Highly integrated anti-radiation master-slave redundant collaborative robot joint module

Abstract

The application belongs to the technical field of special robots, and particularly relates to a high-integration anti-radiation main-backup redundant collaborative robot joint module, which solves the problem that a collaborative robot joint module cannot normally serve due to various radiation effects caused by ray ionization in a nuclear radiation environment; the joint module is composed of a module integrated by a mechanical structure and a redundant comprehensive electronic circuit system; the redundant comprehensive electronic circuit system comprises a low-voltage power supply system, a servo driving system, a communication system, a sensing and perceiving system, an MCU control system and a constant temperature system, and all of them are integrated with main-backup function modules; the main-backup function modules work independently; the MCU control system detects fault signals of the main-backup modules of each system, and controls automatic switching of the main-backup function modules in each system; the redundant comprehensive electronic circuit system of the application is highly integrated and mechanically and electrically assembled with the mechanical structure inside a joint module shell; the shell is made of radiation-resistant lightweight material, and each system inside the joint has high-integration redundancy, radiation resistance and independence.

Description

Technical Field

[0001] This invention belongs to the field of special robot technology, specifically, it relates to a highly integrated, radiation-resistant, redundant collaborative robot joint module. Background Technology

[0002] The nuclear power plant maintenance environment is complex, with a complex pipeline layout and a small working space, making it difficult for traditional industrial robots to be used directly. The reasons are as follows: (1) The load-to-weight ratio of the industrial robot arm is not high, resulting in a bulky industrial robot arm, inflexible installation, and a highly structured working environment. (2) The hardware circuits on which the position / speed control mode of conventional industrial robots relies do not have redundant design. Single modules are prone to failure or human error, causing the robot arm to jam, which leads to various safety problems. (3) The repeatability of the end effector control of conventional industrial robot arms is difficult to meet the requirements of unconventional and delicate operations such as crack welding and weld quality inspection in nuclear radiation pipelines. Collaborative robots have the characteristics of a high degree of unstructured working environment, miniaturization, repeatability of up to 0.01mm, and a load-to-weight ratio of up to 30%. Commercial collaborative robots usually have human-machine interaction and virtual wall functions, and are equipped with torque feedback modules, which have high force control and compliance, and can detect collision accidents in real time. When the articulated arm of a collaborative robot collides with an obstacle (a small pipe), the robot can decelerate quickly and promptly. Its compliant nature allows for soft contact with the obstacle (pipe), preventing the robot from stopping and allowing for post-collision control and mitigation of safety hazards. Furthermore, the collaborative robot's end effector has a strong load-bearing capacity, is flexible in handling, and is easy to install, allowing for rapid adaptation and mounting on heavy-duty robotic arms and other platforms for operation. Therefore, based on these advantages, collaborative robots have promising application prospects in fields such as nuclear power plant emergency response and maintenance, precision assembly of nuclear fuel assemblies, and maintenance of reprocessing equipment.

[0003] However, collaborative robots, in order to possess strong spatial adaptability in complex environments, are typically designed to be compact, miniaturized, and without control cabinets. This results in the joint module, the core and most important component of a collaborative robot, being a typical highly integrated electromechanical control system. The joint module integrates not only the frameless torque motor, RV reducer, and electromagnetic brake of the mechanical structure, but also a comprehensive microelectronic circuit system integration module including an MCU microcontroller, low-voltage power supply, inverter, Hall effect sensors, dual encoders, three-phase current acquisition modules / sensors, and multi-dimensional torque sensor transmitters. Therefore, ensuring its radiation hardening requires a comprehensive application of knowledge systems in engineering, making it extremely challenging.

[0004] Nuclear radiation environments, especially those during nuclear emergency and decommissioning, are characterized by high beam intensity, high dose rates, and a mixed radiation field consisting of neutrons, alpha particles, and gamma rays with energies of 0.66 MeV, 1.17 MeV, and 1.33 MeV. By comparing existing data on space radiation environments, it can be found that nuclear radiation environments, particularly those during nuclear emergency and decommissioning, are far more severe than space radiation environments, resulting in a more pronounced radiation effect on the integrated electronic circuit system modules within the core equipment of intelligent robots.

[0005] In actual nuclear radiation environments, collaborative robot joint modules can experience displacement damage, total dose effects, single-event effects, and two or more synergistic effects. These effects can cause various soft and hard errors in the joint modules, the most core and important components of collaborative robots, during operation, affecting the reliable and stable operation of collaborative robots. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention proposes a highly integrated, radiation-resistant, redundant collaborative robot joint module. The mechanical structure and redundant integrated electronic circuit modules are highly integrated within the joint module housing. The hardware uses radiation-resistant materials and features six major systems, each with redundant modules. These redundant modules operate independently of the main module, exhibiting high integration, radiation resistance, independence, versatility, and redundancy.

[0007] To achieve the above objectives, the present invention provides a highly integrated, radiation-resistant, redundant collaborative robot joint module. The collaborative robot is composed of joint chains of various specifications connected in series or in parallel. The joint chains are connected by transition elbows of various specifications. The joint chains are composed of the collaborative robot joint module and connecting rods.

[0008] The collaborative robot joint module includes a mechanical structure, a redundant integrated electronic circuit module, and a joint module housing; the mechanical structure and the redundant integrated electronic circuit module are integrated and installed inside the joint module housing;

[0009] The redundant integrated electronic circuit system integration module is a joint module redundant integrated electronic circuit system highly integrated in multiple circuit boards. The multiple circuit boards have a main function module and a redundant function module. The main function module and the redundant module work independently.

[0010] The redundant integrated electronic circuit system of the joint module includes a low-voltage power supply system, a servo drive system, a communication system, a sensing system, an MCU control system, and a constant temperature system.

[0011] The low-voltage power supply system consists of a main power supply circuit and a redundant backup power supply circuit; the servo drive system consists of a main servo drive circuit and a redundant backup gate drive circuit; the communication system consists of a main communication circuit and a redundant backup communication circuit; the sensing system consists of a main sensing circuit and a redundant backup sensing circuit; the MCU control system is a distributed dual controller, which is composed of an MCU1 upper-level controller and an MCU2 upper-level controller; the constant temperature system consists of an open-loop cold plate phase change heat pipe and a closed-loop air-cooled heat dissipation circuit.

[0012] The MCU control system detects fault signals in the low-voltage power supply system, the servo drive system, the communication system, the sensing system, and the constant temperature system, and controls the main functional module and the redundant module in the low-voltage power supply system, the servo drive system, the communication system, the sensing system, and the constant temperature system to automatically switch.

