring 4, the flexible bearing 5 is connected on the side, away from the ring flexible gear 3, of the ring flexible gear 3, the generator 2 is connected on the side, away from the ring flexible gear 3, of the flexible bearing 5, the generator 2 drives the flexible bearing 5 to rotate, and then drives the ring flexible gear 3 to rotate, so as to realize the rotation of the cross bearing inner ring 4, and the rotation of the threading pipe 1 is driven by the cross bearing inner ring 4, so as to complete power transmission, one end of the generator 2 is close to the threading pipe 1 and does not contact the threading pipe 1, that is, the generator 2 does not drive the threading pipe 1 to rotate when rotating.

[0034] The flexible bearing 5 is composed of an inner ring, an outer ring and a ball roller, the inner ring is deformed under the driving of the generator 2, then the outer ring is deformed through the ball roller, and finally the ring flexible gear 3 connected with the outer ring is deformed, so as to realize power transmission.

[0035] It should be noted that the extension part of the threading pipe 1 is located in the inside of the generator 2, and the outer wall of the threading pipe 1 does not contact the inner wall of the generator 2.

[0036] The driving assembly comprises a motor 17, an output shaft of the motor 17 is connected to the generator 2, the generator 2 is driven to rotate by the motor 17, one end of the motor 17 is connected to a motor housing 8 for position constraint of the motor 17, the motor housing 8 also serves as a support point of different assemblies, the motor housing 8 is connected to a support bearing b9 at an end away from the fixed gear 6, the harmonic structure further comprises a support bearing a7, the support bearing a7 is connected in the fixed gear 6, and the inner side of the support bearing a7 is connected to the generator 2, the support of the generator 2 and the normal working rotation are realized through the cooperation and coordination between the support bearing a7 and the support bearing b9.

[0037] The connecting assembly comprises an encoder bracket 10, the encoder bracket 10 is connected to the support bearing b9, a large magnetic ring supporting plate 15 is connected between the support bearing b9 and the generator 2, one end of the large magnetic ring supporting plate 15 is connected to a large magnetic ring 14, the large magnetic ring 14 is connected to a small magnetic ring 13, the space stray electromagnetic interference signals are absorbed by the large magnetic ring 14 and the small magnetic ring 13, the high-frequency noise is well inhibited, in actual use, the normal useful signals can pass through, the high-frequency interference signals are well inhibited, the cost is low, and the manufacturing is simple.

[0038] The small magnetic ring 13 is connected to a PCB control board 12, one end of the PCB control board 12 away from the fixed gear 6 is connected to a joint rear cover 11, the output information of the crossed bearing inner ring 4 is transmitted to the PCB control board 12 through the wire tube 1, the accurate control of the output of the application is realized through the control of the PCB control board 12, one end of the joint rear cover 11 is fixedly connected to the motor housing 8, and a wire hole with the same inner diameter as the wire tube 1 is formed in the axial center position of the joint rear cover 11.

[0039] Further, the generator 2 is connected to a support bearing c16 at an end away from the fixed gear 6, the inner ring of the support bearing c16 is connected to the wire tube 1, so that the generator 2 can rotate relative to the wire tube 1, and the rotation state of the wire tube 1 is not affected by the generator 2.

[0040] The generator 2 is a rotary body structure made of metal material, the generator 2 and the motor shaft adopt an integrated structure, the generator 2 is a hollow structure, and the wire tube 1 is installed through the central hole of the generator 2. The outer diameter of the generator 2 has a larger part and a smaller part. The larger part is an elliptical structure, and the smaller part is a cylindrical structure. The lower end of the cylindrical structure is processed with external threads. Under the action of the motor 17, the generator 2 rotates to convert power into deformation of the flexible bearing 5, the deformed ring gear 3, and then realizes power transmission. The larger end of the generator 2 is processed with a threaded hole for installation of a bearing retainer.

[0041] Further, the outer circle of the cross bearing inner ring 4 is connected with the bearing outer ring 18, which surrounds and protects the cross bearing inner ring 4 and the fixed rigid gear 6, ensuring that the cross bearing inner ring 4 will not be disturbed by external factors during rotation.