[0013] The mechanical structure, the redundant integrated electronic circuit system module, and the joint module housing adopt radiation-resistant and lightweight structures and materials.

[0014] Furthermore, the redundant integrated electronic circuit module includes a low-voltage power supply board, a servo drive board, an MCU control and communication board, a sensing board, copper pillars, and connectors.

[0015] The sensing board, MCU control and communication board, servo drive board, and low-voltage power supply board are multiple highly integrated circuit boards of the redundant integrated electronic circuit system of the joint module.

[0016] The copper pillars and connectors are multiple, and the sensing board, the MCU control communication board, the servo drive board and the low-voltage power supply board exchange information and are respectively connected through multiple copper pillars and multiple connectors;

[0017] The servo drive board, the MCU control and communication board, and the sensing board are powered in stages. The servo drive board draws power from the sensing board, the MCU control and communication board draws power from the servo drive board, and the sensing board draws power from the MCU control and communication board.

[0018] Furthermore, the MCU control communication board integrates a main communication circuit, a redundant backup communication circuit, an MCU1 upper-level controller, and an MCU2 lower-level controller. The main communication circuit and the redundant backup communication circuit form a communication system, and the MCU1 upper-level controller and the MCU2 lower-level controller form an MCU control system. The MCU1 upper-level controller receives position commands input by the main controller of the collaborative robot and calculates the high-precision position closed-loop motion algorithm for the joint module. The MCU2 lower-level controller calculates and analyzes the signals from the sensing board in the redundant integrated electronic circuit system module, and performs fault mode judgment and controls the reading, writing, and acquisition of sensors, sending an execution fault-tolerant switching command to the MCU1 upper-level controller on the MCU control communication board. The MCU2 lower-level controller on the MCU control communication board detects fault signals in the communication system and the MCU control system, controls the main communication circuit and the redundant backup communication circuit, and controls the automatic switching between the MCU1 upper-level controller and the MCU2 lower-level controller.

[0019] The sensing board integrates a main sensing circuit and a redundant backup sensing circuit, which together form a sensing system.

[0020] The lower-level controller of MCU2 detects the fault signal of the sensing system and controls the main sensing circuit and the redundant backup sensing circuit to switch automatically.

[0021] The servo drive board integrates a main servo drive circuit and a redundant spare gate drive circuit, which together form a servo drive system.

[0022] The lower-level controller of MCU2 detects the fault signal of the servo drive system and controls the main servo drive circuit and the redundant backup gate drive circuit to switch automatically.

[0023] The low-voltage power supply board integrates a main power supply circuit and a redundant backup circuit, which together form a low-voltage power supply system. The MCU2 lower-level controller detects fault signals in the low-voltage power supply system and controls the automatic switching between the main power supply circuit and the redundant backup circuit.

[0024] Furthermore, the low-voltage power supply board, the servo drive board, the MCU control communication board, and the sensing board all adopt a lightweight structure to shield radiation.

[0025] Furthermore, the mechanical structure includes an air-cooled fan support frame, an air-cooled fan, and a heat-conducting cold plate; wherein the heat-conducting cold plate includes a phase change heat pipe and a main board for the heat-conducting cold plate;

[0026] The air-cooled fan is fixedly mounted on the air-cooled fan support frame, which is fixedly mounted on the copper column and located on the outside of the low-voltage power board.

[0027] The phase change heat pipe is mounted on the main plate of the thermally conductive cold plate. There are three thermally conductive cold plates with the same structure. All three thermally conductive cold plates are mounted on the copper pillar and are respectively connected to the servo drive board, the MCU control communication board and the sensing board through the phase change heat pipe.

[0028] Furthermore, the fan, drive circuit, and temperature feedback circuit of the air-cooled fan form a closed-loop air-cooled heat dissipation system; the phase change heat pipe and the main board of the thermally conductive cold plate form an open-loop heat dissipation system; the closed-loop air-cooled heat dissipation system and the open-loop heat dissipation system form a constant temperature system and have independent dual heat dissipation functions.

[0029] Furthermore, the joint module housing includes a first port and a second port;

[0030] The joint module housing is a T-shaped tube structure, which includes a horizontal tube and a vertical tube. The interiors of the horizontal tube and the vertical tube are interconnected. One end of the horizontal tube has a closed end cap, and the end cap of the horizontal tube has a threaded hole for fixing the redundant integrated electronic circuit module. The other end of the horizontal tube has a first port, and one end of the vertical tube has a second port. The first port is connected to an transition elbow, and the second port is connected to a connecting rod.

[0031] Furthermore, the mechanical structure also includes a transition connecting plate, a multi-dimensional torque sensor, a harmonic reducer, a connecting shaft, a frameless torque motor, a rotary transformer, an electromagnetic brake, and dual encoders;

[0032] The harmonic reducer, the frameless torque motor, the electromagnetic brake, the dual encoder mounting bracket, and the dual encoder all have a center hole;

[0033] The connecting shaft is located inside the joint module housing and is coaxial with the central axis of the horizontal tube; the connecting shaft has two stepped shafts, the diameter of the first stepped shaft is larger than the diameter of the second stepped shaft; the shaft end of the first stepped shaft has a flange, and the multi-dimensional torque sensor, the harmonic reducer, the frameless torque motor, the electromagnetic brake and the dual encoder are sequentially fitted and installed from the flange of the first stepped shaft towards the direction of the second stepped shaft;

[0034] The multidimensional torque sensor is coaxially and fixedly connected to the flange of the first stepped shaft and the harmonic reducer. The transition connecting plate is fixedly installed on the outside of the multidimensional torque sensor. The outer periphery of the transition connecting plate has multiple mounting holes. The transition connecting plate is connected to the transition elbow through the mounting holes.

[0035] The installed transition connection plate is located outside the first pipe opening, and the installed multi-dimensional torque sensor, harmonic reducer, frameless torque motor, electromagnetic brake and dual encoder are all located inside the horizontal tube of the joint module housing.

[0036] Furthermore, the mechanical structure also includes a dual encoder mounting bracket;

[0037] The dual encoder mounting bracket has a central hole, through which the dual encoders are fixedly mounted; the dual encoder mounting bracket is fixedly connected to the copper column.

[0038] Furthermore, the central axes of the transverse tubes of the transition connecting plate, the multi-dimensional torque sensor, the harmonic reducer, the connecting shaft, the frameless torque motor, the electromagnetic brake, the dual encoder, and the joint module housing are collinear;

[0039] The multidimensional torque sensor, the frameless torque motor, the electromagnetic brake, and the dual encoder are electrically connected to the redundant integrated electronic circuit module 2 inside the joint module housing via power and signal cables.

[0040] The beneficial effects of this invention are:

[0041] First, this invention comprises a mechanical structure, a redundant integrated electronic circuit module, and a joint module housing. The mechanical structure and the redundant integrated electronic circuit module are highly integrated within the joint module housing. The hardware uses radiation-resistant materials. The redundant integrated electronic circuit module has six major systems, including a low-voltage power supply system, a servo drive system, a communication system, a sensing system, an MCU control system, and a constant temperature system. Each system has redundant modules for its respective functions. When the MCU2 lower-level controller in the MCU control system detects a radiation fault signal in the main functional module of each system, the MCU2 lower-level controller automatically switches between the main functional module and the redundant module of each system. This achieves the fault tolerance capability of the highly integrated, radiation-resistant, redundant collaborative robot joint module. At the same time, the main functional module and the redundant module of each system work independently. The multiple system functions enable the highly integrated, radiation-resistant, redundant collaborative robot joint module to possess independence, versatility, and redundancy.

[0042] Secondly, the dual-mode redundancy adopted by the joint module in this invention patent is an optimal redundancy method under various constraints such as economy, lightweight, integration, radiation resistance and reliability. It has high engineering application value for developing special robots or equipment in radiation-resistant fields such as nuclear industry and aerospace.

[0043] Third, the redundant backup function module of the present invention is constructed by a combination of commercial discrete devices with a certain level of radiation resistance after radiation resistance performance evaluation and screening, or devices that have been reinforced by radiation resistance hardening process, thus having radiation resistance capability.

[0044] Fourth, the joint module MCU control system in this invention adopts a distributed dual-controller architecture. This architecture ensures and limits the complexity of the upper-level controller MCU1 and the lower-level controller MCU2. It allows the upper-level controller MCU1 and the lower-level controller MCU2 to have different control objectives, making the execution of instructions such as fault mode diagnosis, arbitration, sensor data reading and writing, signal communication, and fault-tolerant switching algorithms of the joint module's integrated electronic circuit system more orderly and efficient. The MCU control system within the joint module adopts a two-layer hierarchical, cooperative, and autonomous structure, dispersing its risks and enabling real-time and efficient management of the highly integrated, radiation-resistant, redundant joint module's integrated electronic circuit system. This ensures the reliable and stable operation of the joint module's electromechanical system. Furthermore, this architecture facilitates the modular design of the joint module MCU control system algorithm configuration software, reducing development difficulty.

[0045] Fifth, the multi-dimensional torque sensor of the present invention and the vision camera work together to complete the collision detection of the joint module. When the vision camera completes the macroscopic prediction of the collision, the collaborative robot cannot accurately locate itself in the radiation environment and often collides with surrounding objects. Or, during normal operation, a collision may occur due to careless operation or radiation effect failure of the joint module. When a collision occurs again after the vision camera completes the macroscopic prediction of the collision, the multi-dimensional torque sensor can be controlled to avoid the joint chain damage caused by the secondary collision.

[0046] Sixth, the constant temperature system in the joint module of the present invention has independent dual heat dissipation function. The independent dual heat dissipation constant temperature system together maintains the integrated electronic circuit system module inside the collaborative robot joint module in a relatively constant temperature state (40℃≤T≤60℃) under high IP level, high integration and high power conditions, providing a constant temperature environment for the reliable operation of the collaborative robot joint module and avoiding catastrophic failure or related fault problems caused by drastic changes in temperature environment factors.

[0047] Seventh, the electromagnetic brake of the present invention can ensure that the collaborative robot maintains its original posture after power failure, and avoids accidents caused by inertia due to changes in the posture of the collaborative robot after power failure; when the collaborative robot is in a certain posture for a long time, the electromagnetic brake is activated to reduce the power consumption of the collaborative robot and improve the overall life of the redundant joint module in the radiation environment. Attached Figure Description

[0048] Figure 1 This is a three-dimensional structural diagram of the redundant collaborative robot of the present invention;

[0049] Figure 2 This is a flowchart illustrating the composition of the redundant collaborative robot of the present invention;

[0050] Figure 3 This is a three-dimensional structural diagram of the highly integrated, radiation-resistant, redundant collaborative robot joint module of the present invention.

[0051] Figure 4 This is a three-dimensional structural diagram of the joint module dual encoder and connecting shaft of the present invention;

[0052] Figure 5 This is a top cross-sectional view of the highly integrated, radiation-resistant, redundant collaborative robot joint module of the present invention.

[0053] Figure 6 This is a three-dimensional structural diagram of the redundant integrated electronic circuit module of the present invention;

[0054] Figure 7 This is a schematic diagram of the structure of the heat-conducting cold plate of the present invention;

[0055] Figure 8 This is a schematic diagram of the redundant communication system for the joint module of the present invention;

[0056] Figure 9 This is a schematic diagram of the redundant MCU control system for the joint module of the present invention;

[0057] Figure 10 This is a schematic diagram of the joint module redundant sensing system of the present invention;

[0058] Figure 11 This is a schematic diagram of the redundant servo drive system for the joint module of the present invention;

[0059] Figure 12 This is a schematic diagram of the redundant low-voltage power supply system for the joint module of the present invention;

[0060] Figure 13 This is a schematic diagram of the redundant temperature control system for the joint module of the present invention;

[0061] Figure 14This is a schematic diagram of the redundant integrated electronic circuit system of the joint module of the present invention;

[0062] Figure 15 This is a schematic diagram of the power supply and signal interconnection of the redundant integrated electronic circuit system of the joint module of the present invention.

[0063] Among them, A-connecting rod; B-transition elbow; C-slip ring; D-rubber ring; 1-mechanical structure; 100-transition connecting plate; 101-multi-dimensional torque sensor; 102-harmonic reducer; 103-connecting shaft; 104-frameless torque motor; 105-rotary transformer; 106-electromagnetic brake; 107-dual encoder mounting bracket; 108-air-cooled fan support bracket; 109-air-cooled fan; 110-heat-conducting cold plate; 1100-phase change heat pipe; 111-dual encoder; 2-redundant integrated electronic circuit module; 200-low voltage power supply board; 201-servo drive board; 202-MCU control communication board; 203-sensing board; 204-copper pillar; 3-joint module housing; 30-first port; 31-second port. Detailed Implementation

[0064] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] like Figure 1 , Figure 2 As shown, this invention discloses a highly integrated, radiation-resistant, redundant collaborative robot joint module. This redundant collaborative robot joint module comprises a housing, an internal mechanical mechanism, and an integrated electronic circuit system module. The internal mechanical mechanism and integrated electronic circuit system module are highly integrated within the housing. The housing has a T-tube structure. One end of the horizontal tube of the T-tube has a closed end cap, and the other end has an opening. One end of the vertical tube of the T-tube also has an opening. The vertical tube opening of the housing is connected to a connecting rod A to form a joint chain. The horizontal tube opening of the T-tube serves as the output end of the joint module of the joint chain, and the mechanical mechanism at the horizontal tube opening is rotatably connected to one end of a transition elbow B. The other end of the transition elbow B is connected to the connecting rod A end of another joint chain. The two ends of the transition elbow B are respectively connected to two different joint chains via bolts E. A slip ring C and a rubber ring D are used to seal the transition elbow B to the output end of the joint module or the connecting rod A end of the joint chain.