[0042] Further, the part of the generator 2 located in the fixed rigid gear 6 is oval, and the generator 2 is inserted into the ring flexible gear 3 and expands the ring flexible gear 3 to be oval. Before the generator 2 is inserted into the ring flexible gear 3, the installation between the flexible bearing 5 and the ring flexible gear 3 needs to be completed, and the outer side of the ring flexible gear 3 is provided with rigid gear teeth. The ring flexible gear 3 is processed by hobbing during processing, and the inner sides of the cross bearing inner ring 4 and the fixed rigid gear 6 are respectively fixed with meshing gears.

[0043] The ring flexible gear 3 is a ring rotary thin-walled structure made of metal material, and the outer wall is processed with external teeth. The external teeth of the ring flexible gear 3 mesh with the internal teeth of the fixed rigid gear 6 and the cross bearing inner ring 4, respectively. Through the deformation of the ring flexible gear 3 under the action of the generator 2 and the flexible bearing 5, the transmission power is transmitted to the cross bearing inner ring 4. By adjusting the width of the ring flexible gear 3, the output torque of the harmonic reducer can be changed. In the case of fixed number of teeth of the ring flexible gear 3, the number ratio of the internal teeth of the fixed rigid gear 6 and the cross bearing inner ring 4 can be changed to realize the speed reduction ratio adjustment function of the harmonic reducer.

[0044] At the same time, in order to avoid the double rigid gear structure in the process of use, the low lubricity between the fixed rigid gear 6 and the cross bearing inner ring 4 and the cross bearing inner ring 4 and the bearing outer ring 18 caused by long time high strength work, which affects the power transmission of the device and also aggravates the wear of the bearing, reduces the service life of the device, and further opens a lubricating cavity on the cross bearing inner ring 4. The distance between the lubricating cavity and the fixed rigid gear 6 and the bearing outer ring 18 is the same, and two pipes are provided on the lubricating cavity. The ends of the pipes away from the lubricating cavity are respectively communicated with the connection parts of the fixed rigid gear 6 and the cross bearing inner ring 4 and the connection parts of the bearing outer ring 18 and the cross bearing inner ring 4. An electromagnetic valve is arranged in the pipe, and a control hub is connected to the bearing outer ring 18. The control hub can detect the rotation distance of the cross bearing inner ring 4, and the control hub can control the opening and closing of the electromagnetic valve and the opening size.

[0045] When the control hub detects that the cross bearing inner ring 4 is in power transmission, and the number of rotation detected by the control hub is within the normal working rotation distance, it proves that the lubricity between the cross bearing inner ring 4 and the bearing outer ring 18 and the fixed rigid gear 6 is stable, which can meet the normal use of the device.

[0046] When the control center detects that the cross bearing inner ring 4 is in power transmission, the control center detects that the number of rotations is less than the normal working rotation distance, which means that the lubrication between the cross bearing inner ring 4 and the bearing outer ring 18 or the fixed rigid wheel 6 has a problem, which affects the transmission capacity of the cross bearing inner ring 4, and then the control center controls the electromagnetic valve to open the electromagnetic valve to make the lubricating oil in the lubricating cavity be transported to the surrounding of the cross bearing inner ring 4 through the pipe, so as to realize the lubrication of the cross bearing inner ring 4, and in the process of lubrication, the rotation distance of the cross bearing inner ring 4 is detected in real time, so as to realize the real-time display of the lubrication effect according to the rotation of the cross bearing inner ring 4, and ensure the normal use of the cross bearing inner ring 4, and when the cross bearing inner ring 4 restores or approaches the initial transmission distance, the control center controls the electromagnetic valve to close.

[0047] When the rotation distance of the cross bearing inner ring 4 is reduced by a short length, the control center controls the opening of the electromagnetic valve to be not completely opened, so that the lubricating oil in the lubricating cavity is overflowed through the pipe, and the situation that the lubricating oil is used excessively and overflowed is avoided.