[0066] The present invention discloses a highly integrated, radiation-resistant, redundant collaborative robot joint module with various sizes and specifications. The redundant collaborative robot joint modules of various sizes and specifications are connected by linkages to form various types of joint chains, including shoulder joint chains, elbow joint chains, wrist joint chains, and various other types of joint chains. Transition elbows are used to connect two joint chains. The various types of joint chains are connected in series or in parallel to form a highly integrated, radiation-resistant, redundant collaborative robot.

[0067] like Figure 3 , Figure 4 , Figure 5 As shown, the present invention provides a highly integrated, radiation-resistant, redundant collaborative robot joint module, comprising a mechanical structure 1, a redundant integrated electronic circuit module 2, and a joint module housing 3. The mechanical structure 1 and the redundant integrated electronic circuit module 2 are highly integrated inside the joint module housing 3.

[0068] The joint module housing 3 is a T-shaped tube structure, which includes a horizontal tube and a vertical tube. The interiors of the horizontal tube and the vertical tube are interconnected. One end of the horizontal tube of the T-shaped tube has a closed end cap, and the end cap of the horizontal tube of the T-shaped tube has a threaded hole for fixing the redundant integrated electronic circuit module 2. The other end of the horizontal tube of the T-shaped tube has a first port 30, and one end of the vertical tube of the T-shaped tube has a second port 31. The first port 30 is the output end of the joint module and is used to connect to the transition elbow. The second port 31 has circumferentially distributed mounting holes for connecting to the connecting rod.

[0069] Mechanical structure 1 includes a transition connecting plate 100, a multi-dimensional torque sensor 101, a harmonic reducer 102, a connecting shaft 103, a frameless torque motor 104, a rotary transformer 105, an electromagnetic brake 106, a dual encoder mounting bracket 107, and a dual encoder 111. The multi-dimensional torque sensor 101, the harmonic reducer 102, the frameless torque motor 104, the electromagnetic brake 106, the dual encoder mounting bracket 107, and the dual encoder 111 all have a central hole.

[0070] The connecting shaft 103 is located inside the joint module housing 3 and is coaxial with the central axis of the horizontal tube of the housing 3. The connecting shaft 103 has two stepped shafts, with the diameter of the first stepped shaft being larger than that of the second stepped shaft. The shaft end of the first stepped shaft has a flange, and the multi-dimensional torque sensor 101, harmonic reducer 102, frameless torque motor 104, electromagnetic brake 106, and dual encoder 111 are sequentially fitted and installed from the flange of the first stepped shaft of the connecting shaft 103 towards the direction of the second stepped shaft.

[0071] The multidimensional torque sensor 101 is coaxially and fixedly connected to the flange of the first stepped shaft and the harmonic reducer 102. The transition connecting plate 100 is fixedly installed on the outside of the multidimensional torque sensor 101. The outer periphery of the transition connecting plate 100 has multiple mounting holes, and the transition connecting plate 100 is connected to the transition elbow through the mounting holes. After installation, the transition connecting plate 100 is located on the outside of the first pipe opening 30. The multidimensional torque sensor 101, harmonic reducer 102, frameless torque motor 104, electromagnetic brake 106, and dual encoder 111 are all located inside the horizontal tube of the housing 3.

[0072] The multidimensional torque sensor 101 is bolted to the inner side of the transition connection plate 100. The multidimensional torque sensor 101 consists of a strain-flexible matrix formed by an elastomer and multiple strain gauge bridges; the elastomer and strain gauges themselves are made of metallic materials and have radiation resistance. The multidimensional torque sensor 101 is used in conjunction with a vision camera to complete collision detection of the joint module. When the vision camera completes macroscopic collision prediction, the collaborative robot, operating in a radiation environment, cannot accurately locate itself in one operation and often collides with surrounding objects. Collisions may also occur during routine operations due to careless operation or unexpected malfunctions caused by radiation effects in the joint module. If a collision occurs again after the vision camera has completed macroscopic collision prediction, controlling the multidimensional torque sensor 101 can prevent damage to the joint chain caused by secondary collisions.

[0073] The multidimensional torque sensor 101 and the vision camera have independent, diversified and redundant radiation-resistant design functional modules. Based on the pre-control of the vision camera and the post-collision control system of the multidimensional torque sensor 101, they jointly realize real-time collision detection of the joint module of the collaborative robot during special operations.

[0074] The harmonic reducer 102 and the frameless torque motor 104 have a hollow structure, which facilitates circuit routing, prevents wire tangling, and improves the service life of power supply and communication cables. The harmonic reducer 102 and the frameless torque motor 104 form the mechanical structure of a high power density ratio joint module. A rotary transformer 105 is connected to the frameless torque motor 104. The rotary transformer 105 uses an induction motor, which includes stator winding coils and rotor winding coils. The rotary transformer 105 is made of metallic material and has radiation resistance. The rotary transformer 105 is used to detect and provide feedback on the incremental angle and speed information at the output of the frameless torque motor 104.

[0075] The electromagnetic brake 106 is used to ensure that the collaborative robot maintains its original posture after power failure, and to prevent the collaborative robot from changing its posture due to inertia after power failure. When the collaborative robot is in a certain posture for a long time, the electromagnetic brake 106 is activated to reduce the power consumption of the collaborative robot and improve the overall life of the redundant joint module in the radiation environment.

[0076] The dual encoder mount 107 has a central hole for mounting the dual encoder 111. The dual encoder mount 107 is fixedly connected to the redundant integrated electronic circuit module 2. The dual encoder 111 is used to detect and feedback the angular position and speed information of the connecting shaft 103 after passing through the harmonic reducer 102. The information detected and fed back by the dual encoder 111 directly participates in the position loop control of the redundant joint module of the collaborative robot.

[0077] The transition connecting plate 100, multi-dimensional torque sensor 101, harmonic reducer 102, connecting shaft 103, frameless torque motor 104, electromagnetic brake 106, and joint module housing 3 are collinear. The multi-dimensional torque sensor 101, frameless torque motor 104, electromagnetic brake 106, and dual encoder 111 are electrically connected to the redundant integrated electronic circuit module 2 via power and signal cables. The frameless torque motor 104 drives the connecting shaft 103 to rotate, which in turn drives the harmonic reducer 102 and electromagnetic brake 106 to rotate, which in turn drives the multi-dimensional torque sensor 101 to rotate via the harmonic reducer 102.

[0078] like Figure 4 , Figure 5 , Figure 6 As shown, the redundant integrated electronic circuit module 2 includes a low-voltage power supply board 200, a servo drive board 201, an MCU control and communication board 202, a sensing board 203, copper pillars 204, and connectors.

[0079] There are multiple copper pillars 204, each composed of multiple short copper pillar segments connected together. One end of each copper pillar 204 is connected to the dual encoder mounting bracket 107, and the other end is fixedly connected to the threaded hole of the closed end cap of the horizontal tube of the joint module housing 3. Each copper pillar 204 is sequentially connected from the mounting end of the dual encoder mounting bracket 107 to the mounting end of the closed end cap of the joint module housing 3 to the low-voltage power supply board 200, servo drive board 201, MCU control communication board 202, and sensing board 203. The low-voltage power supply board 200, servo drive board 201, MCU control communication board 202, and sensing board 203 all have connectors, and the low-voltage power supply board 200, servo drive board 201, MCU control communication board 202, and sensing board 203 communicate with each other through connectors.

[0080] like Figure 3 , Figure 5 , Figure 6 , Figure 7 As shown, mechanical structure 1 also includes an air-cooled fan support frame 108, an air-cooled fan 109, and a heat-conducting cold plate 110.

[0081] The air-cooled fan 109 is connected to the low-voltage power board 200 via a connector and power cord. The air-cooled fan 109 includes a fan, a drive circuit, and a temperature feedback circuit. The air-cooled fan 109 is fixedly mounted on an air-cooled fan support bracket 108, which is fixedly mounted on a copper pillar 204 and located outside the low-voltage power board 200. Three identical heat-conducting cold plates 110 are included. Each heat-conducting cold plate 110 includes a phase-change heat pipe 1100 and a main board. The phase-change heat pipe 1100 is disposed on the main board of the heat-conducting cold plate 110. All three heat-conducting cold plates 110 are mounted on the copper pillar 204 and are respectively connected to the servo drive board 201, the MCU control communication board 202, and the sensor board 203 via the phase-change heat pipe 1100. The phase-change heat pipe 1100 can quickly transfer the radiative heat from the circuit boards of the servo drive board 201, the MCU control communication board 202, and the sensor board 203. The air-cooled fan 109 and the heat-conducting cold plate 110 dissipate heat independently from each other.

[0082] like Figure 8 As shown, the MCU control communication board 202 integrates a main communication circuit, a redundant backup communication circuit, an MCU1 upper-level controller, and an MCU2 lower-level controller. The main communication circuit and the redundant backup communication circuit constitute the communication system, while the MCU1 upper-level controller and the MCU2 lower-level controller constitute the MCU control system.

[0083] The main communication circuit and redundant backup communication circuit employ lightweight structural shielding. The shielding material absorbs a certain dose of radiation, improving their lifespan. The MCU2 lower-level controller on the MCU control communication board 202 detects fault signals in the communication system. Based on these fault signals, the MCU2 lower-level controller controls the switching between the main communication circuit and the redundant backup communication circuit, achieving redundancy in the communication system. This redundancy can also be further enhanced by the collaborative robot's main controller, enabling the switching between the main communication circuit and the redundant backup communication circuit.

[0084] like Figure 9 As shown, the MCU control system is a distributed dual controller. The MCU1 upper-level controller in the MCU control system is the main controller, which adopts a radiation-hardened special MCU chip. The MCU2 lower-level controller is the auxiliary controller. Both the MCU1 upper-level controller and the MCU2 lower-level controller adopt a special lightweight structure for shielding and hardening. The structural shielding material absorbs a certain dose of radiation. Through local lightweight structural shielding, the survival time of the MCU control system in the radiation environment is improved.

[0085] The MCU1 upper-level controller is responsible for calculating the startup algorithm, stable operation field orientation control algorithm, and pulse frequency modulation control algorithm of the frameless torque motor 104 inside the joint module. This, in turn, controls the duty cycle of the power device switches on the inverter on the servo drive board to control the torque and speed of the frameless torque motor 104. Simultaneously, the calculation results are sent in real-time to the MCU2 lower-level controller for information storage. It also receives the pose algorithm input and output signals from the collaborative robot's main controller. The MCU2 lower-level controller is responsible for calculating and executing signal sampling, fault mode judgment, executing fault-tolerant switching commands, executing sensor read / write data commands, and processing and relaying signals during communication with the MCU1 upper-level controller.

[0086] like Figure 10 As shown, the sensing board 203 is connected to the multi-dimensional torque sensor 101, the frameless torque motor 104, the rotary transformer 105, the electromagnetic brake 106, and the dual encoder 111 via connectors and signal lines.

[0087] The sensing board 203 integrates a main sensing circuit and a redundant backup sensing circuit, which together form the sensing system. The main sensing circuit includes a Hall effect interface circuit, a photoelectric incremental dual encoder, an absolute magnetic dual encoder, a rotary transformer hard decoding circuit, a multi-dimensional force / torque signal conditioning circuit, and a temperature sensor detection interface circuit. The redundant backup sensing circuit includes a rotary transformer soft decoding circuit, a Butterworth filter circuit, a current buffer, an AD conversion circuit, and a cold redundancy start-up circuit controlled by the MCU2 lower-level controller. When the MCU2 lower-level controller on the MCU control communication board 202 detects a fault signal in the sensing system, it switches between the main sensing circuit and the redundant backup sensing circuit.

[0088] like Figure 11 As shown, the servo drive board 201 integrates a main servo drive circuit and a redundant spare gate drive circuit, which together form a servo drive system.