[0048] When the rotation distance of the cross bearing inner ring 4 is reduced by a long length, the control center controls the opening of the electromagnetic valve to be completely opened, so as to ensure that the instant lubricating oil can preliminarily satisfy the lubrication around the cross bearing inner ring 4, and reduce the wear of the device in the rotation process.

[0049] In the process of use, the body structure of the ring flexible wheel 3 is worn when the ring flexible wheel 3 contacts and drives the cross bearing inner ring 4 to rotate, the driving capacity of the ring flexible wheel 3 to the cross bearing inner ring 4 is reduced, and then the analysis of the control center may be wrong, and the lubricating liquid in the lubricating cavity is lost. The pressure sensor is arranged in the ring flexible wheel 3, and the pressure sensor is connected with the control center. When the pressure sensor satisfies the rated working pressure value, the control center can control the opening and closing of the electromagnetic valve.

[0050] When the pressure value of the pressure sensor satisfies the pressure demand of the cross bearing inner ring 4, it means that the ring flexible wheel 3 can normally drive the cross bearing inner ring 4, and the control center can control the electromagnetic valve according to the rotation distance of the cross bearing inner ring 4 after collecting the indication of the pressure sensor.

[0051] When the pressure value of the pressure sensor cannot satisfy the pressure demand of the cross bearing inner ring 4, it means that the ring flexible wheel 3 cannot normally drive the cross bearing inner ring 4, so that the transmission distance of the cross bearing inner ring 4 is lost. The control center stops controlling the electromagnetic valve through the indication uploaded by the pressure sensor, and reminds the staff to maintain or replace the ring flexible wheel 3, so as to avoid the waste of the lubricating liquid in the lubricating cavity.

[0052] When the ring flexspline 3 rotates in the driving cross bearing inner ring 4, the control center records the pressure value when the ring flexspline 3 contacts the cross bearing inner ring 4, and also records the number of rotations of the ring flexspline 3, which facilitates the simultaneous recording and comparison of the working state of the ring flexspline 3 and the working condition of the lubricating cavity by the staff, and timely supervision of the working condition of the double rigid wheel structure according to the working state of the ring flexspline 3 and the working condition of the lubricating cavity. When the working state of the ring flexspline 3 and the working condition of the lubricating cavity fluctuate greatly, the double rigid wheel is stopped for maintenance in time, thereby improving the working life of the double rigid wheel structure.

[0053] It needs to be emphasized that since the rotation distance of the cross bearing inner ring 4 is reduced, it may not only be caused by the reduction of lubrication between them, but also by the reduction of the pressure of the ring flexspline 3 on the cross bearing inner ring 4. Therefore, under the condition that the lubrication degree meets the requirements, the ring flexspline 3 cannot meet the normal transmission of the cross bearing inner ring 4, which may cause the control center to misjudge, resulting in waste of lubricating liquid and problems in maintenance of damaged parts by the staff, and low maintenance efficiency. Therefore, by setting the pressure sensor to change the pressure between the ring flexspline 3 and the cross bearing inner ring 4, the control center can ensure the normal control of the lubricating cavity, so that the pressure sensor, the ring flexspline 3 and the cross bearing inner ring 4, and the control center and the electromagnetic valve are mutually matched, functionally support each other, and have a mutual interaction relationship.

[0054] It also needs to be pointed out that if the transmission distance of the cross bearing inner ring 4 remains short or continues to decrease after long-term lubrication through the pipe, the control center will turn off the electromagnetic valve and prompt the staff to maintain the cross bearing inner ring 4, the bearing outer ring 18 and the fixed rigid wheel 6 in time.

[0055] By adopting the double rigid wheel structure design, the overall height, outer diameter size and hollow size of the harmonic reducer are greatly reduced, thereby reducing the overall size of the joint module. At the same time, due to the smaller outer diameter size of the double rigid wheel structure harmonic reducer than the cap and cup type harmonic reducer, the motor and drive assembly structure can be further tightened, which further reduces the overall size of the joint module, increases the bearing capacity of the double flexible bearing, and the cross bearing is a compact structure of inner and outer rings.

[0056] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and illustrative figures, it should be apparent that the scope of the present application is not limited to these specific embodiments.