[0089] The main servo drive circuit includes a power inverter, a gate drive circuit, a three-phase current sampling signal conditioning circuit, a Butterworth filter circuit, a bus current sampling signal conditioning circuit, an FLT overload protection circuit, and a joint module brake drive circuit. The redundant backup gate drive circuit includes an OCL circuit, a continuous negative voltage circuit, a low-voltage floating ground control circuit, a dual bootstrap capacitor charging circuit, and a logic inversion circuit. When the gate drive circuit exhibits a cumulative radiation effect, the MCU2 lower-level controller of the MCU control communication board 202 detects a fault signal in the servo drive system and switches between the main servo drive module and the redundant backup gate drive module through the MCU2 lower-level controller of the MCU control communication board 202.

[0090] like Figure 12 As shown, the low-voltage power supply board 200 integrates a main power supply circuit and a redundant backup circuit, which together form a low-voltage power supply system.

[0091] The main power supply circuit includes a Buck power supply circuit, an LDO linear power supply circuit, an adjustable power supply hot-swappable interface circuit, and reverse connection and overcurrent protection circuits. The redundant backup power supply circuit includes a radiation-resistant Buck power supply circuit, a Buck inductor current loop circuit, a Buck inductor voltage loop circuit, and an LDO power supply circuit. The radiation-resistant Buck power supply further includes a push-pull drive circuit and a PWM square wave generator circuit. The PWM square wave generator circuit includes a PWM square wave bootstrap circuit and a PWM square wave soft-start circuit. After the main power supply circuit is exposed to radiation, the MCU2 lower-level controller on the MCU control communication board 202 detects a fault signal indicating parameter failure or catastrophic functional failure in the low-voltage power system. The MCU2 lower-level controller on the MCU control communication board 202 then controls the switching between the main power supply circuit and the redundant backup power supply circuit.

[0092] like Figure 13 As shown, the fan, drive circuit, and temperature feedback circuit of the air-cooled fan 109 form a closed-loop air-cooled heat dissipation system; the phase change heat pipe 1100 and the main board of the thermally conductive cold plate 110 form an open-loop heat dissipation system; the closed-loop air-cooled heat dissipation system and the open-loop heat dissipation system form a constant temperature system and are mutually independent dual heat dissipation systems.

[0093] The closed-loop air-cooling system and the open-loop cooling system of the constant temperature system work together to maintain the integrated electronic circuit system module inside the collaborative robot joint module in a relatively constant temperature state under high IP rating, high integration, and high power conditions. This provides a constant temperature environment for the reliable operation of the collaborative robot joint module and avoids catastrophic failures or related malfunctions caused by drastic changes in temperature environment factors.

[0094] like Figure 14 , Figure 15As shown, the low-voltage power supply system, servo drive system, communication system, sensing system, MCU control system, and temperature control system of the present invention constitute a redundant integrated electronic circuit system module. The servo drive board 201, MCU control and communication board 202, and sensing board 203 are powered sequentially. The servo drive board 201 draws power from the low-voltage power supply board 200 via a connector and power cable; the MCU control and communication board 202 draws power from the servo drive board 201 via a connector and power cable; and the sensing board 203 draws power from the MCU control and communication board 202 via a connector and power cable. This avoids the need for each circuit board to be wired via a power cable, resulting in a large power board area and numerous wiring connections, saving space and improving the integration of the redundant collaborative robot joint module.

[0095] Example:

[0096] The low-voltage power supply board 200 of the redundant integrated electronic circuit system integration module 2 of the joint module of the present invention provides necessary and redundant power supply voltage for the servo drive board 201, MCU control and communication board 202 and sensing board 203 of the redundant integrated electronic circuit system integration module 2 during normal operation. The sensing board 203, MCU control and communication board 202 and servo drive board 201 are powered step by step and are powered from the low-voltage power supply board 200 in sequence.

[0097] The redundant integrated electronic circuit system module 2 is a circuit board module that is highly integrated with the joint module redundant integrated electronic circuit system through integrated circuit and board manufacturing process. The joint module redundant integrated electronic circuit system includes a low voltage power supply system, a servo drive system, a communication system, a sensing system, an MCU control system, and a constant temperature system. They are integrated in sequence according to system function as a low voltage power supply board 200, a servo drive board 201, an MCU control and communication board 202, and a sensing board 203.

[0098] When the collaborative robot operates in nuclear radiation and space radiation environments, especially in nuclear emergency and decommissioning environments, the MCU1 upper-level controller on the MCU control communication board 202 of the redundant integrated electronic circuit system integration module 2 inside the joint module receives the position command issued by the main controller of the collaborative robot. According to the current position command, the MCU1 upper-level controller on the MCU control communication board 202 participates in and completes the calculation of the high-precision position closed-loop motion algorithm of the joint module. Based on the calculation result of the MCU1 upper-level controller on the MCU control communication board 202, it controls the duty cycle of the power device switch of the inverter on the servo drive board 201 to control the torque and speed output of the frameless torque motor 104 inside the joint module.

[0099] The torque and speed output of the frameless torque motor 104 sequentially drive the harmonic reducer 102, the frameless torque motor 104, and the electromagnetic brake 106 along the direction from the first port 30 into the joint module housing 3, and transmit the torque and speed to the multi-dimensional torque sensor 101. The multi-dimensional torque sensor 101 transmits the force / torque signal from the joint module output end to the main sensing circuit and the redundant backup sensing circuit on the sensing board 203 of the redundant integrated electronic circuit system integration module 2 for signal conditioning. At the same time, the MCU2 lower-level controller on the MCU control communication board 202 detects the fault signal of the multi-dimensional torque sensor 101, and automatically switches the main function main module and the redundant function backup module on the sensing board 203 according to the detected fault signal.

[0100] The dual encoder mounting bracket 107 is fixedly installed on the inner wall of the end cap of the joint module housing 3 by multiple copper pillars 204. The dual encoder 111 is fixed inside the dual encoder mounting bracket 107. The dual encoder 111 has a hollow structure. The hollow structure of the dual encoder 111 is fixed to the connecting shaft 103 of the joint module by direct interference fit and rotates together with the connecting shaft 103.

[0101] The rotary transformer 105 and dual encoders 111 are interference-fitted with the connecting shaft 103. The torque and speed output of the frameless torque motor 104 drive the rotary transformer 105 and dual encoders 111. The rotary transformer 105 and dual encoders 111 are used to detect the position signal of the connecting shaft rotation. This position signal is also the position signal output of the collaborative robot joint module, and it is also the input signal for the MCU1 upper-level controller on the MCU control communication board 202 to participate in and complete the high-precision position closed-loop motion algorithm calculation of the joint module. The rotary transformer 105 and dual encoders 111 transmit the detected position signal to the main sensing circuit and redundant backup sensing circuit on the sensing board 203 of the redundant integrated electronic circuit system integration module 2 for signal conditioning. At the same time, the MCU2 lower-level controller on the MCU control communication board 202 detects the fault signal of the rotary transformer 105 and dual encoders 111, and automatically switches the main function main module and redundant function backup module on the dual encoders 111 according to the detected fault signal.