[0057] While the embodiments of the application have been shown and described herein, it will be understood by those skilled in the art that many changes, modifications, substitutions and alterations to these embodiments can be made without departing from the principles and spirits of the application, and it is intended that the scope of the application be limited solely by the scope of the appended claims and the equivalents thereof.

Claims

1. A dual-rigid-wheel structure ultra-miniature joint module, comprising a harmonic structure, a drive assembly, and a connecting assembly, characterized in that: The harmonic structure includes a conduit, a cross bearing inner ring connected to one side of the conduit, a bearing outer ring connected to the outer circle of the cross bearing inner ring, a fixed rigid wheel connected to one side of the bearing outer ring, a flexible wheel provided in the direction away from the bearing outer ring of the cross bearing inner ring, a flexible bearing connected to the side of the flexible wheel away from the bearing outer ring, a generator connected to the side of the flexible bearing away from the flexible wheel, and one end of the generator being close to the conduit. The drive assembly includes a motor, the output shaft of which is connected to the generator. One end of the motor is connected to a motor housing for constraining the position of the motor, and the end of the motor housing away from the fixed rigid wheel is connected to a support bearing b. The connecting assembly includes an encoder bracket, which is connected to the support bearing b. A large magnetic ring support plate is connected between the support bearing b and the generator. A large magnetic ring is connected to one end of the large magnetic ring support plate, and a small magnetic ring is connected to the large magnetic ring. A PCB control board is connected to the small magnetic ring, and a joint back cover is connected to the end of the PCB control board away from the fixed rigid wheel; A lubrication chamber is provided on the inner ring of the cross bearing. Two through pipes are provided on the lubrication chamber. The end of the through pipes away from the lubrication chamber is connected to the connection between the fixed wheel and the inner ring of the cross bearing, and the connection between the outer ring of the bearing and the inner ring of the cross bearing, respectively. A solenoid valve is provided in the through pipe. A control center is connected to the outer ring of the bearing. The control center can detect the rotation distance of the inner ring of the cross bearing and can control the opening and closing of the solenoid valve and the degree of opening. A pressure sensor is connected inside the flexible coil and is connected to the control center. The control center can only control the opening and closing of the solenoid valve when the pressure sensor meets the rated working pressure value.

2. The ultra-miniature joint module with a double rigid wheel structure according to claim 1, characterized in that: The harmonic structure also includes a support bearing a, which is connected inside the fixed rigid wheel, and the inner side of the support bearing a is connected to the generator.

3. The ultra-miniature joint module with a double rigid wheel structure according to claim 2, characterized in that: The generator is connected to a support bearing c at the end away from the fixed rigid wheel, and the inner ring of the support bearing c is connected to the conduit.

4. The ultra-miniature joint module with a double rigid wheel structure according to claim 3, characterized in that: The inner side of the outer ring of the bearing and the outer side of the inner ring of the cross bearing are respectively provided with "V" shaped grooves. The "V" shaped groove on the inner side of the outer ring of the bearing and the "V" shaped groove on the outer side of the inner ring of the cross bearing cooperate to form a rectangular groove, and several cylindrical rollers are assembled in the rectangular groove to form a complete cross roller bearing structure.

5. The ultra-miniature joint module with a double rigid wheel structure according to claim 4, characterized in that: The portion of the generator located inside the fixed rigid wheel is elliptical, and the axial length of this ellipse is the total axial length of the inner ring of the telescopic cross bearing and the fixed rigid wheel. The generator is inserted into the flexible ring and expands the flexible ring into an elliptical shape. At the same time, the outer side of the flexible ring is provided with rigid wheel teeth. The inner ring of the cross bearing and the inner side of the fixed rigid wheel are connected with meshing gears. The flexible ring can mesh with the meshing gears on the inner ring of the cross bearing and the fixed rigid wheel simultaneously.

6. The ultra-miniature joint module with a double rigid wheel structure according to claim 5, characterized in that: The motor drives the generator to input power, thereby enabling the conduit and the inner ring of the cross bearing to complete the power output.

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