[0102] When the MCU2 lower-level controller on the MCU control communication board 202 detects that the main function module and the redundant function backup module on the dual encoder 111 have failed due to the radiation effect caused by ionization in the radiation environment, the MCU2 lower-level controller on the MCU control communication board 202 automatically switches to the rotary transformer 105 and starts the rotary transformer 105. When the MCU2 lower-level controller on the MCU control communication board 202 does not detect that both the main function module and the redundant function backup module on the dual encoder 111 have failed, the rotary transformer 105 is in a cold redundancy backup non-started state.

[0103] The air-cooled fan 109 is fixedly mounted on the air-cooled fan support frame 108. The air-cooled fan support frame 108 is fixedly mounted on the inner wall of the joint module housing and located on the outside of the low-voltage power board 200. When the joint module is working, the air-cooled fan 109 starts to dissipate heat through heat convection, dissipating the heat loss generated when the frameless torque motor 104 is working and the heat generated by radiation effect in the radiation environment. The air-cooled fan 109 can also dissipate the heat loss generated when the low-voltage power board 200, servo drive board 201, MCU control communication board 202 and sensing board 203 of the redundant integrated electronic circuit system 2 inside the joint module are working and the heat generated by radiation effect in the radiation environment. At the same time, the MCU2 lower-level controller on the MCU control communication board 202 detects the fault signal of the air-cooled fan 109 and automatically switches the main function main module and the redundant function backup module on the sensing board 203 according to the detected fault signal.

[0104] The heat-conducting cold plate 110 is assembled and connected to the servo drive board 201, the MCU control communication board 202 and the sensing board 203 via copper pillars 204, and is tightly attached to the servo drive board 201, the servo MCU control communication board 202 and the sensing board 203 respectively. The heat-conducting cold plate 110 is filled with thermally conductive material at the contact points with the servo drive board 201, the MCU control communication board 202 and the sensing board 203, which can quickly transfer the radiative heat of the circuit boards of the servo drive board 201, the MCU control communication board 202 and the sensing board 203.

[0105] When the MCU2 lower-level controller on the MCU control communication board 202 detects that the main function module and the redundant function backup module on the air-cooled fan 109 have failed due to radiation effects caused by ionization in a radiant environment, the temperature inside the joint module gradually increases. When the temperature threshold is reached, the main board of the phase change heat pipe 111 and the thermally conductive cold plate 110 will automatically start, and a phase change will occur inside, thereby starting to transfer heat. When the MCU2 lower-level controller on the MCU control communication board 202 does not detect that the main function module and the redundant function backup module on the air-cooled fan 109 have failed due to radiation effects caused by ionization in a radiant environment, the temperature inside the joint module has not reached the threshold for starting the main board of the phase change heat pipe 111 and the thermally conductive cold plate 110, and the main board of the phase change heat pipe 111 and the thermally conductive cold plate 110 is in a backup non-started state.

[0106] The mechanical structure and redundant integrated electronic circuit modules are highly integrated into the joint module housing. The hardware uses radiation-resistant materials and has six major systems. Each system has a redundant module. The redundant modules work independently from the main module, achieving high integration, radiation resistance, independence, diversification and redundancy.

[0107] The above descriptions are merely embodiments of the present invention, and common knowledge regarding specific structures and characteristics of the solutions is not described in detail here. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present invention is defined by the appended claims rather than the foregoing description. Therefore, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A highly integrated, radiation-resistant, redundant collaborative robot joint module, characterized in that, The collaborative robot is composed of joint chains of various specifications connected in series or in parallel. The joint chains are connected by transition elbows of various specifications. The joint chains are composed of the collaborative robot joint modules and links. The collaborative robot joint module includes a mechanical structure (1), a redundant integrated electronic circuit module (2), and a joint module housing (3); the mechanical structure (1) and the redundant integrated electronic circuit module (2) are integrated and installed inside the joint module housing (3); The redundant integrated electronic circuit module (2) includes multiple circuit boards integrated in the joint module redundant integrated electronic circuit system. The multiple circuit boards have a main function module and a redundant function module, and the main function module and the redundant module work independently. The redundant integrated electronic circuit system of the joint module includes a low-voltage power supply system, a servo drive system, a communication system, a sensing system, an MCU control system, and a constant temperature system. The low-voltage power supply system consists of a main power supply circuit and a redundant backup power supply circuit; the servo drive system consists of a main servo drive circuit and a redundant backup gate drive circuit; the communication system consists of a main communication circuit and a redundant backup communication circuit; the sensing system consists of a main sensing circuit and a redundant backup sensing circuit; the MCU control system is a distributed dual controller, including an MCU1 upper-level controller and an MCU2 lower-level controller; the constant temperature system includes an open-loop cold plate phase change heat dissipation system and a closed-loop air-cooled heat dissipation system. The MCU control system detects fault signals from the low-voltage power supply system, the servo drive system, the communication system, the sensing system, and the constant temperature system, and controls the main functional modules and redundant modules of the low-voltage power supply system, the servo drive system, the communication system, and the sensing system to automatically switch. It also determines whether the closed-loop air-cooled heat dissipation system is faulty based on the fault signal of the constant temperature system. When the internal temperature of the joint module reaches the phase change start threshold of the open-loop cold plate phase change heat dissipation system, the open-loop cold plate phase change heat dissipation system participates in the heat dissipation of the constant temperature system. The mechanical structure (1), the redundant integrated electronic circuit module (2), and the joint module housing (3) adopt radiation-resistant lightweight structures and materials.

2. The highly integrated, radiation-resistant, redundant collaborative robot joint module according to claim 1, characterized in that, The redundant integrated electronic circuit module (2) includes a low-voltage power supply board (200), a servo drive board (201), an MCU control and communication board (202), a sensing board (203), copper pillars (204), and connectors; The sensing board (203), MCU control and communication board (202), servo drive board (201) and low-voltage power supply board (200) are multiple highly integrated circuit boards of the redundant integrated electronic circuit system of the joint module. The copper pillars (204) and the connectors are multiple, and the sensing board (203), the MCU control communication board (202), the servo drive board (201) and the low-voltage power supply board (200) interact with each other and are connected through multiple copper pillars (204) and multiple connectors respectively. The servo drive board (201), the MCU control communication board (202), and the sensing board (203) are powered in stages. The servo drive board (201) draws power from the sensing board (203), the MCU control communication board (202) draws power from the servo drive board (201), and the sensing board (203) draws power from the MCU control communication board (202).

3. The highly integrated, radiation-resistant, redundant collaborative robot joint module according to claim 2, characterized in that, The MCU control communication board (202) integrates a main communication circuit, a redundant backup communication circuit, an MCU1 upper-level controller, and an MCU2 lower-level controller. The MCU1 upper-level controller is used to receive position commands input by the main controller of the collaborative robot and to calculate the high-precision position closed-loop motion algorithm of the joint module. The MCU2 lower-level controller is used to calculate and analyze the signals of the sensing board (203) in the redundant integrated electronic circuit module (2), and to judge the fault mode and control the reading, writing and acquisition of the sensor, send the execution fault-tolerant switching command to the MCU1 upper-level controller on the MCU control communication board (202), and detect the fault signals of the communication system and the MCU control system, and control the main communication circuit and the redundant backup communication circuit, and control the automatic switching of the MCU1 upper-level controller and the MCU2 lower-level controller. The sensing board (203) integrates a main sensing circuit and a redundant backup sensing circuit, which together form a sensing system. The MCU2 lower-level controller detects fault signals in the sensing system and controls the main sensing circuit and the redundant backup sensing circuit to switch automatically. The servo drive board (201) integrates a main servo drive circuit and a redundant backup gate drive circuit, which together form a servo drive system. The MCU2 lower-level controller detects fault signals in the servo drive system and controls the main servo drive circuit and the redundant backup gate drive circuit to switch automatically. The low-voltage power board (200) integrates a main power supply circuit and a redundant backup circuit, which together form a low-voltage power supply system. The MCU2 lower-level controller detects fault signals in the low-voltage power supply system and controls the main power supply circuit and the redundant backup circuit to switch automatically.

4. The highly integrated, radiation-resistant, redundant collaborative robot joint module according to claim 2, characterized in that, The low-voltage power supply board (200), the servo drive board (201), the MCU control communication board (202), and the sensing board (203) all adopt a lightweight structure to shield radiation.

5. The highly integrated, radiation-resistant, redundant collaborative robot joint module according to claim 2, characterized in that, The mechanical structure (1) includes an air-cooled fan support frame (108), an air-cooled fan (109), and a heat-conducting cold plate (110); wherein the heat-conducting cold plate (110) includes a phase change heat pipe (1110). The air-cooled fan (109) is fixedly installed on the air-cooled fan support frame (108), and the air-cooled fan support frame (108) is fixedly installed on the copper column (204) and located on the outside of the low-voltage power board (200); The phase change heat pipe (1110) is mounted on the main plate of the heat-conducting cold plate (110). There are three heat-conducting cold plates (110) with the same structure. The three heat-conducting cold plates (110) are all mounted on the copper pillar (204) and are respectively connected to the servo drive board (201), the MCU control communication board (202) and the sensing board (203) through the phase change heat pipe (1110). The fan drive circuit and the temperature feedback circuit form a closed-loop air-cooled heat dissipation system, and the air-cooled fan (109) serves as the execution component of the closed-loop air-cooled heat dissipation system; the main board of the heat-conducting cold plate (110) forms an open-loop heat dissipation system, and the phase change heat pipe (1110) serves as the heat exchange component of the open-loop cold plate phase change heat dissipation system.

6. The highly integrated, radiation-resistant, redundant collaborative robot joint module according to claim 2, characterized in that, The joint module housing (3) includes a first port (30) and a second port (31); The joint module housing (3) is a T-shaped tube structure, which includes a horizontal tube and a vertical tube. The interiors of the horizontal tube and the vertical tube are interconnected. One end of the horizontal tube has a closed end cap, and the end cap of the horizontal tube has a threaded hole for fixing the redundant integrated electronic circuit module (2). The other end of the horizontal tube has a first port (30), and one end of the vertical tube has a second port (31). The first port (30) is connected to an over-elbow, and the second port (31) is connected to a connecting rod.

7. The highly integrated, radiation-resistant, redundant collaborative robot joint module according to claim 6, characterized in that, The mechanical structure (1) also includes a transition connecting plate (100), a multi-dimensional torque sensor (101), a harmonic reducer (102), a connecting shaft (103), a frameless torque motor (104), a rotary transformer (105), an electromagnetic brake (106), a dual encoder mounting bracket (107), and a dual encoder (111). The harmonic reducer (102), the frameless torque motor (104), the electromagnetic brake (106), the dual encoder mounting bracket (107), and the dual encoder (111) all have a central hole; The connecting shaft (103) is located inside the joint module housing (3) and is coaxial with the central axis of the horizontal tube; the connecting shaft (103) has two stepped shafts, the diameter of the first stepped shaft is larger than the diameter of the second stepped shaft; the shaft end of the first stepped shaft has a flange, and the multidimensional torque sensor (101), the harmonic reducer (102), the frameless torque motor (104), the electromagnetic brake (106) and the dual encoder (111) are sequentially installed from the flange of the first stepped shaft of the connecting shaft (103) toward the direction of the second stepped shaft. The multidimensional torque sensor (101) is coaxially and fixedly connected to the flange of the first stepped shaft and the harmonic reducer (102). The transition connecting plate (100) is fixedly installed on the outside of the multidimensional torque sensor (101). The outer periphery of the transition connecting plate (100) has multiple mounting holes. The transition connecting plate (100) is connected to the transition elbow through the mounting holes. The installed transition connection plate (100) is located outside the first port (30). The installed multi-dimensional torque sensor (101), harmonic reducer (102), frameless torque motor (104), electromagnetic brake (106) and dual encoder (111) are all located inside the horizontal tube of the joint module housing (3).

8. The highly integrated, radiation-resistant, redundant collaborative robot joint module according to claim 7, characterized in that, The dual encoder (111) is fixedly installed on the center hole of the dual encoder mounting bracket (107); the dual encoder mounting bracket (107) is fixedly connected to the copper column (204).

9. The highly integrated, radiation-resistant, redundant collaborative robot joint module according to claim 7, characterized in that, The central axis of the horizontal tube of the transition connecting plate (100), the multi-dimensional torque sensor (101), the harmonic reducer (102), the connecting shaft (103), the frameless torque motor (104), the electromagnetic brake (106), the dual encoder (111), and the joint module housing (3) are collinear; The multidimensional torque sensor (101), the frameless torque motor (104), the electromagnetic brake (106), and the dual encoder (111) are electrically connected to the redundant integrated electronic circuit module (2) inside the joint module housing (3) via power and signal cables.

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